Tunnel inspection system and method

Abstract

The invention discloses a tunnel inspection system and method, and the system comprises an overhead rail which is provided with walking convex teeth at the bottom, and is provided with a walking bearing surface; the suspension type robot inspection vehicle comprises a vehicle body, the top of the vehicle body is provided with a hanging frame, the hanging frame is provided with a first roller, the first roller is in contact with the walking bearing surface on the hanger rail, and the suspension type robot inspection vehicle is provided with a rolling gear below the hanger rail; the sweeping part is arranged at the front end of the vehicle body, the bottom makes contact with the walking bearing face, and the sweeping part can move along with the vehicle body to clean the walking bearing face. According to the inspection vehicle, the rolling gears are matched with the walking convex teeth on the hanger rail, stable movement on the hanger rail is achieved, the sweeping piece arranged at the front end of the vehicle body can automatically clean the walking bearing face along with movement of the inspection vehicle, dust or impurities on the walking bearing face are avoided, and dust or impurities on the walking bearing face can be automatically cleaned in the running process.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel automatic detection, and in particular to a tunnel inspection system and method. Background Art

[0002] In modern tunnel construction and maintenance, tunnel inspection is an important part of ensuring the safe operation of tunnels. Traditional tunnel inspections are mainly carried out manually, and inspectors need to enter the tunnel to conduct a comprehensive inspection of the tunnel structure and facilities. This method is not only inefficient, but also easily affected by human factors, making it difficult to ensure the accuracy and consistency of the inspection results.

[0003] With the development of science and technology, automated and intelligent inspection technologies have gradually been introduced into the field of tunnel inspection. For example, some tunnel inspection systems use track-mounted robots, which are equipped with various sensors and detection instruments to realize automatic inspection of tunnels. However, the traditional track-mounted robot system is prone to dust on the track. After long-term use, the rollers will slip, making the robot unstable or even difficult to move. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a tunnel inspection system and method.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A tunnel inspection system comprises: a hanging rail, the bottom of which is provided with walking convex teeth arranged along the length direction of the hanging rail, and the hanging rail has a walking bearing surface; a suspended robot inspection vehicle, comprising a vehicle body, a hanging bracket is provided on the top of the vehicle body, and a first roller is provided on the hanging bracket, the first roller is in contact with the walking bearing surface on the hanging rail and can roll on the walking bearing surface, the hanging robot inspection vehicle is provided with a rolling gear below the hanging rail, the rolling gear cooperates with the walking convex teeth to drive the hanging robot inspection vehicle to move along the hanging rail, and a rotating drive mechanism is provided in the hanging robot inspection vehicle to drive the rolling gear to rotate; a sweeping plate is provided at the front end of the vehicle body, the bottom of which is in contact with the walking bearing surface and can move with the vehicle body to clean the walking bearing surface.

[0006] Furthermore, it also includes an upper and lower rail mechanism, which is located at one end of the hanging rail and is used to drive the suspended robot inspection vehicle to rise and fall and can receive the suspended robot inspection vehicle that has detached from the hanging rail or send the suspended robot inspection vehicle into the hanging rail.

[0007] Furthermore, the upper and lower rail mechanism includes a lifting drive mechanism, a lifting platform and a pick-up and delivery mechanism; the lifting drive mechanism is connected to the lifting platform to drive the lifting platform to lift and lower, the lifting platform can be lifted and lowered to a pick-up and delivery position, the pick-up and delivery mechanism is installed on the lifting platform, the pick-up and delivery mechanism includes a pick-up and delivery plate and a pick-up and delivery drive mechanism, the pick-up and delivery plate is slidably installed on the lifting platform, the pick-up and delivery drive mechanism is used to drive the pick-up and delivery plate to reciprocate, the reciprocating sliding of the pick-up and delivery plate at the pick-up and delivery position can receive the suspended robot inspection vehicle that has detached from the hanging rail or send the suspended robot inspection vehicle into the hanging rail.

[0008] Furthermore, positioning columns are provided on the rear side and the left and right sides of the pick-up and delivery plate for the side edges of the vehicle body to abut and position.

[0009] Furthermore, a vertical through hole is provided on the front side of the pick-up plate, and a movable column is elastically and movably installed in the vertical through hole, and the movable column has an upper end protruding from the pick-up plate to block and limit the front side of the vehicle body on the pick-up plate to a limited state and a retracted state retracted downward to avoid the vehicle body; a transverse column is connected to the bottom side of the movable column, and a pressing column is connected to the end of the transverse column away from the movable column, and the pressing column avoids the moving path of the suspended robot inspection vehicle forward and backward; a pressure plate is provided on the hanging rail, and when the lifting platform is lifted to the pick-up position, the upper end of the pressing column contacts the pressure plate and is pressed to the retracted state, and during the reciprocating movement of the pick-up plate, the upper end of the pressing column is always in contact with the pressure plate and is in a retracted state.

[0010] Furthermore, a bottom plate is fixedly connected at intervals below the bottom of the pick-up plate, a cylinder is provided at the bottom of the movable column, a circular hole is provided on the bottom plate corresponding to the cylinder, the cylinder movably passes through the circular hole, a nut is connected to the bottom of the cylinder, and when the movable column is in a limited state, the nut is against the bottom plate.

[0011] Furthermore, the hanging rail includes a vertical plate and a horizontal plate, the walking bearing surface is formed on the upper surface of the horizontal plate; the middle part of the horizontal plate is vertically connected to the bottom of the vertical plate; the hanging bracket is symmetrically arranged on the left and right sides of the vehicle body, and the hanging bracket is equipped with guide wheels in contact with the vertical plate, and the guide wheels are in rolling contact with the vertical plate.

[0012] Furthermore, the bracket is provided with a mounting hole, and a sleeve that can be raised and lowered and adjusted is installed on the mounting hole; a mounting column is movably installed at the center of the sleeve for lifting and lowering, a mounting seat is provided at the bottom of the mounting column, and the first roller is rotatably installed on the mounting seat; the upper end of the mounting column passes through the sleeve and is threadedly connected with a limiting cap, and the limiting cap can avoid the contact between the sleeve and the bracket; an elastic member is sleeved on the mounting column, one end of the elastic member is against the sleeve, and the other end is against the mounting seat, so as to apply a downward elastic force to the mounting seat.

[0013] Furthermore, mounting plates are provided on both sides of the left and right front ends of the bracket, and the cleaning member is a sweeping plate hinged to the bottom of the mounting plate through a hinge shaft, and a torsion spring is sleeved on the hinge shaft. When the sweeping plate contacts the walking bearing surface, the lower end tilts backward, and the torsion spring is used to push the bottom of the sweeping plate to be close to the walking bearing surface, and the front ends of the sweeping plates on the left and right sides are arranged close together.

[0014] The present invention also provides a tunnel inspection method, comprising the following steps: inspecting the tunnel using the tunnel inspection system.

[0015] The present invention has the following beneficial effects: The suspended robot inspection vehicle achieves stable movement on the hanging rail by cooperating with the walking convex teeth on the hanging rail through rolling gears. Even when there is dust or debris on the track surface, it can maintain stable walking, avoiding unstable walking or difficult movement caused by the slipping of the first roller. In addition, the cleaning parts set at the front end of the vehicle body can automatically clean the walking bearing surface as the inspection vehicle moves, avoiding dust or impurities on the walking bearing surface, and can automatically clean the dust or debris on the walking bearing surface during operation, avoiding dust or debris on the walking bearing surface affecting the smooth movement of the suspended robot inspection vehicle.

[0016] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 It is a schematic diagram of a partial structure of an embodiment of the present invention; Figure 3 It is a local structural diagram of the pick-up and drop-off location; Figure 4 This is a schematic diagram of the coordination structure between the pick-up and delivery board and the suspended robot inspection vehicle; Figure 5 It is a schematic diagram of the exploded state structure of the pick-up and delivery board; Figure 6 It is a schematic diagram of the structure of the suspended robot inspection vehicle on the hanging rail; Figure 7 It is a schematic diagram of the structure of the suspended robot inspection vehicle; Figure 8 It is a cross-sectional view of the coordination between the suspended robot inspection vehicle and the hanging rail; Fig. 9It is a partial structural decomposition diagram of the suspended robot inspection vehicle; Fig.10 is a structural schematic diagram of a suspended robot inspection vehicle according to another embodiment of the present invention; Fig.11 yes Fig.10 The schematic diagram of the decomposed structure after the A in the middle is enlarged; Fig.12 It is a schematic diagram of a tunnel inspection system according to an embodiment of the present invention installed in a tunnel.

[0018] Legend: Hanging rail 100, running convex teeth 110, running bearing surface 120, inclined surface 121, pressing plate 130, vertical plate 140, horizontal plate 150; Suspended robot inspection vehicle 200, vehicle body 210, bracket 220, guide wheel 221, mounting hole 222, sleeve 223, mounting column 224, mounting seat 225, fitting block 226, elastic member 227, first roller 230, rolling gear 240, limiting cap 250, threaded column 251, mounting plate 260, torsion spring 261, lifting hole 262; Cleaning member 300, lifting plate 310, lifting column 311, tilting plate 320; Upper and lower rail mechanism 400, lifting drive mechanism 410, lifting platform 420, pick-up mechanism 430, pick-up plate 431, pick-up drive mechanism 432, positioning column 433, vertical through hole 434, bottom plate 435, round hole 436, connecting plate 437, slider 438, movable column 440, horizontal column 441, pressing column 442, cylinder 443, spring 444, nut 445, and second roller 446. DETAILED DESCRIPTION

[0019] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0020] 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.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] Please refer to Figure 1 and Figure 2 A tunnel inspection system in a preferred embodiment of the present invention includes a hanging rail 100, a suspended robot inspection vehicle 200 and a cleaning member 300.

[0024] The bottom of the hanging rail 100 is provided with running protruding teeth 110 arranged along its length direction. The hanging rail 100 extends in the front-to-back direction, and the running protruding teeth 110 are arranged in the front-to-back direction. The hanging rail 100 has a running bearing surface 120 .

[0025] The suspended robot inspection vehicle 200 includes a vehicle body 210, which is usually equipped with a high-definition camera or an infrared camera, a smoke sensor and other functional components to realize the inspection of tunnel lining structure defects and troubleshooting of electromechanical equipment. A hanger 220 is provided on the top of the vehicle body 210, and a first roller 230 is provided on the hanger 220. The first roller 230 contacts the walking bearing surface 120 on the hanging rail 100 and can roll on the walking bearing surface 120. The gravity is transmitted to the hanging rail 100 through the first roller 230, thereby realizing the hanging and walking of the suspended robot inspection vehicle 200.

[0026] The hanging robot inspection vehicle 200 is provided with a rolling gear 240 below the hanging rail 100, and the rolling gear 240 cooperates with the traveling convex teeth 110 to drive the hanging robot inspection vehicle 200 to move along the hanging rail 100. A rotation drive mechanism is provided inside the hanging robot inspection vehicle 200 to drive the rolling gear 240 to rotate, and the rolling gear 240 is meshed with the traveling convex teeth 110, so that the rolling gear 240 is driven to rotate by the rotation drive mechanism to drive the hanging robot inspection vehicle 200 to automatically move along the hanging rail 100. The rotation drive mechanism can be a motor, and a battery can be provided inside the vehicle body 210 to power the motor.

[0027] The cleaning member 300 is disposed at the front end of the vehicle body 210 , and the bottom of the cleaning member 300 is in contact with the walking bearing surface 120 , and can move with the vehicle body 210 to clean the walking bearing surface 120 .

[0028] In a preferred embodiment of the present invention, a tunnel inspection system is provided. The suspended robot inspection vehicle cooperates with the walking convex teeth 110 on the hanging rail 100 through the rolling gear 240 to achieve stable movement on the hanging rail 100. The gear transmission makes the walking more stable. Even when there is dust or debris on the track surface, it can maintain stable walking, avoiding the unstable walking or difficult movement caused by the slipping of the first roller 230. Since the walking convex teeth 110 are located at the bottom of the hanging rail 100, it is not easy to accumulate dust and retain other impurities. In addition, the cleaning member 300 set at the front end of the vehicle body 210 can automatically clean the walking bearing surface 120 as the inspection vehicle moves, avoiding the accumulation of dust on the walking bearing surface 120 or impurities affecting the rolling of the first roller 230, further ensuring the smooth rolling of the first roller 230 and the walking bearing surface 120.

[0029] It is understandable that if Fig.12 As shown, in order to ensure comprehensive and accurate inspection, hanging rails 100 and suspended robot inspection vehicles 200 are usually set on both sides of the tunnel top.

[0030] Reference Figure 1 In some embodiments of the present invention, an upper and lower rail mechanism 400 is further included. The upper and lower rail mechanism 400 is located outside one end of the hanging rail 100 and is used to drive the suspended robot inspection vehicle 200 to rise and fall and receive the suspended robot inspection vehicle 200 that has detached from the hanging rail 100 or send the suspended robot inspection vehicle 200 to the hanging rail 100. In this way, the upper and lower rails of the suspended robot inspection vehicle 200 are realized, and the suspended robot inspection vehicle 200 can also be raised and lowered to facilitate the staff to avoid the hanging rail 100 to pick up and place the suspended robot inspection vehicle 200. It is convenient to remove the suspended robot inspection vehicle 200 after use, and it can be removed for use in other tunnels.

[0031] Reference Figure 1 and Figure 2In some embodiments of the present invention, the upper and lower rail mechanism 400 includes a lifting drive mechanism 410, a lifting platform 420 and a pick-up and delivery mechanism 430; the lifting drive mechanism 410 is connected to the lifting platform 420 to drive the lifting platform 420 to rise and fall, and the lifting platform 420 can be lifted and lowered to the pick-up and delivery position, that is, the pick-up and delivery position corresponding to the height position of the pick-up and delivery mechanism 430 on the lifting platform 420 and the hanging rail 100. At this time, if the suspended robot inspection vehicle 200 is on the pick-up and delivery mechanism 430, the suspended robot inspection vehicle 200 is aligned with the hanging rail 100 and can enter the rail smoothly. At this time, if the suspended robot inspection vehicle 200 is on the hanging rail 100, the suspended robot inspection vehicle 200 can also be smoothly received by the pick-up and delivery mechanism 430. The pick-up and delivery mechanism 430 is installed on the lifting platform 420. The pick-up and delivery mechanism 430 includes a pick-up and delivery plate 431 and a pick-up and delivery driving mechanism 432. The pick-up and delivery plate 431 is slidably installed on the lifting platform 420. The pick-up and delivery driving mechanism 432 is used to drive the pick-up and delivery plate 431 to reciprocate. The pick-up and delivery driving mechanism 432 can be a telescopic motor, and the telescopic push rod of the telescopic motor is connected to the rear side of the pick-up and delivery plate 431. The pick-up and delivery plate 431 at the pick-up and delivery position can reciprocate to receive the suspended robot inspection vehicle 200 that has detached from the hanging rail 100 or send the suspended robot inspection vehicle 200 into the hanging rail 100. The lifting drive mechanism 410 is usually arranged on the top of the lifting platform 420 and installed on the top wall of the tunnel. The lifting drive mechanism 410 can be a telescopic motor to directly drive the lifting platform 420 to rise and fall. Of course, in some other embodiments, the lifting drive mechanism 410 may also be a rotary motor, the lifting platform 420 is connected to the tunnel top wall via a retractable and movable connection structure, the output shaft of the rotary motor is connected to the suspension rope, the suspension rope is connected to the lifting platform 420 to drive the lifting platform 420 to move up and down, and the retractable and movable connection structure may be a telescopic rod or a scissor-type telescopic frame. Figure 2 As shown, the pick-up and delivery mechanism 430 is lowered to the bottom of the hanging rail 100, avoiding the height of the hanging rail 100, so as to facilitate the pick-up and placement of the suspended robot inspection vehicle 200 from the pick-up and delivery mechanism 430. When the suspended robot inspection vehicle 200 needs to re-enter the hanging rail 100, the lifting platform 420 and the pick-up and delivery mechanism 430 can be driven to rise to the pick-up position by the lifting drive mechanism 410.

[0032] Reference Figures 3 to 5 In some embodiments of the present invention, positioning columns 433 are provided on the rear side and left and right sides of the pick-up and delivery plate 431 for the rear side and left and right sides of the vehicle body 210 to abut and position, thereby positioning the vehicle body 210 so that it can be aligned with the hanging rail 100 and enter the rail.

[0033] Reference Figure 4 and Figure 5In a specific embodiment of the present invention, a vertical through hole 434 is provided on the front side of the pick-up plate 431, and a movable column 440 is elastically and movably installed in the vertical through hole 434. The movable column 440 has a limited state and a contracted state, and the movable column 440 can be elastically lifted and lowered to achieve state switching. In the limited state, the upper end of the movable column 440 protrudes from the pick-up plate 431 to block and limit the front side of the vehicle body 210 on the pick-up plate 431, so that the vehicle body 210 placed on the pick-up plate 431 is stably positioned and will not move during the lifting process, resulting in interference with the hanging rail 100 or falling off the pick-up plate 431 during the lifting process. When in the retracted state, the movable column 440 retracts downward to avoid the vehicle body 210, that is, the upper end of the movable column 440 is lower than or flush with the upper surface of the pick-up plate 431, and the upper end of the movable column 440 is lower than or flush with the bottom of the vehicle body 210, thereby avoiding the moving path of the vehicle body 210 to move forward, so that the vehicle body 210 can move forward relative to the pick-up plate 431 to connect with the hanging rail 100 to achieve entry into the rail. A transverse column 441 is connected to the bottom side of the movable column 440, and a pressing column 442 is connected to the end of the transverse column 441 away from the movable column 440. The pressing column 442 avoids the moving path of the suspended robot inspection vehicle 200 moving forward and backward, so that the pressing column 442 does not affect the moving path of the suspended robot inspection vehicle 200 moving forward and backward. A pressing plate 130 is provided on the hanging rail 100, such as Figure 1 and Figure 3 As shown, when the lifting platform 420 is lifted to the pick-up position, the upper end of the pressing column 442 contacts the pressure plate 130 and is pressed to a retracted state, and during the reciprocating movement of the pick-up plate 431 at the pick-up position, the upper end of the pressing column 442 is always in contact with the pressure plate 130 and is in a retracted state, that is, when the pick-up plate 431 reaches the pick-up position, due to the action of the pressure plate 130 pressing the pressing column 442, the movable column 440 is in a retracted state, so that there is no structure on the front side of the pick-up plate 431 to block the entry or exit of the suspended robot inspection vehicle 200, so that through the lifting and lowering movement of the lifting platform 420 and the cooperation of the pressure plate 130 and the pressing column 442, when reaching the pick-up position, the movable column 440 automatically switches to a retracted state, and the pick-up and delivery of the suspended robot inspection vehicle 200 can be smoothly realized. Figure 4 As shown, the movable column 440 limits the front side of the suspended robot inspection vehicle 200 during the lifting and lowering process of the pick-up and delivery plate 431, so that its position is stable during the lifting process and will not fall or have position deviation to cause interference and collision with the structure of the hanging rail 100. Since the upper end of the pressing column 442 is always in contact with the pressing plate 130 when the pick-up and delivery plate 431 at the pick-up and delivery position moves back and forth, in order to reduce friction resistance, a second roller 446 is installed on the upper end of the pressing column 442.

[0034] Reference Figure 5In a specific embodiment of the present invention, a bottom plate 435 is fixedly connected to the bottom of the pick-up and delivery plate 431 at intervals, and the bottom plate 435 is connected to the side of the pick-up and delivery plate 431 through a connecting plate 437. A cylinder 443 is provided at the bottom of the movable column 440, and a circular hole 436 is provided on the bottom plate 435 corresponding to the cylinder 443. The cylinder 443 movably penetrates the circular hole 436, and a spring 444 is sleeved on the cylinder 443. The upper end of the spring 444 abuts against the bottom of the movable column 440, and the lower end abuts against the bottom plate 435, thereby providing an upward elastic force to the movable column 440. A nut 445 is connected to the bottom of the cylinder 443. When the movable column 440 is in a limited state, the nut 445 abuts against the bottom plate 435, thereby limiting the upward movement of the movable column 440 and the pressing column 442, and also preventing the cylinder 443 from detaching from the bottom plate 435.

[0035] It is understood that, in order to facilitate installation, the vertical through-hole 434 is a strip-shaped hole, and during installation, the movable column 440, the horizontal column 441 and the pressing column 442 can pass through together, so that the installation can be completed by inserting the rear nut 445 from top to bottom. It is understood that, in order to achieve the sliding guide of the pick-up plate 431, a slider 438 can be set at the bottom of the bottom plate 435, and the upper surface of the lifting platform 420 can be set with a slide rail adapted to the slider 438.

[0036] Reference Figure 1 and Figure 6 In order to facilitate the suspended robot inspection vehicle 200 to smoothly enter the hanging rail 100 or smoothly transfer from the hanging rail 100 to the pick-up plate 431, a slope 121 is provided at one end of the walking bearing surface 120 facing the lifting platform 420. The slope 121 is inclined upward in the direction away from the lifting platform 420, so that when the pick-up drive mechanism 432 drives the pick-up plate 431 and the suspended robot inspection vehicle 200 on the pick-up plate 431 to move toward the hanging rail 100, the first roller 230 can smoothly contact the slope 121 and gradually rise along the slope, so that the bottom of the suspended robot inspection vehicle 200 gradually separates from the pick-up plate 431, and the gravity load is gradually transferred to the hanging rail 100, completing the entry into the rail. Similarly, when it is necessary to get off the rail, when the first roller 230 moves along the inclined surface 121 toward the pick-up plate 431, the height gradually decreases, the bottom of the suspended robot inspection vehicle 200 gradually contacts the pick-up plate 431, and the gravity load is gradually transferred to the suspended robot inspection vehicle 200, and finally the pick-up drive mechanism 432 drives the pick-up plate 431 and the suspended robot inspection vehicle 200 on the pick-up plate 431 to detach from the hanging rail 100, completing the derailment transfer.

[0037] Reference Figure 6 and Figure 8In some embodiments of the present invention, the hanging rail 100 includes a vertical plate 140 and a horizontal plate 150, and the walking bearing surface 120 is formed on the upper surface of the horizontal plate 150; the middle of the horizontal plate 150 is vertically connected to the bottom of the vertical plate 140; the bracket 220 is symmetrically arranged on the left and right sides of the vehicle body 210, and the bracket 220 is equipped with a guide wheel 221 that contacts the vertical plate 140, and the guide wheel 221 is in rolling contact with the vertical plate 140. The bracket 220 includes a flat plate and a vertical plate, the bottom of the vertical plate is connected to the vehicle body 210, and the top of the vertical plate is connected to the flat plate. The flat plate is equipped with a guide wheel 221. The top of the vertical plate 140 is connected to a top plate, and a connecting column is set at the upper end of the top plate to fix the hanging rail 100 on the top wall of the tunnel. The guide wheels 221 on both sides clamp the vertical plate 140 and roll along the front and rear direction of the vertical plate 140, playing the role of limiting and guiding in the left and right directions. This makes the left and right positions of the suspended robot inspection vehicle 200 more stable when moving. In order to improve the rotation stability, multiple groups of guide wheels 221 and first rollers 230 are provided along the front-to-back direction.

[0038] Reference Figure 8 and Fig. 9In a further embodiment of the present invention, a mounting hole 222 is provided on the bracket 220, and a sleeve 223 capable of lifting and lowering is installed on the mounting hole 222; specifically, the mounting hole 222 is a threaded hole, and the sleeve 223 can be lifted and lowered by screwing. A mounting column 224 is installed at the center of the sleeve 223 for lifting and lowering, and a center hole for the movement of the mounting column 224 is provided at the center of the sleeve 223. A mounting seat 225 is provided at the bottom of the mounting column 224, and the first roller 230 is rotatably installed on the mounting seat 225; the upper end of the mounting column 224 passes through the sleeve 223 and is threadedly connected to a limiting cap 250, and the limiting cap 250 can avoid the sleeve 223 from contacting the bracket 220; a threaded hole is provided at the center of the upper end surface of the mounting column 224, and a threaded column 251 is provided at the center of the limiting cap 250, and the threaded column 251 is threadedly connected to the threaded hole at the upper end of the mounting column 224, so that the height of the limiting cap 250 relative to the mounting column 224 can be adjusted by screwing. The mounting column 224 is sleeved with an elastic member 227, one end of the elastic member 227 abuts against the sleeve 223, and the other end abuts against the mounting seat 225, so as to apply a downward elastic force to the mounting seat 225. The elastic member 227 is specifically a compression spring. The height of the limiting cap 250 relative to the mounting column 224 is adjusted by screwing, and when the first roller 230 is not in contact with the walking bearing surface 120, the bottom of the limiting cap 250 will abut against the bracket 220 under the action of the elastic member 227, so that the initial height of the mounting seat 225 and the first roller 230 can be adjusted by screwing the limiting cap 250, that is, the height position when there is no contact with the walking bearing surface 120, so that the height of the first roller 230 can smoothly enter the walking bearing surface 120 under the push of the pick-up plate 431 at the pick-up position. In addition, the elastic lifting and lowering activities of the mounting seat 225 and the first roller 230 can pass over the impurities adhering to the walking bearing surface 120, thereby preventing the impurities from affecting the movement of the first roller 230 and improving the adaptability of the device.

[0039] After the first roller 230 contacts the walking bearing surface 120, due to the gravity of the suspended robot inspection vehicle 200, if the initial compression of the elastic member 227 is insufficient, the elastic member 227 may continue to be compressed, causing the vehicle body 210 and the rolling gear 240 to drop, causing the rolling gear 240 to be out of engagement with the walking convex tooth 110, and causing the vehicle body 210 to be unable to walk. The initial compression is the compression of the elastic member 227 when the bottom of the limit cap 250 is against the bracket 220. In order to avoid this situation, the height position of the sleeve 223 can be adjusted by screwing, thereby adjusting the height between the bottom of the sleeve 223 and the walking bearing surface 120, thereby adjusting the initial compression degree of the elastic member 227. In this way, it is ensured that when the first roller 230 contacts the walking bearing surface 120, the elastic member 227 has been compressed to a certain stroke, and the elastic force provided is sufficient, so as to avoid the initial elastic force being insufficient, resulting in the elastic member 227 needing to continue to be compressed to a larger stroke to sufficiently support the suspended robot inspection vehicle 200, and to avoid the rolling gear 240 from being out of the walking convex tooth 110. By the cooperation of the screwing sleeve 223 and the limiting cap 250, the initial height of the first roller 230 is appropriate and the initial elastic force of the elastic member 227 is sufficient, so as to ensure that the vehicle body 210 smoothly enters the hanging rail 100 and smoothly moves on the hanging rail 100. In addition, in order to prevent the screwing sleeve 223 and the limiting cap 250 from driving the mounting seat 225 to rotate, causing the first roller 230 to turn, thereby affecting the smooth forward rolling of the first roller 230, the mounting column 224 is a cylinder, and the inner side wall of the hanger 220 is provided with a fitting block 226 to fit the side of the mounting seat 225, thereby limiting the rotation of the mounting seat 225.

[0040] Reference Figure 4 and Figure 7 In a further embodiment of the present invention, mounting plates 260 are provided on both sides of the front end of the hanger 220, and the cleaning member 300 is a sweeping plate hinged to the bottom of the mounting plate through a hinge shaft. The sweeping plate is hinged to the bottom of the mounting plate 260 through a hinge shaft, and a torsion spring 261 is sleeved on the hinge shaft. Two action arms are provided at both ends of the torsion spring 261, and the two action arms are respectively against the mounting plate 260 and the sweeping plate; when the sweeping plate contacts the walking bearing surface 120, the lower end is tilted backward, and the torsion spring 261 is used to push the bottom of the sweeping plate to be close to the walking bearing surface 120, so as to effectively sweep away the accumulated dust and impurities on the walking bearing surface 120. The sweeping plate is arranged at an angle, and when encountering impurities that are adhered to the walking bearing surface 120 and are difficult to sweep away, the sweeping plate can be self-adaptively lifted up to pass over the impurities to avoid blocking the normal walking and movement of the vehicle body 210. The front ends of the sweeping plates on the left and right sides are arranged close together, so that when the sweeping plates move forward, the impurities can be scraped off the outside, effectively removing impurities and dust, and avoiding the accumulation of impurities and dust during the sweeping process of the sweeping plates, thereby affecting the normal walking and movement of the vehicle body 210.

[0041] Of course, there are many structural forms of the cleaning member 300, see Fig.10 and Fig.11 In another embodiment of the present invention, the cleaning member 300 includes a lifting plate 310, and inclined plates 320 are provided at the front and rear sides of the lifting plate 310. The inclined plates 320 are inclined upward and outward, so that some impurities that are difficult to scrape off can be passed over. There are inclined plates 320 at the front and rear sides, so that scraping can be achieved when moving back and forth. The two inclined plates 320 on the same lifting plate 310 are arranged close to one end facing away from the vertical plate 140 to scrape the impurities away from the vertical plate 140. Specifically, the mounting plate 260 is provided with a lifting hole 262, and the lifting plate 310 is provided with a lifting column 311 extending upward, the lifting column 311 is inserted into the lifting hole 262, and the upper end of the lifting column 311 passes through the lifting hole 262 to connect with a limit nut, and the upper end of the lifting column 311 is provided with a stud for connection with the limit nut, and the lifting column 311 is sleeved with a compression spring, and the compression spring is located between the lifting plate 310 and the mounting plate 260, so as to realize the elastic lifting of the cleaning member 300, which not only ensures contact with the hanging rail 100 and ensures the scraping effect, but also enables the elastic lifting of obstacles that are difficult to scrape off and adhere to the hanging rail 100 to pass over the obstacles. Of course, the hanging rail 100 also needs to be regularly maintained and cleaned manually to clean up the impurities that are difficult to scrape off.

[0042] The present invention also provides a tunnel inspection method, comprising the following steps: inspecting the tunnel using a tunnel inspection system, thereby realizing automatic inspection and realizing automatic and intelligent tunnel detection.

[0043] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tunnel inspection system, characterized in that: include: A hanging rail (100) having running convex teeth (110) arranged at the bottom along the length direction thereof, and the hanging rail (100) having a running bearing surface (120); A suspended robot inspection vehicle (200) comprises a vehicle body (210), a hanging frame (220) being provided on the top of the vehicle body (210), a first roller (230) being provided on the hanging frame (220), the first roller (230) being in contact with a walking bearing surface (120) on a hanging rail (100) and being capable of rolling on the walking bearing surface (120), a rolling gear (240) being provided below the hanging rail (100) on the suspended robot inspection vehicle (200), the rolling gear (240) cooperating with a walking convex tooth (110) to drive the suspended robot inspection vehicle (200) to move along the hanging rail (100), and a rotation drive mechanism being provided inside the suspended robot inspection vehicle (200) to drive the rolling gear (240) to rotate; The cleaning member (300) is arranged at the front end of the vehicle body (210), with the bottom thereof in contact with the walking bearing surface (120), and can move with the vehicle body (210) to clean the walking bearing surface (120).

2. The tunnel inspection system according to claim 1, characterized in that: It also includes an upper and lower rail mechanism (400) located at one end of the hanging rail (100) and used to drive the suspended robot inspection vehicle (200) to rise and fall and to receive the suspended robot inspection vehicle (200) that has detached from the hanging rail (100) or to send the suspended robot inspection vehicle (200) into the hanging rail (100).

3. The tunnel inspection system according to claim 2, characterized in that: The upper and lower rail mechanism (400) comprises a lifting drive mechanism (410), a lifting platform (420) and a pick-up and delivery mechanism (430); the lifting drive mechanism (410) is connected to the lifting platform (420) to drive the lifting platform (420) to lift and lower; the lifting platform (420) can be lifted and lowered to a pick-up and delivery position; the pick-up and delivery mechanism (430) is installed on the lifting platform (420); the pick-up and delivery mechanism (430) comprises a pick-up and delivery plate (431) and a pick-up and delivery drive mechanism (432); the pick-up and delivery plate (431) is slidably installed on the lifting platform (420); the pick-up and delivery drive mechanism (432) is used to drive the pick-up and delivery plate (431) to reciprocate; the pick-up and delivery plate (431) at the pick-up and delivery position can reciprocate and slide to receive a suspended robot inspection vehicle (200) that has detached from the hanging rail (100) or to deliver the suspended robot inspection vehicle (200) to the hanging rail (100).

4. The tunnel inspection system according to claim 3, characterized in that: Positioning posts (433) are provided on the rear side and the left and right sides of the pick-up and delivery plate (431) for the side edges of the vehicle body (210) to abut against and position.

5. The tunnel inspection system according to claim 4, characterized in that: A vertical through hole (434) is provided on the front side of the pick-up plate (431), and a movable column (440) is elastically and movably installed in the vertical through hole (434). The movable column (440) has a limited state in which the upper end protrudes from the pick-up plate (431) to block the front side of the vehicle body (210) on the pick-up plate (431) and a retracted state in which the movable column (440) is retracted downward to avoid the vehicle body (210); the bottom side of the movable column (440) is connected to a transverse column (441), and the transverse column (441) is away from the movable column (440). ) is connected to one end of a pressing column (442), the pressing column (442) avoiding the moving path of the suspended robot inspection vehicle (200) moving forward and backward; a pressing plate (130) is provided on the hanging rail (100), when the lifting platform (420) is lifted to the pick-up position, the upper end of the pressing column (442) contacts the pressing plate (130) and is pressed to a retracted state, and during the reciprocating movement of the pick-up plate (431), the upper end of the pressing column (442) is always in contact with the pressing plate (130) and is in a retracted state.

6. The tunnel inspection system according to claim 5, characterized in that: A bottom plate (435) is fixedly connected to the bottom of the pick-up plate (431) at intervals. A cylinder (443) is provided at the bottom of the movable column (440). A circular hole (436) is provided on the bottom plate (435) corresponding to the cylinder (443). The cylinder (443) is movably inserted into the circular hole (436). A spring (444) is sleeved on the cylinder (443). A nut (445) is connected to the bottom of the cylinder (443). When the movable column (440) is in a limited position, the nut (445) abuts against the bottom plate (435).

7. The tunnel inspection system according to claim 1, characterized in that: The hanging rail (100) comprises a vertical plate (140) and a horizontal plate (150); the walking bearing surface (120) is formed on the upper surface of the horizontal plate (150); the middle portion of the horizontal plate (150) is vertically connected to the bottom of the vertical plate (140); the hanging bracket (220) is symmetrically arranged on the left and right sides of the vehicle body (210); the hanging bracket (220) is provided with a guide wheel (221) in contact with the vertical plate (140); the guide wheel (221) is in rolling contact with the vertical plate (140).

8. The tunnel inspection system according to claim 7, characterized in that: The hanger (220) is provided with a mounting hole (222), and a sleeve (223) capable of lifting and lowering is mounted on the mounting hole (222); a mounting column (224) is movably mounted at the center of the sleeve (223), and a mounting seat (225) is provided at the bottom of the mounting column (224), and the first roller (230) is rotatably mounted on the mounting seat (225); the upper end of the mounting column (224) passes through the sleeve (223) and is threadedly connected to a limiting cap (250), and the limiting cap (250) can avoid contact between the sleeve (223) and the hanger (220); an elastic member (227) is sleeved on the mounting column (224), and one end of the elastic member (227) abuts against the sleeve (223), and the other end abuts against the mounting seat (225), so as to apply a downward elastic force to the mounting seat (225).

9. The tunnel inspection system according to claim 7, characterized in that: Mounting plates (260) are provided on both left and right sides of the front end of the hanging bracket (220); the cleaning member (300) is a sweeping plate hinged to the bottom of the mounting plate (260) via a hinge shaft; a torsion spring (261) is sleeved on the hinge shaft; the sweeping plate tilts rearward at its lower end when in contact with the walking bearing surface (120); the torsion spring (261) is used to push the bottom of the sweeping plate to be in close contact with the walking bearing surface (120); and the front ends of the sweeping plates on the left and right sides are arranged close to each other.

10. A tunnel inspection method, characterized in that: The steps include: A tunnel inspection system as claimed in any one of claims 1 to 9 is used to inspect a tunnel.

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