CN110026962A - A kind of intelligence nondestructive detection system - Google Patents
A kind of intelligence nondestructive detection system Download PDFInfo
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- CN110026962A CN110026962A CN201910292637.5A CN201910292637A CN110026962A CN 110026962 A CN110026962 A CN 110026962A CN 201910292637 A CN201910292637 A CN 201910292637A CN 110026962 A CN110026962 A CN 110026962A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
- G01N27/84—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields by applying magnetic powder or magnetic ink
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/267—Welds
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Immunology (AREA)
- Analytical Chemistry (AREA)
- Pathology (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Evolutionary Computation (AREA)
- Software Systems (AREA)
- Mathematical Physics (AREA)
- Artificial Intelligence (AREA)
- Fuzzy Systems (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Computer Networks & Wireless Communication (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Manipulator (AREA)
Abstract
The application discloses a kind of intelligent nondestructive detection system, including non-destructive testing robot and remote control terminal；Non-destructive testing robot and remote control terminal are wirelessly connected；The artificial body construction of non-destructive testing machine；Non-destructive testing robot bottom is equipped with Universal magnetic wheel；Universal magnetic wheel is driven by driving device；One end of non-destructive testing robot is equipped with general-purpose interface；General-purpose interface is connected with operational instrument, and operational instrument is used to implement non-destructive testing to face of weld grinding process or to position while welding；The front end of non-destructive testing Robot direction of travel is equipped with camera；Non-destructive testing robot interior is equipped with driving power and controller；Driving power, general-purpose interface, camera and driving device are respectively electrically connected to controller.The application remotely implements to control by way of WLAN to non-destructive testing robot, implements non-destructive testing by the internal detection data intelligent control such as acquisition pipeline, time saving and energy saving, detection efficiency is high, and testing result is reliable.
Description
Technical field
This application involves intelligent robot and technical field of nondestructive testing more particularly to a kind of intelligent nondestructive detection systems.
Background technique
The large-scale steel structures such as diversion pressure steel tube used in the power station of electric system, spiral case are before use, in use
It is required to carry out non-destructive testing, to ensure that the defect that can influence to be safely operated is not present in equipment.However, since some power stations are drawn
The diameter of water pressure steel pipe is big up to 15m or more, and the gradient of steel pipe frequently results in and testing staff is examined to be difficult to close to 45 °
Up to the position detected；For some biggish containers, spiral case etc., equally exists and be difficult to implement asking for non-destructive testing
Topic.
In the prior art to solve the above-mentioned problems, lossless inspection usually is completed using traditional means such as scaffold of setting up
It surveys, but not only will increase the duration in this way, increases material cost and manpower consumption；When the scaffold built is higher,
It is generally difficult to guarantee the safety of testing staff, there is biggish security risk.
Summary of the invention
The application provides a kind of intelligent nondestructive detection system, with solve in the prior art it is time-consuming and laborious, safety is low etc. asks
Topic.
This application provides a kind of intelligent nondestructive detection systems, including non-destructive testing robot and remote control terminal；Institute
It states non-destructive testing robot and the remote control terminal is wirelessly connected；
The artificial body construction of non-destructive testing machine；Non-destructive testing robot bottom is equipped with Universal magnetic wheel；Institute
Universal magnetic wheel is stated to be driven by driving device；
One end of the non-destructive testing robot is equipped with general-purpose interface；The general-purpose interface is connected with operational instrument, described
Operational instrument is used to implement non-destructive testing to face of weld grinding process or to position while welding；
The front end of the non-destructive testing Robot direction of travel is equipped with camera；
The non-destructive testing robot interior is equipped with driving power and controller；The driving power, the general-purpose interface,
The camera and the driving device are respectively electrically connected to the controller.
Optionally, signal receiving unit, signal processing unit, signal transmitting unit and movement are configured in the controller
Control unit；
The signal receiving unit, the control signal sent for receiving the remote control terminal；
The signal processing unit, the control signal for being sent according to the remote control terminal are generated to current behaviour
Make the control instruction of tool；
The signal transmitting unit, it is whole that the monitoring image for taking the camera is sent to the long-range control
End；
The mobile control unit, the control signal for being sent according to the remote control terminal are executed to the nothing
The traveling control of damage detection robot.
Optionally, the non-destructive testing robot is additionally provided with lighting device；The lighting device is set to the camera week
It encloses.
Optionally, the operational instrument includes sanding component；The sanding component is used for trimming surface.
Optionally, the operational instrument includes ultrasonic examination component.
Optionally, the operational instrument includes magnetic powder inspection component.
Optionally, the remote control terminal includes processor and display screen；The processor is used for according to non-destructive testing
The data that robot is sent generate testing result, and will test result and show in display screen.
Optionally, the remote control terminal is equipped with control handle, for remotely controlling non-destructive testing robot ambulation.
Optionally, the remote control terminal is connected with alarm；The alarm is used for judgement according to testing result
No display alarm.
The embodiment of the present application provides a kind of intelligent nondestructive detection system, including non-destructive testing robot and long-range control are eventually
End；Non-destructive testing robot and remote control terminal are wirelessly connected；The artificial body construction of non-destructive testing machine；Non-destructive testing machine
People bottom is equipped with Universal magnetic wheel；Universal magnetic wheel is driven by driving device；One end of non-destructive testing robot is equipped with general connect
Mouthful；General-purpose interface is connected with operational instrument, and operational instrument is used to implement to face of weld grinding process or to position while welding lossless
Detection；The front end of non-destructive testing Robot direction of travel is equipped with camera；Non-destructive testing robot interior is equipped with driving power
And controller；Driving power, general-purpose interface, camera and driving device are respectively electrically connected to controller.The application passes through wireless
The form of local area network remotely is implemented to control to non-destructive testing robot, real by the internal detection data intelligent control such as acquisition pipeline
Non-destructive testing is applied, time saving and energy saving, detection efficiency is high, and testing result is reliable.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without any creative labor,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of composition figure of intelligent nondestructive detection system of the application；
Fig. 2 is composition figure of the controller under a kind of embodiment in a kind of intelligent nondestructive detection system of the application；
In figure, 1- non-destructive testing robot, 11- Universal magnetic wheel, 12- general-purpose interface, 13- camera, 14- driving electricity
Source, 15- controller, 16- driving device, 17- lighting device, 2- remote control terminal, 21- processor, 22- display screen, 23- control
Handle processed, 24- alarm, 3- sanding component, 4- ultrasonic examination component, 5- magnetic powder inspection component.
Specific embodiment
It is a kind of composition figure of intelligent nondestructive detection system of the application referring to Fig. 1；
As shown in Figure 1, the embodiment of the present application provides a kind of intelligent nondestructive detection system, and the system comprises non-destructive testings
Robot 1 and remote control terminal 2；The non-destructive testing robot 1 and the remote control terminal 2 are wirelessly connected；In this reality
It applies in example, non-destructive testing robot 1 has the ability that free and stable walking can be carried out on large-scale workpiece, and in walking process
In, related data and by being wirelessly transmitted in remote control terminal 2 is acquired, by remote control terminal 2 according to receiving data
It is analyzed and determined, to obtain testing result；Relevant data can be the realtime graphic in traveling process, be also possible to nothing
The detection data that damage detection obtains；In addition, wireless connection employed in the application is transmitted by way of WLAN
With receive data, have the characteristics that speed it is fast, with wide and transmit data stabilization.
The non-destructive testing robot 1 is that body construction should be according to part detected for the concrete shape of car body
Corresponding adjustment is done, this is not restricted；1 bottom of non-destructive testing robot is equipped with Universal magnetic wheel 11；The universal magnetic
Property wheel 11 is driven by driving device 16；Using Universal magnetic wheel technology, this system is made to can be applied to various ferrimagnet equipment
Non-destructive testing, powerful adsorption capacity makes robot steadily be adsorbed on workpiece surface in traveling, and universal wheel can make again
Robot can flexibly turn to, accordingly, it is possible to which the motion profile of robot is arranged in advance by remote control terminal 2, and control
Driving device 16 processed regulates and controls the exercise of robot.
One end of the non-destructive testing robot 1 is equipped with general-purpose interface 12；The general-purpose interface 12 is connected with operational instrument,
The operational instrument is used to implement non-destructive testing to face of weld grinding process or to position while welding；In the present embodiment, general
Effect of both being provided needed for interface 12, on the one hand, for providing the connection between different operation tool and robot body
Effect guarantees that operational instrument is not fallen off in robot traveling；On the other hand, general-purpose interface 12 need to provide data in connection procedure and pass
Defeated and electrical energy drive effect；For the type of attachment of 12 position of general-purpose interface, can be used the component of docking different function to
Realize different functions: such as polishing function, detection function；
Further, it is needed to select different types of operational instrument according to the different function of desired completion, for example, in one kind
In possible embodiments, the operational instrument includes sanding component 3；Before carrying out non-destructive testing, need to clear up face of weld,
Accurate testing result could be obtained, it is therefore desirable to first pass through 3 trimming surface of sanding component described in docking；It should be understood that
, the sanding component 3 provided in the present embodiment connects and composes by actuator and polishing part, the driving source of sanding component 3 by
General-purpose interface 12 exports, and while polishing, the surface state of polishing position can also be checked by camera；
In another embodiment, the operational instrument includes ultrasonic examination component 4, ultrasonic when needing to carry out weld seam
When detection, docking ultrasonic examination component 4 is needed, with PE, PA and TOFD detection function, and self coupling agent container, it can
To carry out the coupling of sound energy well.
In another embodiment, the operational instrument includes magnetic powder inspection component 5, when need to weld seam carry out magnetic powder inspection
When survey, docking magnetic powder inspection component 5 is needed, with stronger magnetization workpiece ability and included magnetic powder flusher, thus complete
In pairs in the Magnetic testing process of workpiece.
System provided by the present application is not limited in the component of the above-mentioned several functions of docking, not according to the function of being completed
Together, can also docking have other detection functions component, details are not described herein.
The non-destructive testing robot 1 is equipped with camera 13 along the front end of direction of travel；Camera 13 is for carrying out visually
It checks, while can also be assessed grinding effect and be realized the functions such as navigation；The specifications and models of camera 13 are selected,
High-definition camera should be chosen, guarantees the image clearly got, easily identification.In addition, the setting for 13 position of camera, it should be able to
Guarantee that its coverage meets the needs of detection, it should be appreciated that, can be by camera in order to keep camera coverage wide
It is arranged to the structure type that can be rotated or move, and can be by remotely controlling to adjust the shooting orientation of camera.
Further, in a kind of preferably embodiment, in order to obtain better quality in the case where insufficient light
Image, the non-destructive testing robot 1 are additionally provided with lighting device 17；The lighting device 17 is set to around the camera 13,
The brightness that camera site can thus be increased makes image be easier to recognize；For the concrete form of lighting device 17, in this implementation
In example with no restriction.
Driving power 14 and controller 15 are equipped with inside the non-destructive testing robot 1；The selection of driving power 14 can be with
It is high-power lithium battery power supply, driving power 14 is applied not only to power to controller 15, while also needing to 16 He of driving device
The power supply of corresponding operation tool；The driving power 14, the general-purpose interface 12, the camera 13 and the driving device 16
It is respectively electrically connected to the controller 15.
In the present embodiment, controller 15 transmits for realizing with the data of remote control terminal 2, and according to receiving
Data complete various control instruction, such as the movement of robot, detection components use etc.；Specifically, leading to when controller 15
The multiple modules for realizing different function of internal configuration are crossed to realize；
It referring to fig. 2, is composition figure of the controller under a kind of embodiment in a kind of intelligent nondestructive detection system of the application；
As shown in Figure 2, under a kind of embodiment, signal receiving unit 151, signal processing are configured in the controller 15
Unit 152, signal transmitting unit 153 and mobile control unit 154；
The signal receiving unit 151, the control signal sent for receiving the remote control terminal 2；Including
Control the signal that robot advances and the signal to detection process control.
The signal processing unit 152, the control signal for being sent according to the remote control terminal 2 are generated to working as
The control instruction of preceding operational instrument；Such as start polishing, start non-destructive testing, apply couplant etc..
The signal transmitting unit 153, the monitoring image for taking the camera 13 are sent to described long-range
Controlling terminal 2；
The mobile control unit 154, the control signal for being sent according to the remote control terminal 2 are executed to institute
State the traveling control of non-destructive testing robot 1；The control signal can be the control signal for the fixation locus formulated in advance, can also
To be that operator temporarily implements the signal manually controlled to the direction of travel of robot according to field condition.
In the present embodiment, the remote control terminal 2 includes processor 21 and display screen 22；The processor 21 is used for
Testing result is generated according to the data that non-destructive testing robot 1 is sent, specifically, can be by storing criterion numeral in processor 21
According to, and be compared with the data real-time monitored, to obtain analysis and processing result, and it will test result in display screen 22
Display；Testing result may include figure, table or numerical value etc.；
Further, in a kind of possible embodiments, the remote control terminal 2 is equipped with control handle 23, for remote
Process control non-destructive testing robot 1 walks；
Further, in a kind of possible embodiments, the remote control terminal 2 is connected with alarm 24；The report
Alert device 24 for judging whether display alarm according to testing result；If by analysis after operation, existed beyond standard permission
Defect, alarm will issue alarm signal immediately, and operator is prompted to carry out reprocessing operation to the weld seam of corresponding site.
From the above technical scheme, the course of work of intelligent nondestructive detection system provided herein are as follows:
One, detection position is treated first with non-destructive testing robot 1 and carry out visual detection, i.e. what general-purpose interface do not taken over and grasped
Make tool, pass through the shooting of camera 13 advance in image and pass remote control terminal 2 back and saved；Meanwhile to test section
Position carries out location information record and image recognition, so that the later period carries out self-navigation；
Two, according to visual detection as a result, polishing the position polished；It needs to refute in general-purpose interface at this time
Sanding component 3 is connect, while by the image after the available polishing of camera 13, convenient for checking grinding effect；
Three, after the completion of bruting process, according to the needs of detection, passing through docking ultrasonic examination component 4 or magnetic on interface
Powder flaw detection component 5 carries out ultrasonic wave (PE/PA/TOFD) detection or Magnetic testing；Detection data is returned by non-destructive testing robot 1
Into remote control terminal 2；
Four, remote control terminal 2 carries out analytical calculation processing to the related data passed back, and detection is shown in display screen 22
As a result；
If five, testing result is shown there are excessive defect, alarm can be started；
Six, testing result while display defect position carry out intelligent positioning, reclamation work convenient to carry out to defective locations.
The embodiment of the present application provides a kind of intelligent nondestructive detection system, including non-destructive testing robot 1 and long-range control
Terminal 2；The non-destructive testing robot 1 and the remote control terminal 2 are wirelessly connected；The non-destructive testing robot 1 is vehicle
Body structure；1 bottom of non-destructive testing robot is equipped with Universal magnetic wheel 11；The Universal magnetic wheel 11 is driven by driving device 16
It is dynamic；One end of the non-destructive testing robot 1 is equipped with general-purpose interface 12；The general-purpose interface 12 is connected with operational instrument, described
Operational instrument is used to implement non-destructive testing to face of weld grinding process or to position while welding；1 edge of non-destructive testing robot
The front end of direction of travel is equipped with camera 13；Driving power 14 and controller 15 are equipped with inside the non-destructive testing robot 1；Institute
Driving power 14, the general-purpose interface 12 are stated, the camera 13 and the driving device 16 are respectively electrically connected to the control
Device 15.The application remotely implements to control by way of WLAN to non-destructive testing robot, by acquisition pipeline etc.
Portion's detection data intelligent control implements non-destructive testing, time saving and energy saving, and detection efficiency is high, and testing result is reliable.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (9)
1. a kind of intelligence nondestructive detection system, which is characterized in that the system comprises non-destructive testing robots (1) and long-range control
Terminal (2)；The non-destructive testing robot (1) and the remote control terminal (2) are wirelessly connected；
The non-destructive testing robot (1) is body construction；Non-destructive testing robot (1) bottom is equipped with Universal magnetic wheel
(11)；The Universal magnetic wheel (11) is driven by driving device (16)；
One end of the non-destructive testing robot (1) is equipped with general-purpose interface (12)；The general-purpose interface (12) is connected with operative employee
Tool, the operational instrument are used to implement non-destructive testing to face of weld grinding process or to position while welding；
The non-destructive testing robot (1) is equipped with camera (13) along the front end of direction of travel；
Driving power (14) and controller (15) are equipped with inside the non-destructive testing robot (1)；The driving power (14), institute
It states general-purpose interface (12), the camera (13) and the driving device (16) are respectively electrically connected to the controller (15).
2. a kind of intelligent nondestructive detection system according to claim 1, which is characterized in that configuration in the controller (15)
Have signal receiving unit (151), signal processing unit (152), signal transmitting unit (153) and mobile control unit (154)；
The signal receiving unit (151), for receiving the control signal of the remote control terminal (2) transmission；
The signal processing unit (152), for the control signal that is sent according to the remote control terminal (2), generation is to working as
The control instruction of preceding operational instrument；
The signal transmitting unit (153) is described long-range for the monitoring image that the camera (13) takes to be sent to
Controlling terminal (2)；
The mobile control unit (154), the control signal for being sent according to the remote control terminal (2), executes to institute
State the traveling control of non-destructive testing robot (1).
3. a kind of intelligent nondestructive detection system according to claim 1, which is characterized in that the non-destructive testing robot
(1) lighting device (17) are additionally provided with；The lighting device (17) is set to around the camera (13).
4. a kind of intelligent nondestructive detection system according to claim 1, which is characterized in that the operational instrument includes polishing
Component (3)；The sanding component (3) is used for trimming surface.
5. a kind of intelligent nondestructive detection system according to claim 1, which is characterized in that the operational instrument includes ultrasound
Wave inspection component (4).
6. a kind of intelligent nondestructive detection system according to claim 1, which is characterized in that the operational instrument includes magnetic powder
It detects a flaw component (5).
7. a kind of intelligent nondestructive detection system according to claim 1, which is characterized in that the remote control terminal (2)
Including processor (21) and display screen (22)；The processor (21) is used for the data sent according to non-destructive testing robot (1)
Testing result is generated, and will test result display in display screen (22).
8. a kind of intelligent nondestructive detection system according to claim 7, which is characterized in that the remote control terminal (2)
Equipped with control handle (23), for remotely controlling non-destructive testing robot (1) walking.
9. a kind of intelligent nondestructive detection system according to claim 7, which is characterized in that the remote control terminal (2)
It is connected with alarm (24)；The alarm (24) for judging whether display alarm according to testing result.
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| CN110977768A (en) * | 2020-01-03 | 2020-04-10 | 李光植 | Remote control workbench for inspection and detection |
| CN111189851A (en) * | 2019-12-10 | 2020-05-22 | 华电电力科学研究院有限公司 | Nondestructive testing device for interiors of metal pipeline and pressure vessel and working method |
| CN111707734A (en) * | 2020-07-20 | 2020-09-25 | 北京汇研中科科技发展有限公司 | Nondestructive inspection mobile robot |
| CN112304967A (en) * | 2020-10-14 | 2021-02-02 | 华电电力科学研究院有限公司 | Method for automatic coloring and penetration detection in power station pipeline pre-inspection stage |
| CN112630170A (en) * | 2020-12-16 | 2021-04-09 | 贵州电网有限责任公司 | Iron tower resistant steel welding solder composition detection device that waits |
| CN113109001A (en) * | 2021-04-07 | 2021-07-13 | 昆仑数智科技有限责任公司 | Detection method, detection device, electronic equipment and computer-readable storage medium |
| CN114454137A (en) * | 2022-04-12 | 2022-05-10 | 西南交通大学 | Steel structure damage intelligent inspection method and system based on binocular vision and robot |
| CN116233078A (en) * | 2023-01-17 | 2023-06-06 | 山东锐智科电检测仪器有限公司 | Real-time data transmission device and method for nondestructive testing |
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