An intelligent tunnel inspection system

Abstract

The present invention relates to the technical field of tunnel inspection, and discloses a tunnel intelligent inspection system, including a track; an inspection robot suspended under the track, and at least one camera module, one wireless signal transmitting module, and one control assembly are arranged in the inspection robot; and a power taking mechanism; the camera module is configured to capture videos inside the tunnel in real time and transmit the collected information to the monitoring center through the wireless signal transmitting module; the active walking mechanism includes a driving wheel walking along the bottom surface of the track and a main motor for driving the driving wheel to rotate; support rails extending outward from both sides of the bottom of the track, and a plurality of groups of support wheels are arranged on both sides of the top of the inspection robot and passively walk along the support surface on the top surface of the support rail. The present invention has the beneficial effects of not being restricted by the tunnel ground environment, being able to handle various emergencies in the tunnel during inspection, and being more flexible and mobile during inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel inspection, and particularly to an intelligent tunnel inspection system. Background Art

[0002] Highway traffic in China is very developed and traffic is relatively congested. Many highway sections pass through some tunnels. The road conditions in the tunnels are relatively complex. When there is water accumulation, fire, etc. in the tunnels, it is difficult to directly understand the tunnel conditions. At present, tunnel inspection operations have always been the foundation and important guarantee for tunnel safety. However, due to many characteristics such as a large number of tunnels, long lines, strong sealing, and inconvenient communication, it brings great inconvenience to manual inspection and maintenance work; especially when there are states such as fire, smoke, toxic gases, and water accumulation in the tunnels, it is difficult for people to enter the tunnels. The above problems also exist in cable tunnels.

[0003] Based on the above situation, tunnel inspection robots have emerged as the times require. Tunnel inspection robots are equipped with various sensors and detection modules. Common ones include camera modules, radar speed measurement modules, warning light modules, etc. Through sensors and various detection modules, video inspections and various status detections in the tunnels are completed, and the detection data is transmitted to the monitoring center through the Internet of Things. Operators can remotely understand the status in the tunnels and conduct command and dispatch through the control center. However, currently common tunnel inspection robots all walk on both sides of the tunnel. The inspection system composed of such inspection robots is not flexible enough and is restricted in many ways; for example, Chinese Patent No. 202122042966X discloses a crawler-type cable tunnel inspection robot, and Chinese Patent No. 202210734337X discloses an intelligent self-positioning tunnel inspection robot. The above tunnel inspection robots either use crawlers to walk or use wheels to walk, and are restricted by the tunnel environment more. When there is water accumulation, fire, etc. in the tunnel, it is not conducive to rapid inspection. Summary of the Invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides an intelligent tunnel inspection system that is not restricted by the tunnel ground environment, can cope with various emergencies in the tunnel, and is more flexible and mobile for inspection.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An intelligent tunnel inspection system, comprising

[0007] A track, the track is configured to be distributed along the tunnel direction and connected to the tunnel top and the tunnel side wall;

[0008] An inspection robot suspended under the lower side of the track, the inspection robot being configured to move along the bottom surface of the track through an internal active walking mechanism, and at least one camera module, one wireless signal transmitting module, and one control assembly being provided inside the inspection robot; and

[0009] A power taking mechanism, the power taking mechanism supplying power for the operation of the entire inspection robot;

[0010] Wherein, the camera module is configured to capture videos inside the tunnel in real time and transmit the collected information to the monitoring center through the wireless signal transmitting module; the active walking mechanism includes active wheels walking along the bottom surface of the track and a main motor for driving the active wheels to rotate; there are support rails extending outward from both sides of the bottom of the track, and several groups of support wheels for passive walking along the top surface of the support rails are provided on both sides of the top of the inspection robot.

[0011] The track in this tunnel intelligent inspection system is assumed to be on the top or side of the tunnel. The inspection robot can move freely along the track, is not restricted by the track road surface environment, and can flexibly conduct daily inspections inside the tunnel; during the inspection process, video signals inside the tunnel are collected and sent to the monitoring center, and the operators in the monitoring center can remotely monitor the situation inside the tunnel and conduct remote command.

[0012] Preferably, the top surface of the support rail is an inclined surface that is high in the middle and low at the edges, and the support wheels are arranged as conical surfaces adapted to the inclined surface, so that during the walking process of the support wheels, the axis of the support wheels remains parallel to the bottom surface of the track. The conical surface of the support wheel cooperates with the inclined surface of the support rail, and can automatically align during the walking process, making the walking more stable.

[0013] Preferably, limit wheels for walking along the side surfaces of the support rails are further provided on both sides of the top of the inspection robot, the axes of the limit wheels are perpendicularly distributed to the axes of the support wheels, and the circumferential surfaces of the limit wheels walk along the outer side surfaces of the support rails. The lateral limit wheels play a lateral limiting role.

[0014] Preferably, a wire with exposed cores is provided on each side of the track, which are respectively a positive wire and a negative wire. The power taking mechanism includes two sets of power connection assemblies connected between the positive wire and the negative wire and in sliding electrical contact with the exposed parts of the wire cores. The power connection assemblies receive direct current between the positive wire and the negative wire to supply power for the inspection robot. By taking power from the positive wire and the negative wire, the inspection robot does not need to carry a very heavy storage battery, the whole is more lightweight and miniaturized, the load on the track is reduced, and the moving speed is also increased.

[0015] Preferably, wire grooves are provided on both sides of the track along the track. One wire groove is used to install the positive wire, and the other wire groove is used to install the negative wire. The side of the wire core of the wire that is exposed faces the opening direction of the wire groove, and the rest of the wire is insulated from the track.

[0016] Preferably, the power connection component includes a connection seat connected to the inspection robot and a connection block provided on the connection seat. A slide bar horizontally distributed and perpendicular to the wire is provided on the connection block. A graphite brush is fixed at the inner end of the slide bar, and a limiting member is provided at the outer end of the slide bar. A first compression spring is provided between the front end of the slide bar and the connection block. The graphite brush is elastically in contact with the wire core under the action of the first compression spring. The graphite brush is provided with a wire for supplying power to the inspection robot. Power is taken through the sliding electrical contact between the graphite brush and the wire core.

[0017] Preferably, the support wheel is rotatably connected to the wheel seat through a wheel shaft. The lower end of the connection seat is fixedly connected to the wheel seat. A vertical slide rail is provided at the upper end of the connection seat. The connection block is slidably connected to the slide rail. A baffle is fixed at the upper end of the slide rail. A guide rod that slidably passes through the baffle is provided at the upper end of the connection block. A second compression spring is provided on the guide rod. A support rod with an axis vertically passing through the wheel shaft is provided at the lower end of the connection block. A cam is provided on the wheel shaft. A bearing in contact with the cam is provided at the lower end of the support rod. The graphite brush is in a vertically distributed strip structure. During the process of the connection block reciprocating along the slide rail, the graphite brush always remains in electrical contact with the wire. During the movement of the inspection robot, the support wheel drives the cam to rotate, causing the connection block to slide up and down reciprocally, and further causing the graphite brush to move up and down. The contact position between the graphite brush and the wire changes continuously, thereby preventing a certain part of the graphite brush from being severely worn and greatly improving the service life of the graphite brush.

[0018] Preferably, an induction sheet is fixed on the outer side of the connection block, and a distance sensor for accurately detecting the distance is provided at the corresponding position of the limiting member with respect to the induction sheet; as the graphite brush wears, the detection value of the distance sensor gradually becomes smaller. When the detection of the distance sensor reaches a preset value, the control module sends a signal indicating the service life of the graphite brush to the monitoring center through the wireless signal transmitting module to remind the operator to replace the graphite brush. The amount of wear of the graphite brush can be quantitatively judged through the distance sensor.

[0019] Preferably, the inspection robot includes a housing. There are notches on the top surfaces at both ends of the housing. The driving wheels pass through the notches and contact the bottom surface of the track. Inside the housing, rotating seats are provided at both ends of the driving wheels. Guide rods fixedly connected to the housing are provided inside the rotating seats. The rotating seats are slidably connected to the guide rods. A third compression spring for elastically abutting the circumferential surface of the driving wheel against the bottom surface of the track is provided on the guide rods. Power is transmitted between the main motor and the driving wheels through transmission wheels and a transmission belt. The driving wheels are elastically pressed against the bottom surface of the track to provide frictional force for walking.

[0020] Preferably, the axle of the supporting wheel is rotatably connected to the wheel seat. A rotating shaft is fixed to the bottom of the wheel seat. The rotating shaft passes through the top surface of the housing and extends into the housing. The rotating shaft is rotatably connected to the housing. A rotation positioning mechanism for driving the rotating shaft to rotate to a preset angle and positioning is provided inside the housing. The power taking mechanism is arranged on any two opposite groups of wheel seats.

[0021] A backup battery charged by a power supply mechanism is also provided inside the housing. Connecting components are provided at both ends of the housing. A tensile wire is provided at the lower end of the connecting component and is connected to the housing through the tensile wire. The backup battery supplies power to the connecting component through the tensile wire. A winding mechanism for winding and releasing the tensile wire is provided inside the housing. When the inspection robot is working normally, the winding mechanism is in a winding state.

[0022] When the inspection robot needs to be overhauled, the connecting component is electrified and connected to the track. The rotation positioning mechanism drives the rotation to rotate a preset angle so that the supporting wheels are separated from the supporting rails. Then, the winding mechanism releases the tensile wire so that the whole inspection robot descends to the ground position. When the inspection robot needs maintenance and overhaul (such as replacing graphite electrodes, etc.), it can automatically separate the inspection robot from the track and descend. After the repair, the winding mechanism winds the tensile wire, the inspection robot rises and connects to the track, the supporting wheels rotate and reset, and the connecting component is separated from the track, thus realizing the automatic connection of the inspection robot to the track; the work of climbing to disassemble the inspection robot is omitted, and the maintenance of the inspection robot is more convenient and safe.

[0023] Preferably, the rotation positioning mechanism includes a connecting arm fixed to the lower end of the rotating shaft, a driving arm for driving the connecting arm to rotate around the rotating shaft, a screw rod for driving the driving arm to move linearly, and a first power source for driving the screw rod to rotate. The driving arm is connected to the housing through a sliding seat. Two coaxially distributed screw sleeves are fixed on the driving arm. The screw rod passes through the screw sleeves to form a threaded connection.

[0024] Preferably, a long slot hole is provided on the bottom surface of the connecting arm. A pin shaft extending into the long slot hole is provided on the driving arm. Each driving arm drives two groups of connecting arms to deflect.

[0025] Preferably, the connecting component is configured as an electromagnet, the rail is made of ferromagnetic material or a ferromagnetic body is fixed at a predetermined position on the bottom surface of the rail, and when the electromagnet is energized, it magnetically adsorbs with the ferromagnetic body. There are four electromagnets in total, and the four electromagnets are distributed on both sides at both ends of the housing; a separation channel for facilitating the separation of the electromagnet from the housing is provided at the corresponding position on the top surface of the housing, a guiding seat is provided around the separation channel, an inclined chamfer is provided between the top surface and the inner side surface of the guiding seat, and guiding inclined surfaces for smoothly extending into the guiding seat are provided around the lower end of the electromagnet.

[0026] Preferably, the winding mechanism includes a winding shaft, a winding wheel fixed on the winding shaft, and a second power source for driving the winding shaft to rotate. An electromagnet limiting seat is provided on the upper side of the winding wheel, and the tensile wire passes through the limiting hole on the electromagnet limiting seat and then winds around the winding wheel.

[0027] Preferably, a wire winding wheel is further provided on the winding shaft, a cable is wound on the wire winding wheel, one end of the cable is fixed on the wire winding wheel, and the other end of the cable passes through the electromagnet limiting seat and is connected to the electromagnet.

[0028] Preferably, the first power source and the second power source have one of the following characteristics:

[0029] Both the first power source and the second power source are motors that work independently of each other; or

[0030] The first power source and the second power source are the same double-headed motor, and electronic clutches are provided at both shaft ends of the double-headed motor.

[0031] Preferably, a number of RFID tags with preset information are installed on the bottom surface of the rail at preset intervals, and an RFID reader / writer for reading the information of the RFID tags or writing information to the RFID tags is provided on the top surface of the housing. The RFID tags can record the position information of the tunnel.

[0032] Preferably, a radar speed measurement module, an indicator light module and a voice dialogue module are further provided in the inspection robot.

[0033] Therefore, the present invention has the following beneficial effects: (1) The overall movement is flexible and not restricted by the ground environment in the tunnel, and can stably inspect the tunnel; (2) It directly takes power from the positive wire and the negative wire, has a light overall weight and a small volume, and runs more stably; (3) When the inspection robot is overhauled and maintained, it can automatically separate from the rail and descend, and can automatically connect to the rail after the overhaul, saving the high-altitude disassembly and assembly operation, and the overhaul is safer and more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the present invention.

[0035] Figure 2 is Figure 1 the front view

[0036] Figure 3 is Figure 1 another perspective view of

[0037] Figure 4 is Figure 1 the right view of

[0038] Figure 5 is Figure 1 the exploded view of

[0039] Figure 6 is the structural schematic diagram of the inspection robot

[0040] Figure 7 is Figure 6 the exploded view of

[0041] Figure 8 is the structural schematic diagram of the active walking mechanism

[0042] Figure 9 is the structural schematic diagram of the power-taking mechanism

[0043] Figure 10 is the exploded view of the power-taking mechanism

[0044] Figure 11 is the schematic diagram of the rotation positioning mechanism and the winding mechanism

[0045] Figure 12 is Figure 11 another perspective view of

[0046] Figure 13 is the schematic diagram of the state where the support wheel is separated from the support rail after rotating by an angle

[0047] Figure 14 is the schematic diagram of the state where the connecting component is connected to the track and the winding mechanism is in the release state

[0048] In the figure: track 1, support rail 100, wiring groove 101, inspection robot 2, housing 20, notch 200, separation channel 201, guide seat 202;

[0049] rotation positioning mechanism 21, connecting arm 210, long slot hole 2100, driving arm 211, pin shaft 2110, screw 212, first power source 213, sliding seat 214, screw sleeve 215, electronic clutch 216, backup battery 22, connecting component 23, ferromagnetic body 230, tensile wire 24;

[0050] Rewinding mechanism 25, rewinding shaft 250, rewinding wheel 251, second power source 252, electromagnet limit seat 253, winding wheel 254, cable 255;

[0051] Active walking mechanism 3, driving wheel 30, main motor 31, rotating seat 32, guide rod 33, third compression spring 34, transmission wheel 35, transmission belt 36, camera module 4, wireless signal transmission module 5, control assembly 6;

[0052] Power taking mechanism 7, power connection component 70, connection seat 700, connection block 701, sliding rod 702, graphite brush 703, limiting member 704, first compression spring 705, wire 706, slide rail 707, guide rod 708, second compression spring 709, support rod 710, cam 711, bearing 712, baffle 713, induction sheet 714, distance sensor 715;

[0053] Supporting wheel 8, wheel shaft 80, wheel seat 81, rotating shaft 82, limiting wheel 9, electric wire 11, wire core 110, insulating layer 111, RFID tag 12, RFID reader / writer 13, mounting bracket 14. Detailed implementation manners

[0054] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the protection scope of the present invention.

[0055] It should be understood that in this text, expressions such as "first", "second", etc. are only for descriptive purposes, and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly indicating the quantity of the indicated technical features. Features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0056] As Figures 1-8 shown, a tunnel intelligent inspection system includes a track 1, the track 1 is configured to be distributed along the tunnel direction and connected to the tunnel top and the tunnel side wall; an inspection robot 2 suspended under the track 1, the inspection robot 2 is configured to move along the bottom surface of the track 1 through the internal active walking mechanism 3, and at least one camera module 4, one wireless signal transmission module 5 and one control assembly 6 are arranged in the inspection robot 2; and a power taking mechanism 7, the power taking mechanism 7 supplies power for the operation of the entire inspection robot;

[0057] Among them, the camera module 4 is configured to capture videos inside the tunnel in real time and transmit the captured information to the monitoring center through the wireless signal transmitting module; the active walking mechanism 3 includes active wheels 30 that walk along the bottom surface of the track and a main motor 31 that drives the active wheels to rotate; support rails 100 extend outward from both sides of the bottom of the track 1, and several groups of support wheels 8 that passively walk along the support surface on the top surface of the support rails are provided on both sides of the top of the inspection robot 2.

[0058] The top surface of the support rail 100 is an inclined surface that is high in the middle and low at the edges. The support wheels 8 are arranged as conical surfaces adapted to the inclined surface, so that during the walking process of the support wheels, the axis of the support wheels remains parallel to the bottom surface of the track; on both sides of the top of the inspection robot 2, limit wheels 9 that walk along the side surface of the support rail are also provided. The axis of the limit wheels is vertically distributed with the axis of the support wheels, and the circumferential surface of the limit wheels walks along the outer side surface of the support rail. The cooperation of the conical surface and the inclined surface during walking enables the inspection robot to automatically center during the walking process and walk more stably; the limit wheels play a role in lateral limit and effectively prevent the inspection robot from derailing.

[0059] Such as Figure 4 、 Figure 5 、 Figure 9 And Figure 10 , on both sides of the track 1, there is a wire 11 with the core exposed, which are the positive wire and the negative wire respectively. The power-taking mechanism 7 includes two sets of power connection components 70 that are connected between the positive wire and the negative wire and are in sliding electrical contact with the exposed part of the wire core. The power connection component 70 receives the direct current between the positive wire and the negative wire to supply power to the inspection robot; on both sides of the track 1, wiring grooves 101 are provided along the track. One wiring groove is used to install the positive wire, and the other wiring groove is used to install the negative wire. The side of the wire core 110 of the wire 11 that is exposed faces the opening direction of the wiring groove, and the rest of the wire is insulated from the track through the insulating layer 111. A rectifier that converts alternating current into direct current is provided at one end of the track, and the positive wire, the negative wire are connected to the rectifier.

[0060] The power connection component 70 includes a connection seat 700 connected to the inspection robot, a connection block 701 provided on the connection seat. A sliding rod 702 that is horizontally distributed and perpendicular to the wire is provided on the connection block. A graphite brush 703 is fixed at the inner end of the sliding rod, a limiting member 704 is provided at the outer end of the sliding rod, and a first compression spring 705 is provided between the front end of the sliding rod and the connection block. The graphite brush elastically contacts the wire core of the wire under the action of the first compression spring, and a wire 706 that supplies power to the inspection robot is connected to the graphite brush 703.

[0061] The supporting wheel 8 is rotatably connected to the wheel seat 81 through the wheel axle 80. The lower ends of the connecting seats 700 in the two groups of power connection components 70 are fixedly connected to the two opposite wheel seats 81. The limiting wheel 9 is installed on the side surface of the remaining wheel seats 81. The upper end of the connecting seat 700 is provided with a vertically distributed sliding rail 707. The connecting block 701 is slidably connected to the sliding rail. A baffle 713 is fixed to the upper end of the sliding rail. A guide rod 708 that slidably passes through the baffle is provided at the upper end of the connecting block. A second compression spring 709 is provided on the guide rod. A support rod 710 whose axis vertically passes through the wheel axle is provided at the lower end of the connecting block. A cam 711 is provided on the wheel axle 80. A bearing 712 that abuts against the cam is provided at the lower end of the support rod. The graphite brush 703 has a vertically distributed strip structure. When the supporting wheel moves, the cam is driven to rotate by the wheel axle. The rotation of the cam drives the connecting block to reciprocate along the sliding rail through the ejector rod. During the process of the connecting block reciprocating along the sliding rail, the graphite brush always maintains electrical contact with the wire.

[0062] An induction sheet 714 is fixed to the outside of the connecting block 701. A distance sensor 715 for precisely detecting the distance is provided at the corresponding position of the limiting member 704 with respect to the induction sheet. As the graphite brush wears, the detection value of the distance sensor gradually becomes smaller. When the detection of the distance sensor reaches the preset value, the control module sends a signal for indicating the service life of the graphite brush to the monitoring center through the wireless signal transmitting module, reminding the operator to replace the graphite brush.

[0063] As Figure 7 and Figure 8 shown, the inspection robot 2 includes a housing 20. Notches 200 are provided on the top surfaces at both ends of the housing 20. The driving wheel 30 passes through the notch and contacts the bottom surface of the track. Rotating seats 32 are provided at both ends of the driving wheel inside the housing 20. Guide rods 33 fixedly connected to the housing are provided inside the rotating seats. The rotating seats 32 are slidably connected to the guide rods. A third compression spring 34 for elastically abutting the circumferential surface of the driving wheel against the bottom surface of the track is provided on the guide rod. Power is transmitted between the main motor 31 and the driving wheel 30 through a transmission wheel 35 and a transmission belt 36.

[0064] As Figures 11-14As shown, a rotating shaft 82 is fixed to the bottom of the wheel seat 81. The rotating shaft 82 passes through the top surface of the housing 20 and extends into the housing. The rotating shaft is rotatably connected to the housing. A rotating and positioning mechanism 21 is provided in the housing 20 for driving the rotating shaft to rotate to a preset angle and positioning it; a backup battery 22 charged by a power supply mechanism is also provided in the housing 20. Connecting components 23 are provided on the top surfaces at both ends of the housing. A tensile wire 24 is provided at the lower end of the connecting component 23 and is connected to the housing through the tensile wire. The backup battery 22 supplies power to the connecting component through the tensile wire. A winding mechanism 25 for winding and releasing the tensile wire is provided in the housing 20. When the inspection robot is working normally, the winding mechanism is in a winding state; when the inspection robot needs to be repaired, the connecting component 23 is electrified and connected to the track. The rotating and positioning mechanism 21 drives the rotating shaft to rotate a preset angle so that the supporting wheel is separated from the supporting rail. Specifically, the axis of the supporting wheel in the initial state is perpendicular to the track. After the supporting wheel is rotated 90 degrees by the rotating and positioning mechanism, the axis of the supporting wheel is parallel to the track and is in a separated state. The state after the supporting wheel is separated from the supporting rail is as shown in Figure 13 As shown, after that, the winding mechanism 25 releases the tensile wire 24 so that the entire inspection robot 2 descends to the ground position for easy repair; after the repair, the winding mechanism winds the tensile wire again, and the inspection robot rises until the driving wheel contacts the bottom surface of the track. Then the rotating and positioning mechanism drives the supporting wheel to reset to the state of being connected to the track (rotating 90 degrees in the reverse direction). Finally, the connecting component is separated from the track, and the inspection robot is connected to the track and can walk along the track.

[0065] The rotating and positioning mechanism 21 includes a connecting arm 210 fixed to the lower end of the rotating shaft, a driving arm 211 for driving the connecting arm to rotate around the rotating shaft, a screw 212 for driving the driving arm to move linearly, and a first power source 213 for driving the screw to rotate. The driving arm is connected to the housing through a sliding seat 214. Two coaxially distributed screw sleeves 215 are fixed on the driving arm. The screw passes through the screw sleeves to form a threaded connection; a long slot hole 2100 is provided on the bottom surface of the connecting arm 210, and a pin shaft 2110 extending into the long slot hole is provided on the driving arm 211. Each driving arm drives two groups of connecting arms to deflect.

[0066] The connecting component 23 is configured as an electromagnet. The track 1 is made of a ferromagnetic material or a ferromagnetic body 230 is fixed at a predetermined position on the bottom surface of the track. There are four electromagnets in total. The four electromagnets are distributed on both sides at both ends of the housing. The electromagnets are located directly below the supporting rail. In this embodiment, the track is made of aluminum alloy, and the ferromagnetic body 230 is fixed on the bottom surface of the supporting rail at the corresponding position of the electromagnet. When the electromagnet is energized, it magnetically adsorbs with the ferromagnetic body; as shown in Figure 7 As shown, a separation channel 201 facilitating the separation of the electromagnet from the housing is provided at the corresponding position of the top surface of the housing 20 and the electromagnet. A guiding seat 202 is provided around the separation channel. An inclined chamfer is provided between the top surface and the inner side surface of the guiding seat. Guiding inclined surfaces facilitating smooth insertion into the guiding seat are provided around the lower end of the electromagnet.

[0067] As Figure 7 and Figure 14 shown, the rewinding mechanism 25 includes a rewinding shaft 250, a rewinding wheel 251 fixed on the rewinding shaft, a second power source 252 for driving the rewinding shaft to rotate. An electromagnetic iron limiting seat 253 is provided on the upper side of the rewinding wheel. The tensile wire 24 passes through the limiting hole on the electromagnetic iron limiting seat and then winds around the rewinding wheel 251. A winding wheel 254 is also provided on the rewinding shaft 230. A cable 255 is wound around the winding wheel. One end of the cable is fixed on the winding wheel, and the other end of the cable passes through the electromagnetic iron limiting seat and is connected to the electromagnetic iron. The cable is used to bear the tensile force of the tensile wire, making the whole more stable and safe;

[0068] The first power source 213 and the second power source 232 have one of the following characteristics: both the first power source and the second power source are motors that work independently of each other; or the first power source and the second power source are the same double-headed motor, and electronic clutches 216 are provided at both shaft ends of the double-headed motor. In this embodiment, both the first power source and the second power source adopt a double-headed motor, and an electronic clutch is provided at each end of the double-headed motor. There are a total of four double-headed motors respectively. Each double-headed motor corresponds to a screw rod and a rewinding shaft, thereby reducing four motors.

[0069] As Figure 2 shown, RFID tags 12 with preset information are installed on the bottom surface of the track 1 at preset intervals. An RFID reader / writer 13 for reading RFID tag information or writing information to the RFID tag is provided on the top surface of the housing 20. A radar speed measurement module, an indicator light module and a voice dialogue module are also provided in the inspection robot. The camera module, the wireless signal transmission module, the radar speed measurement module, the indicator light module and the voice dialogue module in this embodiment are all common modules of the tunnel inspection robot. The specific structures and principles of each module are not elaborated in this application.

[0070] Combined with the attached drawings, the principle of the present invention is as follows: The track 1 is installed on the top surface or side surface of the tunnel through the installation bracket 14; two groups of graphite brushes are in sliding electrical contact with the positive wire and the negative wire respectively to supply power to the entire inspection robot, and at the same time charge the backup battery; the main motor drives the driving wheel to walk along the bottom of the track to realize the daily inspection of the tunnel. The video signal captured during the inspection is transmitted to the monitoring center through the wireless signal transmission module. The operator in the monitoring center can remotely monitor the situation in the tunnel and conduct remote command; when the inspection robot needs to be repaired, the driving wheel travels at a low speed to a preset ferromagnetic position and stops. The electromagnetic iron is energized and adsorbed to the ferromagnetic body. Then the rotation positioning mechanism 21 drives the supporting wheel to rotate to Figure 13In the state shown, the support wheel is separated from the support rail, and the winding mechanism drives the winding wheel and the wire winding wheel to release the tensile wire and the cable, so that the overall inspection robot descends to the ground position. After that, the maintenance personnel perform maintenance on the inspection robot. After the maintenance, the winding wheel and the wire winding wheel wind up the tensile wire and the cable, so that the overall inspection robot ascends until the driving wheel contacts the bottom of the track. The support wheel rotates by an angle to contact the support rail, the graphite brush contacts the wire, and the electromagnet is powered off. At this time, the inspection robot is normally connected to and used with the track.

[0071] In the description of the present invention, it should be understood that the directions or positional relationships indicated by up and down, left and right, inner end, outer end, one end, the other end, etc. are based on the orientation or positional relationship shown in the drawings. It is only for more clearly facilitating the description of the technical solution of the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific orientation, and should not be construed as a limitation to the present invention.

[0072] Although specific embodiments of the present invention are described in detail herein, they are given for purposes of explanation only and should not be considered as limiting the scope of the present invention. Various substitutions, alterations, and modifications can be conceived without departing from the spirit and scope of the present invention.

Claims

1. An intelligent tunnel inspection system, characterized in that, Including Tracks, which are configured to be distributed along the tunnel alignment and connected to the tunnel top and side walls; An inspection robot suspended under the tracks, which is configured to move along the bottom surface of the tracks through an internal active walking mechanism. At least one camera module, one wireless signal transmitting module, and one control assembly are provided inside the inspection robot; and A power-taking mechanism, which powers the operation of the entire inspection robot; Wherein, the camera module is configured to capture videos inside the tunnel in real time and transmit the captured information to the monitoring center through the wireless signal transmitting module; the active walking mechanism includes active wheels walking along the bottom surface of the tracks and a main motor driving the active wheels to rotate; support tracks extending outward from both sides of the bottom of the tracks, and several groups of support wheels are provided on both sides of the top of the inspection robot, which passively walk along the support surface on the top surface of the support tracks; The inspection robot includes a housing. Notches are provided on the top surfaces at both ends of the housing. The active wheels pass through the notches and contact the bottom surface of the tracks. Rotating seats are provided at both ends of the active wheels inside the housing. Guide rods fixedly connected to the housing are provided inside the rotating seats. The rotating seats are slidably connected to the guide rods. A third compression spring is provided on the guide rods to elastically abut the circumferential surface of the active wheels against the bottom surface of the tracks; power is transmitted between the main motor and the active wheels through transmission wheels and transmission belts; The wheel axle of the support wheel is rotatably connected to the wheel seat. A rotating shaft is fixed to the bottom of the wheel seat. The rotating shaft passes through the top surface of the housing and extends into the housing. The rotating shaft is rotatably connected to the housing. A rotation positioning mechanism for driving the rotating shaft to rotate to a preset angle and positioning is provided inside the housing. The power-taking mechanism is arranged on any two opposite groups of wheel seats; a backup battery charged by a power supply mechanism is also provided inside the housing. Connection components are provided at both ends of the housing. A tensile wire is provided at the lower end of the connection component and connected to the housing through the tensile wire. The backup battery powers the connection component through the tensile wire. A wire winding mechanism for winding and releasing the tensile wire is provided inside the housing. When the inspection robot is working normally, the wire winding mechanism is in a winding state; When the inspection robot needs to be overhauled, the connection component is powered on and connected to the tracks. The rotation positioning mechanism drives the rotating shaft to rotate a preset angle to separate the support wheels from the support tracks. Then, the wire winding mechanism releases the tensile wire to lower the entire inspection robot to the ground position; The rotation positioning mechanism includes a connecting arm fixed to the lower end of the rotating shaft, a driving arm driving the connecting arm to rotate around the rotating shaft, a screw rod driving the driving arm to move linearly, and a first power source driving the screw rod to rotate. The driving arm is connected to the housing through a sliding seat. Two coaxially distributed screw sleeves are fixed on the driving arm. The screw rod passes through the screw sleeves to form a threaded connection; 2. The tunnel intelligent inspection system according to claim 1, characterized in that, The top surface of the support track is an inclined surface that is high in the middle and low at the edges. The support wheels are provided with conical surfaces adapted to the inclined surface, so that during the walking of the support wheels, the axis of the support wheels remains parallel to the bottom surface of the tracks.

3. The intelligent tunnel inspection system according to claim 1 or 2, characterized in that, On both sides of the top of the inspection robot, there are also limit wheels that move along the side surface of the support rail. The axis of the limit wheel is perpendicular to the axis of the support wheel, and the circumferential surface of the limit wheel moves along the outer side surface of the support rail.

4. The tunnel intelligent inspection system according to claim 1, characterized in that, On both sides of the track, there is a wire with its core exposed, which are the positive wire and the negative wire respectively. The power-taking mechanism includes two sets of power connection components connected between the positive wire and the negative wire and in sliding electrical contact with the exposed part of the wire core. The power connection components receive the direct current between the positive wire and the negative wire to supply power to the inspection robot.

5. The tunnel intelligent inspection system according to claim 4, characterized in that, On both sides of the track, there are wire grooves distributed along the track. One wire groove is used to install the positive wire, and the other wire groove is used to install the negative wire. The side of the wire with its core exposed faces the opening direction of the wire groove, and the rest of the wire is insulated from the track.

6. The tunnel intelligent inspection system according to claim 4, characterized in that, The power connection component includes a connection seat connected to the inspection robot and a connection block provided on the connection seat. The connection block is provided with a slide bar horizontally distributed and perpendicular to the wire. A graphite brush is fixed at the inner end of the slide bar, and a limit member is provided at the outer end of the slide bar. A first compression spring is provided between the front end of the slide bar and the connection block. The graphite brush is elastically in contact with the wire core under the action of the first compression spring, and the graphite brush is provided with a wire for supplying power to the inspection robot.

7. The tunnel intelligent inspection system according to claim 6, characterized in that, The support wheel is rotatably connected to the wheel seat through a wheel shaft. The lower end of the connection seat is fixedly connected to the wheel seat. The upper end of the connection seat is provided with a vertically distributed slide rail. The connection block is slidably connected to the slide rail. A baffle is fixed at the upper end of the slide rail. A guide rod that slidably passes through the baffle is provided at the upper end of the connection block. A second compression spring is provided on the guide rod. The lower end of the connection block is provided with a support rod whose axis vertically passes through the wheel shaft. A cam is provided on the wheel shaft. A bearing that abuts against the cam is provided at the lower end of the support rod. The graphite brush is in a vertically distributed strip structure. During the process of the connection block reciprocating along the slide rail, the graphite brush always remains in electrical contact with the wire.

8. An intelligent tunnel inspection system according to claim 6 or 7, characterized in that, An induction sheet is fixed on the outer side of the connection block. A distance sensor for accurately detecting the distance is provided at the corresponding position of the limit member with respect to the induction sheet. As the graphite brush wears, the detection value of the distance sensor gradually becomes smaller. When the detection of the distance sensor reaches the preset value, the control assembly sends a signal for indicating the service life of the graphite brush to the monitoring center through the wireless signal transmission module, reminding the operator to replace the graphite brush.

9. The tunnel intelligent inspection system according to claim 1, characterized in that, The bottom surface of the connecting arm is provided with a long slot hole, and a pin shaft extending into the long slot hole is provided on the driving arm; each driving arm drives two groups of connecting arms to deflect.

10. A tunnel intelligent inspection system according to claim 1, characterized in that, The connection component is configured as an electromagnet. The track is made of a ferromagnetic material or a ferromagnetic body is fixed at a predetermined position on the bottom surface of the track. When the electromagnet is energized, it magnetically adsorbs to the ferromagnetic body. There are a total of four electromagnets, and the four electromagnets are distributed on both sides at both ends of the housing. At the corresponding position of the top surface of the housing and the electromagnet, there is a separation channel that facilitates the separation of the electromagnet from the housing. A guide seat is provided around the separation channel. There is an inclined chamfer between the top surface and the inner side surface of the guide seat. Guide inclined surfaces that facilitate smooth insertion into the guide seat are provided around the lower end of the electromagnet.

11. An intelligent tunnel inspection system according to claim 10, characterized in that, The winding mechanism includes a winding shaft, a winding wheel fixed on the winding shaft, and a second power source for driving the winding shaft to rotate. An electromagnetic iron limit seat is arranged on the upper side of the winding wheel, and the tensile wire passes through the limit hole on the electromagnetic iron limit seat and then winds around the winding wheel.

12. A tunnel intelligent inspection system according to claim 11, characterized in that, A wire winding wheel is further arranged on the winding shaft, and a cable is wound on the wire winding wheel. One end of the cable is fixed on the wire winding wheel, and the other end of the cable passes through the electromagnetic iron limit seat and is connected to the electromagnetic iron.

13. A tunnel intelligent inspection system according to claim 10, characterized in that, One of the following features is possessed by the first power source and the second power source: The first power source and the second power source are both motors that work independently of each other; or The first power source and the second power source are the same double-headed motor, and electronic clutches are arranged at both shaft ends of the double-headed motor.

14. A tunnel intelligent inspection system according to claim 1, characterized in that, A number of RFID tags with preset information are installed on the bottom surface of the track at preset intervals, and an RFID reader / writer for reading the information of the RFID tags or writing information to the RFID tags is arranged on the top surface of the housing.

15. A tunnel intelligent inspection system according to claim 1 or 14, characterized in that, A radar speed measurement module, an indicator light module and a voice dialogue module are further arranged in the inspection robot.

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