Rigid-Flexible Coupled Dynamic Inspection Robot for Unstructured Environments

Abstract

This invention relates to a rigid-flexible coupling dynamic inspection robot for unstructured environments, comprising a track, a moving cage, a monitoring and operating mechanism, a flexible cable, and a drive device. The drive device extends and retracts the flexible cable to adjust the position and attitude of the monitoring and operating mechanism. The monitoring and operating mechanism includes a gyro stabilization device and a dynamic detection device. The gyro stabilization device includes a gyroscope housing, a gyroscope flywheel, a stepper motor driving the gyroscope flywheel, and a wobbling servo motor connected to the gyroscope housing. The dynamic detection device includes a rotatable rotating support and a monitoring module connected to the rotating support. The monitoring module integrates a camera, a supplementary light, a temperature and humidity sensor, and an alarm. As can be seen from the above technical solution, this invention has the characteristics of high operating speed, strong load capacity, and low inertia, which can solve the current problem of difficult monitoring of unstructured environments such as integrated utility tunnels, enabling the inspection robot to stably capture information from unstructured environments.

Description

Technical Field

[0001] This invention relates to the field of utility tunnel inspection robots, specifically to a rigid-flexible coupled dynamic inspection robot for unstructured environments. Background Technology

[0002] With the development and utilization of urban underground space, the construction of utility tunnels has become an inevitable choice for urban development. Integrated utility tunnels are mainly used for the centralized laying of various public utility pipelines, such as power, communication, water supply, and drainage lines. They play a vital role in ensuring the safe operation of cities, improving the quality of the urban environment, optimizing resource allocation efficiency, and promoting economic and social development. Currently, they have become an important infrastructure for urban development in my country. In the early stages of integrated utility tunnel development, the types of pipelines within the tunnels were relatively few. However, because these pipelines required regular maintenance and environmental changes were unpredictable, there was a lack of relevant monitoring equipment for this type of unstructured environment. Manual inspections were commonly used to check various environmental characteristics within the tunnels, but this easily threatened the safety of inspection personnel and made it difficult to monitor environmental changes in real time. Therefore, utilizing robots to replace manual labor for dynamic monitoring of such unstructured environments as integrated utility tunnels is crucial for ensuring the stable and safe operation of the project.

[0003] Chinese patent document CN 109895116A describes a method for inspecting power utility tunnels. This method uses a track-mounted robot equipped with a robotic arm and gimbal to collect images of different sections of the tunnel. However, its applicability is significantly reduced when dealing with the complex, unstructured environment of integrated utility tunnels where water and electricity lines are mixed. Chinese patent document CN108890659B describes a utility tunnel inspection robot that uses a T-shaped steel track at the top to inspect for safety hazards. However, due to its small design, it cannot meet the dynamic detection requirements for large vertical spans.

[0004] Therefore, there is a need for an inspection robot that has good mobility, adaptability, and a wide detection range in unstructured environments such as integrated utility tunnels. Summary of the Invention

[0005] The purpose of this invention is to provide a rigid-flexible coupling dynamic inspection robot for unstructured environments. This inspection robot utilizes the advantages of a flexible cable parallel mechanism, which allows for a large working space and reduces the inertia of moving parts, to drive the end-effector detector. This can solve the current problem of difficult monitoring of unstructured environments such as integrated utility tunnels, and enable the inspection robot to smoothly capture information about unstructured environments.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: including two parallel and symmetrically arranged tracks, a movable retaining frame installed between the two tracks and movable along the track-defined direction, a monitoring and operating machine suspended below the movable retaining frame, and a driving device arranged above the movable retaining frame and connected to the monitoring and operating machine via a flexible cable. The tracks are installed in the top space of the pipe gallery and erected along the length of the pipe gallery. The driving device drives the flexible cable to extend and retract to adjust the position and attitude of the monitoring and operating machine.

[0007] The monitoring and operation device includes a housing and a gyroscope stabilization device and a dynamic detection device disposed within the housing. The gyroscope stabilization device includes a gyroscope housing and a gyroscope flywheel rotatably connected within the gyroscope housing, as well as a stepper motor and a sway servo. The stepper motor drives the gyroscope flywheel to rotate, and the sway servo is connected to the gyroscope housing and controls the swaying motion of the gyroscope housing. The dynamic detection device includes a rotatable rotating bracket and a monitoring module connected to the rotating bracket. The monitoring module integrates a camera, a supplementary light, a temperature and humidity sensor, and an alarm.

[0008] The housing contains a horizontally arranged support plate, which is a disc-shaped metal component. The gyroscope housing is mounted on a gyroscope stabilizing bracket via connecting pins. The gyroscope stabilizing bracket is fixed to the support plate. The upper and lower ends of the gyroscope flywheel are respectively provided with an upper shaft and a lower shaft. The upper and lower shafts are respectively connected to the gyroscope housing via bearings. The stepper motor is fixed to the gyroscope housing, and the output shaft of the stepper motor is provided with a first bevel gear. The upper shaft is provided with a second bevel gear that meshes with the first bevel gear. The diameter of the first bevel gear is smaller than that of the second bevel gear. The oscillating servo is fixed to the gyroscope stabilizing bracket and connected to the gyroscope housing through an opening in the gyroscope stabilizing bracket. The housing includes a mating upper housing and a lower housing.

[0009] The rotating bracket is an integral structure, including a bracket central shaft and mounting arms evenly distributed circumferentially along the bracket central shaft. One end of the mounting arm is fixedly connected to the bracket central shaft, and the other end of the mounting arm is a cantilever end. The monitoring module is fixed to the cantilever end of the mounting arm through a monitoring module mounting bracket. Three sets of mounting arms are provided.

[0010] The dynamic detection device also includes a monitoring and adjustment motor that drives the rotating bracket to rotate. The monitoring and adjustment motor is connected to the support plate through a motor mounting base. The support plate has a mounting hole at its center that engages with the motor mounting base. The output shaft of the monitoring and adjustment motor is provided with a third bevel gear. The central shaft of the bracket is provided with a fourth bevel gear that meshes with the third bevel gear. The diameter of the third bevel gear is smaller than that of the fourth bevel gear. The end of the central shaft of the bracket away from the fourth bevel gear is provided with a shaft hole that engages with a boss shaft provided at the center of the lower housing base.

[0011] The track includes a track body and track components installed on the track body. The track body is made of aluminum profile and has a T-slot. The track components are fastened to the T-nuts in the T-slots by bolts. The track components are located on the end faces of two tracks that are close to each other.

[0012] The movable retainer includes a regular hexagonal frame body, with a base plate on top of the frame body for mounting a drive device. Two corresponding sides of the frame body are respectively connected to track components on the track via a track vehicle. A gas concentration sensor is provided on the frame body.

[0013] The railcar includes an active railcar and a driven railcar. The active railcar includes an active car body fixed to the main frame, an active wheel mounted on the active car body and forming a rolling engagement with the rail components, and a drive motor connected to the active wheel via a first reducer. The driven railcar includes a driven car body fixed to the main frame, a driven wheel mounted on the driven car body and forming a rolling engagement with the rail components, and an angular velocity sensor is provided on the drive motor.

[0014] The monitoring and operating machine is suspended at the center of the movable retainer by an auxiliary tensioning device. The auxiliary tensioning device includes a compression spring arranged vertically. The upper end of the compression spring is fixed to the movable retainer by a first universal joint, and the lower end of the compression spring is fixed to the upper housing of the monitoring and operating machine by a second universal joint.

[0015] The drive device includes a servo motor, a second reducer connected to the servo motor, and a double drum connected to the second reducer via a coupling. The servo motor, the second reducer, the coupling, and the double drum are all mounted on a base. A wire displacement sensor is provided on the double drum. The drive device consists of three sets, and the double drums in the three sets are arranged in an equilateral triangle.

[0016] The system consists of six flexible cables, which are paired up and connected to three sets of drive devices. One end of each cable is fixed to a double-drum, and the other end is wound around a guide pulley and an auxiliary cable-laying device before being fixed to a support plate inside the monitoring machine by a rope nail. The guide pulley and the auxiliary cable-laying device are both mounted on a movable retaining frame. A force sensor is installed at the connection end between the cable and the rope nail.

[0017] The auxiliary wire feeding device includes a housing fixed below the movable retainer and two wire pulleys arranged side by side inside the housing. A channel for the flexible cable to pass through is formed between the two wire pulleys. The wire pulleys are fixed on the wire pulley bracket. The housing is provided with a groove for fixing the wire pulley bracket. The groove is arranged vertically, and the height of the wire pulley bracket in the groove is adjustable.

[0018] As can be seen from the above technical solution, the present invention uses a drive motor on a railcar to drive the moving cage to move along the track within the pipe gallery, and uses the forward and reverse rotation of a servo motor in the drive device to drive the flexible cable to extend and retract, thereby enabling the monitoring machine to monitor the maximum angle and multiple modes within the space. An auxiliary tensioning device reduces interference during image detection of the monitoring machine. At the same time, a gyroscope stabilization device is installed inside the monitoring machine, which greatly increases the stability of dynamic detection and is applicable to most non-structural environments such as pipe galleries. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 .

[0020] Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 .

[0021] Figure 3 This is a schematic diagram of the structure after removing the track in this invention.

[0022] Figure 4 This is a schematic diagram of the auxiliary tensioning device of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of the gyroscope stabilization device of the present invention. Figure 1 .

[0024] Figure 6 This is a schematic diagram of the structure of the gyroscope stabilization device of the present invention. Figure 2 .

[0025] Figure 7 This is an exploded structural diagram of the gyroscope stabilization device of the present invention.

[0026] Figure 8 This is a schematic diagram of the dynamic detection device of the present invention.

[0027] Figure 9 This is a schematic diagram of the track structure of the present invention.

[0028] Figure 10 This is a schematic diagram of the interaction between the driven railcar and the rail in this invention.

[0029] Figure 11 This is a schematic diagram of the structure of the auxiliary wire feeding device of the present invention.

[0030] Figure 12 This is an exploded structural diagram of the auxiliary wire feeding device of the present invention.

[0031] Figure 13 This is a schematic diagram of the structure of the active railcar and the driven railcar of the present invention.

[0032] The markings in the above figures are as follows: track 1, track body 11, track component 12, T-slot 13, T-nut 14, moving retainer 2, frame body 21, base plate 22, active track car 23, active car body 231, active wheel 232, first reducer 233, drive motor 234, driven track car 24, driven car body 241, driven wheel 242, monitoring and running machine 3, housing 31, upper housing 311, lower housing 312, gyro stabilization device 32, gyroscope housing 321, connecting pin 3211, gyro flywheel 322, stepper motor 323, oscillating servo 324, gyro stabilization bracket 325, upper shaft 326, lower shaft 327, first bevel gear 328. 329. Second bevel gear, 33. Dynamic detection device, 331. Rotary bracket, 3311. Bracket central shaft, 3312. Mounting arm, 332. Monitoring module, 333. Monitoring and adjustment motor, 334. Motor mounting base, 335. Third bevel gear, 336. Fourth bevel gear, 337. Monitoring module mounting bracket, 337. Support plate, 34. Flexible cable, 41. Guide pulley, 42. Auxiliary wire feeding device, 421. Housing, 422. Wire pulley, 423. Wire pulley bracket, 424. Slide groove, 43. Rope nail, 5. Drive device, 51. Servo motor, 52. Second reducer, 53. Coupling, 54. Double drum, 55. Base, 6. Auxiliary tensioning device, 61. Compression spring, 62. First universal joint, 63. Second universal joint. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings:

[0034] like Figure 1 , Figure 2The robot shown is a rigid-flexible coupling dynamic inspection robot for unstructured environments. It includes two parallel and symmetrically arranged tracks 1, a movable retainer 2 installed between the two tracks 1 and movable along the direction defined by the tracks 1, a monitoring and running machine 3 suspended below the movable retainer 2, and a drive device 5 arranged above the movable retainer 2 and connected to the monitoring and running machine 3 by a flexible cable 4. The tracks 1 are installed in the top space of the pipe gallery and are erected along the length of the pipe gallery. The drive device 5 drives the flexible cable 4 to extend and retract to adjust the position and attitude of the monitoring and running machine 3.

[0035] Furthermore, such as Figure 9 As shown, the track 1 includes a track body 11 and track components 12 mounted on the track body 11. The track body 11 is made of aluminum profile and has a T-slot 13. The track component 12 is fastened to the T-nut 14 provided in the T-slot 13 by bolts. The track component 12 is located on the end faces of the two tracks 1 that are close to each other. That is, the track body 11 is equipped with a T-slot 13, and the T-nut 14 can slide along the T-slot 13 to the corresponding mounting hole of the track component 12. The track component 12 is installed on the track body 11 by the cooperation of bolts, T-nuts 14 and washers.

[0036] Furthermore, such as Figure 13 As shown, the movable retainer 2 is the mobile frame of the entire robot. Various components are directly or indirectly mounted on the movable retainer 2. The movable retainer 2 can move along the track 1 within the pipe gallery, meeting the movement requirements for inspection along the length of the pipe gallery. The movable retainer 2 includes a regular hexagonal frame body 21, which defines the movement space of the monitoring and operating machine 3. In this embodiment, the frame body 21 is constructed from 50*50 series profiles, each 500mm long. These profiles are cut at 60° or 30° angles and connected using connecting plates, T-nuts, and hexagonal bolts. The profiles used for the frame body 21 can be aluminum, steel, or alloy profiles. A base plate 22 for mounting the drive device 5 is located above the frame body 21. In this embodiment, the base plate 22 is a triangular plate.

[0037] Two corresponding sides of the frame body 21 are respectively connected to the track components 12 on the track 1 via track vehicles. Specifically, the track vehicles include an active track vehicle 23 and a passive track vehicle 24. The active track vehicle 23 includes an active body 231 fixed to the frame body 21, an active wheel 232 mounted on the active body 231 and forming a rolling engagement with the track component 12, and a drive motor 234 connected to the active wheel 232 via a first reducer 233. The passive track vehicle 24 includes a passive body 241 fixed to the frame body 21 and a passive wheel 242 mounted on the passive body 241 and forming a rolling engagement with the track component 12. The active track vehicles 23 on the two tracks 1 are diagonally distributed, and the passive track vehicles 24 on the two tracks 1 are also diagonally distributed.

[0038] Furthermore, such as Figure 4 As shown, the monitoring and operating machine 3 is suspended at the center of the movable retainer 2 by an auxiliary tensioning device 6. The auxiliary tensioning device 6 is installed below the frame body 21. This device ensures that the compression spring 61 maintains a roughly stressed state with the support of the monitoring and operating machine 3, providing tension to the flexible cable 4 while ensuring that it does not cause excessive interference to the monitoring module inside the monitoring and operating machine 3. In this embodiment, the auxiliary tensioning device 6 includes a vertically arranged compression spring 61. The upper end of the compression spring 61 is fixed to the movable retainer 2 by a first universal joint 62, and the lower end of the compression spring 61 is fixed to the upper housing 311 of the monitoring and operating machine 3 by a second universal joint 63. Specifically, the first universal joint 62 is welded to the lower part of the frame body 21, and the second universal joint 6 is embedded and fixed on the upper housing 311 of the monitoring and operating machine 3. The compression spring 61 applies pressure to the monitoring and operating machine 3 in the opposite direction to the tension of the flexible cable 4 through the second universal joint 63. The two ends of the compression spring 61 are welded to the universal joints respectively, which can ensure that the elastic force of the compression spring 61 is more stable in the non-vertical state, so that the flexible cable 4 is always taut and only bears the force in a single direction, preventing the flexible cable 4 from suddenly loosening during operation and causing too much interference to the monitoring module.

[0039] Furthermore, such as Figure 3 As shown, the drive unit 5 includes a servo motor 51, a second reducer 52 connected to the servo motor 51, and a double drum 54 connected to the second reducer 52 via a coupling 53. The servo motor 51, the second reducer 52, the coupling 53, and the double drum 54 are all mounted on the base 55. Three sets of drive units 5 are provided, and the double drums 54 in the three sets of drive units 5 are arranged in an equilateral triangle. The drive unit 5 provides the power for the movement of the monitoring and operating machine 3.

[0040] Furthermore, in this embodiment, six flexible cables 4 are provided in total. The six flexible cables 4 are paired up and cooperate with three sets of driving devices 5 respectively. One end of the flexible cable 4 is fixed to the double-wound drum 54, and the other end of the flexible cable 4 is wound around the guide pulley 41 and the auxiliary cable release device 42 and then fixed to the support plate 34 inside the monitoring machine 3 by the rope nail 43. That is, every two flexible cables 4 form a group, for a total of three groups, which correspond to the three sets of driving devices 5 respectively. The three sets of flexible cables 4 are distributed at a 120° angle to each other. The uniform distribution of the three sets of flexible cables 4 can determine the spatial position and attitude of the monitoring machine 3 relative to the frame body 21, so as to achieve the maximum effective coverage of the monitoring space. During operation, each flexible cable 4 forms a stable force structure with the support plate 34 and auxiliary tensioning mechanism 6 inside the monitoring machine 3, restricting the rotational degree of freedom of the monitoring machine 3 around its own Z-axis. The ends of the three sets of flexible cables 4 can be equivalent to the three vertices of an equilateral triangle in the plane of the support plate 34. The forward and reverse rotation of the servo motor 51 can cause the flexible cables 4 to contract and change length, and the relative position and attitude of the monitoring machine 3 can be obtained by kinematic solution, thereby realizing all-round motion environment detection within the space of the monitoring machine 3 itself. The drive device 5 drives the flexible cables 4 to retract and extend, realizing the movement of the monitoring machine 3 in five degrees of freedom. Specifically, the five degrees of freedom refer to the translational degree of freedom along the Z-axis and the translational and rotational degrees of freedom along the X-axis and Y-axis.

[0041] Furthermore, such as Figure 11 , Figure 12 As shown, both the guide pulley 41 and the auxiliary wire feeding device 42 are mounted on the movable retainer 2. The guide pulley 41 provides guidance and support for the flexible cable 4. The auxiliary wire feeding device 42 includes a housing 421 fixed below the movable retainer 2 and two guide pulleys 422 arranged side by side inside the housing 421. A channel for the flexible cable 4 to pass through is formed between the two guide pulleys 422. The guide pulleys 422 are fixed on the guide pulley bracket 423. The housing 421 is provided with a groove 424 for fixing the guide pulley bracket 423. The groove 424 is arranged vertically, and the height of the guide pulley bracket 423 within the groove 424 is adjustable.

[0042] Furthermore, such as Figure 5 , Figure 6 , Figure 7As shown, the monitoring and operation unit 3 includes a housing 31 and a gyro stabilization device 32 and a dynamic detection device 33 disposed within the housing 31. The housing 31 includes a cooperating upper housing 311 and a lower housing 312. A horizontally arranged support plate 34 is provided inside the housing 31. The support plate 34 is a disc-shaped metal part. The gyro stabilization device 32 is disposed above the support plate 34, and the dynamic detection device 33 is disposed below the support plate 34. The gyro stabilization device 32 includes a gyroscope housing 321 and a gyro flywheel 322 rotatably connected within the gyroscope housing 321. It also includes a stepper motor 323 and a sway servo 324. The stepper motor 323 is used to drive the gyro flywheel 322 to rotate, and the sway servo 324 is connected to the gyroscope housing 321 and is used to control the swaying motion of the gyroscope housing 321.

[0043] Specifically, the gyroscope housing 321 is mounted on the gyroscope stabilizing bracket 325 via a connecting pin 3211. The gyroscope stabilizing bracket 325 is fixed to the support plate 34. The upper and lower ends of the gyroscope flywheel 322 are respectively provided with an upper shaft 326 and a lower shaft 327. The upper shaft 326 and the lower shaft 327 are respectively connected to the gyroscope housing 321 via bearings. The stepper motor 323 is fixed to the gyroscope housing 321, and the output shaft of the stepper motor 323 is provided with a first bevel gear 328. The upper shaft 326 is provided with a first bevel gear 328 that meshes with the first bevel gear 328. The diameter of the first bevel gear 328 is smaller than that of the second bevel gear 329. The stepper motor 323 drives the first bevel gear 328 to drive the gyroscope flywheel 322 to rotate at high speed. The high-speed rotation of the gyroscope flywheel 322 can improve the adaptability of the robot and prevent errors, drifts or deviations caused by posture changes during the robot's movement. This improves the accuracy and precision of the inspection robot. Especially in motion, it can, to a certain extent, convert the robot's inertial guidance system into a stable coordinate system, making the robot's inspection image more stable.

[0044] Specifically, the swing servo 324 is fixed to the gyroscope stabilizing bracket 325 and connected to the gyroscope housing 321 through an opening in the gyroscope stabilizing bracket 325. In this embodiment, the swing servo 324 controls the gyroscope housing 321 to swing within a range of ±10°. It is necessary to control the swing surface of the gyroscope housing 321 to be consistent with the direction of motion. Therefore, by using the swing servo 324 to control the gyroscope's swing, a negative resistance torque can be generated on the flexible cable 4, causing the tension load of the flexible cable 4 to change dynamically. This avoids the impact of sudden force changes caused by abrupt stops or accelerations during movement on the detected image.

[0045] Specifically, such as Figure 8As shown, the dynamic detection device 33 includes a rotatable rotating bracket 331 and a monitoring module 332 connected to the rotating bracket 331. The monitoring module 332 integrates a camera, a supplementary light, a temperature and humidity sensor, and an alarm. The rotating bracket 331 is an integral structure, including a bracket central shaft 3311 and mounting arms 3312 evenly distributed circumferentially along the bracket central shaft 3311. One end of the mounting arm 3312 is fixed to the bracket central shaft 3311, and the other end of the mounting arm 3312 is a cantilever end. The monitoring module 332 is fixed to the cantilever end of the mounting arm 3312 through a monitoring module mounting bracket 337. Three sets of mounting arms 3312 are provided. More specifically, the monitoring module 332 is mounted on the monitoring module mounting bracket 337 by spring pins, and the monitoring module mounting bracket 337 is interference-fitted with the cantilever end of the mounting arm 3312. The dynamic detection device 33 also includes a monitoring and adjustment motor 333 that drives the rotating bracket 331 to rotate. The monitoring and adjustment motor 333 is connected to the support plate 34 via a motor mounting base 334. The support plate 34 has a mounting hole at its center that engages with the motor mounting base 334. The output shaft of the monitoring and adjustment motor 333 is equipped with a third bevel gear 335, and the central shaft 3311 of the bracket is equipped with a fourth bevel gear 336 that meshes with the third bevel gear 335. The diameter of the third bevel gear 335 is smaller than that of the fourth bevel gear 336. The end of the central shaft 3311 away from the fourth bevel gear 336 has a shaft hole that engages with a boss shaft at the center of the lower housing base. During operation, the monitoring and adjustment motor 333 drives the rotating bracket 331 to rotate via the third bevel gear 335, thereby causing the monitoring module 332 to change its monitoring range.

[0046] Furthermore, the present invention also includes the following sensors: a force sensor is provided at the connection end of the flexible cable 4 and the rope nail 43; a gas concentration sensor is provided on the frame body 21; an angular velocity sensor is provided on the drive motor 234; and a wire displacement sensor is provided on the double drum 54.

[0047] The working principle and process of this invention are as follows:

[0048] The first step is to initialize the system, check the network communication status between each module, manually place the inspection robot at the starting point of the inspection route, set the inspection route of the monitoring machine, determine the early warning parameters of the route, and input them into the host computer of the control system.

[0049] The second step is to activate all sensors and monitor the real-time status of the various sensors installed on the inspection robot and the feedback signals.

[0050] The third step involves the host computer determining the location of the main working area based on the set route parameters of the monitoring machine. The gyro stabilization device is activated, and the drive motor on the track vehicle automatically adjusts the inspection speed and progress. The drive device controls the extension and retraction of the flexible cable, allowing the monitoring machine to move to a suitable height on the pipeline to be inspected.

[0051] Step 4: During the inspection, input the shape and attitude parameters of the machine to be monitored and the infrared sensor data into the host computer for analysis.

[0052] Step 5: Based on the approximate shape and posture parameters of the monitoring machine, under the control of the host computer, the monitoring and adjustment motor drive adjusts the detection range of the monitoring module, thereby adapting to the dynamic detection needs of environmental inspections for different routes and pipelines.

[0053] Step 6: The host computer reads the data from the gas concentration sensor and temperature sensor in real time and compares them with the warning value to determine whether the environmental information is abnormal. If there is an abnormality, the dynamic detection robot will immediately alarm through the host computer.

[0054] Step 7: During the movement of the moving cage and the monitoring machine, one of the monitoring modules is always responsible for environmental perception, following its movement, and completing the dynamic inspection task of the currently feasible workspace. Tension sensors, angle sensors, etc., collect data and output it to the host computer, thereby controlling the drive device to adjust according to the cage's movement, ensuring that there are no issues such as pipe interference affecting the movement.

[0055] Step 8: When there are many pipelines to be inspected, the robot may not be able to completely cover the entire pipe gallery in one inspection, thus failing to complete the overall dynamic inspection task. In this case, the position of the monitoring module can be adjusted and the drive motor on the track car can be controlled to run in the opposite direction along the pipe gallery to detect the pipelines. Then, start again from step 3 until the inspection of the entire pipe gallery is completed.

[0056] The beneficial effects of this invention are as follows:

[0057] 1. The flexible cable parallel mechanism of the present invention has the characteristics of simple structure, large working space, easy disassembly and assembly, reconfigurability, and high degree of modularity. The design of the flexible cable parallel mechanism enables the robot to move freely inside the narrow tube gallery, and has strong adaptability and flexibility.

[0058] 2. This invention exhibits high stability. The gyro stabilization device eliminates the effects of camera vibration, ensuring clear and stable monitoring images; the auxiliary tensioning device, through a universal joint and compression spring structure, can adaptively adjust to sudden imbalances in rope tension encountered by the robot during movement, making the robot more stable.

[0059] 3. The control of the double-drum and flexible cable in this invention allows the monitoring robot to monitor a wide range of the inside of the pipe gallery while moving along the track; the dynamic detection device can adjust the monitoring range and monitor environmental changes inside the pipe gallery in real time, and make adjustments as needed.

[0060] 4. This invention enables the flexible cable-driven monitoring device to operate stably under load, expands the application space of the flexible cable parallel mechanism, realizes dynamic monitoring of complex integrated utility tunnel environments, ensures the safety of the production environment, assists in the construction of integrated utility tunnels, allows selection of functional modules according to scenario requirements, effectively ensures the safety of integrated utility tunnel workers, and provides favorable support for the continuous development of integrated utility tunnels.

[0061] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A rigid-flexible coupled dynamic inspection robot for unstructured environments, characterized in that: The system includes two parallel and symmetrically arranged tracks (1), a movable retainer (2) installed between the two tracks (1) and movable along the direction defined by the tracks (1), a monitoring and operating machine (3) suspended below the movable retainer (2), and a drive device (5) arranged above the movable retainer (2) and connected to the monitoring and operating machine (3) by a flexible cable (4). The tracks (1) are installed in the top space of the pipe gallery and erected along the length of the pipe gallery. The drive device (5) drives the flexible cable (4) to extend and retract to adjust the position and attitude of the monitoring and operating machine (3). The monitoring and operation machine (3) includes a housing (31) and a gyroscope stabilization device (32) and a dynamic detection device (33) installed in the housing (31). The gyroscope stabilization device (32) includes a gyroscope housing (321) and a gyroscope flywheel (322) rotatably connected in the gyroscope housing (321). It also includes a stepper motor (323) and a swing servo (324). The stepper motor (323) is used to drive the gyroscope flywheel (322) to rotate. The swing servo (324) is connected to the gyroscope housing (321) and is used to control the swing motion of the gyroscope housing (321). The dynamic detection device (33) includes a rotatable rotating bracket (331) and a monitoring module (332) connected to the rotating bracket (331). The monitoring module (332) integrates a camera, a supplementary light, a temperature and humidity sensor, and an alarm. The housing (31) contains a horizontally arranged support plate (34), which is a disc-shaped metal part. The gyroscope housing (321) is mounted on the gyroscope stabilizing bracket (325) via a connecting pin (3211). The gyroscope stabilizing bracket (325) is fixed on the support plate (34). The upper and lower ends of the gyroscope flywheel (322) are respectively provided with an upper shaft (326) and a lower shaft (327). The upper shaft (326) and the lower shaft (327) are respectively connected to the gyroscope housing (321) via bearings. The stepper motor (323) is fixed. A first bevel gear (328) is provided on the gyroscope housing (321) and on the output shaft of the stepper motor (323). A second bevel gear (329) that meshes with the first bevel gear (328) is provided on the upper shaft (326). The diameter of the first bevel gear (328) is smaller than that of the second bevel gear (329). The oscillating servo (324) is fixed on the gyroscope stabilizing bracket (325) and connected to the gyroscope housing (321) through an opening on the gyroscope stabilizing bracket (325). The housing (31) includes a cooperating upper housing (311) and a lower housing (312).

2. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 1, characterized in that: The rotating bracket (331) is an integral structure, including a bracket central shaft (3311) and mounting arms (3312) evenly distributed circumferentially along the bracket central shaft (3311). One end of the mounting arm (3312) is fixedly connected to the bracket central shaft (3311), and the other end of the mounting arm (3312) is a cantilever end. The monitoring module (332) is fixed to the cantilever end of the mounting arm (3312) through a monitoring module mounting bracket (337). The mounting arm (3312) is provided in three sets.

3. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 2, characterized in that: The dynamic detection device (33) further includes a monitoring and adjustment motor (333) that drives the rotating bracket (331) to rotate. The monitoring and adjustment motor (333) is connected to the support plate (34) through a motor mounting base (334). The support plate (34) has a mounting hole at its center that engages with the motor mounting base (334). The output shaft of the monitoring and adjustment motor (333) is provided with a third bevel gear (335). The central shaft (3311) of the bracket is provided with a fourth bevel gear (336) that meshes with the third bevel gear (335). The diameter of the third bevel gear (335) is smaller than that of the fourth bevel gear (336). The end of the central shaft (3311) of the bracket away from the fourth bevel gear (336) is provided with a shaft hole that engages with a boss shaft at the center of the lower housing base.

4. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 1, characterized in that: The track (1) includes a track body (11) and a track component (12) installed on the track body (11). The track body (11) is made of aluminum profile and has a T-slot (13). The track component (12) is fastened to the T-nut (14) provided in the T-slot (13) by bolts. The track component (12) is located on the end face of the two tracks (1) that are close to each other.

5. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 1, characterized in that: The movable retainer (2) includes a regular hexagonal frame body (21), and a base plate (22) for installing the drive device (5) is provided on the top of the frame body (21). Two corresponding sides of the frame body (21) are respectively connected to the track component (12) on the track (1) by a track vehicle. A gas concentration sensor is provided on the frame body (21). The railcar includes an active railcar (23) and a driven railcar (24). The active railcar (23) includes an active car body (231) fixed to the frame body (21), an active wheel (232) mounted on the active car body (231) and forming a rolling engagement with the rail component (12), and a drive motor (234) connected to the active wheel (232) through a first reducer (233). The driven railcar (24) includes a driven car body (241) fixed to the frame body (21), and a driven wheel (242) mounted on the driven car body (241) and forming a rolling engagement with the rail component (12). The drive motor (234) is equipped with an angular velocity sensor.

6. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 1, characterized in that: The monitoring machine (3) is suspended at the center of the movable retainer (2) by an auxiliary tensioning device (6). The auxiliary tensioning device (6) includes a compression spring (61) arranged vertically. The upper end of the compression spring (61) is fixed to the movable retainer (2) by a first universal joint (62), and the lower end of the compression spring (61) is fixed to the upper housing (311) of the monitoring machine (3) by a second universal joint (63).

7. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 1, characterized in that: The drive device (5) includes a servo motor (51), a second reducer (52) connected to the servo motor (51), and a double drum (54) connected to the second reducer (52) via a coupling (53). The servo motor (51), the second reducer (52), the coupling (53), and the double drum (54) are all mounted on a base (55). The double drum (54) is equipped with a wire displacement sensor. The drive device (5) is provided in three sets, and the double drums (54) in the three sets of drive devices (5) are arranged in an equilateral triangle.

8. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 1, characterized in that: The flexible rope (4) is provided in a total of six. The six flexible ropes (4) are paired up and cooperate with three sets of drive devices (5). One end of the flexible rope (4) is fixed to the double drum (54). The other end of the flexible rope (4) is wound around the guide pulley (41) and the auxiliary wire feeding device (42) and then fixed to the support plate (34) inside the monitoring and running machine (3) by the rope nail (43). The guide pulley (41) and the auxiliary wire feeding device (42) are both set on the moving retainer (2). The connection end of the flexible rope (4) and the rope nail (43) is provided with a force sensor.

9. The rigid-flexible coupling dynamic detection robot for unstructured environments according to claim 8, characterized in that: The auxiliary wire feeding device (42) includes a housing (421) fixed below the movable retainer (2) and two wire pulleys (422) arranged side by side inside the housing (421). A channel for the flexible cable (4) to pass through is formed between the two wire pulleys (422). The wire pulleys (422) are fixed on the wire pulley bracket (423). The housing (421) is provided with a groove (424) for fixing the wire pulley bracket (423). The groove (424) is arranged vertically, and the height of the wire pulley bracket (423) in the groove (424) is adjustable.

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