Tunnel structure disease identification system and method based on track type inspection robot

A technology for inspection robots and tunnel structures, applied in character and pattern recognition, instruments, computer parts, etc., can solve problems such as inability to identify tunnel structure diseases, and achieve the effects of expanding viewing angles, reducing missed inspections, and increasing electric telescopic mechanisms.

Pending Publication Date: 2019-09-17
CHONGQING JIAOTONG UNIVERSITY
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the present invention provides a tunnel structure defect identification system based on a track-type inspection robot, which solves

Method used

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  • Tunnel structure disease identification system and method based on track type inspection robot
  • Tunnel structure disease identification system and method based on track type inspection robot
  • Tunnel structure disease identification system and method based on track type inspection robot

Examples

Experimental program
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specific Embodiment approach 1

[0036] reference figure 1 versus figure 2 As shown, an orbital inspection robot-based tunnel structure disease identification system includes an orbital inspection robot 3 installed on the arch waist of the tunnel 1 and an orbital inspection robot 3 installed on the annular track 1; The robot 3 includes a body structure, a sensing system and a control system;

[0037] The body structure includes a driving device that is used to coordinately install on the circular track and can drive the robot to move according to the operating instructions sent by the control system; the driving device includes a motor, a power supply system and an actuator;

[0038] The sensing system includes various types of traffic environment detection sensors, tunnel structure detection sensors, panoramic cameras with pan-tilt, laser / millimeter wave radar, and two-dimensional code scanners 31 installed on the body structure; the control system includes a carrier Type server, the carrier type server is equip...

specific Embodiment approach 2

[0060] In order to expand the viewing angle in the vertical direction, the difference from Embodiment 1 is that an electric telescopic mechanism is added, specifically: the pan-tilt camera is connected to the main body of the rail-type inspection robot through the electric telescopic mechanism; the load-bearing server can control the electric The telescopic mechanism is telescopic up and down. The electric expansion and contraction mechanism and the controller controlling the electric expansion and contraction mechanism to expand and contract up and down are all the prior art, so the principle is not repeated here.

[0061] A tunnel structure disease identification method adopts the tunnel structure disease identification system based on a rail-type inspection robot in this specific embodiment, and includes the following steps:

[0062] Step B1: The orbital inspection robot patrols the tunnel along the circular track at the set operating speed (no more than 15km / h), and uploads the...

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Abstract

The invention discloses a tunnel structure disease identification system based on a track type inspection robot. The tunnel structure disease identification system comprises an annular track installed on a tunnel arch waist, an inspection robot installed on the annular track, a robot positioning system, a communication system and a control station. The robot comprises a robot body, a bearing type server and a pan-tilt-zoom camera. A sensing system comprises a camera provided with an electric holder, a tunnel harmful gas concentration and air pressure sensor, a temperature/humidity sensor and a brightness and wind speed sensor. A control system mainly configures a tunnel structure disease identification program and a positioning and control program for robot inspection operation on the server. The tunnel structure disease identification program is used for discriminating and positioning tunnel diseases according to the video images and other sensors. The tunnel structure disease identification system solves the technical problem that in the prior art, tunnel structure diseases cannot be automatically and comprehensively discriminated, can effectively relieve the manual inspection pressure of an existing tunnel, and can increase the tunnel safety coefficient.

Description

Technical field [0001] The invention relates to the technical field of tunnel monitoring, in particular to a tunnel structure disease recognition system based on a rail-type intelligent inspection robot, and also to a tunnel structure disease recognition method. Background technique [0002] my country's transportation construction is entering a period of rapid development. my country has now become the country with the most tunnels, the most complex, and the fastest development in the world. With the increase of passenger flow, transportation facilities are gradually developing in mountainous areas. Due to the restrictions of topography and geological conditions, mountainous transportation facilities are often passed by bridges and tunnels. Traffic tunnels are long and narrow buildings. If a disaster occurs, taking into account the characteristics of the disaster, rescue is difficult and the consequences are unpredictable. With the deepening of tunnel construction, the pressur...

Claims

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Application Information

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IPC IPC(8): G06K17/00G06K9/00G01D21/02
CPCG06K17/0025G01D21/02G06V20/10
Inventor 马庆禄邹政乔娅张琳袁新新
Owner CHONGQING JIAOTONG UNIVERSITY
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