Tunnel automatic maintenance multi-arm robot and control method thereof

Abstract

The invention provides a tunnel automatic maintenance multi-arm robot and a control method thereof. The tunnel automatic maintenance multi-arm robot comprises a walking mechanism, a fixed base plate arranged on the walking mechanism, a plurality of multi-degree-of-freedom mechanical arms arranged on the fixed base plate and a main control platform. Image detection devices and maintenance tool fixing grooves are formed in the tail ends of the multi-degree-of-freedom mechanical arms in a carrying mode, and the main control platform is correspondingly in communication connection with the multi-degree-of-freedom mechanical arms, the image detection devices and maintenance tools arranged in the maintenance tool fixing grooves. By arranging the multiple multi-degree-of-freedom mechanical arms, multi-directional simultaneous operation of the robot can be achieved, and the maintenance efficiency of tunnel maintenance equipment is improved. Big data processing and machine learning algorithms are adopted, automatic task planning and mechanical arm track planning are achieved, and the functions of automatic tunnel detection and maintenance can be intelligently achieved.

Description

technical field

[0001] The present disclosure relates to the relevant technical field of tunnel robots, and in particular, relates to a tunnel automatic maintenance dobby robot and a control method thereof. Background technique

[0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

[0003] At present, a large number of tracks in my country have entered the stage of operation and maintenance, but the space of rail transit tunnels is small, the electromechanical equipment is dense, and the maintenance time for skylights is short, resulting in low maintenance efficiency, poor effect, and difficult disease treatment, resulting in shortened service life and even threatening traffic operations. Safety.

[0004] In view of the complex environment of the tunnel and the difficulty of multi-type disease treatment, the comprehensive maintenance operation equipment needs to have the f...

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