Intelligent inspection robot and inspection method

Abstract

The invention discloses an intelligent inspection robot and an inspection method. The intelligent inspection robot consists of a robot body, a mobile platform, a positioning navigation device, an automatic leveling device, a measurement instrument, an image collection device, a communication device, and a built-in server. According to the intelligent inspection robot, the robot performs inspectionaccording to a preset route through the positioning navigation device, staying at different preset detection positions for operation is performed, the self-leveling device provides a strictly horizontal basic platform for the measurement instrument, the robot guides the measurement instrument to measure a prism in the pipe tunnel, stores and calculates detection data, gives a settlement deformation measurement result, and can give a detection result of water leakage and other diseases, and the whole device can replace manual measurement, solves a problem of automatic detection of the pipe tunnel, and is convenient and fast to use and high in practicability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to the field of inspection robots. Background technique [0002] In recent years, due to the rapid development of infrastructure, the stock of highway and railway tunnels and urban comprehensive utility corridors has continued to increase. Statistics show that as of the end of 2018, there were 17,738 road tunnels in China with a total length of 17,236.1km, including world-renowned submarine tunnels such as the Hong Kong-Zhuhai-Macao Bridge Submarine Tunnel. The settlement and deformation of these tunnels are the focus of tunnel and pipe gallery maintenance. [0003] Due to changes in the underground water level of the tube tunnel, natural subsidence of the soil seabed, and nearby construction will affect the original tube tunnel structure, it will also lead to changes in soil stress around the tube tunnel, which will cause displacement of the tube tunnel structure, which will affect ...

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Problems solved by technology

[0010] At the same time, there is also a method of continuously deploying multiple total stations in the tunnel for automatic measurement. However, due to the high price of high-precision total stations, it is difficult to implement for long tunnels because of the high cost.

Although the above methods can save a lot of labor, they all use the method of arranging a large number of measuring instruments, which has a certain impact on the tunnel structure, and a large amount of construction is required for the tunnel, and the overall cost is high.

[0011] These different automated monitoring methods have their own advantages and disadvantages, usually unable to take into account, the monitoring range is limited, and the monitoring reference point often changes with the overall deformation of the tunnel, and often still needs to be corrected by manual monitoring in practical applications

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