Intelligent tunnel supervisory robot

Abstract

An intelligent tunnel supervision robot and tunnel supervision system are disclosed. The intelligent tunnel supervision robot includes a main control unit, an environmental monitoring unit, a measurement unit, an alarm unit, a positioning unit, a communication unit, a monitoring unit, a human-machine interaction unit, and a voice intercom unit. By replacing manual supervision, the robot effectively protects relays and transistors in its circuit control section, preventing the electromotive force generated when relays open or close from damaging other components in the circuit. It also enhances the driving capability of optocouplers, improving the accuracy of monitoring and alarms. This contributes to improving the performance and stability of the tunnel supervision robot, ensuring that it can effectively monitor and manage the tunnel's environment and operational status.

Description

Technical Field

[0001] This invention relates to the field of engineering supervision equipment technology, and in particular to a tunnel supervision robot and a tunnel supervision system. Background Technology

[0002] The monitoring robot can monitor monitoring points around the clock, automatically complete monitoring work according to a pre-set cycle, repeat measurements of monitoring targets that are temporarily unmeasurable for various reasons, and autonomously resolve various problems encountered during measurement according to a pre-set plan, thus ensuring the smooth progress of the monitoring work. Extensive research results and practical experience show that the monitoring robot has the characteristics of high accuracy, high efficiency, and good stability in large-scale precision measurement work, and can meet the measurement needs of engineering projects such as dams and tunnels.

[0003] However, in using the prior art, the inventors discovered at least the following problems:

[0004] Currently, due to the complex construction environment within tunnels, there are relatively few researchers and teams both domestically and internationally studying tunnel supervision robots during the construction phase, and no existing technology specifically addresses this. Particularly concerning is the circuit control section of tunnel supervision robots. This includes how to protect relays and transistors, preventing the electromotive force generated when relays open or close from damaging other components in the circuit, and how to enhance the driving capability of optocouplers to improve the accuracy of monitoring and alarms. These factors would contribute to improving the performance and stability of the tunnel supervision robot, ensuring its effective monitoring and management of the tunnel's environment and operational status. Therefore, it is necessary to research a tunnel supervision robot specifically for tunnel engineering supervision work, enabling stable and high-performance implementation of inspection, testing, and on-site monitoring functions in tunnel construction projects. Summary of the Invention

[0005] To at least partially solve the above-mentioned technical problems, the present invention provides an intelligent tunnel supervision robot and a tunnel supervision system.

[0006] The technical solution adopted in this invention is:

[0007] In a first aspect, the present invention provides a tunnel supervision robot, comprising a main control unit, an environmental monitoring unit, a measurement unit, an alarm unit, a positioning unit, a communication unit, a monitoring unit, a human-machine interaction unit, and a voice intercom unit, wherein the main control unit, environmental monitoring unit, measurement unit, alarm unit, positioning unit, communication unit, monitoring unit, human-machine interaction unit, and voice intercom unit are electrically connected.

[0008] The environmental monitoring unit is used to collect environmental monitoring data inside the tunnel and send the environmental monitoring data to the main control unit;

[0009] The measurement unit is used to collect deformation data inside the tunnel and send the measurement data to the main control unit;

[0010] The positioning unit is used to acquire the robot's position data in the tunnel and send the positioning data to the main control unit;

[0011] The main control unit is used to receive and process environmental monitoring data sent by the environmental monitoring unit, to receive and process positioning data sent by the positioning unit, and to receive and process measurement data sent by the measurement unit. Then, it outputs the processed environmental monitoring data, positioning data, and measurement data through the communication unit, and sends an alarm signal to the alarm unit when the environmental monitoring data and measurement data exceed the threshold, so that the alarm unit can perform alarm operation.

[0012] The main control unit includes a controller U3, and a programming interface H1, a serial port H2, a main control status indicator LED23, a reset module, and a crystal oscillator module electrically connected to the controller U3. The environmental monitoring unit and alarm unit are all electrically connected to the controller U3 in the main control unit via a switch module. The switch module includes an N-type MOSFET Q2, an optocoupler U2, a transistor Q4, a relay RLY1, and a mounting interface U1. The gate of the N-type MOSFET Q2 is electrically connected to the main control unit via a thirteenth resistor R13. The junction between the gate of the N-type MOSFET Q2 and the thirteenth resistor R13 is grounded via a twentieth resistor R20. The source of the N-type MOSFET Q2 is grounded. The drain of the N-type MOSFET Q2 is electrically connected to the second pin of the optocoupler U2. The first pin of the optocoupler U2 is electrically connected to the fourth pin of the optocoupler U2 via a twelfth resistor R12. R12 is connected in parallel with the seventeenth resistor R17. The fourth pin of optocoupler U2 is the power supply pin of the switching module. The third pin of optocoupler U2 is electrically connected to the base of transistor Q4 through the eighteenth resistor R18. The base of transistor Q4 is also grounded through the nineteenth resistor R19. The emitter of transistor Q4 is grounded. The collector of transistor Q4 is electrically connected to the fourth pin of relay RLY1. The fourth pin of relay RLY1 is electrically connected to the first pin of relay RLY1 through the freewheeling diode D3. The freewheeling diode D3 is connected in parallel with a series circuit consisting of the fourteenth resistor R14 and the light-emitting diode LED1. The first pin of relay RLY1 is also connected to the power supply pin of the switching module through the eleventh resistor R11. The eleventh resistor R11 is connected in parallel with the sixteenth resistor R16. The second, third, and fifth pins of relay RLY1 are all electrically connected to the mounting interface U1.

[0013] In one possible design, the environmental monitoring data includes oxygen concentration data, light intensity data, dust concentration data, and combustible gas concentration data; the environmental monitoring unit includes an oxygen sensor for collecting oxygen concentration data, a light intensity sensor for collecting light intensity data, a dust concentration sensor for collecting dust concentration data, and a combustible gas sensor for collecting combustible gas concentration data, all of which are electrically connected to the main control unit.

[0014] In one possible design, the environmental monitoring data also includes a measurement unit; the measurement unit includes an active lidar device for measuring tunnel deformation data, the measurement unit is electrically connected to the main control unit, the measurement unit transmits the collected tunnel deformation data to the main control unit, and the main control unit receives and processes the measurement data.

[0015] In one possible design, the tunnel supervision robot also includes a monitoring unit, which includes a camera unit for collecting environmental video data and a lighting unit for providing illumination when the camera unit is collecting environmental video data. Both the camera unit and the lighting unit are electrically connected to the main control unit.

[0016] In one possible design, the tunnel supervision robot further includes a human-machine interaction unit, which includes a display unit and a voice broadcasting unit, both of which are electrically connected to the main control unit. The main control unit is also used to send processed environmental monitoring data and positioning data to the display unit and the voice broadcasting unit, so that the display unit can display the environmental monitoring data and positioning data, and the voice broadcasting unit can broadcast the environmental monitoring data and positioning data.

[0017] In one possible design, the tunnel supervision robot further includes a voice intercom unit electrically connected to the main control unit; the voice intercom unit is used to receive first voice data and send the first voice data to the main control unit; the main control unit is used to receive and process the first voice data sent by the voice intercom unit and output the first voice data through the communication unit; the main control unit is also used to receive and process second voice data sent by the communication unit and output the second voice data through the voice intercom unit.

[0018] In one possible design, the tunnel supervision robot also includes a positioning unit, which is electrically connected to the main control unit. The positioning unit is used to acquire the robot's position information in the tunnel and send the robot's position information to the main control unit.

[0019] Secondly, the present invention provides a tunnel supervision system, including the tunnel supervision robot described in any of the above claims, and also including a server and a remote control terminal that are communicatively connected to the main control unit.

[0020] This invention replaces manual supervision with a tunnel supervision robot, acquiring environmental monitoring and location data within the tunnel and outputting it in real-time to a user terminal via a communication unit. This allows supervisors to remotely monitor the tunnel, enabling unmanned operations such as inspections, on-site monitoring, and settlement monitoring measurements. The robot can also send alarm signals to an alarm unit when environmental monitoring data exceeds thresholds. Regarding the circuit control section of the tunnel supervision robot, it effectively protects relays and transistors, preventing the electromotive force generated when relays open or close from damaging other components in the circuit. It also enhances the driving capability of optocouplers, improving the accuracy of monitoring and alarms. This contributes to improving the performance and stability of the tunnel supervision robot, ensuring its effective monitoring and management of the tunnel's environment and operational status. This invention uses automated data measurement to replace manual labor, effectively reducing the workload of supervisors, lowering the cost of manual supervision, and reducing the danger to supervisors in high-risk and complex construction sites, effectively ensuring their personal safety. Attached Figure Description

[0021] Figure 1 This is a control block diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the present invention;

[0023] Figure 3 This is the circuit schematic diagram of the main control unit in this invention;

[0024] Figure 4 This is the circuit schematic diagram of the switching module in this invention;

[0025] Figure 5 This is the circuit schematic diagram of the network port in this invention;

[0026] Figure 6 This is the circuit schematic diagram of the power supply unit in this invention;

[0027] Figure 7 This is a schematic diagram of tunnel cross-section data acquisition.

[0028] 1-Monitoring unit; 2-Voice intercom unit; 3-Lighting unit; 4-Positioning unit; 5-Environmental monitoring unit; 6-Alarm unit. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] Example 1:

[0031] This embodiment provides a tunnel supervision robot, such as Figure 1 As shown, it includes a main control unit, an environmental monitoring unit 5, a measurement unit, an alarm unit 6, a positioning unit 4, a communication unit, a monitoring unit 1, a human-computer interaction unit, and a voice intercom unit 2, which are electrically connected.

[0032] The environmental monitoring unit 5 is used to collect environmental monitoring data inside the tunnel and send the environmental monitoring data to the main control unit;

[0033] The positioning unit 4 is used to acquire the location data of the supervision robot in the tunnel and send the positioning data to the main control unit;

[0034] The main control unit is used to receive and process environmental monitoring data sent by the environmental monitoring unit 5, to receive and process positioning data sent by the positioning unit, and to receive and process measurement data sent by the measurement unit. Then, it outputs the processed environmental monitoring data, positioning data, and measurement data through the communication unit, and sends an alarm signal to the alarm unit when the environmental monitoring data and measurement data exceed the threshold, so that the alarm unit can perform an alarm operation.

[0035] In this embodiment, a tunnel supervision robot replaces manual supervision, acquiring environmental monitoring data, positioning data, and measurement data within the tunnel. This data is then output to the user terminal in real time via a communication unit, enabling remote monitoring by supervisors. This allows for unmanned operations such as inspections, on-site monitoring, and settlement monitoring and measurement. Simultaneously, it can send alarm signals to the alarm unit when environmental monitoring and measurement data exceed thresholds. This embodiment uses automated data measurement to replace manual labor, effectively reducing the workload of supervisors, lowering the cost of manual supervision, and reducing the risks to supervisors in high-risk and complex construction sites, thus effectively ensuring their personal safety.

[0036] In this embodiment, as Figure 3 As shown, the main control unit includes a controller U3, and a programming interface H1, a serial port H2, a main control status indicator LED23, a reset module, and a crystal oscillator module that are electrically connected to the controller U3. The controller U3 is implemented using a 32-bit microcontroller based on the ARM Cortex-M core STM32 series, model STM32F103C8T6. Its program memory capacity is 64KB, it requires a voltage of 2V to 3.6V, and its operating temperature is -40℃ to 85℃, making it suitable for harsh environments such as tunnels.

[0037] It should be understood that the environmental monitoring unit and alarm unit are all electrically connected to the controller U3 in the main control unit through a switch module.

[0038] In this embodiment, as Figure 4As shown, the switching module includes an N-type MOSFET Q2, an optocoupler U2, a transistor Q4, a relay RLY1, and a mounting interface U1. The optocoupler U2 is an IS3H7C type, and the relay RLY1 is an SRD-05VDC-SL-C type. The gate of the N-type MOSFET Q2 is electrically connected to the main control unit via a thirteenth resistor R13. The junction between the gate of the N-type MOSFET Q2 and the thirteenth resistor R13 is grounded via a twentieth resistor R20. The source of the N-type MOSFET Q2 is grounded, and the drain of the N-type MOSFET Q2 is electrically connected to the second pin of the optocoupler U2. The first pin of the optocoupler U2 is electrically connected to the fourth pin of the optocoupler U2 via a twelfth resistor R12. The twelfth resistor R12 is connected in parallel with a seventeenth resistor R17. The fourth pin is the power supply pin of the switching module. The third pin of optocoupler U2 is electrically connected to the base of transistor Q4 through the eighteenth resistor R18. The base of transistor Q4 is also grounded through the nineteenth resistor R19. The emitter of transistor Q4 is grounded. The collector of transistor Q4 is electrically connected to the fourth pin of relay RLY1. The fourth pin of relay RLY1 is electrically connected to the first pin of relay RLY1 through the freewheeling diode D3. The freewheeling diode D3 is connected in parallel with a series circuit consisting of the fourteenth resistor R14 and the light-emitting diode LED1. The first pin of relay RLY1 is also connected to the power supply pin of the switching module through the eleventh resistor R11. The eleventh resistor R11 is connected in parallel with the sixteenth resistor R16. The second, third, and fifth pins of relay RLY1 are all electrically connected to the mounting interface U1.

[0039] In this embodiment, the controller U3 of the main control unit is electrically connected to the gate of the N-type MOS transistor Q2 through resistor R13 to send a switch drive signal to the switch module. When the controller U3 outputs a high level, the LED inside the optocoupler U2 lights up, driving the phototransistor inside the optocoupler U2 to conduct, which in turn causes the transistor Q4 to saturate and conduct, energizing the coil of the relay RLY1. The environmental monitoring unit and alarm unit, which are electrically connected to the mounting interface U1, then start operating. It should be noted that when relay RLY1 is disconnected, due to its inductive characteristics, a freewheeling current will occur, generating a very high voltage spike on the relay RLY1 coil, which could damage transistor Q4. The freewheeling diode D3 prevents the electromotive force from acting back on transistor Q4, thus protecting transistor Q4 and preventing it from burning out. In addition, optocoupler U2 further isolates controller U3 from relay RLY1, preventing the electromotive force generated by the disconnection of relay RLY1 from affecting the normal operation of controller U3. Transistor Q4 can act as a secondary amplifier, making the operation of optocoupler U2 more sensitive, thereby enhancing the driving capability of optocoupler U2 for relay RLY1.

[0040] In this embodiment, the communication unit adopts a wired communication module or a wireless communication module. The communication unit is used for communication between various terminals to realize short-range or long-range data interaction and further meet application requirements. The wired communication module includes a network port CN1 electrically connected to the controller U3. The circuit diagram of network port CN1 is shown below. Figure 5 As shown, the wireless communication module can be, but is not limited to, any one of a WiFi transceiver module, a Bluetooth transceiver module, and a GPRS transceiver module, or any combination thereof. The WiFi transceiver module can also be used for WiFi positioning to facilitate real-time monitoring of the tunnel supervision robot's location.

[0041] In this embodiment, the alarm unit uses a rotating strobe alarm light (model LTE-1101J) with a 24V signal warning light. It has a specially designed rainproof and dustproof shell, making it suitable for harsh environments. It also uses a rotating high-intensity reflector, which can easily alert surrounding users to avoid the robot.

[0042] In this embodiment, the environmental monitoring data includes oxygen concentration data, light intensity data, dust concentration data, and combustible gas concentration data. The environmental monitoring unit includes an oxygen sensor for collecting oxygen concentration data, a light intensity sensor for collecting light intensity data, a dust concentration sensor for collecting dust concentration data, and a combustible gas sensor for collecting combustible gas concentration data. All the oxygen sensor, light intensity sensor, dust concentration sensor, and combustible gas sensor are electrically connected to the main control unit. In this embodiment, the alarm unit can issue an alarm when the oxygen concentration data, light intensity data, dust concentration data, and combustible gas concentration data exceed corresponding thresholds, thereby facilitating timely evacuation for construction personnel inside the tunnel.

[0043] In this embodiment, the oxygen sensor is a VMS-3002-O2 oxygen sensor, which is made of high-quality high-density material, has a built-in waterproof strip, has a significant moisture-proof effect, and is equipped with a high-precision probe with an imported chip built in, which can effectively improve the measurement accuracy.

[0044] The light intensity sensor uses a digital light intensity sensor model GY-302, which uses the original ROHM BH1750FVI chip. The sensor has a built-in 16-bit AD converter, which can directly output digital data, eliminating the need for complex calculations and calibration. It has a spectral characteristic close to visual sensitivity and can measure a wide range of brightness with a high precision of 1 lux.

[0045] The dust concentration sensor uses the GP2Y1014AU model dust sensor, which has extremely low current consumption (maximum 20mA, typical 11mA) and can be equipped with sensors up to 7VDC. It can output an analog voltage proportional to the measured dust concentration and has good sensitivity.

[0046] The combustible gas sensor uses the FZN-3001-MU-LEL model and is used to detect the concentration of combustible gases such as coal gas, liquefied petroleum gas, and natural gas. It is small in size, light in weight, easy to install, and has the characteristics of high resolution, high sensitivity, and fast response speed. It also has a built-in temperature compensation function, adopts intrinsically safe circuit design, and has strong anti-interference ability.

[0047] In this embodiment, the measurement unit employs a self-developed active laser module. The laser module consists of a control board, a 4G module, a level, an arch measurement laser, a level measurement laser, a battery, and a wireless module. It can obtain settlement convergence values ​​in real time and communicate via wired, 4G, or wireless methods. This module is an active settlement convergence monitoring module that uses a fully automated mode to collect tunnel settlement and convergence values ​​around the clock. Integrating multiple intelligent algorithms, this module can replace manual total station detection methods and is of significant importance in railway tunnel construction, operation, and maintenance.

[0048] The active laser module uses two laser ranging sensors that form a fixed angle θ between them. The value of θ is set according to different tunnels. When measuring the tunnel deformation value, the laser module is fixed to the tunnel sidewall. The value of θ is determined through field testing, so that the light from laser sensor 1 hits the top surface of the tunnel, and the light from laser sensor 2 hits the tunnel sidewall horizontally.

[0049] Laser emitter 1 collects the hypotenuse length y, and laser emitter 2 collects the base length x. The h value is calculated using formula (1), and x is used as the base length. k (k = 1, 2, 3, ..., n) represents the length of the tunnel bottom edge obtained in the k-th sampling. Similarly, y k h represents the length of the hypotenuse obtained in the k-th sampling. k The value represents the k-th calculation. The settlement convergence value of the tunnel cross section at point 1 can be obtained using formulas (2) and (3), where X represents the tunnel convergence value and H represents the tunnel settlement value.

[0050] h k =y k sinθ (1)

[0051] X = x k -x k-1 (2)

[0052] H = h k -h k-1 (3)

[0053] In this embodiment, the tunnel supervision robot further includes a monitoring unit, which includes a monitoring unit for collecting environmental video data and a lighting unit for providing illumination when the monitoring unit is collecting environmental video data. Both the monitoring unit and the lighting unit are electrically connected to the main control unit.

[0054] In this embodiment, the monitoring unit uses an infrared night vision camera from Hikvision, which is equipped with an explosion-proof housing, resulting in a longer service life and making it suitable for engineering scenarios such as tunnels. In this embodiment, four sets of cameras are installed, located at the front, left, right, and front of the robot body, respectively. The lighting unit provides light for the robot during standby and inspection processes, ensuring the safety of the entire robot's movement and improving the clarity of the environmental video data collected by the camera unit.

[0055] In this embodiment, the tunnel supervision robot further includes a human-machine interaction unit, which includes a display unit and a voice broadcasting unit. Both the display unit and the voice broadcasting unit are electrically connected to the main control unit. The main control unit is also used to send the processed environmental monitoring data and positioning data to the display unit and the voice broadcasting unit, so that the display unit can display the environmental monitoring data and positioning data, and the voice broadcasting unit can broadcast the environmental monitoring data and positioning data.

[0056] The voice broadcasting unit can broadcast information such as distance and construction status when the robot patrols key points in the tunnel. It can also broadcast pre-stored voice and text content about project overview and construction status to help construction personnel in the tunnel.

[0057] In this embodiment, the tunnel supervision robot further includes a voice intercom unit electrically connected to the main control unit. The voice intercom unit receives first voice data sent by construction personnel inside the tunnel and transmits it to the main control unit. The main control unit receives and processes the first voice data sent by the voice intercom unit and outputs it through a communication unit. The main control unit also receives and processes second voice data sent by the communication unit and outputs it through the voice intercom unit. It should be noted that the second voice data is sent by the supervision personnel, who can remotely communicate with construction personnel inside the tunnel via the voice intercom unit to understand the construction progress. The display unit can display environmental monitoring data collected by the environmental monitoring unit in real time, allowing construction personnel or supervision personnel to quickly understand the situation inside the tunnel.

[0058] In this embodiment, the tunnel supervision robot further includes a positioning unit, which is electrically connected to the main control unit. The positioning unit is used to acquire equipment tag information in the tunnel and send the tag information to the main control unit.

[0059] It should be understood that the main control unit, environmental monitoring unit 5, alarm unit 6, positioning unit, communication unit, monitoring unit 1, display unit, voice broadcasting unit 2, voice intercom unit 2, and positioning unit 4 are all powered by the power supply unit. In this embodiment, the circuit diagram of the power supply unit is as follows: Figure 6 As shown.

[0060] Example 2:

[0061] This embodiment provides a tunnel supervision system, including the tunnel supervision robot described in Embodiment 1, and also a server and a remote control terminal that are communicatively connected to the main control unit. In this embodiment, the remote control terminal can be a handheld remote control and visual integrated terminal. During implementation, supervisors can control the tunnel supervision robot's forward, backward, turning, and obstacle avoidance actions through the remote control terminal.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0063] Finally, it should be noted that this invention is not limited to the optional embodiments described above, and anyone can derive other various forms of products under the guidance of this invention. The specific embodiments described above should not be construed as limiting the scope of protection of this invention, which should be determined by the claims, and the specification can be used to interpret the claims.

Claims

1. An intelligent tunnel supervision robot, characterized in that: The environment monitoring unit is configured to collect oxygen concentration, illumination intensity, dust concentration and combustible gas concentration in the tunnel and send the collected data to the main control unit; The environment monitoring unit is configured to collect oxygen concentration, illumination intensity, dust concentration and combustible gas concentration in the tunnel and send the collected data to the main control unit; The measurement unit is configured to collect deformation data in the tunnel and send the measurement data to the main control unit; The positioning unit is configured to obtain position data of the robot in the tunnel and send the positioning data to the main control unit; The main control unit is configured to receive and process the environment monitoring data sent by the environment monitoring unit, receive and process the positioning data sent by the positioning unit, receive and process the measurement data sent by the measurement unit, and then output the processed environment monitoring data, positioning data and measurement data through the communication unit, and send an alarm signal to the alarm unit when the environment monitoring data and measurement data exceed a threshold value, so that the alarm unit performs an alarm operation. The master control unit comprises a controller (U3), a burning interface (H1), a serial port (H2), a master control state indicator light (LED23), a reset module and a crystal oscillator module electrically connected with the controller (U3); the environment monitoring unit and the alarm unit are electrically connected with the controller (U3) in the master control unit through a switch module; the switch module comprises an N-type MOS tube (Q2), an optocoupler (U2), a triode (Q4), a relay (RLY1) and a mounting interface (U1), the gate of the N-type MOS tube (Q2) is electrically connected with the master control unit through a thirteenth resistor (R13), the combination point of the gate of the N-type MOS tube (Q2) and the thirteenth resistor (R13) is grounded through a twentieth resistor (R20), the source of the N-type MOS tube (Q2) is grounded, the drain of the N-type MOS tube (Q2) is electrically connected with the second pin of the optocoupler (U2), the first pin of the optocoupler (U2) is electrically connected with the fourth pin of the optocoupler (U2) through a twelfth resistor (R12), the twelfth resistor (R12) is connected in parallel with a seventeenth resistor (R17), the fourth pin of the optocoupler (U2) is a power supply pin of the switch module, the third pin of the optocoupler (U2) is electrically connected with the base of the triode (Q4) through an eighteenth resistor (R18), the base of the triode (Q4) is also grounded through a nineteenth resistor (R19), the emitter of the triode (Q4) is grounded, the collector of the triode (Q4) is electrically connected with the fourth pin of the relay (RLY1), the fourth pin of the relay (RLY1) is electrically connected with the first pin of the relay (RLY1) through a freewheeling diode (D3), the freewheeling diode (D3) is connected in parallel with a series circuit connected by a fourteenth resistor (R14) and a light emitting diode (LED1), the first pin of the relay (RLY1) is also connected with the power supply pin of the switch module through an eleventh resistor (R11), the eleventh resistor (R11) is connected in parallel with a sixteenth resistor (R16), the second pin, the third pin and the fifth pin of the relay (RLY1) are electrically connected with the mounting interface (U1).

2. The intelligent tunnel supervisory robot according to claim 1, characterized in that: The environment monitoring data comprises oxygen concentration data, light intensity data, dust concentration data and combustible gas concentration data; the environment monitoring unit comprises an oxygen sensor for collecting oxygen concentration data, a light intensity sensor for collecting light intensity data, a dust concentration sensor for collecting dust concentration data and a combustible gas sensor for collecting combustible gas concentration data, and the oxygen sensor, the light intensity sensor, the dust concentration sensor and the combustible gas sensor are electrically connected with the master control unit.

3. The intelligent tunnel supervisory robot according to claim 2, characterized in that: The tunnel supervision robot further comprises a measurement unit; the measurement unit comprises an active laser radar device for measuring tunnel deformation data, the measurement unit is electrically connected with the master control unit, and the measurement unit transmits the collected tunnel deformation data to the master control unit, and the master control unit receives and processes the measurement data.

4. The intelligent tunnel supervisory robot according to claim 1, characterized in that: The tunnel supervision robot further comprises a monitoring unit, the monitoring unit comprising a camera unit for collecting environmental video data, and a lighting unit for providing lighting when the camera unit collects environmental video data, the camera unit and the lighting unit being electrically connected to the main control unit.

5. The intelligent tunnel supervisory robot according to claim 1, characterized in that: The tunnel supervision robot further comprises a human-computer interaction unit, the human-computer interaction unit comprising a display unit and a voice broadcast unit, the display unit and the voice broadcast unit being electrically connected to the main control unit; the main control unit is further configured to send the processed environmental monitoring data and positioning data to the display unit and the voice broadcast unit, so that the display unit displays the environmental monitoring data and the positioning data, and the voice broadcast unit voice broadcasts the environmental monitoring data and the positioning data.

6. The intelligent tunnel supervisory robot according to claim 1, characterized in that: The tunnel supervision robot further comprises a voice intercom unit, the voice intercom unit being electrically connected to the main control unit; the voice intercom unit is configured to receive first voice data and send the first voice data to the main control unit; the main control unit is configured to receive and process the first voice data sent by the voice intercom unit, and output the first voice data through the communication unit; the main control unit is further configured to receive and process second voice data sent by the communication unit, and output the second voice data through the voice intercom unit.

7. The intelligent tunnel monitoring robot according to claim 1, characterized in that: The tunnel supervision robot further comprises a positioning unit, the positioning unit being electrically connected to the main control unit, and the positioning unit being configured to obtain position information of the robot in the tunnel and send the position information of the robot to the main control unit.

8. A tunnel monitoring system characterized by: The intelligent tunnel supervision robot comprises the server and the remote control terminal which are in communication connection with the main control unit.

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