Tunnel maintenance robot

A technology of robots and tunnels, applied in tunnels, tunnel linings, instruments, etc., can solve the problems of low machine intelligence, inability to repair tunnel diseases, unfavorable health, etc., and achieve the effect of improving intelligence and learning efficiency

Pending Publication Date: 2022-01-11
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These detection systems not only reduce the detection workload and maintenance costs, but also improve the detection efficiency and accuracy, but there are also problems such as the detection system is not highly intelligent and cannot repair tunnel diseases when detecting diseases.
For the research and development of the tunnel disease repair system, due to the different degrees and types of diseases, complex geological conditions, cumbersome repair process, and low degree of machine intelligence, etc., it has fallen into a bottleneck
At the same time, the repair of tunnel diseases mostly depends on the operators, which makes the operators exposed to the airtight tunnel environment for a long time, which is not conducive to their health.

Method used

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Embodiment 1

[0050] Such as figure 2 As shown, the tunnel maintenance robot described in the present invention includes a depth camera 1 , a transport conduit 2 , and an injection nozzle 3 . Its main structure is a 6-DOF mechanical arm that can translate in 3 directions and rotate around 3 axes. The depth camera 1 adopts three-dimensional imaging using binocular stereo vision three-dimensional imaging technology. A depth camera 1 is installed on the left and right sides of the front end of the mechanical arm, so as to realize the real-time collection of tunnel surface disease information by 3D machine vision during the tunnel maintenance process, and transmit the disease information on the basis of qualitative analysis of the tunnel lining disease The two-stage progressive network maintenance model is further analyzed to determine the maintenance location and maintenance angle. The front end of the mechanical arm is equipped with an injection nozzle 3, the injection nozzle 3 is connecte...

Embodiment 2

[0052] This embodiment is an example of the operation steps of the tunnel maintenance robot, which mainly includes four stages of capturing images, analyzing the maintenance model, judging the repair requirement and completing the repair.

[0053] (1) Capture images: The image capture of the tunnel maintenance robot can be done on the robotic arm. Please refer to Figure 3, there are two depth cameras 1 on the left and right sides of the robotic arm, and these two depth cameras 1 complete the task of capturing images;

[0054] (2) Overhaul model analysis: the depth image taken by the depth camera 1 is sent to the processing center 4 for processing. The processing center 4 uses a two-stage progressive network framework to analyze the depth image. see Figure 4 , the general maintenance process based on the two-stage progressive network architecture mainly includes two stages, which are to determine the repair position and determine the repair angle. In the stage of determinin...

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Abstract

The invention discloses a tunnel maintenance robot. The tunnel maintenance robot comprises a depth camera, a conveying guide pipe, an injection nozzle, a processing center, a material storage bin and a mechanical arm, wherein the depth camera is arranged at the front end of the mechanical arm; the injection nozzle is also arranged at the front end of the mechanical arm, and is connected with a conveying pump through the conveying guide pipe; and the conveying pump is connected with the material storage bin. The robot photographs a part to be maintained through the depth camera, and transmits the part to be maintained to the processing center; and the processing center analyzes the part to be maintained to determine a maintenance position and an optimal maintenance angle. The processing center controls the mechanical arm to adjust the position, gives a processing signal to the conveying pump, and sprays maintenance materials to a disease place to realize synchronous maintenance. Compared with a traditional robot, the robot can repair diseases when detecting the diseases, prevents the development of structural diseases caused by manual detection neglect, and reduces the demands on the number of maintainers in the process.

Description

technical field [0001] The invention belongs to the field of tunnel maintenance, in particular to a tunnel maintenance robot. [0002] technical background [0003] In recent years, my country's tunnel engineering has developed rapidly, and has become the country with the largest scale, largest number and most complex structure of tunnel engineering in the world. However, with the increase of tunnel mileage scale and operation time, its operation and restoration are facing great challenges. For these tunnel diseases during the operation period, how to quickly detect and repair the main diseases such as tunnel cracks and water leakage has become an urgent problem to be solved in the current tunnel maintenance and operation. [0004] Based on technologies such as machine vision, ultrasonic, laser and sensors, the research on tunnel detection methods at home and abroad has achieved fruitful results, and various detection systems have appeared frequently. These detection system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E21F17/18E21D11/10G06T7/00G06T7/593G06T7/73
CPCE21F17/18E21D11/105G06T7/0004G06T7/593G06T7/74G06T2207/10028
Inventor 黄震曹琛曹颖婷张陈龙
Owner GUANGXI UNIV
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