Method and device for testing gradeability of road tunnel horizontal rail robot

Abstract

The invention provides a method and a device for testing the climbing ability of a highway tunnel horizontal rail robot, and aims to solve the problems that the friction coefficient is reduced and theoretical calculation and actual working conditions are disjointed due to rail pollutants in a tunnel, the height of a rail is adjusted through step-by-step decreasing, and a critical climbing angle is judged in combination with a laser sensor; parameters such as a rolling friction coefficient and an air resistance coefficient are introduced to evaluate the gradeability, and the defect that a traditional test method neglects environmental influence is overcome. The device adopts the design of an inverted T-shaped base bracket and a modular track, and a graded counterweight superposition test is added, so that the wide-angle working condition coverage range is expanded. According to the invention, an accurate evaluation basis is provided for tunnel robot design, and the accuracy of a robot climbing test is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel special robot testing, in particular to a method and device for testing the climbing ability of a wheel type structure driving system of a track robot. BACKGROUND

[0002] The track tunnel inspection robot belongs to a special operation robot equipment for tunnel professional field, which is generally installed on the tunnel side wall or vault, extends along the tunnel driving direction, and penetrates the whole tunnel. According to the relevant specification requirements of tunnel engineering construction, a certain longitudinal slope is arranged along the tunnel driving direction, which is convenient for the drainage of water in the tunnel. When the track tunnel inspection robot is running, it must overcome the longitudinal slope of the tunnel. At the same time, the tunnel side wall and vault are installed and arranged with signboards, emergency broadcast, ventilation fans and other facilities and equipment to ensure the safety of tunnel operation. There is an interference problem in the space range between the above-mentioned equipment and the robot track at the local position. Therefore, the working height of the robot needs to be raised or lowered to avoid obstacles, which requires a more accurate evaluation of the climbing ability of the track robot, so as to facilitate the construction of the robot track in the tunnel and the configuration of the robot working environment.

[0003] At present, the existing research on the climbing ability evaluation of the track robot mostly focuses on the use of theoretical mechanics analysis or software simulation to measure the climbing ability of the track robot, and mostly faces the structure of the clamping type track robot. There are few researches on the verification of the climbing ability of the track robot in the operation stage. Further, the highway tunnel belongs to a semi-closed space with poor air circulation. During the long-term operation of the robot, the exhaust gas of the passing vehicle and the water vapor in the air are mixed to easily form pollutants attached to the surface of the robot track. Due to the intervention of the pollutants on the surface of the track, the friction coefficient between the wheel group system of the track robot and the track is lower than the theoretical value, so that the robot system which is theoretically calculated can run after a period of operation. Affected by the pollutants on the surface of the track, the climbing ability is insufficient, and the robot cannot run.

[0004] Therefore, how to solve the problem that the theoretical technical evaluation of the climbing ability of the track robot in the highway tunnel does not match the actual application, and provide accurate evaluation basis for the design of the tunnel robot, is a problem to be solved in the field. SUMMARY

[0005] In view of the deficiencies in the prior art, the present application provides a method and device for testing the climbing ability of a wheel type structure driving system of a track robot, to solve the problem that the theoretical technical evaluation of the climbing ability of the track robot in the highway tunnel does not match the actual application in the prior art.

[0006] The technical scheme is that a highway tunnel track robot climbing ability test method and device, in a first implementation mode, the method comprises: The track robot is subjected to a climbing ability test to obtain a critical climbing angle of the track robot.

[0007] The friction coefficient between the track robot and the track, the wind resistance coefficient, the windward area, the average moving speed, the mass and the gravity acceleration of the track robot, and the air density around the track robot are obtained.

[0008] According to the friction coefficient, the wind resistance coefficient, the windward area, the average moving speed, the mass and the gravity acceleration, and the air density, the critical climbing angle is adjusted to obtain an actual critical climbing angle of the track robot.

[0009] Further, the track robot is subjected to a climbing ability test, which comprises: The initial height of the track lifting end is set, the track robot is controlled to climb along the track, and it is determined whether the track robot can climb to the track lifting end.

[0010] In response to the robot being able to climb to the track lifting end, the height of the track lifting end is lifted, and the track robot is re-controlled to climb to the track lifting end.

[0011] In response to the robot being unable to climb to the track lifting end, the height of the track lifting end is lowered, and the track robot is re-controlled to climb to the track lifting end.

[0012] This cycle is repeated until the climbing determination result of the track robot changes, and the final height of the current track lifting end is obtained.

[0013] The critical climbing angle of the track robot is calculated according to the final height and the track length.

[0014] Further, the critical climbing angle of the track robot is calculated according to the final height and the track length, which comprises: The theoretical critical climbing angle is calculated based on the geometric parameters of the track, the environmental correction parameter is introduced, and the actual critical climbing angle is calculated according to the theoretical critical climbing angle, and the calculation formula is: wherein, the theoretical critical climbing angle is represented by, the track height difference is represented by L, and the horizontal distance is represented by L, the actual critical climbing angle is represented by, the rolling friction coefficient with the track surface is represented by, the wind resistance coefficient is represented by, the windward area is represented by, wherein, ρ represents the air density in the tunnel, v represents the average moving speed of the robot, m represents the mass of the robot, and g represents the gravity acceleration.

[0015] Further, if the track lifting end reaches the top height limit and the climbing determination result of the track robot does not change, the counterweight of the robot is increased to perform the incremental load test. The final height of the current track lifting end is obtained, the standard counterweight is added to the robot, and the track robot is controlled to climb along the track, and it is judged whether the track robot can climb to the track lifting end.

[0016] In response to the robot being able to climb to the track lifting end, the standard counterweight is added to the robot, and the track robot is re-controlled to climb to the track lifting end.

[0017] In response to the robot being unable to climb to the track lifting end, the standard counterweight is reduced to the robot, and the track robot is re-controlled to climb to the track lifting end.

[0018] This cycle continues until the climbing determination result of the track robot changes, and the cumulative increased weight of the current robot is obtained.

[0019] The critical climbing angle of the track robot is calculated according to the final height, the track length and the cumulative increased weight.

[0020] Further, the critical climbing angle of the track robot is calculated according to the final height, the track length and the cumulative increased weight, and the calculation formula is: wherein, represents the theoretical critical climbing angle, represents the height difference of the track, and L represents the horizontal distance, represents the actual critical climbing angle after being corrected according to environmental factors, represents the rolling friction coefficient with the surface of the track, represents the wind resistance coefficient, represents the windward area, represents the air density in the tunnel, v represents the average moving speed of the robot, and m represents the mass of the robot, represents the cumulative increased weight, and g represents the gravity acceleration.

[0021] Further, the robot being unable to climb to the track lifting end includes: According to whether the robot triggers the laser sensor of the track lifting end, it is judged whether the robot normally climbs to the track lifting end.

[0022] In response to the laser sensor not being triggered, it is judged that the robot is unable to climb to the track lifting end.

[0023] In response to triggering the laser sensor, the instantaneous speed of the robot climbing stage is acquired.

[0024] The acceleration of the robot is calculated according to the instantaneous speed.

[0025] In response to the existence of acceleration opposite to the speed direction and exceeding the acceleration threshold, it is judged that the robot cannot climb to the track lifting end.

[0026] In response to the absence of acceleration opposite to the speed direction and exceeding the acceleration threshold, it is judged that the robot can climb to the track lifting end.

[0027] In combination with the first implementation manner, in the second implementation manner, a highway tunnel track robot climbing ability testing device comprises a base support, a lifting device, a translation sliding device and a track structure.

[0028] The base support is composed of two vertical support columns in inverted T-shaped structure.

[0029] One vertical support column of the base support is connected with the lifting device.

[0030] The other vertical support column of the base support is connected with the translation sliding device.

[0031] The translation sliding device is sleeved with the track device.

[0032] The track device comprises a track lifting end, a track main body, a track translation end and a track connecting piece; the track lifting end is fixedly connected with the lifting device, and the track translation end is sleeved on the translation sliding device.

[0033] The two ends of the track main body are connected with the track lifting end and the track translation end through the track connecting pieces; the track main body is provided with a laser sensor at the connection with the track lifting end, for judging whether the robot passes through the track top end.

[0034] The track connecting piece is composed of a plurality of circular single body structures connected in series by welding.

[0035] The track connecting piece is provided with a sealing groove at the contact surface with the track main body.

[0036] The sealing groove is embedded with an elastic retaining ring.

[0037] Further, the lifting device comprises two upper and lower transverse connecting plates, a track fixing plate, a threaded rod, a locking nut and a sliding guide rail.

[0038] The transverse connecting plate is used for fixedly connecting with the vertical support column, two sliding guide rails are connected between the two transverse connecting plates, and the sliding guide rails are respectively arranged on the two sides of the vertical support column.

[0039] The track fixing plate is sleeved on the sliding guide rail; a threaded hole is arranged in the middle of the track fixing plate and the threaded rod is sleeved in the threaded hole.

[0040] The track fixing plate is fixedly connected with the track lifting end.

[0041] The threaded rod is arranged along the length direction of the vertical support column, and the two ends of the threaded rod are respectively connected with the upper and lower horizontal connecting plates; the top of the threaded rod is fixedly connected with the driving device through the horizontal connecting plate; the top and the bottom of the threaded rod are respectively provided with locking nuts, when the threaded rod is rotated to drive the track fixing plate to rise to a certain height, the upper and lower locking nuts are tightened to lock the height.

[0042] Further, the translation sliding device comprises two horizontal support cantilevers, vertical connecting plates, a track fixing plate and sliding guide rails.

[0043] The horizontal support cantilever is used for being fixedly connected with the vertical support column; the two ends of the two horizontal support cantilevers are fixedly connected with two vertical connecting plates, and the two vertical connecting plates are fixedly connected with two sliding guide rails, and the sliding guide rails are respectively arranged on the sides close to the two horizontal support cantilevers.

[0044] The track fixing plate is arranged in the middle and sleeved on the sliding guide rail; the track fixing plate is fixedly connected with the track translation end.

[0045] According to the above technical solution, the beneficial technical effects of the present application are as follows: 1. The correction parameters such as rolling friction coefficient and air resistance coefficient are introduced, the influence of environmental factors on the evaluation of the climbing ability of the robot is comprehensively considered, the problem that the theoretical technical evaluation does not match the actual application is solved, and accurate evaluation basis is provided for the design of the tunnel robot.

[0046] 2. The critical point of the climbing ability of the robot is gradually approached by gradually decreasing the track height, and the accuracy of the evaluation of the climbing ability of the robot is improved.

[0047] 3. By setting the lifting device with dynamically adjustable height, in the case that the slope angle of the test device is insufficient, the situation that the robot climbs higher slope is simulated by increasing the weight in stages, the accurate evaluation of the climbing ability of the robot is realized, and the problems that the theoretical calculation is disconnected with the actual working condition in the traditional test device and the large-angle working condition is insufficient are solved. BRIEF DESCRIPTION OF DRAWINGS

[0048] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0049] Figure 1 This is a structural diagram of the testing device according to Embodiment 1 of the present invention; Figure 2 This is a flowchart of the testing method in Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of the track structure lifting of the test device in Embodiment 2 of the present invention.

[0050] Figure label: 1-Base bracket, 2-Lifting device, 3-Translation and sliding device, 4-Rail structure, 5-Vertical support column, 6-Rail lifting end, 7-Rail body, 8-Rail translation end, 9-Rail connector, 10-Horizontal connecting plate, 11-Rail fixing plate, 12-Threaded rod, 13-Locking nut, 14-Sliding guide rail, 15-Bolt, 16-Manual crank, 17-Horizontal support cantilever, 18-Vertical connecting plate. Detailed Implementation

[0051] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0052] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by those skilled in the art to which this invention pertains.

[0053] Example 1 A test device for testing the climbing ability of a road tunnel track-lying robot is shown in the figure below. Figure 1As shown, the system includes: a base support 1, a lifting device 2, a translational sliding device 3, and a track structure 4. The base support 1 consists of two vertical support columns 5 in an inverted T-shape. The lifting device 2 is connected to one of the vertical support columns 5 of the base support 1. The translational sliding device 3 is connected to the other vertical support column 5 of the base support 1. The track device 4 is fitted onto the translational sliding device 3. The track device includes a track lifting end 6, a track body 7, a track translation end 8, and a track connector 9. The track lifting end 6 is fixedly connected to the lifting device 2, and the track translation end 8 is fitted onto the translational sliding device 3. The two ends of the track body 4 are connected to the track lifting end 6 and the track translation end 8 respectively through the track connector 9. A laser sensor is installed at the connection between the track body 7 and the track lifting end 6 to determine whether the robot has passed the top of the track.

[0054] The track connector 9 is composed of multiple annular single-unit structures connected in series by welding. The contact surface between the track connector and the track body 7 is provided with a sealing groove. An elastic retaining ring is embedded in the sealing groove to prevent contaminants such as water vapor or carbon mud from entering the interior of the connector.

[0055] The lifting device 2 includes two horizontal connecting plates 10, a track fixing plate 11, a threaded rod 12, a locking nut 13, and a sliding guide rail 14. The horizontal connecting plates 10 are welded to the vertical support column 5. Two sliding guide rails 14 are connected between the two horizontal connecting plates 10, and the sliding guide rails 14 are respectively arranged on both sides of the vertical support column 5. The track fixing plate 11 is sleeved on the sliding guide rail 14. The track fixing plate 11 has a threaded through hole in the middle and is sleeved on the threaded rod 12. The track lifting end 6 is provided with a connecting screw hole, and the track fixing plate 11 is provided with a corresponding through hole. The two are connected and fixed by bolts 15.

[0056] The threaded rod 12 is arranged along the length of the vertical support column 5, and its two ends are respectively connected to the upper and lower horizontal connecting plates 10. The top of the threaded rod 12 passes through the horizontal connecting plate 10 and is fixedly connected to the driving device. Locking nuts 13 are respectively provided at the top and bottom of the threaded rod 12. When the threaded rod 12 rotates and drives the track fixing plate 11 to rise to a certain height, the upper and lower locking nuts 13 are tightened to lock the height. In this embodiment, the driving device is a manual crank 16 used to drive the threaded rod 12 to rotate. In other embodiments, the driving device can be replaced by a drive motor or other driving devices.

[0057] The translational sliding device 3 includes two horizontal support cantilever arms 17, a vertical connecting plate 18, a track fixing plate 11, and a sliding guide rail 14. The horizontal support cantilever arms 17 are fixedly connected to the vertical support column 5. Two vertical connecting plates 18 are fixedly connected to both ends of the two horizontal support cantilever arms 17, and two sliding guide rails 14 are fixedly connected between the vertical connecting plates 18. The sliding guide rails 14 are respectively arranged on one side close to the two horizontal support cantilever arms 17. The track fixing plate 11 is centrally located and sleeved on the sliding guide rail 14. The track fixing plate 11 is fixedly connected to the track translation end 8.

[0058] In this embodiment, optionally, the vertical support column 5 and the track translation end 8 are provided with scale lines for manual assistance in reading the distance changes of the device. For example, in this embodiment, in the initial state of the device, the track structure 4 is set horizontally, and a 0 scale line is set on the vertical support column 5 at the position aligned with the track lifting end 6, with the scale increasing sequentially upwards, and the resolution being millimeters; a 0 scale line is set on the track translation end 8 at the position aligned with the track fixing plate 11, with the scale increasing sequentially towards both ends, and the resolution being millimeters. When the device rises from the initial state, the distance moved by the track translation end 8 can be read, and the horizontal distance between the two ends of the track at this time can be calculated according to the conversion formula. Where L represents the horizontal distance and R represents the track length. The distance traveled by the translation end of the track.

[0059] In other embodiments, the distance can be obtained by using external measuring tools such as laser rangefinders for positioning, which is existing technology and will not be elaborated further. In this embodiment, by setting up a lifting device that can dynamically adjust the height, when the slope angle of the test device is insufficient, the robot can be simulated to climb a higher slope by adding counterweights in stages. This achieves an accurate assessment of the robot's climbing ability and effectively solves the problems of the disconnect between theoretical calculations and actual working conditions and the insufficient coverage of large-angle working conditions in traditional test devices.

[0060] Example 2 This embodiment provides a method for testing the climbing ability of a road tunnel track-laying robot. The flowchart of the testing method is as follows: Figure 2The process includes: raising the lifting end of the track used for robot climbing tests from an initial horizontal position by a standard height increase Δh; controlling the robot to slide from the bottom to the top of the track and acquiring the robot's movement speed in real time; determining whether the robot has passed the top of the track normally; if it has passed the top of the track, raising the lifting end by the standard height increase Δh and determining whether the lifting end has reached its top limit; if it has not reached the top limit, returning to the step of controlling the robot to slide from the bottom to the top of the track; if it has reached the top limit, increasing the robot's counterweight and entering an incremental load test; outputting the robot's critical climbing angle obtained from the incremental load test as the test result, completing the test; if it has not passed the top of the track, adjusting the lifting end through dynamic height convergence to gradually approach the robot's climbing ability critical point, recording the climbing parameters of the climbing ability critical point; the climbing parameters include the track elevation difference, track length, and robot movement speed; calculating the robot's critical climbing angle based on the climbing parameters and outputting the test result, completing the test.

[0061] The specific steps for controlling the device in the test method are as follows: In the initial state, the track structure 4 included in the device is horizontally positioned. Shaking the hand crank 16 drives the threaded rod 12 to rotate, causing the lifting device 2 to rise. After the lifting device 2 has risen to a standard height Δh, the locking nut 17 is tightened. The track lifting end 6, fixedly connected to the lifting device 2, also rises to a standard height Δh. The track translation end 8 of the track device 2 is fitted onto the sliding guide rail 14 of the translation sliding device 3 and is driven by the lifting end 6 to move to the left along the direction of the sliding guide rail 14. Figure 3 As shown. After bolt 15 is fixed, start the robot and slide it from the bottom to the top of the track. Test the robot's climbing ability according to the test method described.

[0062] In this embodiment, the height of the track lifting end is adjusted by a dynamic convergence method to gradually approach the critical point of the robot's climbing ability, based on a progressively decreasing proportional sequence {1 / 2Δh, 1 / 4Δh, 1 / 8Δh, ..., 1 / 2...}. n Δh} performs n-level convergence determination until convergence stops when any of the following conditions are met: the angle difference between two adjacent levels of adjustment is less than 1°, or the maximum number of iterations is reached (10), where n represents the current number of iterations; the climbing parameters after the convergence stops are obtained and used as the climbing parameters of the critical point of the climbing ability.

[0063] The convergence criteria for the nth level include: If n=1, then lower the lifting end by 1 / 2Δh, and control the robot to slide from the bottom of the track to the top of the track, and increment the iteration number n by one; Determine whether the robot passed the top of the track in the previous test; If the track is not passed at its top, the current nth adjustment is set to lower the lifting end by 1 / 2 of its height. n Δh, the iteration count n plus one; If the track passes its apex, the current nth adjustment is set to raise the lifting end by 1 / 2. n Δh is the iteration count n plus one.

[0064] The formula for calculating the angle obtained from two consecutive adjustments is as follows: in, This represents the angle difference between two consecutive adjustments, where n represents the current iteration number. Indicates standard height increase. This represents the elevation difference of the track after the nth level adjustment. This represents the horizontal distance after the nth level adjustment.

[0065] In this embodiment, by gradually decreasing the track height to approach the critical point of the robot's climbing ability, the accuracy of the robot's climbing ability assessment can be improved.

[0066] Some mountain tunnels, while traversing mountains, cause local climate changes, resulting in strong winds inside the tunnels. This affects the calculation of the climbing ability of the horizontal-rail robot drive system. In this embodiment, the critical climbing angle is calculated based on the current climbing parameters. The calculation formula is as follows: in, This represents the theoretical critical climbing angle. This indicates the elevation difference of the track, and L represents the horizontal distance. This represents the actual critical climbing angle after adjustments based on environmental factors. This represents the actual rolling friction coefficient with the track surface, which is determined experimentally. This represents the drag coefficient, which is determined through simulation. This represents the windward area, which is the robot's maximum projected area perpendicular to the wind direction. This indicates the air density inside the tunnel, which is approximately 1.225 kg / m³ at normal temperature and pressure. 3 v represents the robot's average moving speed, therefore Let m represent the robot's wind resistance, m represent the robot's mass, and g represent the acceleration due to gravity.

[0067] The calculation of the critical climbing angle above incorporates correction parameters such as rolling friction coefficient and air resistance coefficient, comprehensively considering the impact of environmental factors on the assessment of the robot's climbing ability, thus solving the problem of mismatch between theoretical technical assessment and practical application.

[0068] Furthermore, increasing the robot's counterweight to enter the incremental load test includes: adding standard counterweight. The robot's counterweight is adjusted; the robot is controlled to slide from the bottom to the top of the track, and it is determined whether the robot passes the top of the track normally; if it fails to pass the top, the current number of counterweight increases is recorded; the critical climbing angle of the robot under load is calculated based on the current number of counterweight increases; if it passes the top of the track, the current parameters are recorded, and the cumulative number of counterweight increases is increased by 1; the process returns to the standard counterweight increase. The steps for adding counterweights to the robot.

[0069] The critical climbing angle of the robot's load capacity, calculated based on the current number of times the counterweight is increased, is given by the following formula: in, This represents the theoretical critical climbing angle. This indicates the elevation difference of the track, and L represents the horizontal distance. This represents the actual critical climbing angle after adjustments based on environmental factors. This represents the coefficient of rolling friction with the track surface. Indicates the drag coefficient. Indicates the windward area. The vector represents the air density inside the tunnel, v represents the robot's average moving speed, and m represents the robot's mass. This indicates the addition of a standard counterweight mass, where g represents the acceleration due to gravity.

[0070] The process of determining whether the robot has successfully passed the top of the track includes: determining whether the robot has successfully passed the top of the track based on whether the robot triggers the laser sensor at the top of the track; if the laser sensor is not triggered, it is determined that the robot has not passed the top of the track; if the laser sensor is triggered, the robot's total movement speed during the sliding phase is acquired; the robot's acceleration is calculated based on the movement speed; if there is a situation where the acceleration and velocity are in opposite directions and exceed an acceleration threshold, it indicates that the robot has slipped, rolled backward, or stopped during the climbing process, and it is determined that the robot has not passed the top of the track. In this embodiment, a multi-dimensional anomaly determination mechanism, which uses laser sensor trigger signals and detects sudden changes in acceleration, avoids test result deviations caused by misjudgments from a single sensor, thus improving the accuracy of the test.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A method for testing the climbing ability of a road tunnel track-lying robot, characterized in that, include: A slope-climbing ability test was conducted on the rail-mounted robot to obtain its critical slope-climbing angle. The friction coefficient between the lying-on-rail robot and the track, as well as the drag coefficient, frontal area, average moving speed, mass, gravitational acceleration, and surrounding air density of the lying-on-rail robot are obtained. The critical climbing angle is adjusted based on the friction coefficient, wind resistance coefficient, windward area, average moving speed, mass, gravitational acceleration, and air density to obtain the actual critical climbing angle of the track-laying robot.

2. The method for testing the climbing ability of a road tunnel track-lying robot according to claim 1, characterized in that, The climbing ability of the track-climbing robot was tested, including: Set the initial height of the track lifting end, control the horizontal robot to climb along the track, and determine whether the horizontal robot can climb to the track lifting end. In response to the robot's ability to climb to the track lifting end, the height of the track lifting end is raised, and the horizontal robot is controlled to climb back to the track lifting end. In response to the robot's inability to climb to the track lifting end, the height of the track lifting end is reduced, and the horizontal robot is controlled to climb to the track lifting end again. This process continues until the climbing determination result of the horizontal robot changes, and the final height of the current track lifting end is obtained; The critical climbing angle of the horizontal-rail robot is calculated based on the final height and track length.

3. The method for testing the climbing ability of a road tunnel track-lying robot according to claim 2, characterized in that, The critical climbing angle of the horizontal-rail robot is calculated based on the final height and track length, including: The theoretical critical climb angle is calculated based on the track's geometric parameters. Environmental correction parameters are introduced, and the actual critical climb angle is calculated based on the theoretical critical climb angle. The calculation formula is as follows: in, This represents the theoretical critical climbing angle. This indicates the difference in track elevation, where L represents the horizontal distance. Indicates the actual critical climbing angle. This represents the coefficient of rolling friction with the track surface. Indicates the drag coefficient. Indicates the windward area. Let v represent the air density inside the tunnel, v represent the robot's average moving speed, m represent the robot's mass, and g represent the acceleration due to gravity.

4. The method for testing the climbing ability of a road tunnel track-lying robot according to claim 2, characterized in that, If the track lifting end reaches the top height limit and the climbing judgment result of the horizontal robot does not change, then increase the robot's counterweight and conduct an incremental load test: Obtain the final height of the current track lifting end, add standard counterweights to the robot, control the lying-on-rail robot to climb along the track, and determine whether the lying-on-rail robot can climb to the track lifting end; In response to the robot's ability to climb to the track lifting end, a standard counterweight is added to the robot, and the robot is controlled to climb back to the track lifting end. In response to the robot's inability to climb to the track lifting end, the standard counterweight to the robot is reduced, and the robot is recontrolled to climb to the track lifting end. This process is repeated until the climbing determination result of the horizontal robot changes, and the current cumulative increase in weight of the robot is obtained. The critical climbing angle of the horizontal rail robot is calculated based on the final height, track length, and cumulative weight increase.

5. The method for testing the climbing ability of a road tunnel track-lying robot according to claim 4, characterized in that, The critical climbing angle of the horizontal rail robot is calculated based on the final height, track length, and cumulative weight increase. The calculation formula is as follows: in, This represents the theoretical critical climbing angle. This indicates the difference in track elevation, where L represents the horizontal distance. This represents the actual critical climbing angle after adjustments based on environmental factors. This represents the coefficient of rolling friction with the track surface. Indicates the drag coefficient. Indicates the windward area. The vector represents the air density inside the tunnel, v represents the robot's average moving speed, and m represents the robot's mass. This represents the cumulative increase in weight, and g represents the acceleration due to gravity.

6. The method for testing the climbing ability of a road tunnel track-lying robot according to claim 2, characterized in that, The robot cannot climb to the track lifting end, including: The robot's ability to climb to the track lifting end is determined by whether it triggers the laser sensor at the track lifting end. If the laser sensor is not triggered, it is determined that the robot cannot climb to the track lifting end; In response to triggering the laser sensor, the robot's total instantaneous velocity during the climbing phase is acquired; Calculate the robot's acceleration based on its instantaneous velocity; If there is an acceleration that is opposite to the direction of velocity and exceeds the acceleration threshold, it is determined that the robot cannot climb to the track lifting end; If there is no acceleration in the opposite direction to the velocity and the acceleration exceeds the acceleration threshold, then it is determined that the robot can climb to the track lifting end.

7. A testing device for the climbing ability of a road tunnel track-lying robot, used to implement the method as described in any one of claims 1-6, characterized in that, The device includes: a base support, a lifting device, a translational sliding device, and a track structure; The base support consists of two vertical support columns with an inverted T-shaped structure; A lifting device is connected to one of the vertical support columns of the base bracket; A translational sliding device is connected to another vertical support column of the base bracket; The translational sliding device is fitted with a track device; The track device includes a track lifting end, a track body, a track translation end, and a track connector; the track lifting end is fixedly connected to the lifting device, and the track translation end is sleeved on the translation sliding device. The two ends of the track body are respectively connected to the track lifting end and the track translation end through the track connector; a laser sensor is provided at the connection between the track body and the track lifting end to determine whether the robot has passed the top of the track; The track connector is composed of multiple annular single-unit structures connected in series by welding. The contact surface between the track connector and the track body is provided with a sealing groove; An elastic retaining ring is embedded in the sealing groove.

8. The highway tunnel track-climbing robot slope-climbing ability testing device according to claim 7, characterized in that, The lifting device includes two horizontal connecting plates, a track fixing plate, a threaded rod, a locking nut, and a sliding guide rail; The horizontal connecting plate is used for fixed connection with the vertical support column, and two sliding guide rails are connected between the two horizontal connecting plates. The sliding guide rails are respectively arranged on both sides of the vertical support column. The track fixing plate is sleeved on the sliding guide rail; the track fixing plate has a threaded through hole in the middle and is sleeved on the threaded rod; The track fixing plate is fixedly connected to the track lifting end; The threaded rod is arranged along the length of the vertical support column, and its two ends are respectively connected to the upper and lower horizontal connecting plates; the top of the threaded rod passes through the horizontal connecting plate and is fixedly connected to the driving device; the top and bottom of the threaded rod are respectively provided with locking nuts, and when the threaded rod rotates to drive the track fixing plate to rise to a certain height, the upper and lower locking nuts are tightened to lock the height.

9. A test device for testing the climbing ability of a road tunnel track-lying robot according to claim 8, characterized in that, The translational sliding device includes two horizontal support cantilever arms, a vertical connecting plate, a track fixing plate, and a sliding guide rail; The lateral support cantilever is used to be fixedly connected to the vertical support column; two vertical connecting plates are fixedly connected to both ends of the two lateral support cantilever, and two sliding guide rails are fixedly connected between the vertical connecting plates, with the sliding guide rails respectively arranged on one side close to the two lateral support cantilever; The track fixing plate is centrally located and sleeved on the sliding guide rail; the track fixing plate and the track translation end are fixedly connected.

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