Vehicle-mounted subway tunnel automatic maintenance machine

Abstract

The invention provides a vehicle-mounted subway tunnel automatic maintenance machine. The vehicle-mounted subway tunnel automatic maintenance machine comprises a vehicle body assembly; the maintenance assembly is detachably connected with the vehicle body assembly; the maintenance assembly comprises one or more of a spraying structure, a polishing structure and a beating structure; the seat assembly is connected with the vehicle body assembly; the image acquisition assembly is arranged on the vehicle body assembly; the maintenance execution assembly comprises a height-adjustable structure, a rotating disc and a movable structure. The height-adjustable structure is connected with the vehicle body. The turntable is rotationally connected with the height-adjustable structure; the movable structure is connected with the rotary disc, and the movable end of the movable structure can be changed relative to the vehicle body in the spatial position. The movable structure is provided with a connecting part used for being detachably connected with the maintenance assembly. And the control assembly is arranged on the vehicle body assembly. The device can realize automatic detection and maintenance operation, and also has the characteristic of high detection efficiency. Through the mutual cooperation of the plurality of acquisition structures, the image acquisition of the surrounding environment of the device can be carried out in all directions.

Description

Technical Field

[0001] The invention belongs to the technical field of subway operation and maintenance, and more specifically, relates to a vehicle-mounted automatic maintenance machine for a subway tunnel. Background Art

[0002] Subway is a form of rail transportation, which refers to an urban rail transit system that mainly runs underground. After the construction of the subway tunnel, due to various factors such as geological conditions, construction along the road, train operation, structural aging and hydrological conditions, the subway tunnel will be deformed, such as diameter convergence and tunnel top collapse, which seriously affects the safety of subway operations. Therefore, maintenance personnel need to conduct all-round high-frequency inspections and patrols on subway tunnels to ensure that the safety hazards of the tunnel are effectively eliminated.

[0003] At present, the inspection and maintenance of subway tunnels mainly adopts manual inspection. However, manual inspection is not only labor-intensive and has extremely poor accuracy, but also prone to misjudgment and omission. In other words, manual inspection has the disadvantages of slow detection speed, high labor cost, and great danger. Summary of the invention

[0004] The object of the present invention is to provide a vehicle-mounted automatic maintenance machine for a subway tunnel, aiming to solve the technical problem of slow detection speed in manual inspection in the prior art.

[0005] To achieve the above object, the technical solution adopted by the present invention is: to provide a vehicle-mounted subway tunnel automatic maintenance machine, comprising:

[0006] a car body assembly for generating motion relative to the subway tunnel;

[0007] A maintenance component is detachably connected to the vehicle body component; the maintenance component includes one or more of a spraying structure, a grinding structure, and a hammering structure;

[0008] A seat assembly connected to the vehicle body assembly;

[0009] An image acquisition component is arranged on the vehicle body component; the image acquisition component is used to acquire and transmit the surrounding environment of the device;

[0010] The maintenance execution assembly comprises: a height-adjustable structure, a turntable, and a movable structure, wherein the height-adjustable structure is connected to the vehicle body; the turntable is rotatably connected to the height-adjustable structure; the movable structure is connected to the turntable, and the movable end of the movable structure can change in spatial position relative to the vehicle body; the movable structure is provided with a connection portion for detachably connecting with the maintenance assembly;

[0011] A control component is arranged on the vehicle body component, and the control component is communicatively connected with the vehicle body component, the maintenance component, the image acquisition component, and the maintenance execution component.

[0012] Preferably, the vehicle body assembly comprises:

[0013] Vehicle body;

[0014] A walking structure connected to the vehicle body; when the walking structure is driven by a driving force, it drives the vehicle body to move;

[0015] A fixed structure is connected to the vehicle body; the fixed structure is detachably connected to the maintenance component.

[0016] Preferably, the maintenance component includes: a spraying structure, a grinding structure and a hammering structure; wherein the spraying structure has a first usage state and a second usage state; in the first usage state, the spraying structure is installed on the fixed structure; in the second usage state, the movable structure is connected to the spraying structure and drives the spraying structure to move.

[0017] Preferably, the injection structure comprises:

[0018] A spray body, communicatively connected to the control assembly;

[0019] A connecting body, rotatably connected to the spraying body; the connecting body is communicatively connected to the control assembly;

[0020] The second camera is connected to the spray body; the second camera is communicatively connected to the control component.

[0021] Preferably, the second camera is movable relative to the spraying body.

[0022] Preferably, the image acquisition component comprises:

[0023] A mounting frame, connected and fixed to the vehicle body;

[0024] A connecting box, connected and fixed to the vehicle body;

[0025] The acquisition camera is installed in the connection box; the acquisition camera is communicatively connected with the control component.

[0026] Preferably, a second camera is provided on the turntable and is communicatively connected to the control component.

[0027] Preferably, the maintenance execution assembly further includes a protective structure connected to the turntable.

[0028] Preferably, a flight collection component is also included; the flight collection component includes:

[0029] Aircraft body;

[0030] A first camera connected to the aircraft body;

[0031] The aircraft body has two usage states. In the first usage state, the aircraft body is installed on the vehicle body component, the seat component or the turntable. In the second usage state, the aircraft body is controlled by the control component to fly to a specified position.

[0032] Preferably, a lighting structure is provided on the vehicle body assembly.

[0033] The beneficial effect of a vehicle-mounted subway tunnel automatic maintenance machine provided by the present invention is that: compared with the prior art, the vehicle-mounted subway tunnel automatic maintenance machine provided by the present invention can realize automatic detection and maintenance operations, and also has the characteristics of high detection efficiency. The image acquisition component can capture and transmit images of the road surface in front of the tunnel. The second camera can capture and transmit images of tunnels at different heights. The flight acquisition component can capture clearer images at close range. Through the cooperation of the image acquisition component, the second camera, and the flight acquisition component, the surrounding environment of the device can be captured in all directions, so that the device can accurately judge whether there are things in the surrounding environment that need to be repaired. The setting of the seat component facilitates the rapid movement of the operator in the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of a vehicle-mounted subway tunnel automatic maintenance machine provided by an embodiment of the present invention Figure 1 ;

[0036] Figure 2 A schematic diagram of the structure of a vehicle-mounted subway tunnel automatic maintenance machine provided by an embodiment of the present invention Figure 2 ;

[0037] Figure 3 for Figure 2 A magnified schematic diagram of the structure at center A;

[0038] Figure 4 A schematic diagram of the structure of a vehicle-mounted subway tunnel automatic maintenance machine provided by an embodiment of the present invention Figure 3 ;

[0039] Figure 5 A schematic diagram of the structure of a vehicle-mounted subway tunnel automatic maintenance machine provided by an embodiment of the present invention Figure 4 ;

[0040] Figure 6 A schematic diagram of the structure of a flying data collection component used in a vehicle-mounted subway tunnel automatic maintenance machine provided in an embodiment of the present invention;

[0041] Figure 7 A schematic diagram of the structure of an active structure adopted by a vehicle-mounted subway tunnel automatic maintenance machine provided in an embodiment of the present invention;

[0042] Figure 8 A schematic diagram of a spray structure used in a vehicle-mounted subway tunnel automatic maintenance machine provided in an embodiment of the present invention Figure 1 ;

[0043] Fig. 9 A schematic diagram of a spray structure used in a vehicle-mounted subway tunnel automatic maintenance machine provided in an embodiment of the present invention Figure 2 .

[0044] In the figure: 1. body assembly; 11. vehicle body; 12. walking structure; 13. fixed structure; 2. maintenance assembly; 21. spraying structure; 22. grinding structure; 23. hammering structure; 3. seat assembly; 31. accommodating cavity; 4. image acquisition assembly; 41. mounting frame; 42. connecting box; 43. acquisition camera; 5. maintenance execution assembly; 51. height adjustable structure; 52. turntable; 53. protection structure; 54. movable structure; 541. robot arm body; 542. clamping structure; 55. second camera; 6. flight acquisition assembly; 61. aircraft body; 62. first camera; 7. communication assembly; 8. lighting structure. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0047] Please refer to Figures 1 to 9 Now, a vehicle-mounted subway tunnel automatic maintenance machine provided by the present invention is described. The vehicle-mounted subway tunnel automatic maintenance machine comprises: a body component 1, a maintenance component 2, a seat component 3, an image acquisition component 4, a maintenance execution component 5, and a control component 7. The body component 1 is used to generate movement relative to the subway tunnel; the maintenance component 2 is detachably connected to the body component; the maintenance component includes one or more of a spraying structure, a grinding structure, and a hammering structure; the seat component 3 is connected to the body component 1; the image acquisition component 4 is arranged on the body component 1; the image acquisition component 4 is used to collect and transmit the surrounding environment of the device (mainly the front environment); The maintenance execution component 5 includes: a height-adjustable structure 51, a turntable 52, and a movable structure 54. The height-adjustable structure 51 is connected to the vehicle body 11; the turntable 52 is rotatably connected to the height-adjustable structure 52; the movable structure 54 is connected to the turntable 52, and the movable end of the movable structure 54 can change in spatial position relative to the vehicle body 11; the movable structure 54 is provided with a connecting portion for detachable connection with the maintenance component 2; the control component 7 is arranged on the vehicle body component 1, and the control component 7 is communicatively connected with the vehicle body component 1, the maintenance component 2, the image acquisition component 4, and the maintenance execution component 5.

[0048] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 9 The vehicle body assembly 1 includes: a vehicle body 11, a walking structure 12 and a fixed structure 13, wherein the walking structure 12 is connected to the vehicle body 11; the walking structure 12 drives the vehicle body 11 to move when driven by a driving force; the fixed structure 13 is connected to the vehicle body 11; and the fixed structure 13 is detachably connected to the maintenance assembly 2.

[0049] In some feasible embodiments, the walking structure 12 is a crawler structure. There are two sets of crawler structures, one set is arranged on the left side of the vehicle body 11, and the other set is arranged on the right side of the vehicle body 11. The two sets of crawler structures cooperate to achieve the function of driving the vehicle body 11 to move. The use of crawler structures has the advantages of strong climbing ability and a wide range of applicable working environments.

[0050] In some feasible embodiments, the walking structure 12 includes a driving motor disposed on the vehicle body 11, walking wheels disposed at four corners of the vehicle body 11, and a transmission assembly having one end connected to the driving motor and the other end connected to the walking wheel. The driving motor drives the transmission assembly to operate, thereby driving the walking wheels to rotate. The walking wheels are respectively connected to the vehicle body 11 for rotation. A battery assembly is disposed on the vehicle body 11, and the driving motor is electrically connected to the battery assembly. The battery assembly is used to provide power to the driving motor.

[0051] In some feasible embodiments, the fixing structure 13 is a box structure; the box is connected and fixed to the vehicle body 11; and a plurality of receiving slots adapted to the maintenance component 2 are provided on the box.

[0052] In any feasible embodiment, the box body is a hollow box body. The box body can contain liquid that needs to be replenished when the maintenance component 2 is working. That is, when the maintenance component 2 is placed in the receiving tank after the operation is completed, the liquid in the box body can also cool down the maintenance component 2, which can prevent the maintenance component 2 from overheating and effectively improve the work efficiency of the maintenance operation.

[0053] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 9 The maintenance component 2 includes: a spraying structure 21, a grinding structure 22 and a hammering structure 23. The spraying structure 21 is adapted to any receiving groove of the fixed structure 13, that is, the spraying structure 21 can be inserted into any receiving groove; the grinding structure 22 is adapted to any receiving groove of the fixed structure 13, that is, the grinding structure 22 can be inserted into any receiving groove; the hammering structure 23 is adapted to any receiving groove of the fixed structure 13, that is, the hammering structure 23 can be inserted into any receiving groove.

[0054] The injection structure 21 has a first use state and a second use state. In the first use state, the injection structure 21 is installed on the fixed structure 13. In the second use state, the movable structure 54 is connected to the injection structure 21 and drives the injection structure 21 to move.

[0055] Similarly, the grinding structure 22 has a first use state and a second use state; in the first use state, the grinding structure 22 is mounted on the fixed structure 13; in the second use state, the movable structure 54 is connected to the grinding structure 22 and drives the grinding structure 22 to move. The hammering structure 23 has a first use state and a second use state; in the first use state, the hammering structure 23 is mounted on the fixed structure 13; in the second use state, the movable structure 54 is connected to the hammering structure 23 and drives the hammering structure 23 to move.

[0056] In any achievable embodiment, the injection structure 21 includes: an injection body 211, a connecting body 212 and a second camera 213, the injection body 211 is connected to the control component 7 in communication; the connecting body 212 is connected to the injection body 211 in rotation; the connecting body 212 is connected to the control component 7 in communication; the second camera 213 is connected to the injection body 211; the second camera 213 is connected to the control component 7 in communication. Specifically, the injection body 211 includes an injection execution part and an adhesive receiving part detachably connected to the injection execution part; the control component 7 sends an instruction to the injection body 211, and the injection execution part can spray or inject the adhesive in the adhesive receiving part into a designated position. The connecting body 212 includes a clamped part and a rotating shaft part connected to the clamped part at one end and connected to the injection body 211 at the other end. Through the setting of the rotating shaft part, the injection body 211 can rotate relative to the clamped part. The clamped part can be detachably connected to the movable structure 54. A plurality of rubber friction blocks are provided on the outer side of the clamped part. The provision of the rubber friction block can improve the stability of the connection state between the clamped portion and the movable structure 54 when the two are connected.

[0057] In any feasible embodiment, the second camera 213 can move relative to the injection body 211. Specifically, the second camera 213 is slidably connected to the injection body 211. The lower end surface of the injection body 211 is provided with a slideway arranged along the length direction, and the slideway is provided with a T-shaped slide groove. The second camera 213 is provided with a T-shaped slider adapted to the T-shaped slide groove. The lower end surface of the injection body 211 is also provided with a drive motor, and a rack arranged in the T-shaped slide groove and meshed with the drive motor at one end; the other end of the rack is connected to the T-shaped slider. The drive motor is communicatively connected to the control component 7.

[0058] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 9 The image acquisition assembly 4 includes: a mounting frame 41, a connecting box 42 and a collection camera 43. The mounting frame 41 is fixedly connected to the vehicle body 11; the connecting box 42 is rotatably connected to the mounting frame 41, and the collection camera 43 is installed in the connecting box 42.

[0059] In some feasible embodiments, the mounting frame 41 is mounted on the front end of the vehicle body 11. The connecting box 42 is rotatably connected to the mounting frame 41 through a rotating shaft structure. The acquisition camera 43 is detachably connected to the connecting box 42. The acquisition camera 43 is communicatively connected to the communication component 7.

[0060] In any feasible embodiment, one end of the connection box 42 is provided with a slot for the collection camera 43, and a threaded hole is provided on the box body, and an abutment rod is connected to the box body through the threaded hole. The abutment rod is a threaded rod. By adjusting the distance of the abutment rod into the slot, the collection camera 43 can be limited or released. The collection camera 43 can be removed or installed conveniently and quickly. When removed, the collection camera 43 can be used alone, thereby improving the applicability and practicality of the device.

[0061] In any achievable embodiment, the seat assembly 3 is arranged at a certain distance from the mounting frame 41. When a worker sits on the seat assembly 3, the mounting frame 41 can be used as an operating armrest to improve the safety of the device when carrying people. More specifically, the seat assembly 3 is arranged behind the mounting frame 41. A maintenance execution assembly 5 is arranged behind the seat assembly 3.

[0062] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 9 The maintenance execution component 5 includes: a height-adjustable structure 51, a turntable 52, a protective structure 53 and a movable structure 54, wherein the height-adjustable structure 51 is connected to the vehicle body 11; the turntable 52 is rotatably connected to the height-adjustable structure 52; the protective structure 53 is connected to the turntable 52; the movable structure 54 is connected to the turntable 52, and the movable end of the movable structure 54 can change in spatial position relative to the vehicle body 11, and the movable structure 54 can be detachably connected to the maintenance component 2.

[0063] In some feasible embodiments, a plurality of second cameras 55 are provided on the turntable 52. The second cameras 55 are in communication connection with the control assembly 7. The second cameras 55 can collect the environment of the tunnel more comprehensively.

[0064] In some feasible embodiments, the height adjustable structure 51 is an electric telescopic structure. The electric telescopic structure can produce a change in the total length along the height direction. The electric telescopic structure can be one or more of an electric telescopic rod and an electric scissor-type lifting structure. One end of the electric telescopic structure is connected to the vehicle body 11, and the other end is rotatably connected to a turntable 52. The turntable 52 can rotate relative to the height adjustable structure 51. The protection structure 53 is a fence net, and the use of the fence net can ensure the safety of the operator when standing on the turntable 52. The movable structure 54 includes a mechanical arm body 541 and a clamping structure 542, one end of the mechanical arm body 541 is connected to the turntable 52, and the other end is connected to the clamping structure 542. The holding structure 542 can complete the clamping and releasing actions. The movable structure 54 can move the object by setting the clamping structure 542. The corresponding operation can be completed by connecting the clamping structure 542 to the maintenance component 2 and then moving the maintenance component 2 to a preset position.

[0065] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 9 The flight collection component 6 includes: an aircraft body 61 and a first camera 62. The first camera 62 is connected to the aircraft body 61. The aircraft body 61 has two use states. In the first use state, the aircraft body 61 is installed on the vehicle body component 1 or the seat component 3 or the turntable 52; in the second use state, the control component 7 controls the aircraft body 61 to fly to a specified position.

[0066] In any feasible embodiment, the first camera 62 is rotatably connected to the aircraft body 61. The first camera 62 can rotate relative to the aircraft body 61, which can effectively expand the shooting range of the first camera 62. Specifically, a connector is provided at the front end of the aircraft body 61, and an adapter groove is provided at the end of the connector facing away from the aircraft body 61; the first camera 62 includes a camera part and a shaft part connected to the camera part, and the shaft part is installed in the adapter groove and can drive the camera part to rotate relative to the connector. The flight acquisition component 6 is used to collect data about the surrounding environment of the device at a closer distance and clearer according to actual use needs. The aircraft body 61 can get close to the wall of the tunnel, and then obtain a clear image of the wall through the first camera 62. So that the device can more accurately identify the location that needs to be repaired, thereby improving the maintenance efficiency.

[0067] In any feasible embodiment, a receiving cavity 31 for receiving materials is provided on the seat assembly 3. The flight collection assembly 6 can be placed in the receiving cavity 31 when not in use.

[0068] As a specific implementation of the embodiment of the present invention, please refer to Figures 1 to 9 The vehicle body 11 is provided with a lighting structure 8. The lighting structure 8 is provided to provide lighting in the tunnel.

[0069] In any feasible embodiment, an image acquisition component 4 is provided at the front end of the upper end surface of the vehicle body 11. Lighting structures 8 are provided at the four corners of the upper end surface of the vehicle body 11. A seat component 3 is provided behind the image acquisition component 4. A fixed structure 13 is provided on one side of the middle position of the upper end surface of the vehicle body 11, and a control component 7 is provided on the other side. A maintenance execution component 5 is provided behind the seat component 3. The fixed structure 13 and the control component 7 are located between the seat component 3 and the maintenance execution component 5. The control component 7 transmits the corresponding instructions to the corresponding structure so that the corresponding structure completes the corresponding instructions.

[0070] The present invention provides a vehicle-mounted automatic subway tunnel maintenance machine. Compared with the prior art, the device can realize automatic detection and maintenance operations, and also has the characteristics of high detection efficiency. The image acquisition component 4 can capture and transmit images of the road surface in front of the tunnel. The second camera 55 can capture and transmit images of tunnels at different heights. The flight acquisition component 6 can capture clearer images at close range. Through the cooperation of the image acquisition component 4, the second camera 55, and the flight acquisition component 6, the surrounding environment of the device can be captured in all directions, so that the device can accurately judge whether there are things in the surrounding environment that need to be repaired. The setting of the seat component 3 is convenient for the operator to move quickly in the tunnel.

[0071] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0072] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0073] The above is a detailed introduction to a vehicle-mounted subway tunnel automatic maintenance machine provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle-mounted subway tunnel automatic maintenance machine, characterized in that: include: A vehicle body assembly (1) for generating movement relative to a subway tunnel; A maintenance component (2) is detachably connected to the vehicle body component (1); the maintenance component (2) comprises one or more of a spraying structure (21), a grinding structure (22), and a hammering structure (23); A seat assembly (3) connected to the vehicle body assembly (1); An image acquisition component (4) is arranged on the vehicle body component (1); the image acquisition component (4) is used to acquire and transmit the surrounding environment of the device; The maintenance execution assembly (5) comprises: a height-adjustable structure (51), a turntable (52), and a movable structure (54); the height-adjustable structure (51) is connected to the vehicle body (11); the turntable (52) is rotatably connected to the height-adjustable structure (52); the movable structure (54) is connected to the turntable (52); the movable end of the movable structure (54) can change in spatial position relative to the vehicle body (11); the movable structure (54) is provided with a connection portion for detachably connecting to the maintenance assembly (2); A control component (7) is arranged on the vehicle body component (1), and the control component (7) is communicatively connected with the vehicle body component (1), the maintenance component (2), the image acquisition component (4), and the maintenance execution component (5).

2. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 1, characterized in that: The vehicle body assembly (1) comprises: Vehicle body (11); A walking structure (12) is connected to the vehicle body (11); when the walking structure (12) is driven by a driving force, it drives the vehicle body (11) to move; A fixed structure (13) is connected to the vehicle body (11); the fixed structure (13) is detachably connected to the maintenance component (2).

3. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 2, characterized in that: The maintenance component (2) comprises: a spraying structure (21), a grinding structure (22) and a hammering structure (23); wherein the spraying structure (21) has a first use state and a second use state; in the first use state, the spraying structure (21) is installed on the fixed structure (13); in the second use state, the movable structure (54) is connected to the spraying structure (21) and drives the spraying structure (21) to move.

4. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 3, characterized in that: The injection structure (21) comprises: A spray body (211) is communicatively connected to the control assembly (7); A connecting body (212) is rotatably connected to the spraying body (211); the connecting body (212) is communicatively connected to the control component (7); The second camera (213) is connected to the spraying body (211); the second camera (213) is communicatively connected to the control component (7).

5. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 4, characterized in that: The second camera (213) can move relative to the spraying body (211).

6. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 4, characterized in that: The image acquisition component (4) comprises: A mounting frame (41) connected and fixed to the vehicle body (11); A connecting box (42) is connected and fixed to the vehicle body (11); The acquisition camera (43) is installed in the connection box (42); the acquisition camera (43) is communicatively connected with the control component (7).

7. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 1, characterized in that: The rotating disk (52) is provided with a second camera (55) which is communicatively connected to the control component (7).

8. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 1, characterized in that: The maintenance execution assembly (5) further comprises a protection structure (53) connected to the rotating disk (52).

9. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 8, characterized in that: The invention also comprises a flight collection component (6); the flight collection component (6) comprises: Aircraft body (61); A first camera (62) connected to the aircraft body (61); The aircraft body (61) has two usage states. In the first usage state, the aircraft body (61) is installed on the vehicle body component (1) or the seat component (3) or the turntable (52); in the second usage state, the aircraft body (61) is controlled by the control component (7) to fly to a specified position.

10. The vehicle-mounted automatic subway tunnel maintenance machine according to claim 1, characterized in that: The vehicle body component (1) is provided with a lighting structure (8).

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