Tunnel diagnostic vehicle and diagnostic system

Abstract

The present invention discloses a tunnel diagnostic vehicle and a diagnostic system. The tunnel diagnostic vehicle includes a vehicle body, a detection device and a central control device. The detection device is arranged on the vehicle body; the central control device is arranged on the vehicle body and is provided with a control module and a diagnostic module that are communicatively connected. The control module is communicatively connected with the detection device and the cloud platform to collect tunnel data. The diagnostic module is used to fuse and process the tunnel data and output preliminary diagnostic results. The detection equipment of the present application comprehensively collects data information in the tunnel as the vehicle body moves, thereby improving detection efficiency. The control module transmits the collected tunnel data to the diagnostic module and uploads it to the cloud platform at the same time. The diagnostic module quickly gives preliminary diagnostic results, and the cloud platform performs detailed and comprehensive data analysis. In this way, it is convenient for operation and maintenance personnel to promptly resolve some obvious tunnel diseases and avoid safety hazards. While ensuring a comprehensive diagnosis of tunnel diseases, the level and efficiency of diagnosis are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection equipment, and in particular to a tunnel diagnostic vehicle and a diagnostic system. Background Art

[0002] Currently, urban rail tunnels rely on visual inspection and instrument testing for various defects, which presents safety uncertainties. Furthermore, manual inspections are highly subjective, making it difficult to guarantee complete and accurate results. As the workload continues to increase, the time required is also increasing. Existing track inspection vehicles also suffer from incomplete inspections and require a long time to obtain diagnostic results. Summary of the Invention

[0003] The main purpose of the present invention is to provide a tunnel diagnosis vehicle, aiming to improve the automation level of tunnel diagnosis and improve the level and efficiency of tunnel disease diagnosis.

[0004] To achieve the above objectives, the tunnel diagnostic vehicle proposed by the present invention includes:

[0005] body;

[0006] a detection device, the detection device being mounted on the vehicle body and used to collect tunnel data; and

[0007] A central control device is provided on the vehicle body and is provided with a control module and a diagnostic module that are communicatively connected. The control module is communicatively connected to the detection device to collect the tunnel data. The diagnostic module is used to fuse and process the tunnel data and output preliminary diagnostic results. The control module is communicatively connected to the cloud platform to upload the tunnel data for analysis and diagnosis.

[0008] In one embodiment, the detection equipment includes an apparent disease detection equipment, a hidden disease detection equipment and a tunnel deformation detection equipment. The apparent disease detection equipment, the hidden disease detection equipment and the tunnel deformation detection equipment are arranged at intervals on the vehicle body and are all electrically connected to the control module.

[0009] In one embodiment, the tunnel deformation detection device is provided at the rear end of the vehicle in the direction of travel, and the vehicle comprises:

[0010] A detection area, wherein the detection area is provided with a detection space, and the apparent disease detection equipment and the hidden disease detection equipment are arranged in the detection space; and

[0011] The control area is arranged on at least one side of the detection area, the control area is provided with a control space, and the central control device is arranged in the control space.

[0012] In one embodiment, the hidden disease detection device and the apparent disease detection device are arranged at intervals along the length direction of the vehicle body, and in the direction of travel, the hidden disease detection device is arranged before the apparent disease detection device;

[0013] And / or, the surface disease detection device includes a visible light collection component and an infrared light collection component arranged toward the tunnel surface, and the visible light collection component and the infrared light collection component are electrically connected to the control module to collect tunnel data.

[0014] In one embodiment, the hidden disease detection equipment is provided with a plurality of mechanical arm fixtures and a plurality of radar antennas, and the plurality of mechanical arm fixtures are spaced apart along the length direction of the vehicle body;

[0015] An end of the manipulator tooling away from the vehicle body is connected to the radar antenna, and the manipulator tooling and the radar antenna are electrically connected to the control module.

[0016] In one embodiment, at least two of the radar antennas are provided at the bottom of the vehicle body for detecting the track plate;

[0017] And / or, the radar antenna is provided with a second ranging device facing the tunnel surface, and the second ranging device is electrically connected to the control module;

[0018] And / or, the robotic arm tooling is provided with a retractable robotic arm;

[0019] And / or, an obstacle avoidance radar is provided at the front end of the vehicle in the direction of travel, and the obstacle avoidance radar is electrically connected to the control module.

[0020] In one embodiment, the tunnel deformation detection device is a three-dimensional laser radar, and the three-dimensional laser radar is arranged in the middle of the rear end of the vehicle body;

[0021] And / or, the tunnel diagnostic vehicle further includes an interactive device, which is disposed in the control space and electrically connected to the central control device, and is used for displaying data and inputting commands.

[0022] In one embodiment, the control area includes a first control room located at the front end of the vehicle in the direction of travel and a second control room located at the rear end of the vehicle in the direction of travel, the central control equipment is located in the first control room, the tunnel deformation detection equipment is located outside the second control room, and the detection area is located between the first control room and the second control room;

[0023] And / or, the detection area is provided with a hatch covering the vehicle body, the hatch covers the vehicle body and the hatch can be pushed and pulled along the length direction of the vehicle body to open or close the detection space.

[0024] In one embodiment, the tunnel diagnostic vehicle is further provided with a power device, which is provided at the bottom of the vehicle body and electrically connected to the control module;

[0025] At least two pairs of wheels are provided at the bottom of the vehicle body, and the output end of the power device is drivingly connected to at least one pair of wheels to drive the wheels to rotate.

[0026] The present invention also provides a diagnostic system, comprising:

[0027] cloud platforms; and

[0028] In the tunnel diagnostic vehicle as described in any of the above embodiments, the central control device is communicatively connected to the cloud platform.

[0029] The tunnel diagnostic vehicle of this application places detection equipment and central control equipment on a vehicle body that can travel along the tunnel. The detection equipment can comprehensively collect data and information within the tunnel as the vehicle body moves, thereby improving detection efficiency. The control module is used to collect tunnel data and simultaneously transmit it to the diagnostic module and upload it to the cloud platform. The diagnostic module can quickly deliver preliminary diagnostic results, allowing operations and maintenance personnel to promptly resolve some obvious tunnel problems and avoid safety hazards. The cloud platform then conducts detailed and comprehensive data analysis and provides detailed diagnostic results. In this way, while ensuring a comprehensive diagnosis of tunnel problems, the level and efficiency of diagnosis are improved, allowing some problems to be remedied in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0031] Figure 1 This is a schematic structural diagram of an embodiment of a tunnel diagnostic vehicle according to the present invention;

[0032] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0033] Figure 3 This is a schematic structural diagram of another embodiment of a tunnel diagnostic vehicle according to the present invention;

[0034] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0035] Figure 5 This is a schematic structural diagram of an embodiment of an apparent disease detection device of the present invention;

[0036] Figure 6 for Figure 5 Schematic diagram of the internal structure of the epidermal disease detection equipment;

[0037] Figure 7 This is a schematic structural diagram of another embodiment of a tunnel diagnostic vehicle according to the present invention;

[0038] Figure 8 This is a schematic structural diagram of an embodiment of a hidden disease detection device of the present invention;

[0039] Figure 9 for Figure 8 Schematic diagram of the structure of the middle vault tooling.

[0040] Description of Figure Numbers:

[0041]

[0042]

[0043] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0046] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] In order to achieve the purpose of improving the automation level of tunnel diagnosis and enhancing the efficiency of tunnel disease detection and diagnosis, the present invention proposes a tunnel diagnosis vehicle 100.

[0048] Reference Figures 1 to 9 In some embodiments of the present invention, the tunnel diagnostic vehicle 100 includes a vehicle body 10, a detection device, and a central control device. The detection device is installed on the vehicle body 10 and is used to collect tunnel data. The central control device is installed on the vehicle body 10 and includes a control module and a diagnostic module that are communicatively connected. The control module is communicatively connected to the detection device to collect tunnel data. The diagnostic module is used to integrate and process the tunnel data and output preliminary diagnostic results. The control module is communicatively connected to the cloud platform to upload the tunnel data for analysis and diagnosis.

[0049] In one embodiment, vehicle 10 is a self-powered, movable device. The central control device and detection equipment are mounted on vehicle 10 and move with vehicle 10 within tunnel 200. To ensure sufficient time for the detection equipment to collect data, vehicle 10 travels within tunnel 200 at a speed of 5 to 20 km / h.

[0050] The detection equipment includes, but is not limited to, equipment for detecting apparent tunnel defects and hidden tunnel defects. As the vehicle 10 travels through the tunnel 200, the detection equipment collects as comprehensive data as possible from both the surface and interior of the tunnel 200. Optionally, this data may include image information, electromagnetic pulse signals, and the like.

[0051] Optionally, the detection equipment is electrically connected to the central control device via a bus such as LIN / CAN or TCP-IP, allowing the control module to collect tunnel data collected by the detection equipment via the bus. The control module not only collects data but also generates and issues commands to control the coordinated operation of the various components of the tunnel diagnostic vehicle 100.

[0052] The diagnostic module is used to analyze and integrate the tunnel data collected by the control module and quickly and timely provide preliminary diagnostic results. The preliminary diagnosis can identify defects including, but not limited to, large cracks or collapses on the surface of the tunnel 200, hollowness, etc.

[0053] In some embodiments, tunnel diagnostic vehicle 100 can be remotely controlled or unmanned to move along tunnel 200 and perform tunnel 200 inspections. Generally, collected tunnel data requires a lengthy analysis and diagnosis process to obtain a detailed and comprehensive diagnostic result, which is then used to remedy tunnel 200 defects. However, in this embodiment, the diagnostic module can promptly provide diagnostic results for more obvious defects as a reference, allowing maintenance personnel to immediately remedy any obvious defects in tunnel 200 and avoid potential safety hazards.

[0054] In addition, the collected tunnel data is sent to the diagnostic module for preliminary diagnosis and uploaded to the cloud platform through communication equipment. A more detailed and comprehensive data analysis is performed on the cloud to obtain detailed diagnostic results and maintenance recommendations.

[0055] In one embodiment, the cloud platform is a big data platform that can perform operations such as comparing and analyzing the uploaded tunnel data in combination with information in a large database. Optionally, the central control device communicates with the cloud platform via a wireless communication device that supports Wi-Fi 6 to enable rapid data transmission and improve efficiency.

[0056] The tunnel diagnostic vehicle 100 of the present application utilizes detection equipment and a central control device mounted on a vehicle body 10 capable of traveling along a tunnel 200. This allows the detection equipment to comprehensively collect data and information within the tunnel 200 as the vehicle body 10 moves, thereby improving detection efficiency. The control module collects tunnel data and simultaneously transmits it to the diagnostic module and uploads it to the cloud platform. The diagnostic module quickly delivers preliminary diagnostic results, enabling operations and maintenance personnel to promptly address significant tunnel 200 defects and avoid potential safety hazards. The cloud platform then conducts detailed and comprehensive data analysis and provides detailed diagnostic results. This ensures a comprehensive diagnosis of tunnel 200 defects while improving the level and efficiency of diagnosis, enabling timely remediation of some defects.

[0057] Reference Figure 3 In one embodiment, the detection equipment includes an apparent disease detection equipment 20, a hidden disease detection equipment 30 and a tunnel deformation detection equipment. The apparent disease detection equipment 20, the hidden disease detection equipment 30 and the tunnel deformation detection equipment are arranged at intervals on the vehicle body 10 and are all electrically connected to the control module.

[0058] In this embodiment, the apparent disease detection equipment 20 is mainly used to detect cracks, water leakage and other disease information on the surface of the tunnel 200; the hidden disease detection equipment 30 is mainly used to detect internal cavities, steel bar corrosion and other disease information located inside the tunnel 200; the tunnel deformation detection equipment is used to scan the tunnel 200 and detect whether the tunnel 200 has collapse and other diseases. The control module is used to collect tunnel data collected by each detection equipment.

[0059] Furthermore, the apparent disease detection equipment 20, the hidden disease detection equipment 30 and the tunnel deformation detection equipment are independent of each other. The control module can perform time and space synchronization processing on the data information of each device, and can issue corresponding control instructions to the apparent disease detection equipment 20, the hidden disease detection equipment 30 and the tunnel deformation detection equipment to form feedback control.

[0060] In some embodiments, the tunnel deformation detection equipment is arranged at the rear end of the vehicle body 10 in the direction of travel. The vehicle body 10 includes a detection area 11 and a control area 12. The detection area 11 is provided with a detection space 11a. The apparent disease detection equipment 20 and the hidden disease detection equipment 30 are arranged in the detection space 11a. The control area 12 is arranged on at least one side of the detection area 11. The control area 12 is provided with a control space 12a. The central control equipment is arranged in the control space 12a.

[0061] In this embodiment, the detection area 11 and the control area 12 are arranged on the vehicle body 10. The detection space 11a is used to accommodate the apparent disease detection equipment 20 and the hidden disease detection equipment 30, and the control space 12a is used to accommodate the central control equipment, the control device of the vehicle body 10, etc. A cab can also be set in the control space 12a for convenient operation.

[0062] Specifically, in one embodiment, the control area 12 includes a first control room located at the front end of the vehicle body 10 in the direction of travel and a second control room located at the rear end of the vehicle body 10 in the direction of travel, the central control equipment is located in the first control room, the tunnel deformation detection equipment is located outside the second control room, and the detection area 11 is located between the first control room and the second control room.

[0063] Furthermore, the tunnel diagnostic vehicle 100 further includes an interactive device, which is disposed in the control space 12a and electrically connected to the central control device. The interactive device is used to display data and input commands.

[0064] Interactive devices are provided in both the first and second control rooms. The interactive devices include a display screen, a joystick, etc. The display screen can be used to display test data information, vehicle body 10 operation information, diagnostic results, etc., and the joystick is used to input control commands. Of course, the display screen can be a touch screen and can also be used to input control commands.

[0065] Reference Figure 1 In one embodiment, the detection area 11 is provided with a hatch 111 covering the vehicle body 10 . The hatch 111 covers the vehicle body 10 and can be pushed and pulled along the length direction of the vehicle body 10 to open or close the detection space 11 a.

[0066] The hatch 111 of this embodiment is formed by connecting multiple sets of U-shaped folding plates. The hatch 111 is fastened to the vehicle body 10. Slide rails are provided on both sides of the vehicle body 10, and the ends of the folding plates are slidably connected to the slide rails. As will be understood, when the tunnel diagnostic vehicle 100 is in operation, the hatch 111 can be fully or partially opened to fully or partially expose the testing equipment to the outside world. When the operation is completed, the testing equipment is retracted within the testing space 11a, and the hatch 111 is closed to protect the testing equipment within the testing space 11a.

[0067] In other embodiments of the present application, the hatch 111 may also be opened to both sides of the vehicle body 10 , and its arrangement is not particularly limited herein.

[0068] Refer again Figure 3 In one embodiment, the hidden defect detection device 30 and the apparent defect detection device 20 are spaced apart along the length of the vehicle body 10, with the hidden defect detection device 30 positioned ahead of the apparent defect detection device 20 in the direction of travel. In this embodiment, the hidden defect detection device 30 and the apparent defect detection device 20 are fixed within the inspection space 11a at intervals to avoid mutual interference.

[0069] Reference Figure 3 、 Figure 5 and Figure 6 In one embodiment, the surface disease detection device 20 includes a visible light collection component 232 and an infrared light collection component 231 arranged toward the surface of the tunnel 200. The visible light collection component 232 and the infrared light collection component 231 are electrically connected to the control module to collect tunnel data.

[0070] In this embodiment, the apparent disease detection equipment 20 includes a mounting frame 21, a fill light device 22 and an image acquisition device 23. The mounting frame 21 is fixed to the vehicle body 10 and is provided with an arched mounting side 2121; the fill light device 22 is provided on the mounting frame 21 and is used to illuminate the surface of the tunnel 200; the image acquisition device 23 includes a plurality of visible light acquisition components 232 and a plurality of infrared light acquisition components 231. The plurality of visible light acquisition components 232 and the plurality of infrared light acquisition components 231 are arranged at intervals along the mounting side 2121 and face the surface of the tunnel 200 to collect tunnel data.

[0071] The mounting side edge 2121 is roughly arranged in a major arc, and the shape of the mounting side edge 2121 roughly matches the contour of the cross-sectional direction of the tunnel 200. Multiple visible light collection components 232 and multiple infrared light collection components 231 are arranged at intervals along the mounting side edge 2121. Thus, each visible light collection component 232 and infrared light collection component 231 collects images of the surface of the tunnel 200 in different directions.

[0072] It can be understood that the visible light collection component 232 and the infrared light collection component 231 are both connected to the control module, and the visible light and infrared light simultaneously collect images of a surface area. The control module collects image data and uses the imaging characteristics of cracks and other defect targets under different spectrum bands to perform data collaborative analysis, thereby locating the defect site.

[0073] On this basis, the visible light collection element 232 and the infrared light collection element 231 can be independently controlled through software, and a synchronization framework can be established between the two to facilitate collaborative analysis. Furthermore, the control module can calculate and stitch together the images collected by multiple visible light collection elements 232 and multiple infrared light collection elements 231 to obtain complete image information.

[0074] Optionally, the visible light collection element 232 may be a high-precision camera unit with a resolution of 0.2 mm / pix (pixel), and the infrared light collection element 231 may be an infrared imaging unit with a resolution of ±0.2°C to improve accuracy and recognition rate.

[0075] The fill light device 22 is used to illuminate the surface of the tunnel 200 to ensure the brightness of the field of view, thereby ensuring the imaging quality of the image.

[0076] In the technical solution of this embodiment, the arched mounting edge 2121 conforms to the contours of the tunnel 200. Multiple visible light collection elements 232 and infrared light collection elements 231 arranged along the mounting edge 2121 can capture images from different locations on the tunnel 200 surface. A fill light device 22 illuminates the tunnel 200 surface. The visible light collection elements 232 and infrared light collection elements 231 can operate independently or simultaneously. The image data collected by the multiple visible light collection elements 232 and infrared light collection elements 231 can be spliced and / or collaboratively processed by the control module to ensure image data integrity, improve the precision and accuracy of identifying surface defects on the tunnel 200, and enhance detection efficiency.

[0077] Reference Figure 5 In one embodiment, the apparent disease detection equipment 20 of the tunnel diagnostic vehicle 100 further includes a plurality of first distance measuring devices 24, which are connected to the outer surface of the mounting frame 21 and spaced apart along the mounting side 2121. In this embodiment, the apparent disease detection equipment 20 includes three first distance measuring devices 24, which face the arch crown and the spandrels on both sides, and record the distance between the surface of the tunnel 200 in real time as a reference for data analysis. For example, when the tunnel diagnostic vehicle 100 turns, the distance between the two sides of the spandrel will change, which may cause problems with the camera's focus and lead to blurred images. The first distance measuring devices 24 record this change in real time. When data analysis is performed, the location and cause of the blurred data can be clearly known, facilitating subsequent analysis and improving efficiency.

[0078] The hidden disease detection equipment 30 is provided with multiple robotic arm tooling and multiple radar antennas 35, and the multiple robotic arm tooling is arranged at intervals along the length direction of the vehicle body 10; a radar antenna 35 is connected to the end of a robotic arm tooling away from the vehicle body 10, and the robotic arm tooling and the radar antenna 35 are electrically connected to the control module.

[0079] Reference Figure 3 、 Figures 7 to 9 In some embodiments, the hidden disease detection equipment 30 includes a support device 31 and at least three radar antennas 35. The support device 31 is connected to the vehicle body 10, and the support device 31 includes at least three robotic arm tooling. Each robotic arm tooling is provided with a robotic arm 32. The ends of the at least three robotic arms 32 away from the vehicle body 10 are spaced apart along the cross-sectional direction of the tunnel 200. A radar antenna 35 is correspondingly provided at the end of each robotic arm 32 away from the vehicle body 10.

[0080] In one embodiment, the radar antenna 35 uses a set frequency of 600 MHz for detection, ensuring that the data image is complete and clear to a large extent.

[0081] A radar antenna 35 is secured to the body 10 of the tunnel diagnostic vehicle 100 via a support device 31. As the vehicle 100 advances, it detects and collects data from the tunnel 200 surrounding the corresponding measurement line. The ends of at least three robotic arms 32 are spaced apart to correspond to measurement lines at different locations within the tunnel 200. This ensures comprehensive data collection within the tunnel 200 while also preventing interference between closely spaced radar antennas 35.

[0082] Optionally, the number of the robotic arms 32 may be three, five, or seven, etc., and the robotic arms 32 may be disposed on one side or both sides of the forward direction of the vehicle body 10 .

[0083] By connecting multiple robotic arms 32 with multiple radar antennas 35, various parts of the tunnel 200 can be detected during the movement of the vehicle body 10, so as to comprehensively and quickly detect hidden diseases inside the tunnel 200 and collect data, thereby improving detection efficiency and increasing the degree of automation.

[0084] Refer to 7 and Figure 8 Specifically, in another embodiment, the support device 31 is equipped with a crown fixture 311, two spandrel fixtures 312, two haunch fixtures 313, and two foot fixtures 314. The two spandrel fixtures 312 are symmetrically located on either side of the vehicle body 10, the two haunch fixtures 313 are symmetrically located on either side of the vehicle body 10, and the two foot fixtures 314 are symmetrically located on either side of the vehicle body 10. That is, in this embodiment, the support device 31 includes seven robotic arms 32, one for each fixture. Each robotic arm 32 is positioned corresponding to a respective survey line, thus being evenly spaced along the end face of the tunnel 200 to enable comprehensive tunnel 200 detection. The tunnel diagnostic vehicle 100 can conveniently collect comprehensive tunnel data in a single single pass, enabling comprehensive tunnel 200 defect analysis.

[0085] In order to evenly distribute the weight and ensure the stability of the vehicle body 10, the arch tooling 311 is arranged in the middle of the vehicle body 10, and the other toolings are arranged symmetrically in pairs.

[0086] In one embodiment, at least two radar antennas 35 are disposed at the bottom of the vehicle body 10 to detect the damage of the track slab, thereby further improving the comprehensiveness of the hidden damage detection device 30 .

[0087] In one embodiment, the radar antenna 35 is provided with a second ranging device facing the surface of the tunnel 200. The second ranging device is used to detect and record the distance between the radar antenna 35 and the surface of the tunnel 200 in real time, which can be used as a parameter for judging abnormal tunnel data or as a data reference for control logic.

[0088] Furthermore, the robotic arm tooling is provided with a telescopic robotic arm 32 .

[0089] The robotic arm 32 may be a multi-joint robotic arm 32, comprising at least two joints 321 and at least one extension arm 322. Each joint 321 is provided with at least one rotating shaft, and the ends of the extension arm 322 are respectively connected to the rotating shafts of two different joints 321. Rotation of the rotating shaft causes the extension arm 322 to rotate, thereby achieving extension and retraction of the robotic arm 32.

[0090] Specifically, refer to Figure 9 In one embodiment, the robotic arm 32 includes a first joint, a second joint, and a third joint. The first joint includes a first rotating shaft 321a and a second rotating shaft 321b located on one side of the first rotating shaft 321a. The first rotating shaft 321a is fixedly connected to the vehicle body 10. The second joint includes a third rotating shaft 321c. The third joint includes a fourth rotating shaft 321d, a fifth rotating shaft 321e located at one end of the fourth rotating shaft 321d, and a sixth rotating shaft 321f located at one end of the fifth rotating shaft 321e. The sixth rotating shaft 321f is configured to connect to the radar antenna 35. The robotic arm 32 also includes a first extending arm 322a and a second extending arm 322b. The first extending arm 322a connects the second rotating shaft 321b and the third rotating shaft 321c, and the second extending arm 322b connects the third rotating shaft 321c and the fourth rotating shaft 321d. The robotic arm 32 of this embodiment is a six-axis robotic arm 32, which has a high degree of freedom, is quick and convenient to extend and retract, and is highly efficient.

[0091] Of course, the robotic arm can also be a multi-stage telescopic robotic arm 32, which is not limited here.

[0092] It can be understood that the tunnel data detected by the radar antenna 35 is collected by the control module, and the control module can also issue control instructions to the robotic arm 32 to control the contraction and extension of the robotic arm 32.

[0093] In one embodiment, a detector is provided at the end of the robotic arm 32 away from the vehicle body 10. The detector is used to detect obstacles in the direction of travel of the radar antenna 35. The detector can be a probe or a millimeter-wave radar. It will be understood that both the robotic arm 32 and the detector are electrically connected to the control module. When the detector detects an obstacle in the travel path, it generates a signal containing obstacle information. After collecting this signal, the control module calculates and generates a corresponding instruction, which is sent to the robotic arm 32, causing it to retract. This allows the radar antenna 35 to maintain a safe distance from the tunnel 200 surface, avoiding obstacles, thereby ensuring the safety of the detection process and protecting the equipment.

[0094] Furthermore, an obstacle avoidance radar 40 is installed at the front end of the vehicle 10 in the direction of travel. The obstacle avoidance radar 40 is electrically connected to the control module. In one embodiment, the obstacle avoidance radar 40, the second ranging device, and the detection unit cooperate to achieve obstacle avoidance. The obstacle avoidance radar 40 is used to detect obstacles on the surface of the tunnel 200 and in front of the tunnel 200 to prevent collisions with the vehicle 10. The obstacle avoidance radar 40 has low detection accuracy for obstacles on the surface of the tunnel 200, while the detection unit can accurately detect obstacles on the surface of the tunnel 200 in front of the robot arm 32 in the direction of travel. The second ranging device is used to detect and record the distance between the radar antenna 35 and the surface of the tunnel 200 in real time.

[0095] Specifically, when the obstacle avoidance radar 40 and / or the detector detects an obstacle and requires avoidance, the control module controls the robotic arm 32 to retract. This increases the distance between the radar antenna 35 and the surface of the tunnel 200. This distance is recorded in real time by the second distance measuring device and can be used as a basis for identifying abnormal tunnel data. In other words, when the data is collated, the abnormal distance can be used to determine that the robotic arm 32 has performed an obstacle avoidance maneuver, that the tunnel data is inaccurate, and that an abnormal protrusion is present on the surface of the tunnel 200.

[0096] Furthermore, the second ranging device can cooperate with the movement of the tunnel diagnostic vehicle 100. When performing line scanning, tunnel data recording begins only when the wheels 13 of the tunnel diagnostic vehicle 100 rotate to generate pulse signals and the second ranging device detects that the position of the radar antenna 35 is within a specified range. If either of the above two conditions is missing, data recording will stop, thereby ensuring the validity of the collected tunnel data and reducing the impact of abnormal data.

[0097] Reference Figure 1 and Figure 2 In one embodiment, the tunnel deformation detection device is a three-dimensional laser radar 50, which is disposed in the middle of the rear end of the vehicle body 10 so that the three-dimensional laser radar 50 can better scan the tunnel 200 and establish a tunnel 200 model.

[0098] Reference Figure 3In one embodiment, the tunnel diagnostic vehicle 100 is further provided with a power device 60, which is disposed at the bottom of the vehicle body 10 and electrically connected to the control module; at least two pairs of wheels 13 are disposed at the bottom of the vehicle body 10, and the output end of the power device 60 is transmission-connected to at least one pair of wheels 13 to drive the wheels 13 to rotate.

[0099] Optionally, the power device 60 may be a motor drive device with an energy storage device, and the output end of the motor is connected to the wheel 13 via a gear or chain.

[0100] Optionally, the wheel 13 may be a rail wheel for moving on a rail; the wheel 13 may also be an ordinary wheel 13 to adapt to ordinary road conditions.

[0101] The present invention also provides a diagnostic system comprising a cloud platform and a tunnel diagnostic vehicle 100. The specific structure of the tunnel diagnostic vehicle 100 is similar to that of the aforementioned embodiments, with the central control device communicating with the cloud platform. Because this diagnostic system utilizes all the technical solutions of all the aforementioned embodiments, it possesses at least all the beneficial effects provided by the technical solutions of the aforementioned embodiments, which will not be detailed here. The data collected by the tunnel diagnostic vehicle 100 can be uploaded to the cloud platform for further analysis, enabling a detailed diagnosis of the tunnel 200's fault conditions.

[0102] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, within the scope of the present invention are included in the patent protection scope of the present invention.

Claims

1. A tunnel diagnostic vehicle, characterized in that: The tunnel diagnostic vehicle comprises: A vehicle body, the vehicle body comprising a detection area and a control area; a detection device, the detection device being mounted on the vehicle body and used to collect tunnel data; and a central control device, the central control device being disposed on the vehicle body and comprising a control module and a diagnostic module in communication with each other, the control module being in communication with the detection device to collect the tunnel data, the diagnostic module being configured to fuse and process the tunnel data and output a preliminary diagnostic result, and the control module being in communication with a cloud platform to upload the tunnel data for analysis and diagnosis; The detection equipment includes an apparent disease detection device, a hidden disease detection device, and a tunnel deformation detection device. The apparent disease detection device, the hidden disease detection device, and the tunnel deformation detection device are arranged on the vehicle body at intervals and are electrically connected to the control module. The tunnel deformation detection device is arranged at the rear end of the vehicle body in the direction of travel. The detection area is provided with a detection space, and the apparent disease detection device and the hidden disease detection device are arranged in the detection space. The apparent defect detection equipment includes a mounting frame, a fill light device, and an image acquisition device. The mounting frame is fixed to the vehicle body and has an arched mounting side, the shape of which is adapted to the cross-sectional contour of the tunnel. The fill light device is provided on the mounting frame for illuminating the tunnel surface. The image acquisition device includes a plurality of visible light acquisition components and a plurality of infrared light acquisition components, which are spaced apart along the mounting side. The plurality of visible light acquisition components and the plurality of infrared light acquisition components can operate independently or simultaneously. The image data collected by the plurality of visible light acquisition components and the plurality of infrared light acquisition components can be spliced and / or collaboratively processed by a control module. The hidden defect detection equipment includes a plurality of manipulators and a plurality of radar antennas, which are spaced apart along the length of the vehicle body. The end of a manipulator away from the vehicle body is connected to a radar antenna. The manipulator and the radar antenna are electrically connected to the control module. At least two of the radar antennas are provided at the bottom of the vehicle body for detecting track plates. The control area includes a first control room located at the front end of the vehicle body in the direction of travel and a second control room located at the rear end of the vehicle body in the direction of travel. The central control equipment is located in the first control room, the detection equipment is located outside the second control room, and the detection area is located between the first control room and the second control room.

2. The tunnel diagnostic vehicle according to claim 1, characterized in that: The control area is provided with a control space, and the central control device is arranged in the control space.

3. The tunnel diagnostic vehicle according to claim 2, characterized in that: The hidden disease detection equipment and the apparent disease detection equipment are arranged at intervals along the length direction of the vehicle body, and in the traveling direction, the hidden disease detection equipment is arranged in front of the apparent disease detection equipment.

4. The tunnel diagnostic vehicle according to claim 3, characterized in that: The radar antenna is provided with a second distance measuring device facing the tunnel surface, and the second distance measuring device is electrically connected to the control module; And / or, the robotic arm tooling is provided with a retractable robotic arm; And / or, an obstacle avoidance radar is provided at the front end of the vehicle in the direction of travel, and the obstacle avoidance radar is electrically connected to the control module.

5. The tunnel diagnostic vehicle according to claim 3, characterized in that: The tunnel deformation detection device is a three-dimensional laser radar, which is arranged in the middle of the rear end of the vehicle body; And / or, the tunnel diagnostic vehicle further includes an interactive device, which is disposed in the control space and electrically connected to the central control device, and is used for displaying data and inputting commands.

6. The tunnel diagnostic vehicle according to claim 3, characterized in that: The detection area is provided with a hatch covering the vehicle body, the hatch covering the vehicle body and being push-pull arranged along the length direction of the vehicle body to open or close the detection space.

7. The tunnel diagnostic vehicle according to claim 1, characterized in that: The tunnel diagnostic vehicle is further provided with a power device, which is arranged at the bottom of the vehicle body and electrically connected to the control module; At least two pairs of wheels are provided at the bottom of the vehicle body, and the output end of the power device is drivingly connected to at least one pair of wheels to drive the wheels to rotate.

8. A diagnostic system, characterized in that include: Cloud platform; and The tunnel diagnostic vehicle according to any one of claims 1 to 7, wherein the central control device is communicatively connected to the cloud platform.

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