Intelligent security protection system based on tunnel inner wall detection

Abstract

The application discloses an intelligent safety protection system based on tunnel inner wall detection, which comprises a tunnel inner wall detection robot device, a control device, a slide rail device connected with the control device, an intelligent rope winding and unwinding device, a carrier trolley device, the control device and a UWB positioning base station; the intelligent rope winding and unwinding device can automatically wind and unwind the rope according to the distance between the tunnel inner wall detection robot device and the slide rail device; the UWB positioning base station collects the coordinate positions of the slide rail device, the intelligent rope winding and unwinding device, the tunnel inner wall detection robot device and the carrier trolley device in real time and transmits the coordinate positions to the control device; the control device controls the slide rail device, the intelligent rope winding and unwinding device, the tunnel inner wall detection robot device and the carrier trolley device to realize synchronous movement according to the collected coordinate positions, so that the three devices are on the same longitudinal section of the tunnel, and repeated climbing for safety rope hanging point operation is avoided.

Description

Technical Field

[0001] This invention relates to the field of infrastructure construction quality inspection, and specifically to an intelligent safety protection system based on tunnel inner wall inspection. Background Technology

[0002] Tunnel interior wall inspection is a crucial task aimed at assessing the integrity, structure, and safety of the tunnel's interior walls. It typically involves a variety of techniques and methods, including non-destructive testing (NDT), infrared imaging, and ultrasonic testing. These techniques help inspectors determine the extent of corrosion, cracks, spalling, and other potential problems on the interior walls, covering the entire tunnel interior surface.

[0003] The wall-climbing inspection robot is equipped with inspection equipment and cameras mounted on the front of an adsorption chassis to inspect the inner wall of a tunnel. It can be used in the tunnel construction and maintenance phases.

[0004] However, existing robots face challenges in providing power and pose significant safety risks when performing comprehensive inspections of the entire tunnel wall. Furthermore, the robot's stability is affected by factors such as its own technology, signal interference, temperature, and humidity, increasing the risk of falls. Therefore, it is necessary to install appropriate safety ropes inside the tunnel to suspend the robot and prevent falls.

[0005] However, there are generally no attachments on the top of the tunnel, so conventional safety rope measures cannot be implemented; or there are pre-buried safety anchor points, which require multiple climbing operations to change the safety rope anchor points according to the robot's movement position. This kind of operation increases the safety risks for workers.

[0006] Therefore, existing tunnel interior wall inspection methods suffer from low reliability due to the aforementioned technical deficiencies. Thus, improving the reliability of tunnel interior wall inspection methods is a problem that needs to be solved in this field. Summary of the Invention

[0007] To address the technical problem of low reliability in existing tunnel inner wall detection methods, the present invention aims to provide an intelligent safety protection system based on tunnel inner wall detection, which can provide a stable power supply and protect the robot's safety, effectively overcoming the problems existing in the prior art.

[0008] To achieve the above objectives, the present invention provides an intelligent safety protection system based on tunnel inner wall detection, including a tunnel inner wall detection robot device, and further including: a control device and a slide rail device connected to the control device, an intelligent rope winding and unwinding device, a transport trolley device, and a UWB positioning base station.

[0009] The slide rail device is movably installed on the inner wall at the bottom of the tunnel; the intelligent rope winding and unwinding device is connected to the slide rail device and moves synchronously with the slide rail device.

[0010] The intelligent rope winding and unwinding device is connected to the tunnel inner wall inspection robot device and the transport trolley device via cables. The intelligent rope winding and unwinding system device controls the intelligent rope winding and unwinding device to automatically wind and unwind the rope according to the distance between the tunnel inner wall inspection robot device and the slide rail device, thereby adjusting the tension of the tunnel inner wall inspection robot device.

[0011] The UWB positioning base station is connected to the sliding rail device, the intelligent rope winding and unwinding device, the tunnel inner wall detection robot device, and the transport trolley device to collect the coordinate positions of the above devices in real time, and transmit the collected coordinate positions to the control device. The control device controls the sliding rail device, the intelligent rope winding and unwinding system device, the tunnel inner wall detection robot device, and the transport trolley device to move synchronously according to the collected coordinate positions, so that the three are on the same longitudinal section of the tunnel.

[0012] Furthermore, the slide rail device includes a horizontal plate, a slide rail housing, a track groove, and a sliding hook;

[0013] The upper part of the slide rail housing is set along the inner wall of the tunnel and is fixedly connected to the inner wall of the tunnel;

[0014] The slide rail housing has an internal cavity, a protruding part in the middle, and symmetrical track grooves on both sides.

[0015] The movable component is disposed inside the slide rail housing and can move along the track groove;

[0016] The connecting end of the sliding hook is located at the bottom of the horizontal plate, and the hook end passes through the slide rail housing and is located outside the slide rail housing, and is connected in cooperation with the intelligent rope winding and releasing system device.

[0017] Furthermore, the moving component includes a horizontal plate, slide wheels, and slide wheel motors; the horizontal plate is disposed on the protruding part of the slide rail housing, with both ends corresponding to the track grooves; the slide wheels are disposed on both ends of the horizontal plate and embedded in the track grooves, allowing them to move along the track grooves; the slide wheel motors are respectively disposed on both ends of the horizontal plate and are drivenly connected to the slide wheels at the bottom, providing driving force for the movement of the slide wheels along the track grooves.

[0018] Furthermore, the intelligent rope deployment and retraction system includes a rope hanging assembly and a cable base assembly. The rope hanging assembly is connected to the slide rail device and provides a cable to the rope hanging assembly through the cable base assembly. The cable is connected to the tunnel inner wall detection robot device through the rope hanging assembly. The cable base assembly is installed on the transport trolley device.

[0019] Furthermore, the cable base assembly includes a bracket, a second battery, a second coupling, a cable reel, a worm gear motor, a base plate, a base, and a circuit control box;

[0020] The cable base assembly is mounted on the transport trolley via a bracket. Inside the bracket are arranged a base, a second battery, and a circuit control box in sequence. The base plate is mounted on top of the bracket and serves as the base for the worm gear motor, the second coupling, and the cable reel.

[0021] The worm gear motor is connected to the winding reel via a second coupling to control the speed of the winding reel. By controlling the speed of the winding reel, the robot device for inspecting the tunnel wall can be supplied with a cable of the appropriate length.

[0022] Furthermore, the hanging rope assembly includes a cable, a cable fixing block, a cable guide wheel, a battery box, a first sheet metal plate, a cable friction wheel shaft, a circuit box, a lifting eye fixing sheet metal, a lifting eye, a second sheet metal plate, a friction wheel, a motor fixing sheet metal, a first coupling, a diamond-shaped bearing seat, a cable guide wheel shaft, and a geared motor;

[0023] The first sheet metal sheet and the second sheet metal sheet are arranged opposite each other, forming an installation area in the middle, and a hanging ring is provided at the top to fix the sheet metal sheet to connect the first sheet metal sheet and the second sheet metal sheet;

[0024] The lifting ring is mounted on the lifting ring fixing sheet metal, and the hanging rope assembly is connected to the slide rail device through the lifting ring;

[0025] The friction wheel is disposed in the installation area formed by the first sheet metal sheet and the second sheet metal sheet, and its two ends are connected to the first sheet metal sheet and the second sheet metal sheet by means of a cable friction wheel shaft, and can rotate between the first sheet metal sheet and the second sheet metal sheet;

[0026] The cable guide wheel is located below the friction wheel, and its end is provided with a cable guide wheel shaft, a diamond bearing seat and a first coupling to form a transmission assembly. The geared motor is set in cooperation with the first coupling. The geared motor is connected to the lifting ring fixing sheet metal through the motor fixing sheet metal. The speed of the cable guide wheel is driven by the transmission assembly through the geared motor.

[0027] The cable guide wheel and the friction wheel form a transmission channel for the cable, and the cable passes through the two. The mutual squeezing action of the two effectively controls the release length of the cable rope.

[0028] The cable fixing block is installed at the lower part between the first sheet metal plate and the second sheet metal plate to control the direction of cable exit.

[0029] The battery box is installed on one side of the first sheet metal sheet to provide power to the rope hanging device. The circuit box is fixed to the hanging ring sheet metal and is used to house the control circuit that enables the operation of this rope hanging assembly.

[0030] Furthermore, the tunnel inner wall inspection robot device includes an inspection component, a chassis component, and an adsorption component;

[0031] The detection component is installed at the front end of the chassis assembly for tunnel inner wall inspection operations, while the adsorption component is installed below the chassis assembly and adheres to the tunnel inner wall using the principle of negative pressure.

[0032] Furthermore, the transport vehicle device includes a power supply assembly, a vehicle chassis, and vehicle wheels;

[0033] The trolley wheels are symmetrically arranged below the trolley chassis, and the displacement of the trolley-carrying device can be achieved by setting the trolley wheels.

[0034] The power supply component is mounted on the transport vehicle and connected to the cable of the intelligent rope retraction device to power the tunnel wall inspection robot.

[0035] Furthermore, the slide rail device, the intelligent rope winding and unwinding system device, the tunnel inner wall detection robot device, and the transport trolley device are each equipped with positioning components and are connected to UWB positioning base stations for data interaction. The UWB positioning base station can collect the position coordinates of the slide rail device, the intelligent rope winding and unwinding system device, the tunnel inner wall detection robot device, and the transport trolley device in real time through the positioning components and transmit them to the control device for data judgment.

[0036] Furthermore, the control device collects the position coordinates of the intelligent rope retraction system and the tunnel wall inspection robot in real time. The cable length between the tunnel wall inspection robot and the intelligent rope retraction system can be calculated from the coordinates. This length is then compared with a preset distance, and the intelligent rope retraction system is controlled to extend and retract based on the comparison result. The control device controls the synchronous movement of the sliding hook device, the tunnel wall inspection robot, and the transport trolley device by collecting their position coordinates, so that the three are on the same longitudinal section of the tunnel.

[0037] The intelligent safety protection system based on tunnel inner wall detection provided by this invention enables the cable to automatically adjust its length according to the robot's movement and the distance between the cable and the hanging device through an intelligent cable winding and unwinding system.

[0038] Furthermore, the sliding rail device allows the transport trolley to move synchronously with the tunnel wall inspection robot, avoiding the need for repeated climbing to safety rope attachment points. The tunnel wall inspection robot can traverse the entire tunnel wall without any safety risks. Attached Figure Description

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] Figure 1 This is a front view of the intelligent safety protection system based on tunnel inner wall detection in this invention.

[0041] Figure 2 This is a side view of the intelligent safety protection system based on tunnel inner wall detection in this invention during operation;

[0042] Figure 3 This is a schematic diagram of the tunnel top sliding rail device in this invention;

[0043] Figure 4 This is a schematic diagram of the cable base assembly in this invention;

[0044] Figure 5 This is a schematic diagram of the hanging rope assembly in this invention;

[0045] Figure 6 This is a side view of the tunnel inner wall inspection robot of the present invention;

[0046] Figure 7 This is a top view of the tunnel inner wall inspection robot of the present invention;

[0047] Figure 8 This is a schematic diagram of the transport vehicle.

[0048] The following are the component labels in the attached diagram:

[0049] 1. Slide rail device 11. Horizontal plate 12. Slide rail housing 13. Track groove 14. Slide rail wheel 15. Slide rail wheel motor 16. Hook 17. Hook positioning label 2. Intelligent rope winding and unwinding system device 21. Rope hanging assembly 211. Cable 212. Cable fixing block 213. Cable guide wheel 214. Battery box 215. First sheet metal plate 216. Cable friction wheel shaft 217. Circuit box 218. Lifting ring fixing sheet metal 219. Lifting ring 2110. Second sheet metal plate 2111. Friction wheel 2112. Motor 2113. Fixed sheet metal. 2114. First coupling. 2115. Diamond bearing seat. 2116. Cable guide wheel axle. 2117. Gear motor. 228. Cable base assembly. 229. Bracket. 220. Second battery. 221. Second coupling. 222. Cable reel. 223. Worm gear motor. 224. Base plate. 225. Base. 226. Circuit control box. 3. Tunnel inner wall inspection robot device. 31. Inspection component. 32. Chassis assembly. 33. Adsorption component. 34. Robot positioning tag. 4. Carrier device. 41. Power supply component. 42. Carrier positioning tag. 43. Carrier chassis. 44. Carrier wheels. 5. Control device. 6. UWB positioning base station. Detailed Implementation

[0050] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0051] The intelligent safety protection system based on tunnel inner wall detection provided by this invention is described in [reference needed]. Figures 1-2 It includes a slide rail device 1, an intelligent rope winding and unwinding device 2, a tunnel inner wall inspection robot device 3, a transport trolley device 4, a control device 5, and a UWB positioning base station 6.

[0052] The intelligent rope retraction system 2, based on the distance between the tunnel wall inspection robot 3 and the slide rail device 1, is controlled by the control device 5 to automatically retract and extend the rope. This system can tighten the rope after the tunnel wall inspection robot 3 falls, preventing it from falling to the ground and causing damage to the tunnel wall inspection robot 3, while also further ensuring the safety of personnel.

[0053] The UWB positioning base station 6 is connected in conjunction with the sliding rail device 1, the intelligent rope retraction device 2, the tunnel inner wall inspection robot device 3, and the transport trolley device 4. This allows for real-time acquisition of the coordinate positions of the sliding rail device 1, the intelligent rope retraction device 2, the tunnel inner wall inspection robot device 3, and the transport trolley device 4. The acquired coordinate positions are then transmitted to the control device 5. The control device 5 uses these coordinate positions to control the sliding rail device 1, the intelligent rope retraction device 2, the tunnel inner wall inspection robot device 3, and the transport trolley device 4 to move synchronously, ensuring they are all on the same longitudinal section of the tunnel. This avoids the need for repeated climbing to safety rope anchoring points. The tunnel inner wall inspection robot device 3 can traverse the entire tunnel inner wall without any safety risks.

[0054] See Figure 3 The slide rail device 1 is installed at the top of the tunnel and connected to the control device 5. The control device 5 can control the displacement of the slide rail device 1. It includes a cross plate 11, a slide rail housing 12, a track groove 13, a slide rail wheel 14, a slide rail wheel motor 15, a slide hook 16, and a slide hook positioning label 17.

[0055] The upper part of the slide rail housing 12 is arranged along the Y-axis direction of the tunnel (see...). Figure 1 It is fixedly connected to the inner wall of the tunnel to bear the weight of the slide rail device 1.

[0056] The slide rail housing 12 has a hollow interior for mounting the horizontal plate 11, the slide rail wheel 14, and the slide rail wheel motor 15. The middle part is a protruding part, and the two sides are symmetrical track grooves.

[0057] Here, the connection method between the slide rail housing 12 and the tunnel inner wall is not limited in this solution; it can be fixed by means of bonding or bolting.

[0058] The horizontal plate 11 is provided on the protruding part of the slide rail housing 12, and its two ends are corresponding to the track groove 13. The slide rail wheel 14 is provided on both ends of the horizontal plate 11 and embedded in the track groove 13. It can move along the track groove 13 in the track groove 13, and at the same time drive the horizontal plate 11 to move along the protruding part of the slide rail housing 12.

[0059] The slide rail motor 15 is connected to the control device 5, and the slide rail motor 15 is respectively set at both ends of the horizontal plate 11 and driven by the slide rail 14 at the bottom. The control device 5 controls the slide rail motor 15 to provide driving force for the slide rail 14 to move along the track groove 13.

[0060] The connecting end of the sliding hook 16 is located at the bottom of the horizontal plate 11, and the hook end passes through the slide rail housing 12 and is located outside the slide rail housing 12, for use in conjunction with the intelligent rope retraction system device 2.

[0061] The sliding hook positioning tag 17 is set on the sliding hook 16 and transmits signals in real time with multiple base stations of the UWB positioning base station 6 to determine the real-time spatial position of the sliding hook positioning tag 17.

[0062] The intelligent rope retraction system 2 is connected in conjunction with the control device 5. It is used to control the automatic rope retraction and release of the tunnel inner wall inspection robot device 3 according to the distance between the tunnel inner wall inspection robot device 3 and the hanging point. This ensures that the tunnel inner wall inspection robot device 3 is kept taut in real time, avoids the tunnel inner wall inspection robot device 3 from falling, and improves safety.

[0063] The intelligent rope retraction system device 2 includes a rope hanging assembly and a cable base assembly 22. The rope hanging assembly 21 is connected to the hook 16 of the slide rail device 1, and the cable base assembly 22 provides a cable to the rope hanging assembly 21. The cable is connected to the tunnel inner wall inspection robot device 3 through the rope hanging assembly 21.

[0064] When the tunnel wall inspection robot device 3 falls, the force of the fall is transmitted to the slide rail device 1 through the hanging rope assembly 21, and finally to the adhesive force between the slide rail housing 12 and the tunnel top. This can tighten the tunnel wall inspection robot device 3 after it falls, preventing it from falling to the ground and causing damage to the tunnel wall inspection robot device 3, while further ensuring the safety of personnel.

[0065] The cable base assembly 22 is mounted on the transport trolley device 4 and connected to the control device 5. Under the control of the control device 5, it can provide cable to the rope assembly 21. See also Figure 4 The cable base assembly 21 includes a bracket 221, a second battery 222, a second coupling 223, a cable reel 224, a worm gear motor 225, a base plate 226, a base 227, and a circuit control box 228.

[0066] The bracket 221 serves as a mounting base, and the cable base assembly 22 is mounted on the transport trolley device 4 via the bracket 221. Inside the bracket 221, a base 227, a second battery 222, and a circuit control box 228 are arranged sequentially.

[0067] The circuit control box 228 is used to house the control circuitry that enables the operation of the cable base assembly 22.

[0068] The base 227 is mounted on the circuit control box 228, and the second battery 222 is located inside the base 227 to supply power to the cable base assembly 22.

[0069] The base plate 226 is mounted above the bracket 221 and serves as the base for the worm gear motor 225, the second coupling 223, and the winding reel 224.

[0070] The worm gear motor 225 is connected in cooperation with the control device 5. Under the command issued by the control device 5, the worm gear motor 225 can be controlled to achieve the corresponding speed so as to release the cable of the corresponding length.

[0071] The worm gear motor 225 is connected to the winding reel 224 via the second coupling 223 to control the rotation speed of the winding reel 224. By controlling the rotation speed of the winding reel 224, the corresponding length of cable is provided to the tunnel inner wall inspection robot device 3.

[0072] The cable provided by the cable base assembly 22 has one end connected to the cable base assembly 22 and the other end connected to the tunnel inner wall inspection robot device 3 via the rope assembly 21.

[0073] See Figure 5 The lanyard assembly includes a cable 211, a cable fixing block 212, a cable guide wheel 213, a battery box 214, a first sheet metal plate 215, a cable friction wheel shaft 216, a circuit box 217, a lifting ring fixing sheet metal 218, a lifting ring 219, a second sheet metal plate 2110, a friction wheel 2111, a motor fixing sheet metal 2112, a first coupling 2113, a diamond bearing seat 2114, a cable guide wheel shaft 2115, and a geared motor 2116.

[0074] The first sheet metal sheet 215 and the second sheet metal sheet 2110 are arranged opposite each other, forming an installation area in the middle, and a hanging ring is provided at the top to fix the sheet metal sheet 218 to connect the first sheet metal sheet 215 and the second sheet metal sheet 2110.

[0075] The lifting ring 219 is set on the lifting ring fixing sheet metal 218. The hanging rope assembly 21 can be connected to the sliding hook 16 in the slide rail device 1 through the lifting ring 219, and the hanging rope assembly 21 can move synchronously with the slide rail device 1.

[0076] The friction wheel 2111 is disposed in the installation area formed by the first sheet metal sheet 215 and the second sheet metal sheet 2110, and its two ends are connected to the first sheet metal sheet 215 and the second sheet metal sheet 2110 through the cable friction wheel shaft 216, and can rotate between the first sheet metal sheet 215 and the second sheet metal sheet 2110.

[0077] The cable guide wheel 213 is located below the friction wheel 2111. Its end is provided with a cable guide wheel shaft 2115, a diamond-shaped bearing seat 2114 and a first coupling 2113 to form a transmission assembly. A reduction motor 2116 is set in cooperation with the first coupling 2113. The reduction motor 2116 is connected to the lifting ring fixing sheet metal 218 through the motor fixing sheet metal 2112. The reduction motor 2116 is connected in cooperation with the control device 5. The control device 5 issues commands to the reduction motor 2116, and the reduction motor 2116 controls the transmission assembly to drive the speed of the cable guide wheel 213.

[0078] A transmission channel for cable 211 is formed between cable guide wheel 213 and friction wheel 2111. Cable 211 passes through the two, and the mutual squeezing action of the two effectively controls the release length of the cable rope.

[0079] The cable fixing block 212 is installed at the lower part between the first sheet metal plate 215 and the second sheet metal plate 2110 to control the direction of cable 211 exiting the rope.

[0080] After the cable passes through the cable guide wheel 213 and the friction wheel 2111, the cable fixing block 212 guides and fixes the cable 211 to prevent the cable 211 from deviating between the cable guide wheel 213 and the friction wheel, which would prevent the cable 211 from being released or retracted, thus affecting the reliability of the device.

[0081] The battery box 214 is installed on one side of the first sheet metal plate 215 to provide power to the hanging rope device 21. The circuit box 217 is fixed to the hanging ring sheet metal 218, which is used to house the control circuit that enables the operation of this hanging rope assembly 21.

[0082] The cable base assembly 22 and the cable hanging rope assembly 21 must keep the cable winding and unwinding state and length synchronized. Specifically, the control device 5 is used to synchronously control the rotation state of the geared motor 2116 on the hanging rope assembly and the worm gear motor 225 on the cable base assembly.

[0083] As an example, let the diameter of the cable guide wheel 213 be d1, the rotation speed be n1, and the number of rotations be p1; and the diameter of the winding reel 224 be d2, the rotation speed be n2, and the number of rotations be p2. Then the control device 5 needs to ensure that n1 / n2 = d1 / d2, so that the rotation strokes of the two are consistent.

[0084] Further, see Figures 6-7The tunnel wall inspection robot device 3 includes an inspection component 31, a chassis component 32, an adsorption component 33, and a robot positioning tag component 34.

[0085] The detection component 31 is installed at the front end of the chassis component 32 and is used for tunnel inner wall inspection. The adsorption component 33 is installed below the chassis component 32 and is adsorbed onto the tunnel inner wall by relying on the principle of negative pressure.

[0086] The robot positioning tag 34 component is installed on the upper part of the chassis component 32. It determines the real-time spatial position of the tunnel inner wall detection robot 3 by exchanging signals with multiple base stations of the UWB positioning base station 6 in real time.

[0087] The specific structure and working principle of the tunnel wall inspection robot are well known to those skilled in the art, and will not be described in detail here.

[0088] See Figure 8 The trolley device 4 includes a power supply assembly 41, a trolley chassis 43, trolley wheels 44, and a trolley positioning tag 42.

[0089] The trolley wheels 44 are symmetrically arranged below the trolley chassis 43. The displacement of the trolley transport device 4 can be achieved by setting the trolley wheels 44.

[0090] The vehicle positioning tag 42 is installed on the vehicle chassis 43. It determines the real-time spatial position of the vehicle positioning tag 42 by exchanging signals with multiple base stations of the UWB positioning base station 6 in real time.

[0091] The power supply assembly 41 is connected to the cable base assembly to provide power to the tunnel wall inspection robot 3.

[0092] It should be noted that the cable 211 in this solution is preferably an electric cable. One end of the cable 211 is connected to the power supply component 41 of the trolley device 4, and the other end is wound around the cable base assembly reel 224 to provide a rope for the tunnel wall inspection robot device 3. The cable 211 in this solution can be used as both a power supply line and a safety rope, which is highly practical and can also reduce costs.

[0093] The sliding hook positioning tag 17, in conjunction with the robot positioning tag 34, enables intelligent cable rope deployment and retraction. Specifically, the control device 5 collects the position coordinates of the rope hanging assembly 21 and the tunnel wall detection robot device 3 in real time. The cable length between the tunnel wall detection robot device 3 and the rope hanging assembly 21 can be calculated from the coordinates. This length is then compared with a preset distance. Based on the comparison result, the control device 5 synchronously controls the rotation state of the reduction motor 2116 and the worm gear motor 225 to achieve intelligent cable rope deployment and retraction.

[0094] As an example, the cable length of the hanging rope assembly 21 and the tunnel inner wall inspection robot device 3 is set to m, and m = 1.2L.

[0095] The rope assembly 21 moves synchronously with the sliding hook positioning tag 17, that is, the spatial position of the sliding hook positioning tag 17 is the position of the rope assembly 21, and the spatial coordinates of the rope device 21 are set as (x1, y1, z1).

[0096] The position of the robot positioning tag 34 is the position of the tunnel inner wall detection robot device 3, and its coordinates are set as (x2, y2, z2).

[0097] The distance between the rope assembly 21 and the tunnel wall inspection robot device 3 ,and .

[0098] The control device 5 determines whether m is greater than 1.2L. If so, it synchronously controls the geared motor 2116 and the worm gear motor 225 to rotate in the first direction and executes the rope winding step until m = 1.2L. If not, it synchronously controls the geared motor 2116 and the worm gear motor 225 to rotate in the second direction and executes the rope unwinding step until m = 1.2L.

[0099] If the tunnel wall inspection robot device 3 remains stationary, the intelligent rope retraction system device 2 can automatically lock the cable, improving the stability of the system operation.

[0100] For example, when the control device 5 calculates that the cable length between the tunnel inner wall inspection robot device 3 and the rope hanging assembly 21 remains unchanged, it determines that the tunnel inner wall inspection robot device 3 is stationary. At this time, the control device 5 synchronously controls the reduction motor 2116 and the worm gear motor 225 to stop rotating, and the intelligent rope winding and unwinding system device 2 can automatically lock the cable, thus improving the stability of the system operation.

[0101] Meanwhile, the sliding hook positioning tag 17, the robot positioning tag 34, and the trolley positioning tag 42 work together to enable the sliding rail device 1 and the transport trolley device 4 to move synchronously with the tunnel inner wall detection robot device 3.

[0102] Specifically, the control device 5 synchronously collects data from the hook positioning tag 17, the robot positioning tag 34, and the trolley positioning tag 42. The spatial position of the slide rail device 1 is consistent with that of the hook positioning tag 17, and its spatial coordinates are (x1, y1, z1). The spatial position of the transport trolley device 4 is consistent with that of the trolley positioning tag 42, and its coordinates are set to (x3, y3, z3). The spatial coordinates of the tunnel inner wall detection robot device 3 are (x2, y2, z2).

[0103] If y1=y2 and y3=y2, then the slide rail device 1 and the transport trolley device 4 remain stationary; if one of them is not equal, then the motors of the slide rail device 1 and the transport trolley device 4 are controlled by the control device 5 until y1=y2 and y3=y2.

[0104] The tunnel wall inspection robot device 3, intelligent rope retraction system device 2, and transport vehicle device 4 are located by UWB positioning base station 6. Based on the coordinates of the positioning tunnel wall inspection robot device 3, the movement of the rope retraction system device 2 and the transport vehicle device 4 is controlled so that the three are on the same longitudinal section of the tunnel. This avoids the need for repeated climbing to safety rope attachment points. The tunnel wall inspection robot can traverse the entire tunnel wall without safety risks and has great potential for widespread application.

[0105] The intelligent safety protection system based on tunnel wall detection provided in this solution avoids the problem of manually climbing up and changing the safety rope attachment point multiple times. The safety rope protection system maintains the same tunnel cross section as the robot's position, automatically retracts and extends the rope according to the robot's position, and has a self-locking function, effectively overcoming the problems existing in the prior art.

[0106] The method, specific system unit, or part thereof of the present invention described above is a pure software architecture. It can be deployed via program code on physical media, such as hard disks, optical discs, or any electronic device (such as smartphones or computer-readable storage media). When a machine loads and executes the program code (e.g., a smartphone loads and executes it), the machine becomes a device for implementing the present invention. The method and device of the present invention can also be transmitted in program code form via transmission media, such as cables, optical fibers, or any other transmission method. When the program code is received, loaded, and executed by a machine (e.g., a smartphone), the machine becomes a device for implementing the present invention.

[0107] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent safety protection system based on tunnel interior wall detection, comprising a tunnel interior wall detection robot device, characterized in that, Also includes: Control device and slide rail device connected to control device, intelligent rope winding and releasing system device, transport trolley device, UWB positioning base station; The slide rail device is movably mounted on the inner wall of the tunnel top; the intelligent rope winding and unwinding system is connected to the slide rail device and moves synchronously with the slide rail device. The intelligent rope winding and releasing system is connected to the tunnel inner wall inspection robot and the transport trolley via cables. The intelligent rope winding and releasing system automatically winds up and releases the rope according to the distance between the tunnel inner wall inspection robot and the slide rail device, and adjusts the tension of the tunnel inner wall inspection robot by controlling the intelligent rope winding and releasing system to adjust the tension of the tunnel inner wall inspection robot. The UWB positioning base station is connected to the sliding rail device, the intelligent rope winding and releasing system device, the tunnel inner wall detection robot device, and the transport vehicle device to collect the coordinate positions of the above devices in real time, and transmit the collected coordinate positions to the control device. The control device controls the sliding rail device, the tunnel inner wall detection robot device, and the transport vehicle device to move synchronously according to the collected coordinate positions, so that the three are on the same longitudinal section of the tunnel.

2. The intelligent safety protection system based on tunnel inner wall detection according to claim 1, characterized in that, The slide rail device includes a moving component, a slide rail housing, a track groove, and a sliding hook; The upper part of the slide rail housing is set along the inner wall of the tunnel and is fixedly connected to the inner wall of the tunnel; The slide rail housing has an internal cavity, a protruding part in the middle, and symmetrical track grooves on both sides. The movable component is disposed inside the slide rail housing and can move along the track groove; The connecting end of the sliding hook is located at the bottom of the moving component, and the hook end passes through the slide rail housing and is located outside the slide rail housing, and is connected in cooperation with the intelligent rope winding and unwinding system device.

3. The intelligent safety protection system based on tunnel inner wall detection according to claim 2, characterized in that, The moving component includes a horizontal plate, slide wheels, and slide wheel motors. The horizontal plate is disposed on the protruding part of the slide rail housing, with both ends corresponding to the track grooves. The slide wheels are disposed on both ends of the horizontal plate and embedded in the track grooves, allowing them to move along the track grooves. The slide wheel motors are respectively disposed on both ends of the horizontal plate and are connected to the slide wheels at the bottom, providing driving force for the movement of the slide wheels along the track grooves.

4. The intelligent safety protection system based on tunnel inner wall detection according to claim 1, characterized in that, The intelligent rope deployment and retraction system includes a rope hanging assembly and a cable base assembly. The rope hanging assembly is connected to the slide rail device and provides a cable to the rope hanging assembly through the cable base assembly. The cable is connected to the tunnel inner wall detection robot device through the rope hanging assembly. The cable base assembly is installed on the transport trolley device.

5. The intelligent safety protection system based on tunnel inner wall detection according to claim 4, characterized in that, The cable base assembly includes a bracket, a second battery, a second coupling, a cable reel, a worm gear motor, a base plate, a base, and a circuit control box; The cable base assembly is mounted on the transport trolley via a bracket. Inside the bracket are arranged a base, a second battery, and a circuit control box in sequence. The base plate is mounted on top of the bracket and serves as the base for the worm gear motor, the second coupling, and the cable reel. The worm gear motor is connected to the winding reel via a second coupling to control the speed of the winding reel. By controlling the speed of the winding reel, the robot device for inspecting the tunnel wall can be supplied with a cable of the appropriate length.

6. The intelligent safety protection system based on tunnel inner wall detection according to claim 4, characterized in that, The lanyard assembly includes a cable, a cable fixing block, a cable guide wheel, a battery box, a first sheet metal plate, a cable friction wheel shaft, a circuit box, a lifting eye fixing sheet metal, a lifting eye, a second sheet metal plate, a friction wheel, a motor fixing sheet metal, a first coupling, a diamond bearing seat, a cable guide wheel shaft, and a geared motor; The first sheet metal sheet and the second sheet metal sheet are arranged opposite each other, forming an installation area in the middle, and a hanging ring is provided at the top to fix the sheet metal sheet to connect the first sheet metal sheet and the second sheet metal sheet; The lifting ring is mounted on the lifting ring fixing sheet metal, and the hanging rope assembly is connected to the slide rail device through the lifting ring; The friction wheel is disposed in the installation area formed by the first sheet metal sheet and the second sheet metal sheet, and its two ends are connected to the first sheet metal sheet and the second sheet metal sheet by means of a cable friction wheel shaft, and can rotate between the first sheet metal sheet and the second sheet metal sheet; The cable guide wheel is located below the friction wheel, and its end is provided with a cable guide wheel shaft, a diamond bearing seat and a first coupling to form a transmission assembly. The geared motor is set in cooperation with the first coupling. The geared motor is connected to the lifting ring fixing sheet metal through the motor fixing sheet metal. The speed of the cable guide wheel is driven by the transmission assembly through the geared motor. The cable guide wheel and the friction wheel form a transmission channel for the cable, and the cable passes through the two. The mutual squeezing action of the two effectively controls the release length of the cable rope. The cable fixing block is installed at the lower part between the first sheet metal plate and the second sheet metal plate to control the direction of cable exit. The battery box is installed on one side of the first sheet metal sheet to provide power to the rope hanging device. The circuit box is fixed to the hanging ring sheet metal and is used to house the control circuit that enables the operation of this rope hanging assembly.

7. The intelligent safety protection system based on tunnel inner wall detection according to claim 1, characterized in that, The tunnel inner wall inspection robot device includes an inspection component, a chassis component, and an adsorption component; The detection component is installed at the front end of the chassis component for tunnel inner wall detection operations, and the adsorption component is installed below the chassis component and adsorbs onto the tunnel inner wall by relying on the principle of negative pressure.

8. The intelligent safety protection system based on tunnel inner wall detection according to claim 1, characterized in that, The transport vehicle device includes a power supply assembly, a vehicle chassis, and vehicle wheels; The trolley wheels are symmetrically arranged below the trolley chassis, and the displacement of the trolley-carrying device can be achieved by setting the trolley wheels. The power supply component is mounted on the transport vehicle and connected to the cable of the intelligent rope deployment and retraction system to power the tunnel wall inspection robot.

9. The intelligent safety protection system based on tunnel inner wall detection according to claim 1, characterized in that, The sliding rail device, the intelligent rope winding and unwinding system device, the tunnel inner wall detection robot device, and the transport trolley device are each equipped with positioning components and are connected to UWB positioning base stations for data interaction. The UWB positioning base station can collect the position coordinates of the sliding rail device, the intelligent rope winding and unwinding system device, the tunnel inner wall detection robot device, and the transport trolley device in real time through the positioning components and transmit them to the control device for data judgment.

10. The intelligent safety protection system based on tunnel inner wall detection according to claim 9, characterized in that, The control device collects the position coordinates of the intelligent rope deployment and take-up system and the tunnel wall inspection robot in real time. The cable length between the tunnel wall inspection robot and the intelligent rope deployment and take-up system can be calculated from the coordinates. This length is then compared with a preset distance. Based on the comparison result, the control device controls the intelligent rope deployment and take-up system to deploy and take-up the rope. The control device controls the synchronous movement of the slide rail device, the tunnel wall inspection robot, and the transport trolley device by collecting their position coordinates, so that the three are on the same longitudinal section of the tunnel.

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