Rail type tunnel safety monitoring and emergency response inspection robot

Abstract

The invention discloses a track type tunnel safety monitoring and emergency response inspection robot, and belongs to the technical field of tunnel safety in traffic safety, all-weather monitoring is carried out through cameras and various environmental sensors, the system can detect abnormal conditions such as illumination, temperature, smoke and flame in a tunnel in real time, an alarm is quickly given out, and the safety of the tunnel is ensured. The system effectively improves the coverage range and response speed of safety monitoring in the tunnel, can automatically position flames and launch dry powder balls for fire extinguishing emergency treatment when a fire disaster is detected, gives an alarm to the rear vehicle through the loudspeaker, has independent emergency response capability, and is safe and reliable. And the inspection robot moves on the side wall of the tunnel based on the track, and the track type movement ensures that the robot can cover the whole tunnel area according to a preset path, so that accurate and comprehensive monitoring is realized, and blind areas are reduced.

Description

Technical Field

[0001] The patent of this invention relates to the field of tunnel safety technology in traffic safety, specifically a device that can monitor the environmental conditions and traffic safety in the tunnel around the clock and take emergency measures for sudden fire problems. Background Art

[0002] With the rapid development of smart transportation, automated and intelligent traffic safety management has become a trend.

[0003] With the continuous acceleration of urbanization, the number of tunnels in highways and cities is increasing. Tunnel traffic accidents often cause serious casualties and economic losses. The issue of tunnel safety cannot be underestimated.

[0004] At present, there is a lack of intelligent management and monitoring in tunnels, and the monitoring and emergency response of traffic accidents rely more on manual management. This not only increases management costs, reduces the accuracy of monitoring, but also reduces the efficiency of emergency response, which can easily cause accident handling to miss the best time and cause secondary accidents. Summary of the invention

[0005] The main purpose of the present invention is to provide a rail-type inspection robot for tunnel safety monitoring and emergency response.

[0006] The purpose of the present invention can be achieved by adopting the following technical solutions: A track-type inspection robot for tunnel safety monitoring and emergency response, comprising a track for guiding equipment; The track is covered with a platform, a power supply is installed on one side of the platform, a transmission gear set is installed on the track on one side of the power supply, a horn is installed on the platform, a launching platform is installed in the middle of the platform, a smoke alarm is installed on one side of the launching platform, and a shell is provided on the outside of the power supply; Photosensitive sensors are installed on both sides of the launch pad on the platform. The launch pad is equipped with lighting, binocular cameras, thermometers, turntables, up and down position adjustment motors, launch bomb bays, friction wheels, friction wheel drive motors, motor fixing platforms, push motors, push rods and launch tubes. A thermometer is installed at one end of the horn, the launch pad is covered with a launch bay, a binocular camera is installed on the launch bay, lighting lamps are installed on both sides of the fixed support, up and down position adjustment motors are installed on both sides of the outside of the launch pad, a turntable is installed in the launch pad, a push rod is installed in the launch pad, a motor fixing platform is installed on the push rod, a friction wheel drive motor is installed in the motor fixing platform, a friction wheel is connected to the bottom of the friction wheel drive motor, a launching tube is installed in the middle of the friction wheel drive motor at the bottom of the motor fixing platform, and a push motor is installed on the inside of the motor fixing platform.

[0007] Preferably, the transmission gear set includes a driving roller, a small spur gear, a large spur gear, a large gear shaft, a central shaft, a driving motor, a coupling, a small gear shaft, a driven roller, a driven roller shaft, a motor support seat and a launching platform steering motor; A driving roller and a driven roller are installed in corresponding sliding manners in the track, a fixed support is installed at the outer end of the driving roller, a small gear shaft is installed on the fixed support, a driven roller shaft is sleeved on the small gear shaft, a small spur gear is installed on the small gear shaft on the fixed support, a large gear shaft is meshed on the small spur gear, a center shaft is installed at the axis center of the large gear shaft, a large spur gear is installed at the other end of the center shaft, a driving motor is installed at the bottom of the platform, a motor support seat is installed on one side of the driving motor, a coupling is installed at the output end of the driving motor, and a launching platform steering motor is installed on the motor support seat.

[0008] Preferably, the large bevel gear rotates and drives the large bevel gear to rotate through the coupling, and the large bevel gear and the small bevel gear are meshed with each other.

[0009] Preferably, the launching platform steering motor is fixed to the turntable, the up-down position adjustment motor is fixed to the launching platform, and the up-down position adjustment motor is connected to the launching bomb bay.

[0010] Preferably, the rotation of the large spur gear drives the small spur gear meshing therewith to rotate, and the small spur gear is coaxial with and fixed to the driving roller.

[0011] Preferably, the friction between the active roller and the track drives the robot to move on the track.

[0012] Beneficial technical effects of the present invention: The present invention provides a track-type tunnel safety monitoring and emergency response inspection robot. 1. Through all-weather monitoring by cameras and various environmental sensors, the system can detect abnormal conditions such as lighting, temperature, smoke and flames in the tunnel in real time, and quickly issue an alarm to alert the rear vehicles and the control center, effectively improving the coverage and response speed of safety monitoring in the tunnel.

[0013] 2. When a fire is detected, the system can automatically locate the flame and launch dry powder balls for emergency fire extinguishing. At the same time, it will issue a warning to the vehicles behind through the tweeter. It has independent emergency response capabilities, which can buy time for subsequent rescue personnel and reduce losses in an emergency.

[0014] 3. The inspection robot moves on the side wall of the tunnel based on tracks. Track-based movement ensures that the robot can cover the entire tunnel area according to the predetermined path, thereby achieving accurate and comprehensive monitoring and reducing blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1A stereogram of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Figure 2 A perspective view of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Figure 3 A front view of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Figure 4 A side view of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Figure 5 A top view of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Figure 6 A perspective view of a transmitter structure of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Figure 7 A front view of a transmitter structure of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Figure 8 A side view of a transmitter structure of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention; Fig. 9 A top view of the transmitter structure of a preferred embodiment of a rail-type tunnel safety monitoring and emergency response inspection robot according to the present invention.

[0016] In the figure: 1. track; 2. driving roller; 3. small spur gear; 4. large spur gear; 5. smoke alarm; 6. large gear shaft; 7. large bevel gear; 8. central shaft; 9. small bevel gear; 10. housing; 11. speaker; 12. lighting lamp; 13. binocular camera; 14. thermometer; 15. power supply; 16. photosensor; 17. drive motor; 18. coupling; 19. fixed support; 20. small gear shaft; 21. driven roller; 22. driven roller shaft; 23. motor support seat; 24. launch platform steering motor; 25. platform; 26. turntable; 27. launch platform; 28. upper and lower position adjustment motor; 29. ​​launch bay; 30. friction wheel; 31. friction wheel drive motor; 32. motor fixing platform; 33. ejector motor; 34. ejector rod; 35. launch tube. DETAILED DESCRIPTION

[0017] In order to make the technical solution of the present invention more clear and specific to those skilled in the art, the present invention is further described in detail below in conjunction with embodiments and drawings, but the implementation manner of the present invention is not limited thereto.

[0018] like Figure 1 - Fig. 9 As shown, the present embodiment provides a track-type inspection robot for tunnel safety monitoring and emergency response, comprising a track 1 for guiding equipment; The track 1 is covered with a platform 25, a power supply 15 is installed on one side of the platform 25, a transmission gear set is installed on one side of the track 1 of the power supply 15, a speaker 11 is installed on the platform 25, a launch platform 27 is installed in the middle of the platform 25, a smoke alarm 5 is installed on one side of the launch platform 27, and a shell 10 is provided outside the power supply 15; The launch platform 27 on the platform 25 is provided with photosensitive sensors 16 on both sides, and the launch platform 27 is provided with lighting lamps 12, binocular cameras 13, thermometers 14, turntables 26, upper and lower position adjustment motors 28, launch bomb bays 29, friction wheels 30, friction wheel drive motors 31, motor fixing platforms 32, projectile motors 33, projectile rods 34 and launch tubes 35; A thermometer 14 is installed at one end of the speaker 11, a launching platform 27 is covered with a launching bomb bay 29, a binocular camera 13 is installed on the launching bomb bay 29, lighting lamps 12 are installed on both sides of the fixed support 19, upper and lower position adjustment motors 28 are installed on both sides of the outside of the launching platform 27, a turntable 26 is installed in the launching platform 27, a launching rod 34 is installed in the launching platform 27, a motor fixing platform 32 is installed on the launching rod 34, a friction wheel driving motor 31 is installed in the motor fixing platform 32, a friction wheel 30 is connected below the friction wheel driving motor 31, a launching tube 35 is installed in the middle of the friction wheel driving motor 31 at the bottom of the motor fixing platform 32, and a launching motor 33 is installed on the inner side of the motor fixing platform 32.

[0019] The transmission gear set includes a driving roller 2, a small spur gear 3, a large spur gear 4, a large gear shaft 6, a central shaft 8, a driving motor 17, a coupling 18, a small gear shaft 20, a driven roller 21, a driven roller shaft 22, a motor support seat 23 and a launch platform steering motor 24; A driving roller 2 and a driven roller 21 are correspondingly slidably installed in the track 1, a fixed support 19 is installed at the outer end of the driving roller 2, a small gear shaft 20 is installed on the fixed support 19, a driven roller shaft 22 is sleeved on the small gear shaft 20, a small spur gear 3 is installed on the small gear shaft 20 on the fixed support 19, a large gear shaft 6 is meshed on the small spur gear 3, a center shaft 8 is installed at the axis center of the large gear shaft 6, and a large spur gear 4 is installed at the other end of the center shaft 8, a driving motor 17 is installed at the bottom of the platform 25, a motor support seat 23 is installed on one side of the driving motor 17, a coupling 18 is installed at the output end of the driving motor 17, and a launching platform steering motor 24 is installed on the motor support seat 23.

[0020] The large bevel gear 7 rotates and drives the large bevel gear 7 to rotate through the coupling 18, and the large bevel gear 7 and the small bevel gear 9 are meshed with each other.

[0021] The launching platform steering motor 24 is fixed to the rotating platform 26 , the up-down position adjusting motor 28 is fixed to the launching platform 27 , and the up-down position adjusting motor 28 is connected to the launching bomb bay 29 .

[0022] The rotation of the large spur gear 4 drives the small spur gear 3 meshing therewith to rotate, and the small spur gear 3 is coaxial with and fixed to the driving roller 2.

[0023] The friction force between the active roller 2 and the track 1 drives the robot to move on the track 1.

[0024] like Figure 1 - Fig. 9As shown, the working process of a rail-type inspection robot for tunnel safety monitoring and emergency response provided by the present embodiment is as follows: the power of the mobile device is provided by a power supply 15, the power supply 15 supplies power to a driving motor 17, the driving motor 17 rotates and drives the large bevel gear 7 to rotate through a coupling 18, and since the large bevel gear 7 is meshed with the small bevel gear 9, the rotation of the large bevel gear 7 drives the small bevel gear 9 to rotate, the small bevel gear is on the central shaft 8, and the two ends of the central shaft 8 are respectively fixedly connected to two large spur gears 4, when the small bevel gear 9 rotates to drive the central shaft 8 to rotate, the two large spur gears 4 evenly distribute power and rotate in the same direction, and the large spur gears 4 rotate in the same direction. The rotation of gear 4 drives the small spur gear 3 meshing with it to rotate, and the small spur gear 3 is coaxial and fixed with the active roller 2, so the rotation of the small spur gear 3 further drives the active roller 2 to rotate, and the friction between the active roller 2 and the track 1 drives the robot to move on the track 1, while the driven roller 21 does not provide power, but only provides support. The working process of the fire extinguishing ball launching device: the fire extinguishing ball is stored in the launching bomb compartment 29, and the funnel-shaped structure inside the launching bomb compartment allows the fire extinguishing ball to automatically roll down and load under the action of gravity. When the robot's binocular camera 13 detects that there is a risk of fire in the tunnel, the launch motor is first pushed. 33 starts to work, controls the curved push rod 34 fixedly connected thereto to push the fire extinguishing ball outward, and pushes the fire extinguishing ball into the launch tube 35. At the same time, the friction wheel driving motor 31 starts to work, and drives a pair of friction wheels 30 to rotate in the opposite direction, and ejects the fire extinguishing ball in the launch tube 35 to the designated fire position, so as to achieve accurate fire extinguishing. In addition, the launch device can adjust the angle by itself. The launch platform steering motor 24 is fixed to the turntable 24. The rotation of the motor controls the rotation of the turntable 24, so that the launch device as a whole can rotate horizontally to adjust the horizontal orientation of the launch. The upper and lower orientation adjustment motor 28 is fixed on the launch platform 27. This motor and the turntable 24 are connected to the launch platform 27. The launch bomb bay 29 is connected, and the upper and lower azimuth adjustment motors can drive the launch bomb bay to rotate up and down to change the launch angle. Many monitoring and warning devices are fixed on the platform 25. The smoke alarm 5 can detect smoke in the air, and alarm and warn passing vehicles through the horn 11 to pay attention to possible fire situations. Considering the "black hole effect" caused by the lighting problem in the tunnel, the photosensitive sensor 5 can timely monitor the light brightness information inside the tunnel, and cooperate with the lighting lamp tube 12 to improve the light brightness of some areas in the tunnel. The thermometer 14 can timely measure the temperature information in the tunnel and upload it to the system for feedback.

[0025] Embodiment 1: Figure 1 and Figure 2The robot shown is mainly composed of three parts, namely a moving device, a fire extinguishing ball launching device and an environment detection device, wherein the power of the moving device is provided by a power supply 15, and the power supply 15 supplies power to a driving motor 17. The motor rotates and drives the large bevel gear 7 to rotate through a coupling 18. Since the large bevel gear 7 and the small bevel gear 9 are meshed, the rotation of the large bevel gear 7 drives the small bevel gear 9 to rotate. The small bevel gear 9 is on the central axis 8, and the two ends of the central axis 8 are respectively fixedly connected to two large spur gears 4. When the small bevel gear 9 rotates to drive the central axis 8 to rotate, the two large spur gears 4 evenly distribute power and rotate in the same direction. The rotation of the large spur gear 4 drives the small spur gear 3 meshed with it to rotate, and the small spur gear 3 is coaxial and fixed with the active roller 2, so the rotation of the small spur gear 3 further drives the active roller 2 to rotate, and the friction between the active roller 2 and the track 1 drives the robot to move on the track 1, while the driven roller 21 does not provide power, but only provides support.

[0026] Embodiment 2: Figure 1 , Figure 6 and Fig. 9 , the working process of the fire extinguishing ball launching device: the fire extinguishing ball is stored in the launching bomb compartment 29, and the funnel-shaped structure inside the launching bomb compartment allows the fire extinguishing ball to automatically roll down and load under the action of gravity. When the binocular camera 13 of the robot detects that there is a danger of fire in the tunnel, first, the pushing motor 33 starts to work, controls the curved pushing rod 34 fixedly connected thereto to push the fire extinguishing ball outward, and pushes the fire extinguishing ball into the launching tube 35. At the same time, the friction wheel driving motor 31 starts to work, and drives a pair of friction wheels 30 to rotate in the opposite direction, and ejects the fire extinguishing ball in the launching tube to the designated fire position, so as to achieve precise fire extinguishing. In addition, the launching device can adjust the angle by itself. The launching platform steering motor 24 is fixed to the turntable 24, and the motor rotation controls the turntable 26 to rotate, so that the launching device as a whole can rotate horizontally to adjust the horizontal orientation of the launch. The upper and lower orientation adjustment motor 28 is fixed on the launching platform 27. This motor is connected to the launching bomb compartment 29. The operation of the upper and lower orientation adjustment motors can drive the launching bomb compartment to rotate up and down to change the angle of the launch.

[0027] Embodiment 3: Figure 1 There are many monitoring and warning devices fixed on the platform 25. The smoke alarm 5 can detect smoke in the air, and alarm and warn passing vehicles of possible fire through the horn 11. Considering the "black hole effect" caused by the lighting problem in the tunnel, the photosensitive sensor 5 can timely monitor the light brightness information inside the tunnel, and cooperate with the lighting tube 12 to improve the light brightness of some areas in the tunnel. The thermometer 14 can timely measure the temperature information in the tunnel and upload it to the system for feedback.

[0028] The above description is only a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the scope disclosed by the present invention, which belong to the protection scope of the present invention.

Claims

1. A track-type inspection robot for tunnel safety monitoring and emergency response, comprising a track (1) for guiding equipment; Features: The track (1) is covered with a platform (25), a power source (15) is installed on one side of the platform (25), a transmission gear set is installed on the track (1) on one side of the power source (15), a speaker (11) is installed on the platform (25), a launch platform (27) is installed in the middle of the platform (25), a smoke alarm (5) is installed on one side of the launch platform (27), and a shell (10) is provided on the outside of the power source (15); A photosensitive sensor (16) is installed on both sides of a launch platform (27) on the platform (25); and an illuminating lamp (12), a binocular camera (13), a thermometer (14), a turntable (26), an upper and lower position adjustment motor (28), a launch bomb compartment (29), a friction wheel (30), a friction wheel driving motor (31), a motor fixing platform (32), a bomb pushing motor (33), a bomb pushing rod (34) and a launch tube (35) are installed on the launch platform (27); A thermometer (14) is installed at one end of the speaker (11), a launching platform (27) is covered with a launching bomb chamber (29), a binocular camera (13) is installed on the launching bomb chamber (29), lighting lamps (12) are installed on both sides of the fixed support (19), upper and lower position adjustment motors (28) are installed on both sides of the outside of the launching platform (27), a turntable (26) is installed in the launching platform (27), a launching rod (34) is installed in the launching platform (27), a motor fixing platform (32) is installed on the launching rod (34), a friction wheel driving motor (31) is installed in the motor fixing platform (32), a friction wheel (30) is connected below the friction wheel driving motor (31), a launching tube (35) is installed in the middle of the friction wheel driving motor (31) at the bottom of the motor fixing platform (32), and a launching motor (33) is installed inside the motor fixing platform (32).

2. The rail-type tunnel safety monitoring and emergency response inspection robot according to claim 1, characterized in that: The transmission gear set comprises a driving roller (2), a small spur gear (3), a large spur gear (4), a large gear shaft (6), a central shaft (8), a driving motor (17), a coupling (18), a small gear shaft (20), a driven roller (21), a driven roller shaft (22), a motor support seat (23) and a launch platform steering motor (24); A driving roller (2) and a driven roller (21) are correspondingly slidably mounted in the track (1), a fixed support (19) is mounted on the outer end of the driving roller (2), a small gear shaft (20) is mounted on the fixed support (19), a driven roller shaft (22) is sleeved on the small gear shaft (20), a small spur gear (3) is mounted on the small gear shaft (20) on the fixed support (19), a large gear shaft (6) is meshed on the small spur gear (3), a center shaft (8) is mounted at the axis of the large gear shaft (6), a large spur gear (4) is mounted on the other end of the center shaft (8), a driving motor (17) is mounted on the bottom of the platform (25), a motor support seat (23) is mounted on one side of the driving motor (17), a coupling (18) is mounted on the output end of the driving motor (17), and a launching platform steering motor (24) is mounted on the motor support seat (23).

3. The rail-type tunnel safety monitoring and emergency response inspection robot according to claim 2, characterized in that: The large bevel gear (7) rotates and drives the large bevel gear (7) to rotate through the coupling (18), and the large bevel gear (7) and the small bevel gear (9) are meshed with each other.

4. The rail-type tunnel safety monitoring and emergency response inspection robot according to claim 3 is characterized by: The launching platform steering motor (24) is fixed to the rotating platform (26), the up-down position adjusting motor (28) is fixed to the launching platform (27), and the up-down position adjusting motor (28) is connected to the launching bomb compartment (29).

5. The rail-type tunnel safety monitoring and emergency response inspection robot according to claim 4, characterized in that: The rotation of the large spur gear (4) drives the small spur gear (3) meshing with the large spur gear (4) to rotate, and the small spur gear (3) is coaxial with and fixed to the driving roller (2).

6. The rail-type tunnel safety monitoring and emergency response inspection robot according to claim 5, characterized in that: The friction force between the active roller (2) and the track (1) drives the robot to move on the track (1).

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