Underground tunnel safety inspection robot

Abstract

The embodiment of the invention provides an underground tunnel safety inspection robot. The underground tunnel safety inspection robot includes an inspection track and a robot body which is installedon the inspection track and can move along the inspection track. The robot body is internally provided with a main control system. The main control system comprises a self-balancing control module, amotor control module, a positioning module and an image recognition module. The self-balancing control module is used for acquiring the attitude information of the robot body according to a three-dimensional inertial measurement unit of the robot body, and automatically adjusting the heights of electric servo wheels in electric servo push rods to enable the robot body to be in a horizontal state when the robot body is deflected. The motor control module is used for controlling the rotating speed and heights of the electric servo wheels in the electric servo push rods. The positioning module isused for acquiring position information of the robot in real time. The image recognition module is used for detecting an image collected during the movement of the robot, and identifying water staininformation and crack information in a tunnel image.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of safety inspection, and more specifically, relate to an underground tunnel safety inspection robot. Background technique [0002] In recent years, with the rapid development of my country's social economy, the process of urbanization has been accelerating, the total amount of urban traffic demand is also increasing sharply, and the contradictions of urban traffic and transportation have become increasingly prominent. Compared with the traditional ground transportation mode, the subway, as an important tool of urban transportation, has the advantages of large transportation capacity, fast speed, punctuality, convenience, energy saving and environmental protection, etc., and is playing an increasingly important role in improving the urban transportation environment. Widely used in many cities. [0003] In the cities that have been built or are under construction in my country, ther...

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Problems solved by technology

This also leads to an increase in the degree of settlement after construction when the foundation reinforcement effect is not good or is affected by the external environment, which increases the stress concentration of the structure and easily leads to the appearance of structural cracks

[0010] (4) Insufficient structural strength

For the existing cracks, the long-term subway operation load will easily lead to the up and down vibration of the ballast bed and the phenomenon of sucking back. The phenomenon of sucking back will cause the water to erode the cracks continuously and easily make the cracks expand.

[0014] (6) Water leakage problem

At present, manual inspections are mainly carried out in tunnels, that is, relying on human eye detection and manual instrument detection, which has the disadvantages of high requirements for inspectors, and it is difficult to guarantee the safe operation of inspectors. There are safety uncertainties, and manual inspection has a large subjectivity, even experienced testers can hardly guarantee the integrity and accuracy of test results

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