Tunnel water seepage detection omnidirectional mobile robot based on binocular vision

Abstract

The invention discloses a tunnel water seepage detection omnidirectional mobile robot based on binocular vision and belongs to the field of tunnel detection robots. The robot comprises a vehicle body,omnidirectional wheel parts, a sensor unit, a control unit and an infrared detection unit. The omnidirectional wheel parts are controlled by the control unit to drive the vehicle body, and the omnidirectional movement of the robot is achieved. The position of the robot is obtained through the sensor unit for real-time positioning, infrared and optical images of a tunnel site are remotely obtainedthrough the infrared detection unit, and the remote monitoring of a tunnel by an inspector is achieved. According to the invention, the problems of high danger degree, poor working environment and heavy working task of traditional tunnel water seepage manual detection can be effectively solved, and the safety and accuracy of tunnel water seepage detection can be improved.

Description

technical field [0001] The invention belongs to the field of tunnel detection robots, and more specifically relates to an omnidirectional mobile robot for tunnel water seepage detection based on binocular vision. Background technique [0002] In recent decades, with the rapid development of economy and transportation, a large number of tunnels have been built, and as time goes by, there are many and long tunnels that need to be inspected and repaired. But at present, domestic tunnel inspection and maintenance work is done manually: on the one hand, inspection workers have heavy inspection tasks, heavy workload, and low efficiency; There are many defects such as dust, and even the threat of accidents such as collapse and gas explosion, resulting in high risk of tunnel inspection and poor working environment. [0003] Therefore, there is an urgent need for an automated detection equipment to replace the traditional manual on-site inspection, so as to overcome the shortcomings...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above defects or improvement needs of the prior art, the present invention provides an omnidirectional mobile robot for tunnel detection based on binocular vision. By arranging an automatic image acquisition unit and a sensing unit on site, it can remotely connect with the background to realize Automated scanning, detection and recording of the tunnel, which is conducive to remote identification and positioning of the leaking water location, and overcomes the shortcomings and risks of manual on-site detection

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