Rail transit tunnel monitoring and operation and maintenance method and system based on autonomous robot

Abstract

The invention relates to the technical field of rail transit monitoring, in particular to a rail transit tunnel monitoring and operation and maintenance method and system based on an autonomous robot, and the system comprises the autonomous robot, a sensor network, a data processing center and an operation and maintenance management platform. According to the rail transit tunnel monitoring and operation and maintenance method and system based on the autonomous robot, all-around monitoring including crack detection, leakage monitoring, temperature and humidity measurement, harmful gas detection and the like can be carried out on the structure, environment, equipment and the like in the tunnel, and the functions of autonomous navigation, obstacle avoidance, environment perception and the like are achieved; the system can freely move in a tunnel and carry out various monitoring and operation and maintenance operations, optimizes daily manual inspection, improves the inspection efficiency and safety index, reduces the danger and burden of manual inspection, improves the monitoring reliability and inspection efficiency through big data analysis, reduces the operation and maintenance cost, and is suitable for popularization and application. And tunnel management is promoted to develop towards a more intelligent and unmanned direction.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit monitoring, and in particular to a rail transit tunnel monitoring and operation and maintenance method and system based on an autonomous robot. Background Art

[0002] In cities that have been built or are under construction in my country, there are more and more non-subway construction projects near or above the subway tunnels. These projects involve construction procedures or factors such as unloading, loading, pumping, precipitation or vibration, which may cause certain structural deformation, tilt, displacement, uplift or settlement of the subway tunnel structure. It may reduce the operating performance and efficiency of the train, increase the friction between the train wheels and the rails, and thus accelerate the loss of the train wheels and rails. Therefore, tunnel monitoring and operation and maintenance management are of great significance in the construction and use of subway tunnels.

[0003] The relatively advanced technology currently available in this field is mainly a drone subway tunnel inspection method, which mainly obtains the tunnel construction plan and constructs a tunnel inspection BIM model based on the tunnel construction plan; when the tunnel inspection instruction is obtained, a drone inspection route is generated according to the tunnel inspection BIM model, and the drone inspection instruction is triggered according to the unmanned inspection route; the drone inspection image is obtained, and the preset tunnel anomaly recognition model is used to perform tunnel anomaly recognition on the drone inspection image to obtain the corresponding anomaly recognition result; the anomaly recognition result is sent to the monitoring end, and the anomaly confirmation information is obtained from the monitoring end, the tunnel operation and maintenance instruction is generated according to the anomaly confirmation information, and the tunnel anomaly recognition model is updated according to the anomaly confirmation information, which has the effect of improving the inspection effect of the subway tunnel while controlling the inspection cost.

[0004] As more and more non-subway construction projects are being carried out near or above urban rail transit tunnels in my country, these projects involve construction procedures or factors such as unloading, loading, pumping, precipitation or vibration, which may cause certain structural deformation, tilt, displacement, uplift or settlement to the subway tunnel structure. If the settlement and deformation of the tunnel vault are serious and cannot be detected, it may even overturn high-speed trains, causing serious traffic safety accidents. Therefore, monitoring and operation and maintenance of subway tunnels is an important task for subway safety operations. At present, inspections in tunnels mainly rely on manual labor, that is, relying on human eye detection and manual instrument detection, which has high requirements for detection personnel and the disadvantages of difficult to ensure the safe operation of detection personnel. There is a safety uncertainty. At the same time, manual detection is highly subjective. Even experienced detection personnel find it difficult to ensure the integrity and accuracy of the detection results. Summary of the invention

[0005] In order to solve the problems of uncertainty in the safety of monitoring personnel, low monitoring efficiency and high operation and maintenance costs in the daily operation of subway tunnels, the present invention proposes a rail transit tunnel monitoring and operation and maintenance method and system based on an autonomous robot.

[0006] A rail transit tunnel monitoring and operation and maintenance system based on an autonomous robot includes an autonomous robot, a sensor, a data processing center and an operation and maintenance management platform. The autonomous robot has autonomous navigation, obstacle avoidance and environmental perception functions, and can move freely on a fixed guide rail in the tunnel and perform monitoring and operation and maintenance operations.

[0007] The autonomous robot is equipped with hazardous gas sensors and temperature and humidity sensors to monitor the concentrations of oxygen, carbon dioxide and methane gases in the tunnel in real time, and provide real-time feedback and early warning. The temperature and humidity sensors can monitor and warn the temperature and humidity in the tunnel in real time.

[0008] The data processing center is responsible for centralized processing, analysis and storage of sensor data and data collected by autonomous robots, and provides decision support for the operation and maintenance management platform.

[0009] The operation and maintenance management platform integrates information technology and traffic operation and maintenance management to achieve full life cycle management and intelligent operation and maintenance of tunnel facilities.

[0010] Preferably, the rail transit tunnel monitoring and operation and maintenance system also includes an equipment management module and a video monitoring system:

[0011] Equipment management module: There are lighting, fans, water pumps, indicators, information boards, power supply and other equipment in the tunnel. The operation and maintenance management platform supports centralized management and monitoring of these equipment. Managers can view the operating status, fault information, maintenance records, etc. of the equipment through the operation and maintenance management platform, and perform remote control or adjustment;

[0012] Video surveillance system: The operation and maintenance management platform supports seamless integration of video surveillance functions to conduct dynamic monitoring in the tunnel. Managers can view the on-site situation through real-time video and conduct accurate positioning and viewing.

[0013] Preferably, the core functions of the autonomous robot include tunnel environment inspection, equipment fault detection and video monitoring;

[0014] Through the use of robotic arms and camera equipment, the environmental conditions in the tunnel can be identified from multiple perspectives. Through the flame and smoke recognition algorithm, open flames and smoke within the monitoring range can be automatically identified, and real-time alarms can be issued to help managers deal with fires in a timely manner and detect equipment failures in the tunnel.

[0015] Preferably, the data processing center cleans and preprocesses the raw data collected by the autonomous robot to eliminate noise and outliers and ensure the accuracy and reliability of the data.

[0016] Preferably, the data processing center adopts distributed storage systems, cloud computing and other technologies to ensure the security and scalability of data, and uses machine learning technology to continuously optimize data processing and analysis algorithms to improve the intelligence level of autonomous robots.

[0017] A rail transit tunnel monitoring and operation and maintenance method based on an autonomous robot comprises the following steps:

[0018] S1: The autonomous robot moves freely on the fixed rails in the tunnel and performs monitoring and maintenance operations, including information collection and processing, network data communication, automatic control, and remote monitoring. Through the robotic arm and camera equipment, the robot can identify the environment in the tunnel from multiple perspectives. Through the flame and smoke recognition algorithm, the autonomous robot can automatically identify the open flame and smoke within the monitoring range and issue real-time alarms to help managers deal with fires in a timely manner, detect equipment failures in the tunnel, and monitor the concentration of oxygen, carbon dioxide, and methane in the tunnel in real time through hazardous gas sensors, and provide real-time feedback and early warnings. Through temperature and humidity sensors, the temperature and humidity in the tunnel can be monitored and early warnings can be issued in real time.

[0019] S2: The autonomous robot transmits the collected data to the data processing center, which centrally processes, analyzes and stores the sensor data and the data collected by the autonomous robot. The raw data collected by the autonomous robot is cleaned and preprocessed to eliminate noise and outliers to ensure the accuracy and reliability of the data. Various algorithms and models are used to conduct in-depth analysis of the data to extract useful information and patterns, and store them in a distributed storage system.

[0020] S3: The operation and maintenance management platform collects and integrates various data inside and outside the tunnel in real time through sensors and other equipment, including traffic flow, weather conditions, energy consumption, etc., to form a comprehensive and dynamic data portrait. Through 3D modeling and visualization technology, the tunnel scene and surrounding environment and equipment are highly restored to achieve visual management.

[0021] S4: Based on real-time data and preset alarm thresholds of temperature and humidity sensors, the operation and maintenance management platform can automatically provide early warning and fault handling. When tunnel facilities fail or encounter abnormal conditions, the operation and maintenance management platform will promptly issue an alarm and provide corresponding disposal suggestions to ensure the safe operation of the tunnel.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The rail transit tunnel monitoring and operation and maintenance method and system based on autonomous robots. The autonomous robots used for tunnel monitoring and operation and maintenance are equipped with a variety of sensors, which can conduct all-round monitoring of the structure, environment, equipment, etc. in the tunnel, including crack detection, leakage monitoring, temperature and humidity measurement, harmful gas detection, etc., and have functions such as autonomous navigation, obstacle avoidance, and environmental perception. They can move freely in the tunnel and perform monitoring and operation and maintenance operations, optimize daily manual inspections, improve inspection efficiency and safety index, and reduce the danger and burden of manual inspections. Through big data analysis, the tunnel monitoring autonomous robot realizes intelligent management and maintenance of the tunnel throughout its life cycle, improves the reliability of monitoring and inspection efficiency, and reduces operation and maintenance costs. The application promotes the development of tunnel management in a more intelligent and unmanned direction, and provides strong support for ensuring the safe operation of tunnels.

[0024] 2. The rail transit tunnel monitoring and operation and maintenance method and system based on autonomous robots can transmit key data such as the real-time monitoring of the tunnel's structural status, environmental parameters, and equipment operation status to a data processing center responsible for centralized processing, analysis, and storage of sensor data and data collected by autonomous robots by deploying various sensors in the tunnel. The data processing center issues an early warning to remind the operation and maintenance personnel to handle it in time, providing decision support for the operation and maintenance management platform, reducing the time for manual data processing and then determining how to repair the problem, and improving the efficiency of tunnel monitoring and operation and maintenance. The data processing center ensures that the autonomous robot can effectively use the data to improve its performance, optimize decision-making, and enhance safety. Through the processing, analysis, and storage of data, it provides strong support for the intelligent and efficient operation of the autonomous robot.

[0025] 3. The rail transit tunnel monitoring and operation and maintenance method and system based on autonomous robots have the ability of autonomous repair and emergency handling. After discovering a problem, they can automatically perform simple maintenance operations, such as tightening screws, replacing parts, etc., to reduce the need for manual intervention. Human-computer interaction can be carried out through the operation and maintenance management platform of the system. Through the interactive interface, remote control of the autonomous robot, task scheduling, and data visualization can be realized, replacing some manual operations, reducing operation and maintenance costs, improving the efficiency and safety of tunnel operation and maintenance, and providing a strong guarantee for the safe and efficient operation of the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0027] Figure 1It is a system configuration diagram of the present invention;

[0028] Figure 2 The autonomous robot workflow of the present invention;

[0029] Figure 3 The data processing center workflow diagram of the present invention;

[0030] Figure 4 This is a workflow diagram of the operation and maintenance management platform of the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] See also Figure 1-Figure 4 , the present invention provides a technical solution:

[0034] The rail transit tunnel monitoring and operation and maintenance system based on autonomous robots is an intelligent system that integrates multiple advanced technologies such as robotics, sensor technology, and video analysis. The system uses autonomous robots to conduct multi-faceted monitoring and operation and maintenance of rail transit tunnels, achieving safe, efficient, and intelligent management of tunnel facilities.

[0035] This method proposes solutions to the following three problems.

[0036] 1. Reduce the uncertainty of monitoring personnel safety

[0037] The system replaces some tunnel inspection personnel with autonomous robots to ensure the safety of inspection and monitoring personnel. The robot is equipped with a variety of sensors and can conduct all-round monitoring of the structure, environment, and equipment in the tunnel, including crack detection, leakage monitoring, temperature and humidity measurement, and harmful gas detection. It has autonomous navigation, obstacle avoidance, and environmental perception functions, and can move freely on the guide rails in the tunnel to perform monitoring and maintenance operations.

[0038] 2. Improving the efficiency of monitoring and operation and maintenance

[0039] By deploying various sensors on the autonomous robot, the system can transmit key data such as the structural status and environmental parameters of the real-time monitoring tunnel to the data processing center for centralized processing, analysis and storage. The data processing center analyzes the early warning status through intelligent algorithms, reminds the operation and maintenance personnel to deal with it in time, and provides decision support for the operation and maintenance management platform, reducing the time for manual data processing and then judging how to repair the problem, and improving the efficiency of monitoring and operation and maintenance. At the same time, the autonomous robot is also equipped with a high-definition camera, which can transmit images within the field of view to the data processing center in real time. On the one hand, the data processing center transmits video information to the operation and maintenance management platform for operation and maintenance personnel to monitor the environment. On the other hand, the data processing center also integrates an intelligent video analysis module to analyze video images in real time. When an abnormal situation is identified, it will be notified to the operation and maintenance management platform immediately. The operation and maintenance personnel can observe the tunnel environment unmanned and frequently, and can also receive abnormal alarms of the tunnel structure and equipment in the tunnel in time, so as to make quick judgments and processing. It greatly improves the safety and timeliness of traditional tunnel operation and maintenance.

[0040] 3. Reduce operation and maintenance costs

[0041] The autonomous robots of this system have certain equipment maintenance capabilities and operation and maintenance system linkage functions. They can automatically perform simple maintenance operations after discovering problems, such as tightening screws and replacing parts, reducing the need for manual intervention. At the same time, the linkage function pushes alarm or fault information to the operation and maintenance management platform in a timely manner, and the platform further promotes the handling of alarms or faults through work orders or fire protection system linkage. The operation and maintenance management platform also provides a human-machine interaction interface with the autonomous robot, through which the robot can be remotely controlled, task dispatched, and visualized for individual soldiers, replacing some manual operations and reducing operation and maintenance costs.

[0042] A rail transit tunnel monitoring and operation and maintenance system based on autonomous robots, including autonomous robots, sensors, data processing centers and operation and maintenance management platforms. Autonomous robots: robots with autonomous navigation, obstacle avoidance, environmental perception and other functions, which can move freely on fixed rails in tunnels and perform monitoring and operation and maintenance operations. They are usually made up of a variety of advanced technologies, including information collection and processing, network data communication, automatic control, remote monitoring, etc. These robots can run at a controllable speed on fixed tracks and perform a series of tasks, such as environmental parameter perception, remote control and automatic reminder alarms. The core functions of the robots include tunnel environment inspection, equipment fault detection and video monitoring. Through mechanical arms and camera equipment, they can identify the environmental conditions in the tunnel from multiple perspectives, such as obstacles, flames, smoke, water leaks, etc. Through flame and smoke recognition algorithms, the robots can automatically identify open flames and smoke within the monitoring range and issue real-time alarms to help managers deal with fires in a timely manner. At the same time, they can also detect faults in equipment in the tunnel, such as signal lights, ventilation equipment, fire-fighting equipment, etc. In addition, the autonomous robot is also equipped with a variety of sensors, such as hazardous gas sensors, which monitor the concentration of oxygen, carbon dioxide, and methane in the tunnel in real time, and provide real-time feedback and early warning. In addition, temperature and humidity sensors monitor the temperature and humidity in the tunnel in real time and provide early warning.

[0043] It optimizes daily manual inspections, improves inspection efficiency and safety index, and reduces the risk and burden of manual inspections. At the same time, through big data analysis, the tunnel monitoring robot realizes intelligent management and maintenance of the tunnel throughout its life cycle, improves monitoring reliability and inspection efficiency, and reduces operation and maintenance costs.

[0044] The data processing center is responsible for centralized processing, analysis and storage of sensor data and data collected by robots, providing decision support for the operation and maintenance management platform. The data processing center will clean and pre-process the raw data collected by the robot to eliminate noise and outliers to ensure the accuracy and reliability of the data. Then, the center will use various algorithms and models to conduct in-depth analysis of the data to extract useful information and patterns. This information and patterns can help robots better understand their environment, identify targets, plan paths, and make more informed decisions.

[0045] In addition, data storage is also one of the important tasks of the data processing center. The amount of data collected by sensors and robots may be very large, so it is necessary to store this data efficiently and securely for subsequent analysis and utilization. The data processing center will use distributed storage systems, cloud computing and other technologies to ensure data security and scalability.

[0046] In addition to basic data processing, analysis and storage functions, the data processing center also has some advanced functions. It can predict future trends and patterns by analyzing historical data, thus providing more valuable references for robot decision-making. In addition, the center can also use machine learning technology to continuously optimize data processing and analysis algorithms and improve the intelligence level of robots.

[0047] The operation and maintenance management platform integrates information technology and traffic operation and maintenance management, aiming to achieve full life cycle management and intelligent operation and maintenance of tunnel facilities. Specifically, the tunnel operation and maintenance management platform has the following features and functions:

[0048] Human-computer interaction function: Through the human-computer interaction interface, functions such as remote control of the robot, task scheduling, and data visualization can be realized.

[0049] Real-time data collection and integration: The platform collects and integrates various data inside and outside the tunnel in real time through sensors and other equipment, including traffic flow, weather conditions, energy consumption, etc., to form a comprehensive and dynamic data portrait.

[0050] Visual management: Through 3D modeling and visualization technology, the platform can highly restore the tunnel scene and surrounding environment and equipment, and realize "one picture" visual management. Managers can intuitively view the tunnel's operating status, equipment information, fault conditions, etc., so as to make decisions quickly.

[0051] Early warning and fault handling: Based on real-time data and the preset alarm thresholds of temperature and humidity sensors, the platform can automatically perform early warning and fault handling. When tunnel facilities fail or encounter abnormal conditions, the platform will promptly issue an alarm and provide corresponding disposal suggestions to ensure the safe operation of the tunnel.

[0052] Equipment management system: There are lighting, fans, water pumps, indicators, information boards, power supply and other equipment in the tunnel. The platform supports centralized management and monitoring of these equipment. Managers can view the operating status, fault information, maintenance records, etc. of the equipment through the platform, and perform remote control or adjustment.

[0053] Video surveillance system: The platform supports seamless integration of video surveillance functions to conduct dynamic monitoring in the tunnel. Managers can view the on-site situation through real-time video and conduct accurate positioning and viewing.

[0054] The rail transit tunnel monitoring and operation and maintenance system also includes equipment management modules and video surveillance systems:

[0055] In general, the application of the tunnel operation and maintenance management platform has greatly improved the efficiency and safety of tunnel operation and maintenance, reduced operation and maintenance costs, and provided strong guarantees for the safe and efficient operation of tunnels.

[0056] All-round monitoring: The autonomous robot is equipped with a variety of sensors to conduct all-round monitoring of the structure, environment, and equipment in the tunnel, including crack detection, leakage monitoring, temperature and humidity measurement, and harmful gas detection.

[0057] Intelligent identification and early warning: Through image recognition, data analysis and other technologies, the system can automatically identify abnormal conditions in the tunnel, such as structural damage, equipment failure, etc., and issue early warnings in real time to remind operation and maintenance personnel to deal with them in a timely manner.

[0058] Autonomous operation and maintenance: Autonomous robots have the ability to repair themselves and handle emergencies. They can automatically perform simple maintenance operations such as tightening screws and replacing parts after discovering a problem, reducing the need for human intervention.

[0059] Data management and analysis: The system can store and manage monitoring data for a long time, and through data analysis technology, it can explore the potential value of the data and provide a scientific basis for the safe management and maintenance of the tunnel.

[0060] The system is suitable for the monitoring and operation and maintenance of various types of rail transit tunnels. In practical applications, the system can be customized and deployed and configured according to the specific conditions and needs of the tunnel to meet the monitoring and operation and maintenance needs in different scenarios.

[0061] 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 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 device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rail transit tunnel monitoring and operation and maintenance system based on an autonomous robot, comprising an autonomous robot, a sensor, a data processing center and an operation and maintenance management platform, characterized in that: The autonomous robot has autonomous navigation, obstacle avoidance, and environmental perception functions, and can move freely on the fixed rails in the tunnel and perform monitoring and maintenance operations; The autonomous robot is equipped with hazardous gas sensors and temperature and humidity sensors to monitor the concentration of oxygen, carbon dioxide and methane in the tunnel in real time, and provide real-time feedback and early warning. The temperature and humidity sensors monitor and warn the temperature and humidity in the tunnel in real time; The data processing center is responsible for centralized processing, analysis and storage of sensor data and data collected by autonomous robots, and provides decision support for the operation and maintenance management platform.

2. The rail transit tunnel monitoring and operation and maintenance system based on an autonomous robot according to claim 1, characterized in that: The rail transit tunnel monitoring and operation and maintenance system also includes an equipment management module and a video monitoring system: Equipment management module: There are lighting, fans, water pumps, indicators, information boards, and power supply equipment in the tunnel. The operation and maintenance management platform supports centralized management and monitoring of these equipment. Managers can view the operating status, fault information, maintenance records, etc. of the equipment through the operation and maintenance management platform, and perform remote control or adjustment; Video surveillance system: The operation and maintenance management platform supports seamless integration of video surveillance functions to conduct dynamic monitoring inside the tunnel. Managers can view on-site conditions through real-time video and conduct precise positioning and viewing.

3. The rail transit tunnel monitoring and operation and maintenance system based on an autonomous robot according to claim 1, characterized in that: The core functions of the autonomous robot include tunnel environment inspection, equipment fault detection and video monitoring; Through the use of robotic arms and camera equipment, the environmental conditions in the tunnel can be identified from multiple perspectives. Through the flame and smoke recognition algorithm, open flames and smoke within the monitoring range can be automatically identified, and real-time alarms can be issued to help managers deal with fires in a timely manner and detect equipment failures in the tunnel.

4. The rail transit tunnel monitoring and operation and maintenance system based on an autonomous robot according to claim 1, characterized in that: The data processing center will clean and pre-process the raw data collected by the autonomous robot to eliminate noise and outliers and ensure the accuracy and reliability of the data.

5. The rail transit tunnel monitoring and operation and maintenance system based on an autonomous robot according to claim 1, characterized in that: The data processing center adopts distributed storage systems and cloud computing technology to ensure data security and scalability, and uses machine learning technology to continuously optimize data processing and analysis algorithms to improve the intelligence level of autonomous robots.

6. A monitoring and operation method for a rail transit tunnel monitoring and operation system based on an autonomous robot according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: The autonomous robot moves freely on the fixed rails in the tunnel and performs monitoring and maintenance operations, including information collection and processing, network data communication, automatic control, and remote monitoring. Through the robotic arm and camera equipment, it can identify the environmental conditions in the tunnel from multiple perspectives. Through the flame and smoke recognition algorithm, the autonomous robot can automatically identify open flames and smoke within the monitoring range and issue real-time alarms to help managers deal with fires in a timely manner and detect equipment failures in the tunnel. Through hazardous gas sensors, it monitors the concentrations of oxygen, carbon dioxide, and methane in the tunnel in real time, and provides real-time feedback and early warnings. Through temperature and humidity sensors, it monitors and issues early warnings on the temperature and humidity in the tunnel in real time. S2: The autonomous robot transmits the collected data to the data processing center, which centrally processes, analyzes and stores the sensor data and the data collected by the autonomous robot. The raw data collected by the autonomous robot is cleaned and preprocessed to eliminate noise and outliers, ensure the accuracy and reliability of the data, and use various algorithms and models to conduct in-depth analysis of the data to extract useful information and patterns, which are then stored in a distributed storage system. S3: The operation and maintenance management platform collects and integrates various data inside and outside the tunnel in real time through sensors and other equipment, including traffic flow, weather conditions, energy consumption, etc., to form a comprehensive and dynamic data portrait. Through 3D modeling and visualization technology, the tunnel scene and surrounding environment and equipment are highly restored to achieve visual management; S4: Based on real-time data and preset alarm thresholds of temperature and humidity sensors, the operation and maintenance management platform can automatically provide early warning and fault handling. When tunnel facilities fail or encounter abnormal conditions, the operation and maintenance management platform will promptly issue an alarm and provide corresponding disposal suggestions to ensure the safe operation of the tunnel.

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