Inspection robot and system for inspecting tunnel construction

Abstract

The invention discloses an inspection robot and system for inspecting tunnel construction. The inspection robot comprises a walking device which is used for being hung on a guide rail located at the top of a tunnel and can move along the guide rail, a body which is connected to the walking device, a pan-tilt installed on the body, and a camera which is installed on the pan-tilt and can be driven by the pan-tilt to conduct double-axis rotation. The inspection robot can operate along the guide rail located at the top of the tunnel and thus can collect images on the way through the camera. Moreover, because the inspection robot is located at the top of the tunnel, the viewing angle of the camera is to look down the lower portion of the tunnel and is not prone to being shielded, meanwhile, thepan-tilt can drive the camera to rotate, a lens of the camera faces different angles, and all positions below the inspection robot can be seen through the camera. Through the inspection robot, the labor intensity of inspection of manpower can be relieved, and the inspection efficiency and accuracy are improved.

Description

technical field [0001] The present invention generally relates to a robot technology, and in particular, relates to an inspection robot for inspecting construction tunnels. Background technique [0002] During tunnel construction, inspection and monitoring of the construction environment can reduce the probability of accidents, and at the same time, the information of the accidents that have occurred can be obtained at the first time, so as to facilitate subsequent timely disposal to minimize losses. However, due to the long and narrow space in the tunnel and the large number of vehicles transporting it, manual inspection is difficult. [0003] Taking the shield tunneling method as an example, the shield tunneling method is widely used in the excavation of underground tunnels. This construction method has obvious advantages: excavation and lining operations are carried out under the cover of the shield tunnel, and there is sufficient construction safety; Underground constru...

AI Technical Summary

Problems solved by technology

[0004] The internal space of the tunnel constructed by shield tunneling is limited, and there are slag transport trolley passages and pedestrian passages below. At present, the inspection work in the shield tunnel mainly adopts manual inspection, and the construction time of the shield tunnel is relatively long, usually as long as one or two years , and non-stop construction day and night, manual inspection is difficult to inspect in real time, there are still many covered areas when the slag transport trolley is walking, it is difficult for the inspection personnel to inspect these blocked areas, and it is difficult to ensure the safety of the inspection personnel themselves Guarantee

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