CN113858221A - Underground coal mine inspection operation robot - Google Patents
Underground coal mine inspection operation robot Download PDFInfo
- Publication number
- CN113858221A CN113858221A CN202111080552.4A CN202111080552A CN113858221A CN 113858221 A CN113858221 A CN 113858221A CN 202111080552 A CN202111080552 A CN 202111080552A CN 113858221 A CN113858221 A CN 113858221A
- Authority
- CN
- China
- Prior art keywords
- robot
- explosion
- proof
- toxic gas
- coal mine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
- B25J19/06—Safety devices
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Combustion & Propulsion (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention provides a coal mine underground inspection robot, which comprises: the environment sensing mechanism comprises a camera and a laser radar, wherein the camera acquires an infrared image, a depth image and a color image of the robot running environment, and the laser radar acquires a point cloud model of the robot running environment; constructing an environment map based on the point cloud model, the depth image and the color image data fusion, and sending the environment map to the terminal equipment; the terminal equipment visually displays a robot running environment map and a field picture, and an operator performs remote operation according to the display information of the terminal equipment to perform emergency braking on dangerous conditions in the routing inspection process; and the gas sensing mechanism comprises a toxic gas detector, and the toxic gas detector is used for detecting the concentration of the toxic gas and feeding back the accumulation condition of the toxic gas to the terminal equipment. The underground coal mine inspection robot provided by the invention effectively reduces the safety risk of the coal industry, improves the production efficiency and lightens the labor intensity of miners.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a coal mine underground inspection robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Although the overall safety of the coal and carbon industry tends to be improved, compared with other industries, the casualty rate of workers in the coal industry is still high, and accidents of mine gas explosion and harmful gas accumulation still occur occasionally, so that the coal and carbon industry becomes a short board which influences the overall public safety and stability of the society. This requires effective inspection of toxic gases in coal industry production operations to prevent such accidents in advance to ensure safety of the production operations. The traditional coal industry toxic gas daily inspection adopts a manual monitoring or inspection point monitoring mode. The manual monitoring operation is that an inspection worker downloads an on-duty inspection task and a potential safety hazard library, detects the concentration of toxic gas and inspects potential safety hazards at an inspection site, and carries out related records, but the manual inspection has the defects of high risk, large influence by environmental factors, insufficient objectivity of inspection results and the like, and the manual monitoring needs the inspection worker to participate in the operation, so that once an accident occurs, the life safety of the inspection worker is greatly threatened, and the monitoring point is fixed in the inspection point monitoring mode, and the coverage range is limited.
Disclosure of Invention
The invention aims to solve the problems and provides a coal mine underground inspection robot, which effectively reduces the safety risk of the coal industry, improves the production efficiency and lightens the labor intensity of miners.
According to some embodiments, the invention adopts the following technical scheme:
a colliery is patrolled and examined work robot in pit includes:
the environment sensing mechanism comprises a camera and a laser radar, wherein the camera acquires an infrared image, a depth image and a color image of the robot running environment, and the laser radar acquires a point cloud model of the robot running environment; constructing an environment map based on the point cloud model, the depth image and the color image data fusion, and sending the environment map to the terminal equipment; the terminal equipment visually displays a robot running environment map and a field picture, and an operator performs remote operation according to the display information of the terminal equipment to perform emergency braking on dangerous conditions in the routing inspection process;
and the gas sensing mechanism comprises a toxic gas detector, and the toxic gas detector is used for detecting the concentration of the toxic gas and feeding back the accumulation condition of the toxic gas to the terminal equipment.
Further, the method also comprises the following steps: the gas detection control panel is connected with the toxic gas detector and used for receiving the toxic gas concentration collected by the toxic gas detector, processing the toxic gas concentration, completing detection and state display of the toxic gas concentration, realizing danger early warning according to historical data and relevant standards, transmitting the processed data to the controller of the robot, and sending the processed data to the terminal equipment through the wireless communication terminal; the gas detection control panel is arranged in the explosion-proof electric control bin, and the explosion-proof electric control bin is arranged in a cover plate of the robot.
The robot controller further comprises an explosion-proof plate arranged in the cover plate, wherein a direct-current transformer, a robot controller and a video server are arranged in the explosion-proof plate; the direct current transformer provides corresponding power supply voltage for the robot controller and the video server in the warehouse; the video server is used for processing the image information of the surrounding environment acquired by the explosion-proof holder camera, and the image information is gathered to the robot controller and then sent to the terminal equipment through the wireless communication terminal.
Further, the cameras comprise an explosion-proof depth camera and an explosion-proof pan-tilt camera, and the explosion-proof depth camera and the explosion-proof pan-tilt camera are both arranged on a cover plate of the robot; the explosion-proof depth camera collects infrared images, depth images and color images of the running environment of the robot, and the explosion-proof holder camera transmits scene environment pictures to the terminal equipment.
Further, the laser radar is an explosion-proof laser radar, and the explosion-proof laser radar and the toxic gas detector are both arranged on a cover plate of the robot.
Further, the robot is connected with the terminal device through a wireless communication terminal, and the wireless communication terminal is arranged on a cover plate of the robot.
Further, the method also comprises the following steps: the lithium iron phosphate battery is used for providing electric energy for the robot and arranged in the explosion-proof battery compartment, and the explosion-proof battery compartment is arranged in a cover plate of the robot.
The device further comprises a left wheel motor driver, a right wheel motor driver, a left wheel motor driving motor and a right wheel motor driving motor which are arranged in the cover plate; the left wheel motor driver controls a left wheel motor driving motor, the right wheel motor driver controls a right wheel motor driving motor, and under the control of the left wheel motor driver and the right wheel motor driver, the driving wheels realize the forward and backward movement and the rotation movement of the robot by utilizing differential motion.
Further, a chassis frame is arranged below the cover plate and connected with the crawler mechanism.
Further, the crawler mechanism comprises a crawler, and a tension wheel, a thrust wheel and a driving wheel which are connected with the crawler; the tensioning wheel is pressed on the track and used as a follow-up wheel to control the tensioning force of the track, the supporting wheel is used for bearing the weight of the robot, and the driving wheel is used for driving the track.
Compared with the prior art, the invention has the beneficial effects that:
the robot is used as common equipment for polling toxic gas in a coal mine, the robot finds abnormal states in production operation in time through conventional toxic gas polling operation, analyzes and gives early warning according to historical data, reminds workers to timely take maintenance or replacement countermeasures for abnormal equipment in the production operation, avoids accidents, can effectively improve the detection precision of the toxic gas, reduces the workload of manual polling operation, reduces the risk of polling operation, realizes labor reduction and efficiency improvement, reduces the recruitment cost of the coal mine, and reduces economic loss caused by safety accidents.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is an outline view of a robot for underground coal mine inspection according to the present invention;
FIG. 2 is a first cross-sectional view of a robot for underground coal mine inspection according to the present invention;
FIG. 3 is a second cross-sectional view of a robot for underground coal mine inspection according to the present invention;
the system comprises a chassis frame 1, a crawler belt 2, a driving wheel 3, a wireless communication terminal 4, a cover plate 5, a toxic gas detector 6, an explosion-proof pan-tilt camera 7, an explosion-proof laser radar 8, an explosion-proof depth camera 9, a thrust wheel 10, a tension wheel 11, a lithium iron phosphate battery 12, an explosion-proof battery compartment 13, an explosion-proof electronic control compartment 14, a gas detection control panel 15, an explosion-proof plate 16, a robot controller 17, a left wheel motor driver 18, a right wheel motor driver 19, a video server 20, a direct current transformer 21, a motor explosion-proof compartment 22, a right wheel driving motor 23 and a left wheel driving motor 24.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be understood that when the term "comprising" is used in this specification it indicates the presence of the feature, step, operation, device, component and/or combination thereof.
In the present invention, terms such as "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the components or elements of the present invention, and do not denote any components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and mean either a fixed connection or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Example one
The embodiment provides a colliery is patrolled and examined work robot in pit, includes:
the environment sensing mechanism comprises a camera and a laser radar, wherein the camera acquires an infrared image, a depth image and a color image of the robot running environment, and the laser radar acquires a point cloud model of the robot running environment; constructing an environment map based on the point cloud model, the depth image and the color image data fusion, and sending the environment map to the terminal equipment; the terminal equipment visually displays a robot running environment map and a field picture, and an operator performs remote operation according to the display information of the terminal equipment to perform emergency braking on dangerous conditions in the routing inspection process;
and the gas sensing mechanism comprises a toxic gas detector 6, wherein the toxic gas detector 6 is used for detecting the concentration of the toxic gas and feeding back the accumulation condition of the toxic gas to the terminal equipment.
Specifically, the technical solution of this embodiment is:
in order to effectively utilize the inner space of the chassis and ensure the explosion-proof performance of the robot, the inner space is separated by an explosion-proof plate 16 in the chassis frame 1, an explosion-proof battery compartment 13 is positioned in the middle of the chassis frame 1, and a 48V lithium iron phosphate battery 12 is arranged in the explosion-proof battery compartment to provide power energy for the robot.
The external perception sensor of robot lays on apron 5, and explosion-proof depth camera 9 gathers robot operational environment's video data, infrared image and depth distance information, and explosion-proof laser radar 8 acquires robot operational environment's the point cloud model, and explosion-proof cloud platform camera 7 can provide the site environment picture for remote operation personnel, and operating personnel can carry out remote intervention or emergency braking according to the robot operational environment who returns to the unexpected condition that probably appears. The remote intervention and emergency braking are emergency remote operations performed by remote operators on dangerous conditions of an operation site through wireless network communication according to information prompts displayed by terminal equipment; the image and depth data are used for fusing with the laser point cloud to construct a map, and the infrared data are used for environment detection and finding out dangerous conditions such as abnormal high temperature.
The toxic gas detector 6 can detect the concentration of toxic gas in the underground environment of the coal mine, discover potential safety hazards such as toxic gas accumulation in advance, avoid accidents such as gas explosion caused by toxic gas accumulation, the wireless communication terminal 4 can be connected to a coal mine communication system to communicate with a remote control center, and can also be directly connected with a robot through a mobile terminal to perform system configuration and remote control on the robot.
The walking mechanism of the robot is in a differential motion structure driven by crawler wheels, a left driving motor and a right driving motor drive the crawler 2 through the driving wheel 3, the thrust wheel 10 bears most of the weight of the robot body, and the tension wheel 11 is pressed on the belt and used as a follow-up wheel to control the tension force of the belt.
The gas detection control panel 15 is also arranged in the independent explosion-proof electric control bin 14. The bottom layer of the chassis frame 1 of the robot is provided with main electronic and control components, a FreeRTOS real-time control system is installed on a robot controller 17, micro-ROS is mainly adopted as a software system framework to realize the real-time control of the robot, a video server 20 is used for processing image information of the surrounding environment acquired by an explosion-proof pan-tilt camera 7, the image information is collected to the robot controller 17 and then sent to a remote client through a wireless communication terminal 4, a direct current transformer 21 provides corresponding power supply voltage for the robot controller 17, the video server 20 and the like in a bin, and a left motor driver 18 and a right motor driver 19 control a left wheel driving motor 24 and a right wheel driving motor 23 to drive a driving wheel 3 to realize the forward and backward movement and the rotation movement of the robot by utilizing differential motion. The left wheel driving motor 24 and the right wheel driving motor 23 are arranged in the motor explosion-proof bin 22, and the left wheel motor driver 18 and the right wheel motor driver 19 are arranged in the explosion-proof plate 16.
The robot realizes the construction of a coal mine underground working environment map through the fusion of multiple sensors such as a motor encoder, an explosion-proof laser radar 8, an explosion-proof depth camera 9 and the like, and updates the map and the position of the robot in the map according to the information of the multiple sensors.
The robot detects the concentration of toxic gas in the underground coal mine through the toxic gas detector 6, transmits the toxic gas to the robot controller 17 after being processed by the gas detection control panel 15, and transmits the toxic gas to the coal mine communication system in a unified manner, so that the detection and state display of the concentration of the toxic gas in the underground coal mine environment are completed, and the danger early warning is realized according to historical data and relevant standards.
In the process of the inspection operation of the robot under the coal mine, the explosion-proof holder camera 7 can return to a field picture in real time, so that a visual operation scene is provided for remote control personnel, and the robot can be manually assisted to complete the passing of complex road conditions and the treatment of emergency conditions.
The robot can be used as common equipment for polling toxic gas in a coal mine, the robot can find abnormal states in production operation in time through conventional toxic gas polling operation, analyze and give early warning according to historical data, remind workers to timely take maintenance or replacement countermeasures for abnormal equipment in the production operation, avoid accidents, effectively improve the detection precision of the toxic gas, reduce the workload of manual polling operation, reduce the risk of polling operation, realize labor reduction and efficiency improvement, reduce the labor cost of the coal mine and reduce economic loss caused by safety accidents.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a colliery is patrolled and examined work robot in pit which characterized in that includes:
the environment sensing mechanism comprises a camera and a laser radar, wherein the camera acquires an infrared image, a depth image and a color image of the robot running environment, and the laser radar acquires a point cloud model of the robot running environment; constructing an environment map based on the point cloud model, the depth image and the color image data fusion, and sending the environment map to the terminal equipment; the terminal equipment visually displays a robot running environment map and a field picture, and an operator performs remote operation according to the display information of the terminal equipment to perform emergency braking on dangerous conditions in the routing inspection process;
and the gas sensing mechanism comprises a toxic gas detector, and the toxic gas detector is used for detecting the concentration of the toxic gas and feeding back the accumulation condition of the toxic gas to the terminal equipment.
2. The underground coal mine inspection robot according to claim 1, further comprising: the gas detection control panel is connected with the toxic gas detector and used for receiving the toxic gas concentration collected by the toxic gas detector, processing the toxic gas concentration, completing detection and state display of the toxic gas concentration, realizing danger early warning according to historical data and relevant standards, transmitting the processed data to the controller of the robot, and sending the processed data to the terminal equipment through the wireless communication terminal; the gas detection control panel is arranged in the explosion-proof electric control bin, and the explosion-proof electric control bin is arranged in a cover plate of the robot.
3. The underground coal mine inspection robot according to claim 1, further comprising an explosion-proof plate arranged in the cover plate, wherein a direct current transformer, a robot controller and a video server are arranged in the explosion-proof plate; the direct current transformer provides corresponding power supply voltage for the robot controller and the video server in the warehouse; the video server is used for processing the image information of the surrounding environment acquired by the explosion-proof holder camera, and the image information is gathered to the robot controller and then sent to the terminal equipment through the wireless communication terminal.
4. The underground coal mine inspection robot according to claim 1, wherein the cameras comprise an explosion-proof depth camera and an explosion-proof pan-tilt camera, and the explosion-proof depth camera and the explosion-proof pan-tilt camera are both arranged on a cover plate of the robot; the explosion-proof depth camera collects infrared images, depth images and color images of the running environment of the robot, and the explosion-proof holder camera transmits scene environment pictures to the terminal equipment.
5. The robot for underground coal mine inspection according to claim 1, wherein the laser radar is an explosion-proof laser radar, and the explosion-proof laser radar and the toxic gas detector are both arranged on a cover plate of the robot.
6. The robot for underground coal mine inspection according to claim 1, wherein the robot is connected with a terminal device through a wireless communication terminal, and the wireless communication terminal is arranged on a cover plate of the robot.
7. The underground coal mine inspection robot according to claim 1, further comprising: the lithium iron phosphate battery is used for providing electric energy for the robot and arranged in the explosion-proof battery compartment, and the explosion-proof battery compartment is arranged in a cover plate of the robot.
8. The underground coal mine inspection robot according to claim 1, further comprising a left wheel motor driver, a right wheel motor driver, a left wheel drive motor and a right wheel drive motor which are arranged in the cover plate; the left wheel motor driver controls a left wheel driving motor, the right wheel motor driver controls a right wheel driving motor, and under the control of the left wheel motor driver and the right wheel motor driver, the driving wheels realize the forward and backward movement and the rotation movement of the robot by using differential motion.
9. The underground coal mine inspection robot according to claim 5, wherein a chassis frame is arranged below the cover plate, and the chassis frame is connected with the crawler mechanism.
10. The underground coal mine inspection robot according to claim 9, wherein the crawler mechanism comprises a crawler, and a tension wheel, a thrust wheel and a driving wheel which are connected with the crawler; the tensioning wheel is pressed on the track and used as a follow-up wheel to control the tensioning force of the track, the supporting wheel is used for bearing the weight of the robot, and the driving wheel is used for driving the track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111080552.4A CN113858221A (en) | 2021-09-15 | 2021-09-15 | Underground coal mine inspection operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111080552.4A CN113858221A (en) | 2021-09-15 | 2021-09-15 | Underground coal mine inspection operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113858221A true CN113858221A (en) | 2021-12-31 |
Family
ID=78996023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111080552.4A Pending CN113858221A (en) | 2021-09-15 | 2021-09-15 | Underground coal mine inspection operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113858221A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170364073A1 (en) * | 2016-06-21 | 2017-12-21 | Keith Alan Guy | Modular Robotic System |
| CN209240074U (en) * | 2018-12-03 | 2019-08-13 | 新疆大学 | A kind of scene perception information syncretizing machine device people |
| CN111206961A (en) * | 2020-02-21 | 2020-05-29 | 山东阿图机器人科技有限公司 | Mine disaster early warning, investigation and rescue robot cluster system and operation method |
| US20210009214A1 (en) * | 2017-07-31 | 2021-01-14 | Guangdong Instite of Intelligent Manufacturing | Tracked Robot |
| CN212738335U (en) * | 2020-08-26 | 2021-03-19 | 山西喆星安全技术开发有限公司 | Mining explosion-proof lithium battery intelligent patrol tracked vehicle |
| CN113021298A (en) * | 2021-04-07 | 2021-06-25 | 南京理工大学紫金学院 | Mine environment detection robot |
| CN113246152A (en) * | 2021-05-31 | 2021-08-13 | 中煤科工集团沈阳研究院有限公司 | Intelligent inspection robot for underground substation for mine |
-
2021
- 2021-09-15 CN CN202111080552.4A patent/CN113858221A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170364073A1 (en) * | 2016-06-21 | 2017-12-21 | Keith Alan Guy | Modular Robotic System |
| US20210009214A1 (en) * | 2017-07-31 | 2021-01-14 | Guangdong Instite of Intelligent Manufacturing | Tracked Robot |
| CN209240074U (en) * | 2018-12-03 | 2019-08-13 | 新疆大学 | A kind of scene perception information syncretizing machine device people |
| CN111206961A (en) * | 2020-02-21 | 2020-05-29 | 山东阿图机器人科技有限公司 | Mine disaster early warning, investigation and rescue robot cluster system and operation method |
| CN212738335U (en) * | 2020-08-26 | 2021-03-19 | 山西喆星安全技术开发有限公司 | Mining explosion-proof lithium battery intelligent patrol tracked vehicle |
| CN113021298A (en) * | 2021-04-07 | 2021-06-25 | 南京理工大学紫金学院 | Mine environment detection robot |
| CN113246152A (en) * | 2021-05-31 | 2021-08-13 | 中煤科工集团沈阳研究院有限公司 | Intelligent inspection robot for underground substation for mine |
Non-Patent Citations (1)
| Title |
|---|
| 张培仁、杨兴明: "机器人***设计与算法", 中国科学技术大学出版社, pages: 173 - 66 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211087326U (en) | Electric power utility tunnel patrols and examines robot system | |
| CN111217108B (en) | A single track robot system of patrolling and examining for extreme environment band conveyer | |
| CN108000482B (en) | Explosion-proof wheeled inspection robot system | |
| CN110319888B (en) | Petrochemical inspection robot and working method thereof | |
| CN211761557U (en) | Comprehensive pipe rack inspection robot | |
| CN210452803U (en) | Obstacle-avoiding inspection robot | |
| CN213499234U (en) | Wheeled intelligent inspection robot | |
| CN104385274A (en) | Emergency disposal robot used for responding to subway sudden events | |
| CN204856208U (en) | Remote control surveys car | |
| CN110640763A (en) | Comprehensive pipe rack inspection robot | |
| CN110989609A (en) | Mining self-power-generation type inspection robot system and control method | |
| CN210466137U (en) | Safe explosion-proof inspection robot | |
| CN110703778A (en) | Intelligent safety positioning inspection robot device and system for mine | |
| CN210036823U (en) | Petrochemical inspection robot | |
| CN112659146B (en) | Vision inspection robot system and expressway vision inspection method | |
| CN113858221A (en) | Underground coal mine inspection operation robot | |
| CN212738335U (en) | Mining explosion-proof lithium battery intelligent patrol tracked vehicle | |
| CN209928282U (en) | Safety warning inspection robot | |
| CN212386475U (en) | Track inspection system | |
| CN218976771U (en) | Intelligent inspection robot for motor car chassis | |
| CN205595688U (en) | Automatic inspection device of power equipment | |
| CN209699083U (en) | Wheel type explosion-proof type crusing robot and wheel type explosion-proof type crusing robot system | |
| CN113352287A (en) | Security patrol robot for closed park and control method thereof | |
| CN215149037U (en) | Airport boundary inspection robot | |
| CN210361290U (en) | Intelligent track robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |