Multi-arm robot for detection and disease screening of tunnel lining in operational period

Abstract

The invention discloses a multi-arm robot for detection and disease screening of a tunnel lining in an operational period. The multi-arm robot comprises a moving platform, and an environment detectiondevice and a disease detection device are arranged on the moving platform, wherein the disease screening device is arranged on the moving platform through multi-degree-of-freedom mechanical arms, andeach multi-degree-of-freedom mechanical arm is provided with an attitude detection module; a controller receives environment data and mechanical arm attitude data sensed by the environment detectiondevice and the attitude detection module and sends a control instruction to the moving platform and the multi-degree-of-freedom mechanical arms according to the environment data to achieve movement ofthe robot; and the controller receives structural data, sensed by the disease detection device, of the tunnel lining to conduct disease screening. According to the multi-arm robot, the surface and the interior of the tunnel lining can be comprehensively and automatically detected.

Description

technical field [0001] The invention belongs to the field of tunnel disease detection, in particular to a multi-arm robot used for tunnel lining detection and disease diagnosis during operation. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] With the construction of a large number of tunnel projects and put into operation one after another, the importance of its safe operation is particularly important. During its long-term service, under the influence of various factors such as natural environment and climate change, and periodic fatigue loads such as driving, a large number of tunnel structures during the operation period have structures such as lining cracks, steel bars rusting, internal voids, water seepage and mud leakage, etc. Hidden diseases, the above-mentioned diseases can easily cause the performance degradation of the tunnel ...

AI Technical Summary

Problems solved by technology

In the field of underground engineering such as tunnels, most of the existing inspection robots are aimed at fixed detection lines such as cable tunnels. The robots are mainly guide rails, and special-purpose travel tracks for robots need to be installed in the tunnels, which are difficult to apply to roads, railways, and subway tunnels.

The emerging wall-climbing, flying, and legged robots used for tunnel defect detection have small loads, which are far from meeting the load requirements for precision non-destructive testing equipment with large volume and mass.

[0005] Existing inspection robots used in rail tunnels such as subway tunnels are mostly equipped with surface inspection equipment such as line-scanning or surface-scanning high-definition cameras, infrared imagers, and laser 3D scanners. The following problems exist: 1) Surface-scanning high-definition cameras, infrared The surface detection images obtained by imaging equipment are easily distorted after splicing, which seriously affects the detection effect; 2) The laser 3D scanner can obtain absolute displacement images without distortion, but the scanning speed is slow, resulting in slow detection speed; 3) Line scanning The imaging speed of the camera is fast and the image distortion is small, but the imaging effect is seriously affected by the change of the focal length of the light source and the camera. The readjustment of the tunnel diameter is difficult to apply and promote in road tunnels; 4) The above-mentioned detection equipment can only detect cracks, shedding and water leakage on the surface of the tunnel structure, and cannot meet the urgent needs of internal damage detection of the structure

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