Intelligent tunnel inspection robot and tunnel inspection method

Abstract

The invention discloses an intelligent tunnel inspection robot and a tunnel inspection method, and relates to the technical field of tunnel inspection, and the method comprises a robot body and a control system; and the control system is used for controlling the robot body and performing mobile inspection in the tunnel according to a preset inspection route. The robot body can be controlled to perform mobile inspection in the tunnel according to the preset inspection route, the inspection efficiency is high, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel inspection, and in particular to an intelligent tunnel inspection robot and a tunnel inspection method. Background Art

[0002] With the rapid development of transportation infrastructure, tunnels, as important transportation channels, are of great significance for ensuring smooth traffic. However, traditional tunnel inspection methods mainly rely on manual labor, which has the problem of low inspection efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies of the prior art and specifically provide an intelligent tunnel inspection robot and a tunnel inspection method, which are as follows:

[0004] 1) In the first aspect, the present invention provides an intelligent tunnel inspection robot, and the specific technical solution is as follows:

[0005] Including robot body and control system;

[0006] The control system is used to: control the robot body to perform mobile inspections in the tunnel according to the preset inspection route.

[0007] The beneficial effects of the intelligent tunnel inspection robot provided by the present invention are as follows:

[0008] The robot body can be controlled to perform mobile inspections in the tunnel according to the preset inspection routes, with high inspection efficiency and reduced labor costs.

[0009] On the basis of the above solution, the intelligent tunnel inspection robot of the present invention can also be improved as follows.

[0010] Furthermore, the control system is also used to adjust the posture of the robot body during the process of controlling the robot body to perform mobile inspection.

[0011] Further, it also includes a sensor module;

[0012] The sensor module is used to obtain the status information in the tunnel in real time.

[0013] Furthermore, it also includes a communication module, a control system and a sensor module, all of which communicate with the remote monitoring center in real time through the communication module.

[0014] Furthermore, it also includes a data processing module, which is used to: perform data analysis on the status information collected by the sensor module and transmit the data analysis results to the remote monitoring center.

[0015] Furthermore, the sensor module includes: at least one of a laser radar, an infrared thermal imager, a temperature and humidity sensor, a gas sensor, an obstacle avoidance sensor and a camera device.

[0016] Furthermore, when the sensor module includes a camera device, the camera device is placed on a pan-tilt platform, and the pan-tilt platform is fixedly connected to the robot body.

[0017] Furthermore, it also includes a cleaning work module, which is used to clean the equipment to be cleaned in the tunnel.

[0018] Furthermore, it also includes a wireless charging module, which is used to charge the robot body.

[0019] 2) In the second aspect, the present invention also provides a tunnel inspection method, and the specific technical solution is as follows:

[0020] Using the above-mentioned intelligent tunnel inspection robot, the method includes:

[0021] The robot body is controlled by the control system to perform mobile inspections in the tunnel according to the preset inspection route;

[0022] In the process of controlling the robot body to perform mobile inspection, the posture of the robot body is adjusted through the control system.

[0023] On the basis of the above scheme, a tunnel inspection method of the present invention can also be improved as follows.

[0024] Furthermore, it also includes: obtaining status information in the tunnel in real time through the sensor module.

[0025] Furthermore, the control system and the sensor module both communicate with the remote monitoring center in real time through the communication module.

[0026] Furthermore, it also includes: performing data analysis on the status information collected by the sensor module through the data processing module, and transmitting the data analysis results to the remote monitoring center.

[0027] Furthermore, the sensor module includes: at least one of a laser radar, an infrared thermal imager, a temperature and humidity sensor, a gas sensor, an obstacle avoidance sensor and a camera device.

[0028] Furthermore, when the sensor module includes a camera device, the camera device is placed on a pan-tilt platform, and the pan-tilt platform is fixedly connected to the robot body.

[0029] Furthermore, it also includes: cleaning the equipment to be cleaned in the tunnel through the cleaning work module.

[0030] Furthermore, it also includes: charging the robot body through the wireless charging module.

[0031] It should be noted that the beneficial effects achieved by the technical solution of the second aspect of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 This is one of the structural schematic diagrams of an intelligent tunnel inspection robot according to an embodiment of the present invention;

[0034] Figure 2 This is a second structural schematic diagram of an intelligent tunnel inspection robot according to an embodiment of the present invention;

[0035] Figure 3 The present invention is a flow chart of a tunnel inspection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] like Figure 1 As shown, an intelligent tunnel inspection robot according to an embodiment of the present invention includes a robot body and a control system;

[0038] The control system is used to control the robot body to perform mobile inspection in the tunnel according to a preset inspection route, wherein the robot body is a robot currently available on the market for inspection in tunnels.

[0039] Optionally, in the above technical solution, the control system is also used to: adjust the posture of the robot body during the process of controlling the robot body to perform mobile inspection.

[0040] Optionally, in the above technical solution, if Figure 2 As shown, a sensor module is also included; the sensor module is used to obtain status information in the tunnel in real time.

[0041] Figure 1 and Figure 2 In the figure, the dotted line indicates a communication connection, which may also have an actual structural connection relationship, and the solid line indicates that an actual structural connection relationship exists between the two components connected by the solid line.

[0042] Optionally, in the above technical solution, a communication module is also included, and the control system and the sensor module all communicate with the remote monitoring center in real time through the communication module.

[0043] Optionally, the above technical solution further includes a data processing module, which is used to: perform data analysis on the status information collected by the sensor module, and transmit the data analysis results to a remote monitoring center.

[0044] Optionally, in the above technical solution, the sensor module includes: at least one of: a laser radar, an infrared thermal imager, a temperature and humidity sensor, a gas sensor, an obstacle avoidance sensor and a camera device.

[0045] Optionally, in the above technical solution, when the sensor module includes a camera device, the camera device is placed on a pan-tilt platform, and the pan-tilt platform is fixedly connected to the robot body.

[0046] Optionally, the above technical solution further includes a cleaning work module, which is used to clean the equipment to be cleaned in the tunnel.

[0047] Optionally, in the above technical solution, a wireless charging module is also included, and the wireless charging module is used to charge the robot body.

[0048] The following embodiments illustrate an intelligent tunnel inspection robot of the present invention, including: a robot body, a control system, a sensor module, a communication module, a data processing module and a cleaning work module, wherein:

[0049] 1) The robot body has a high degree of mobility and autonomous navigation capabilities, and can move autonomously in the tunnel according to the preset inspection route. Specifically, the robot body is controlled by the control system to perform mobile inspection in the tunnel according to the preset inspection route, and the posture of the robot body is adjusted in the process of controlling the robot body to perform mobile inspection. Mobile inspection means: in the process of controlling the robot body to perform mobile inspection, various predetermined inspection tasks are performed, for example, obtaining status information in the tunnel, and identifying possible safety hazards and faults in the tunnel, such as tunnel cracks.

[0050] 2) The sensor module includes: a laser radar, an infrared thermal imager, a temperature and humidity sensor, a gas sensor, an obstacle avoidance sensor and a camera device, which are used to obtain the status information in the tunnel in real time. The status information in the tunnel includes: a point cloud image of the inner wall of the tunnel obtained by laser radar detection, an infrared thermal image of the tunnel obtained by the infrared thermal imager, temperature data and humidity data in the tunnel obtained by the temperature and humidity sensor, gas components in the tunnel obtained by the gas sensor, data detected by the obstacle avoidance sensor and images of the tunnel collected by the camera device.

[0051] 3) The communication module adopts 4G / 5G network communication technology to transmit the status information in the tunnel to the remote monitoring center.

[0052] 4) Data processing module: The data processing module is used to perform intelligent data analysis on the status information collected by the sensor module, and transmit the data analysis results to the remote monitoring center and also to the control system.

[0053] The data analysis results include: whether there are obstacles in front of the robot body, whether there are cracks in the tunnel, whether the temperature is within the preset temperature range, whether the humidity is within the preset humidity range, etc. It should be noted that the remote monitoring center can also perform intelligent data analysis on the status information collected by the sensor module to obtain data analysis results, that is, the remote monitoring center can realize all data processing functions provided by the data processing module.

[0054] 5) After receiving the command, the cleaning work module cleans the equipment to be cleaned (equipment that needs to be cleaned) in the tunnel.

[0055] Among them, the control system adjusts the posture of the robot body according to the data analysis results, such as performing obstacle avoidance operations, acceleration operations, and deceleration operations. The remote monitoring center can also send posture adjustment instructions to the control system to adjust the posture of the robot body through the control system. For example, the obstacle avoidance sensor sends the collected data to the data processing module in real time. The data processing module analyzes the data collected by the obstacle avoidance sensor in real time and transmits the results to the control system or the remote monitoring center in real time. When the control system or the remote monitoring center receives the result that there is an obstacle 1.5 meters away in the forward direction of the robot body, the robot body is automatically controlled to automatically decelerate and stop running to avoid danger.

[0056] The control system can control each sensor in the sensor module to collect data, such as starting collection, pausing collection, increasing collection frequency, and reducing collection frequency. The remote monitoring center can also send instructions to the control system to control each sensor in the sensor module to collect data through the control system.

[0057] Among them, the laser radar can be an infrared laser radar, which detects the point cloud image of the inner wall of the tunnel in real time and sends it to the data processing module through the communication module (specifically, the data transmission between the communication module and the data processing module can be realized through the RS485 bus). The data processing module compares the point cloud image acquired in real time with the standard point cloud image collected in advance to determine whether there is a crack, or the data processing module identifies the point cloud image acquired in real time to determine whether there is a crack.

[0058] When the sensor module includes a camera device, the camera device is placed on the pan-tilt platform, and the pan-tilt platform is fixedly connected to the robot body. The camera device can be a high-definition camera, and a floodlight and an infrared camera can be set on the pan-tilt platform to facilitate shooting in an environment with low light intensity. The high-definition camera and the infrared camera send the captured video and / or image back to the control system or the remote monitoring center, so that the control system or the remote monitoring center can analyze and assist in processing. For example, according to the captured video and / or image, the equipment with foreign matter in the tunnel can be identified as the equipment to be cleaned, and then the cleaning work module is started to clean the equipment to be cleaned in the tunnel.

[0059] In addition, a walkie-talkie or other equipment with voice call function can be installed on the pan-tilt head to realize real-time voice intercom function.

[0060] Among them, the control system and remote monitoring center can control high-definition cameras and infrared cameras to take pictures, as well as control floodlights to cast light.

[0061] Among them, the cleaning work module includes a water tank, a water pump and a high-pressure nozzle. When the equipment to be cleaned in the tunnel needs to be cleaned, the control system or the remote monitoring center controls the water pump to start, and sprays water to the equipment to be cleaned through the high-pressure nozzle. Moreover, the water tank is detachably connected to the robot body. For example, the water tank is separately set on a trolley, and the trolley is connected to the robot body in a mounted and towed manner, so that the water tank can be replaced portablely.

[0062] Optionally, in the above technical solution, the robot body adopts a wide temperature range battery, which can stably provide power between -30℃ and 70℃, so that the robot body can work normally. Moreover, the wide temperature range battery can provide power to various components such as the control system, sensor module, communication module, data processing module and cleaning work module through the RS485 bus. It should be noted that since the voltage values ​​required by each component are different, multiple large current voltage conversion modules are selected to switch different voltages at any time to meet the needs. Among them, multiple large current voltage conversion modules include: a large current voltage conversion module for converting to 48V DC, a large current voltage conversion module for converting to 24V DC, a large current voltage conversion module for converting to 12V DC and a large current voltage conversion module for converting to 5V DC, which can also be set according to actual conditions.

[0063] Among them, the wide temperature range battery is monitored by the battery monitoring module, and the monitoring data is sent to the control system. The control system comprehensively analyzes the data monitored by the battery monitoring module and the status information collected by the sensor module, and controls the robot body according to the analysis results. For example, after the external temperature changes, the lower limit of the working power of the robot body will change with the temperature. For example, at -20℃, the power will automatically return to charging at 35%; at -30℃, the power will automatically return to charging at 45%.

[0064] Optionally, a wireless charging module is also included. The wireless charging module is used to charge the wide temperature range battery of the robot body. The wireless charging module includes a transmitting end and a receiving end, and the area of ​​the transmitting end is not less than twice the area of ​​the receiving end, which greatly solves the problem of failure to charge. The power of the wireless charging module is 300W, which can also be set according to actual conditions.

[0065] Among them, the control system and data processing module can use RK3568J chip to realize the corresponding functions. The data processing module can be a submodule of the control system. In this case, one RK3568J chip is used. The data processing module can also exist independently of the control system. In this case, the control system and data processing module each use one RK3568J chip. The RK3568J chip is a quad-core 64-bit Cortex-A55 processor with 4G memory + 32G storage space, which can meet the needs.

[0066] Among them, the RK3568J chip, communication module, circuits in the wireless charging module, etc. can all be integrated on one circuit board to improve the degree of integration.

[0067] Optionally, it also includes an RFID module, which includes a reader / writer and an electronic tag capable of wireless communication. Through the RFID module, the positioning information of the robot body can be obtained. For example, an electronic tag is installed near the charging pile, and a reader / writer is installed on the robot body. When the reader / writer recognizes the electronic tag installed near the charging pile, the approximate position of the robot body can be determined. In addition, multiple electronic tags can be arranged along a preset inspection route. Each electronic tag corresponds to a different inspection task. When the reader / writer installed on the robot body recognizes any electronic tag, the inspection task corresponding to the electronic tag is executed.

[0068] Optionally, the robot body adopts a hub motor, and realizes functions such as braking, idling detection, jam detection, overcurrent and overload protection, and over-temperature protection through a servo hub motor driver. At the same time, the position information of the robot body is output through an encoder, and the robot body can be accurately positioned in combination with an RFID module.

[0069] The intelligent tunnel inspection robot of the present invention, which can sense in real time, manage intelligently and make intelligent decisions, is of great significance to improving tunnel inspection efficiency, reducing safety risks and ensuring safe and stable operation of tunnels. At the same time, it can regularly clean the equipment to be cleaned in the tunnel, such as lamps, to keep the lamps clean and the lighting clear. It can also sense the operating status of the equipment in the tunnel, the environment in the tunnel, the driving status of the robot body, the road conditions and the meteorological environment in real time. Through intelligent analysis and processing, it provides a scientific basis and guidance for the maintenance, care and management of the tunnel. It has the following functional characteristics:

[0070] 1) Autonomous patrol: It can sense the environment in the tunnel through lidar, patrol autonomously, and realize automated inspection.

[0071] 2) Real-time perception: Through a variety of sensors, it can perceive the operating status of equipment in the tunnel, the environment in the tunnel, the driving status of the robot body, road conditions, meteorological environment and other information.

[0072] 3) Intelligent analysis and processing: The data processing module performs intelligent analysis and processing on the collected data, identifies potential safety hazards and faults in the tunnel, including but not limited to tunnel cracks, and gives corresponding treatment suggestions and reports them at the same time.

[0073] 4) Remote monitoring and management: The processing results are uploaded to the remote monitoring center through the communication module to achieve remote monitoring and management.

[0074] 5) Equipment cleaning: Clean the equipment that needs cleaning through the cleaning module.

[0075] 6) Autonomous charging and endurance: The robot has an autonomous charging function and can automatically return to the charging station for charging when the battery is low, ensuring the continuation of the inspection task.

[0076] like Figure 3 As shown, a tunnel inspection method according to an embodiment of the present invention adopts the intelligent tunnel inspection robot according to the above embodiment, and the method includes:

[0077] S1. Control the robot body through the control system to perform mobile inspection in the tunnel according to the preset inspection route;

[0078] S2. In the process of controlling the robot body to perform mobile inspection, the posture of the robot body is adjusted through the control system.

[0079] Optionally, in the above technical solution, it also includes:

[0080] S3. Obtain the status information in the tunnel in real time through the sensor module.

[0081] Optionally, in the above technical solution, the control system and the sensor module both communicate with the remote monitoring center in real time through the communication module.

[0082] Optionally, in the above technical solution, it also includes:

[0083] S4. Perform data analysis on the status information collected by the sensor module through the data processing module, and transmit the data analysis results to the remote monitoring center.

[0084] Optionally, in the above technical solution, the sensor module includes: at least one of: a laser radar, an infrared thermal imager, a temperature and humidity sensor, a gas sensor, an obstacle avoidance sensor and a camera device.

[0085] Optionally, in the above technical solution, when the sensor module includes a camera device, the camera device is placed on a pan-tilt platform, and the pan-tilt platform is fixedly connected to the robot body.

[0086] Optionally, in the above technical solution, it also includes:

[0087] S5. Clean the equipment to be cleaned in the tunnel through the cleaning work module.

[0088] Optionally, in the above technical solution, it also includes:

[0089] S6. Charge the robot body through the wireless charging module.

[0090] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0091] It should be noted that the beneficial effects of the tunnel inspection method provided in the above embodiment are the same as those of the above intelligent tunnel inspection robot, which will not be described in detail here. In addition, the tunnel inspection method provided in the above embodiment and the intelligent tunnel inspection robot belong to the same concept, and the specific implementation process is detailed in the embodiment of an intelligent tunnel inspection robot, which will not be described in detail here.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0093] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An intelligent tunnel inspection robot, characterized in that: Including robot body and control system; The control system is used to control the robot body to perform mobile inspection in the tunnel according to a preset inspection route.

2. The intelligent tunnel inspection robot according to claim 1, characterized in that: The control system is also used to adjust the posture of the robot body during the process of controlling the robot body to perform mobile inspection.

3. An intelligent tunnel inspection robot according to claim 1 or 2, characterized in that: Also included is a sensor module; The sensor module is used to obtain status information in the tunnel in real time.

4. The intelligent tunnel inspection robot according to claim 3, characterized in that: It also includes a communication module, and the control system and the sensor module both communicate with the remote monitoring center in real time through the communication module.

5. The intelligent tunnel inspection robot according to claim 4, characterized in that: It also includes a data processing module, which is used to: perform data analysis on the status information collected by the sensor module and transmit the data analysis results to the remote monitoring center.

6. The intelligent tunnel inspection robot according to claim 5, characterized in that: The sensor module includes: at least one of: a laser radar, an infrared thermal imager, a temperature and humidity sensor, a gas sensor, an obstacle avoidance sensor and a camera device.

7. The intelligent tunnel inspection robot according to claim 6, characterized in that: When the sensor module includes a camera device, the camera device is placed on a pan-tilt platform, and the pan-tilt platform is fixedly connected to the robot body.

8. The intelligent tunnel inspection robot according to claim 1 or 2, characterized in that: It also includes a cleaning work module, which is used to clean the equipment to be cleaned in the tunnel.

9. The tunnel inspection robot according to claim 1, characterized in that: It also includes a wireless charging module, which is used to charge the robot body.

10. A tunnel inspection method, characterized in that: Using the intelligent tunnel inspection robot according to any one of claims 2 to 9, the method comprises: The robot body is controlled by a control system to perform mobile inspection in the tunnel according to a preset inspection route; In the process of controlling the robot body to perform mobile inspection, the posture of the robot body is adjusted through the control system.

Images