A tunnel inspection system and method

Abstract

The present invention discloses a tunnel inspection system and method, including: a suspension rail with walking convex teeth provided at the bottom, and the suspension rail has a walking bearing surface; a suspended robot inspection vehicle, including a vehicle body, a hanging bracket is provided at the top of the vehicle body, a first roller is provided on the hanging bracket, and the first roller contacts the walking bearing surface on the suspension rail. The suspended robot inspection vehicle is provided with a rolling gear below the suspension rail; a cleaning member is arranged at the front end of the vehicle body, and the bottom contacts the walking bearing surface and can move along with the vehicle body to clean the walking bearing surface. By matching the rolling gear with the walking convex teeth on the suspension rail, the present invention realizes stable movement on the suspension rail. The cleaning member arranged 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 ash or sundries on the walking bearing surface during operation.

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, the inspection work of tunnels is an important link to ensure the safe operation of tunnels. Traditional tunnel inspections mainly rely on manual labor. Inspectors need to enter the tunnel interior to conduct a comprehensive inspection of the tunnel structure, facilities, etc. This method not only has low efficiency, but also is easily affected by human factors, making it difficult to guarantee the accuracy and consistency of inspection results.

[0003] With the development of technology, automated and intelligent inspection technologies have gradually been introduced into the field of tunnel inspections. For example, some tunnel inspection systems use rail-mounted robots. By carrying various sensors and detection instruments, they can achieve automatic inspection of tunnels. However, in traditional rail-mounted robot systems, dust is likely to accumulate on the rails. After long-term use, the rollers slip, causing the robot to walk unsteadily or even move with difficulty. Summary of the Invention

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

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A tunnel inspection system includes: a suspension rail, with walking convex teeth arranged along its length direction at the bottom, and the suspension rail has a walking bearing surface; a suspended robot inspection vehicle, including a vehicle body, with a hanging bracket provided at the top of the vehicle body, and a first roller provided on the hanging bracket. The first roller contacts the walking bearing surface on the suspension rail and can roll on the walking bearing surface. The suspended robot inspection vehicle is provided with a rolling gear below the suspension rail, and the rolling gear cooperates with the walking convex teeth to drive the suspended robot inspection vehicle to move along the suspension rail. A rotation drive mechanism is provided inside the suspended robot inspection vehicle to drive the rolling gear to rotate; a sweeping plate is provided at the front end of the vehicle body, and the bottom contacts the walking bearing surface and can move with the vehicle body to clean the walking bearing surface.

[0007] Furthermore, it further includes an upper and lower rail mechanism, located at one end of the suspension rail, for driving the suspended robot inspection vehicle to lift and receive the suspended robot inspection vehicle that has left the suspension rail or send the suspended robot inspection vehicle into the suspension rail.

[0008] Further, the upper and lower track 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, the lifting platform can be lifted to the 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, and the reciprocating sliding of the pick-up and delivery plate at the pick-up and delivery position can receive the suspended robot inspection vehicle separated from the suspension track or send the suspended robot inspection vehicle into the suspension track.

[0009] Further, positioning columns are provided on the rear side and the left and right sides of the pick-up and delivery plate for the side of the vehicle body to abut and be positioned.

[0010] Further, a vertical through hole is provided on the front side of the pick-up and delivery plate, and a movable column is elastically movably installed in the vertical through hole. The movable column has a limiting state in which the upper end protrudes from the pick-up and delivery plate to block and limit the front side of the vehicle body on the pick-up and delivery plate and a contracted state in which it shrinks downward to avoid the vehicle body; a horizontal column is connected to the bottom side of the movable column, and a pressing column is connected to one end of the horizontal column away from the movable column. The pressing column avoids the moving path of the suspended robot inspection vehicle moving back and forth; a pressing plate is provided on the suspension track. When the lifting platform is lifted to the pick-up and delivery position, the upper end of the pressing column contacts the pressing plate and is pressed to the contracted state, and during the reciprocating movement of the pick-up and delivery plate, the upper end of the pressing column always contacts the pressing plate and is in the contracted state.

[0011] Further, a bottom plate is fixedly connected at intervals below the bottom of the pick-up and delivery plate. A cylinder is provided at the bottom of the movable column. The bottom plate is provided with a round hole corresponding to the cylinder. The cylinder movably penetrates into the round hole. A nut is connected to the bottom of the cylinder. When the movable column is in the limiting state, the nut abuts against the bottom plate.

[0012] Further, the suspension track includes a vertical plate and a horizontal plate; the walking bearing surface is formed on the upper surface of the horizontal plate; the middle of the horizontal plate is vertically connected to the bottom of the vertical plate; the hanging brackets are symmetrically arranged on the left and right sides of the vehicle body, and guide wheels in contact with the vertical plate are installed on the hanging brackets, and the guide wheels are in rolling contact with the vertical plate.

[0013] Further, an installation hole is provided on the hanging bracket, and a sleeve capable of lifting and adjusting is installed on the installation hole; an installation column is installed in the center of the sleeve in a lifting and moving manner. An installation seat is provided at the bottom of the installation column, and the first roller is rotatably installed on the installation seat; the upper end of the installation column passes through the sleeve and is threadedly connected with a limit cap, and the limit cap can avoid contacting the sleeve and the hanging bracket; an elastic member is sleeved on the installation column, one end of the elastic member abuts against the sleeve, and the other end abuts against the installation seat to apply a downward elastic force to the installation seat.

[0014] Furthermore, mounting plates are provided on both the left and right sides of the front end of the hanger. The cleaning member is a sweeping plate hinged to the bottom of the mounting plate through a hinge shaft. A torsion spring is sleeved on the hinge shaft. When the sweeping plate contacts the walking bearing surface, the lower end inclines backward. The torsion spring is used to push the bottom of the sweeping plate to closely adhere to the walking bearing surface, and the front ends of the sweeping plates on both the left and right sides are arranged to be close to each other.

[0015] The present invention also provides a tunnel inspection method, which includes the following steps: using the tunnel inspection system to inspect the tunnel.

[0016] The present invention has the following beneficial effects:

[0017] The suspended robot inspection vehicle realizes stable movement on the suspension rail by the rolling gear cooperating with the walking convex teeth on the suspension rail. Even when there is dust or debris on the surface of the rail, it can still maintain stable walking, avoiding unstable walking or difficult movement caused by the slipping of the first roller. In addition, the cleaning member provided 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 ash or debris on the walking bearing surface during operation, avoiding the ash or debris on the walking bearing surface from affecting the smooth movement of the suspended robot inspection vehicle.

[0018] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The following will refer to the drawings to make a further detailed description of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0020] Figure 1 is the overall structural schematic diagram of the embodiment of the present invention;

[0021] Figure 2 is the partial structural schematic diagram of the embodiment of the present invention;

[0022] Figure 3 is the partial structural schematic diagram of the pick-up position;

[0023] Figure 4 is the schematic diagram of the cooperation structure between the pick-up plate and the suspended robot inspection vehicle;

[0024] Figure 5 is the exploded state structural schematic diagram at the pick-up plate;

[0025] Figure 6 is the structural schematic diagram of the suspended robot inspection vehicle on the suspension rail;

[0026] Figure 7 It is a schematic structural diagram of a suspended robot inspection vehicle;

[0027] Figure 8 It is a cross-sectional view of the cooperation between the suspended robot inspection vehicle and the suspension rail;

[0028] Figure 9 It is a schematic diagram of the partial structural decomposition of the suspended robot inspection vehicle;

[0029] Figure 10 It is a schematic structural diagram of the suspended robot inspection vehicle according to another embodiment of the present invention;

[0030] Figure 11 It is Figure 10 a schematic diagram of the enlarged decomposition state structure at position A in;

[0031] Figure 12 It is a schematic diagram of the installation of the tunnel inspection system according to the embodiment of the present invention in the tunnel.

[0032] Legend:

[0033] Suspension rail 100, walking convex teeth 110, walking bearing surface 120, inclined surface 121, pressing plate 130, vertical plate 140, horizontal plate 150;

[0034] Suspended robot inspection vehicle 200, vehicle body 210, hanging 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, limit cap 250, threaded column 251, mounting plate 260, torsion spring 261, lifting hole 262;

[0035] Cleaning member 300, lifting plate 310, lifting column 311, inclined plate 320;

[0036] Upper and lower rail mechanism 400, lifting drive mechanism 410, lifting platform 420, pick-up and drop-off mechanism 430, pick-up and drop-off plate 431, pick-up and drop-off drive mechanism 432, positioning column 433, vertical through hole 434, bottom plate 435, round hole 436, connecting plate 437, slider 438, movable column 440, transverse column 441, pressing column 442, cylinder 443, spring 444, nut 445, second roller 446. Specific embodiments

[0037] 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.

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0040] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Please refer to Figure 1 and Figure 2 , a tunnel inspection system in a preferred embodiment provided by the present invention includes a suspension rail 100, a suspended robot inspection vehicle 200, and a cleaning member 300.

[0042] Walking convex teeth 110 are arranged along the length direction of the bottom of the suspension rail 100. The suspension rail 100 extends in the front-rear direction, and the walking convex teeth 110 are arranged in the front-rear direction. The suspension rail 100 has a walking bearing surface 120.

[0043] The suspended robot inspection vehicle 200 includes a vehicle body 210. Usually, a high-definition camera or additional infrared cameras, smoke sensors and other functional components will be arranged on the vehicle body 210 to realize the inspection of the diseases of the tunnel lining structure and the troubleshooting of mechanical and electrical equipment failures. A hanging bracket 220 is provided at the top of the vehicle body 210. A first roller 230 is provided on the hanging bracket 220. The first roller 230 contacts the walking bearing surface 120 on the suspension rail 100 and can roll on the walking bearing surface 120. Gravity is transmitted to the suspension rail 100 through the first roller 230, so as to realize the hoisting and walking of the suspended robot inspection vehicle 200.

[0044] The suspended robot inspection vehicle 200 is provided with rolling gears 240 below the suspension rail 100. The rolling gears 240 cooperate with the walking convex teeth 110 to drive the suspended robot inspection vehicle 200 to move along the suspension rail 100. A rotation drive mechanism is provided inside the suspended robot inspection vehicle 200 to drive the rolling gears 240 to rotate. The rolling gears 240 are engaged with the walking convex teeth 110, so as to drive the rolling gears 240 to rotate through the rotation drive mechanism to drive the suspended robot inspection vehicle 200 to automatically move along the suspension rail 100. The rotation drive mechanism can be a motor, and a battery can be arranged inside the vehicle body 210 to supply power to the motor.

[0045] The cleaning member 300 is arranged at the front end of the vehicle body 210. The bottom of the cleaning member 300 contacts the walking bearing surface 120 and can move along with the vehicle body 210 to clean the walking bearing surface 120.

[0046] In a tunnel inspection system in a preferred embodiment provided by the present invention, the suspended robot inspection vehicle realizes stable movement on the suspension rail 100 through the cooperation of the rolling gears 240 and the walking convex teeth 110 on the suspension rail 100. The gear transmission makes the walking more stable. Even in the case of dust or sundries on the track surface, it can still maintain stable walking, avoiding the unstable walking or difficult movement caused by the slipping of the first roller 230. And because the walking convex teeth 110 are located at the bottom of the suspension rail 100, it is not easy to accumulate dust and retain other impurities. In addition, the cleaning member 300 arranged 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 or impurities on the walking bearing surface 120 from affecting the rolling of the first roller 230, and further ensuring the smooth rolling of the first roller 230 and the walking bearing surface 120.

[0047] It can be understood that, as Figure 12 shown, in order to ensure the comprehensiveness and accuracy of the inspection, the suspension rails 100 and the suspended robot inspection vehicles 200 are usually arranged on both sides of the tunnel top.

[0048] Referring to Figure 1 , in some embodiments of the present invention, it further includes an upper and lower rail mechanism 400. The upper and lower rail mechanism 400 is located outside one end of the suspension rail 100 and is used to drive the suspended robot inspection vehicle 200 to lift and can receive the suspended robot inspection vehicle 200 that has left the suspension rail 100 or send the suspended robot inspection vehicle 200 into the suspension rail 100. Thus, the on-rail and off-rail of the suspended robot inspection vehicle 200 are realized, and the suspended robot inspection vehicle 200 can also lift, so as to facilitate the staff to avoid the suspension rail 100 to pick up and place the suspended robot inspection vehicle 200. It is convenient to take down the suspended robot inspection vehicle 200 after use, and it can be taken down for use in other tunnels.

[0049] Referring to Figure 1 and Figure 2, in 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 drop-off mechanism 430; the lifting drive mechanism 410 is connected to the lifting platform 420 to drive the lifting platform 420 to lift and lower, and the lifting platform 420 can be lifted to the pick-up and drop-off position, which is the height position corresponding to the pick-up and drop-off 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 drop-off mechanism 430, the suspended robot inspection vehicle 200 is aligned with the hanging rail 100 and can smoothly enter the rail. 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 drop-off mechanism 430. The pick-up and drop-off mechanism 430 is installed on the lifting platform 420. The pick-up and drop-off mechanism 430 includes a pick-up and drop-off plate 431 and a pick-up and drop-off drive mechanism 432. The pick-up and drop-off plate 431 is slidably installed on the lifting platform 420, and the pick-up and drop-off drive mechanism 432 is used to drive the pick-up and drop-off plate 431 to reciprocate. The pick-up and drop-off drive 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 drop-off plate 431. The reciprocating sliding of the pick-up and drop-off plate 431 at the pick-up and drop-off position can receive the suspended robot inspection vehicle 200 that has left 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 at 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 lift and lower. Of course, in some other embodiments, the lifting drive mechanism 410 can also be a rotary motor. The lifting platform 420 is connected to the top wall of the tunnel through a telescopically movable connection structure. The output shaft of the rotary motor is connected to a lifting rope, and the lifting rope is connected to the lifting platform 420 to drive the lifting platform 420 to lift and lower. The telescopically movable connection structure can be a telescopic rod or a scissor-type telescopic frame. As Figure 2 shown, the pick-up and drop-off mechanism 430 descends below the hanging rail 100 to avoid the height of the hanging rail 100, so as to facilitate the picking up and placing of the suspended robot inspection vehicle 200 on the pick-up and drop-off mechanism 430. When the suspended robot inspection vehicle 200 needs to re-enter the hanging rail 100, the lifting drive mechanism 410 can drive the lifting platform 420 and the pick-up and drop-off mechanism 430 to rise to the pick-up and drop-off position.

[0050] Referring to Figures 3 to 5 , in some embodiments of the present invention, positioning columns 433 are provided on the rear side and the left and right sides of the pick-up and drop-off plate 431 for the rear side and the left and right sides of the vehicle body 210 to abut and be positioned, so as to realize the positioning and placement of the vehicle body 210, so that it can be aligned with the hanging rail 100 to enter the rail.

[0051] Referring to Figure 4 and Figure 5, in a specific embodiment of the present invention, a vertical through hole 434 is provided on the front side of the transfer plate 431. An active column 440 is elastically and movably installed in the vertical through hole 434. The active column 440 has a limiting state and a retracted state, and the active column 440 can elastically move up and down to achieve state switching. In the limiting state, the upper end of the active column 440 protrudes from the transfer plate 431 to block and limit the front side of the vehicle body 210 on the transfer plate 431, so that the vehicle body 210 placed on the transfer plate 431 is stably positioned and will not move during the lifting process, resulting in interference with the suspension rail 100 or falling off the transfer plate 431 during the lifting process. In the retracted state, the active column 440 contracts downward to avoid the vehicle body 210, that is, the upper end of the active column 440 is lower than or flush with the upper surface of the transfer plate 431, and the upper end of the active column 440 is lower than or flush with the bottom of the vehicle body 210, thereby avoiding the moving path of the forward movement of the vehicle body 210. Thus, the vehicle body 210 can move forward relative to the transfer plate 431 to be connected to the suspension rail 100 to achieve rail entry. A transverse column 441 is connected to the bottom side of the active column 440. One end of the transverse column 441 away from the active column 440 is connected to a pressing column 442. The pressing column 442 avoids the moving path of the front and back movement of the suspended robot inspection vehicle 200. Thus, the pressing column 442 and the active column 440 are spaced apart by the transverse column 441 and avoid the moving path of the front and back movement of the suspended robot inspection vehicle 200, so that the pressing column 442 does not affect the front and back movement of the suspended robot inspection vehicle 200. A pressing plate 130 is provided on the suspension rail 100. As Figure 1 and Figure 3 shown, when the lifting platform 420 is lifted to the transfer position, the upper end of the pressing column 442 contacts the pressing plate 130 and is pressed to the retracted state. And during the reciprocating movement of the transfer plate 431 at the transfer position, the upper end of the pressing column 442 always contacts the pressing plate 130 and is in the retracted state. That is, when the transfer plate 431 reaches the transfer position, due to the pressing action of the pressing plate 130 on the pressing column 442, the active column 440 is in the retracted state, so that there is no structural blockage on the front side of the transfer plate 431 to prevent the suspended robot inspection vehicle 200 from entering or exiting. Thus, through the lifting movement of the lifting platform 420 and the cooperation of the pressing plate 130 and the pressing column 442, when reaching the transfer position, the active column 440 automatically switches to the retracted state, and the suspended robot inspection vehicle 200 can be smoothly transferred. As Figure 4 shown, the active column 440 limits the front side of the suspended robot inspection vehicle 200 during the lifting process of the transfer plate 431, so that its position is stable during the lifting process and will not fall or have a position deviation resulting in structural interference and collision with the suspension rail 100. Since the upper end of the pressing column 442 always contacts the pressing plate 130 when the transfer plate 431 at the transfer position reciprocates, in order to reduce the frictional resistance, a second roller 446 is installed at the upper end of the pressing column 442.

[0052] Refer to Figure 5, in a specific embodiment of the present invention, a bottom plate 435 is fixedly connected at intervals below the bottom of the pick-up and drop-off plate 431. The bottom plate 435 is connected to the side of the pick-up and drop-off plate 431 through a connecting plate 437. A cylinder 443 is provided at the bottom of the movable column 440. The bottom plate 435 is provided with a round hole 436 corresponding to the cylinder 443. The cylinder 443 movably penetrates into the round hole 436. 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 acting force for 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 restricting 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.

[0053] It can be understood that, for the convenience of installation, the vertical through hole 434 is a strip-shaped hole. During installation, the movable column 440, the horizontal column 441, and the pressing column 442 can pass through together, and then the nut 445 can be installed after inserting them from top to bottom together to complete the installation. It can be understood that, in order to realize the sliding guidance of the pick-up and drop-off plate 431, a slider 438 can be provided at the bottom of the bottom plate 435, and a slide rail adapted to the slider 438 can be provided on the upper surface of the lifting platform 420.

[0054] Refer to Figure 1 and Figure 6 , in order to facilitate the smooth entry of the suspended robot inspection vehicle 200 into the suspension rail 100 or the smooth transfer from the suspension rail 100 to the pick-up and drop-off plate 431, one end of the walking bearing surface 120 facing the lifting platform 420 is provided with an inclined surface 121. The inclined surface 121 slopes upward in a direction away from the lifting platform 420. Thus, when the pick-up and drop-off driving mechanism 432 drives the pick-up and drop-off plate 431 and the suspended robot inspection vehicle 200 on the pick-up and drop-off plate 431 to move towards the suspension rail 100, the first roller 230 can smoothly contact the inclined surface 121 and gradually rise along the inclined surface, so that the bottom of the suspended robot inspection vehicle 200 gradually detaches from the pick-up and drop-off plate 431, and the gravity load is gradually transferred to the suspension rail 100 to complete the entry into the rail. Similarly, when it is necessary to get off the rail, when the first roller 230 moves towards the pick-up and drop-off plate 431 along the inclined surface 121, the height gradually decreases, the bottom of the suspended robot inspection vehicle 200 gradually contacts the pick-up and drop-off plate 431, the gravity load is gradually transferred to the suspended robot inspection vehicle 200, and finally the pick-up and drop-off driving mechanism 432 drives the pick-up and drop-off plate 431 and the suspended robot inspection vehicle 200 on the pick-up and drop-off plate 431 to detach from the suspension rail 100 to complete the derailment transfer.

[0055] Refer to Figure 6 and Figure 8, in some embodiments of the present invention, the suspension rail 100 includes a vertical plate 140 and a horizontal plate 150, and a 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; hanging brackets 220 are symmetrically arranged on the left and right sides of the vehicle body 210, and guide wheels 221 in contact with the vertical plate 140 are installed on the hanging brackets 220, and the guide wheels 221 are in rolling contact with the vertical plate 140. The hanging 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 guide wheel 221 is installed on the flat plate. The top of the vertical plate 140 is connected with a top plate, and a connecting column is arranged at the upper end of the top plate to fix the suspension 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 back directions of the vertical plate 140, playing a role of limiting and guiding in the left and right directions. When the suspended robot inspection vehicle 200 moves, the position in the left and right directions is more stable. In order to improve the rotational stability, multiple groups of guide wheels 221 and first rollers 230 are arranged in the front and back directions.

[0056] Refer to Figure 8 and Figure 9, in a further embodiment of the present invention, the hanging bracket 220 is provided with mounting holes 222, and a telescopically adjustable sleeve 223 is mounted on the mounting holes 222; specifically, the mounting holes 222 are threaded holes, and the sleeve 223 is adjusted in height by screwing. A mounting post 224 is movably mounted in the center of the sleeve 223 in a lifting manner. A central hole for the movement of the mounting post 224 is provided in the center of the sleeve 223. A mounting seat 225 is provided at the bottom of the mounting post 224, and the first roller 230 is rotatably mounted on the mounting seat 225; the upper end of the mounting post 224 passes through the sleeve 223 and is threadedly connected with a limit cap 250, and the limit cap 250 can avoid contacting the sleeve 223 and the hanging bracket 220; a threaded hole is provided in the center of the upper end surface of the mounting post 224, and a threaded post 251 is provided in the center of the limit cap 250. The threaded post 251 is threadedly connected to the threaded hole at the upper end of the mounting post 224, so that the height of the limit cap 250 relative to the mounting post 224 can be adjusted by screwing. A resilient member 227 is sleeved on the mounting post 224. One end of the resilient member 227 abuts against the sleeve 223, and the other end abuts against the mounting seat 225 to apply a downward elastic force to the mounting seat 225. The resilient member 227 is specifically a compression spring. By screwing to adjust the height of the limit cap 250 relative to the mounting post 224, when the first roller 230 is not in contact with the walking bearing surface 120, the bottom of the limit cap 250 will abut against the hanging bracket 220 under the action of the resilient member 227. Therefore, the initial height of the mounting seat 225 and the first roller 230 can be adjusted by screwing the limit cap 250. The initial height is the height position when not in 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 and drop-off plate 431 at the pick-up and drop-off position. In addition, the mounting seat 225 and the first roller 230 can elastically lift and move to cross the impurities adhering to the walking bearing surface 120, avoiding the influence of the impurities on the movement of the first roller 230 and improving the adaptability of the device.

[0057] When the first roller 230 comes into contact with the walking bearing surface 120, due to the gravity of the suspended robot inspection vehicle 200, if the initial compression amount of the elastic member 227 is insufficient, the elastic member 227 may continue to be compressed, resulting in the descent of the vehicle body 210 and the rolling gear 240, causing the rolling gear 240 to disengage from the walking convex teeth 110, and the vehicle body 210 cannot move. The initial compression amount is the compression amount of the elastic member 227 when the bottom of the limit cap 250 abuts against the hanging bracket 220. To avoid this situation, the height position of the adjusting sleeve 223 can be adjusted by screwing, so as to adjust the height between the bottom of the sleeve 223 and the walking bearing surface 120, and thus adjust the initial compression degree of the elastic member 227. Thus, when the first roller 230 contacts the walking bearing surface 120, the elastic member 227 has been compressed by a certain stroke, and the provided elastic force is sufficient, avoiding the situation that due to insufficient initial elastic force, the elastic member 227 needs to continue to be compressed by a large stroke to support the suspended robot inspection vehicle 200 sufficiently, and avoiding the rolling gear 240 from disengaging from the walking convex teeth 110. Through the cooperation of screwing the sleeve 223 and the limit 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 can smoothly enter the suspension rail 100 and move smoothly on the suspension rail 100. In addition, to prevent the screwing of the sleeve 223 and the limit cap 250 from driving the mounting seat 225 to rotate, resulting in the steering of the first roller 230, thus affecting the smooth forward rolling of the first roller 230, the mounting column 224 is cylindrical, and the inner side wall of the hanging bracket 220 is provided with a fitting block 226 to fit the side surface of the mounting seat 225, thereby restricting the rotation of the mounting seat 225.

[0058] Referring to Figure 4 and Figure 7 , in a further embodiment of the present invention, mounting plates 260 are provided on the 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 through a hinge shaft. The sweeping plate is hinged to the bottom of the mounting plate 260 through the hinge shaft. A torsion spring 261 is sleeved on the hinge shaft. Two acting arms are provided at both ends of the torsion spring 261, and the two acting arms abut against the mounting plate 260 and the sweeping plate respectively; when the sweeping plate contacts the walking bearing surface 120, the lower end thereof inclines backward. The torsion spring 261 is used to push the bottom of the sweeping plate to closely adhere to the walking bearing surface 120, and can effectively sweep away the dust and impurities on the walking bearing surface 120. And the sweeping plate is inclined. When encountering impurities that are not easily swept away and adhered to the walking bearing surface 120, the sweeping plate can adaptively lift up to cross the impurities, avoiding blocking the normal movement of the vehicle body 210. The front ends of the sweeping plates on the left and right sides are arranged close to each other, so that when the sweeping plates move forward, the impurities can be scraped and swept to the outside, effectively removing the impurities and dust, and avoiding the accumulation of more and more impurities and dust during the forward sweeping process of the sweeping plates, which affects the normal movement of the vehicle body 210.

[0059] Of course, there are many structural forms of the cleaning member 300. Referring to Figure 10 andFigure 11 , in another embodiment of the present invention, the cleaning member 300 includes a lifting plate 310. Tilted plates 320 are provided on the front and rear sides of the lifting plate 310. The tilted plates 320 are tilted upward and outward, so as to cross some impurities that are not easily scraped off. Moreover, there are tilted plates 320 on both the front and the rear, and scraping can be achieved during the back-and-forth movement. The ends of the two tilted plates 320 on the same lifting plate 310 that face away from the vertical plate 140 are arranged to be close to each other, so as to scrape the impurities in the direction away from the vertical plate 140. Specifically, a lifting hole 262 is provided on the mounting plate 260, and a lifting column 311 extending upward is provided on the lifting plate 310. The lifting column 311 passes through the lifting hole 262. The upper end of the lifting column 311 passes through the lifting hole 262 and is connected with a limit nut. A stud is provided at the upper end of the lifting column 311 for connecting the limit nut. A compression spring is sleeved on the lifting column 311. 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. This not only ensures contact with the hanging rail 100 to guarantee the scraping effect, but also enables elastic lifting to cross obstacles when there are obstacles that are not easily scraped off adhered to the hanging rail 100. Of course, the hanging rail 100 also needs to be manually maintained and cleaned regularly to clean the impurities that are not easily scraped off.

[0060] The present invention also provides a tunnel inspection method, including the following steps: using the tunnel inspection system to inspect the tunnel, so as to realize automatic inspection and automate and intelligentize tunnel detection.

[0061] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within 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; A cleaning member (300) is disposed at the front end of the vehicle body (210), the bottom of which is in contact with the walking bearing surface (120), and can move with the vehicle body (210) to clean the walking bearing surface (120); The device also includes an upper and lower rail mechanism (400) located at one end of the hanging rail (100); 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 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) includes 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), and the pick-up and delivery drive mechanism (432) is used to drive the pick-up and delivery plate (431) to reciprocate; a vertical through hole (434) is provided on the front side of the pick-up and delivery plate (431), and a movable column (440) is elastically and movably installed in the vertical through hole (434). The movable column (440) has an upper end protruding from the pick-up plate (431) to block and limit the front side of the vehicle body (210) on the pick-up plate (431) in a limited state 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 one end of the transverse column (441) away from the movable column (440) is connected to a pressing column (442), and the pressing column (442) avoids the activity path of the suspended robot inspection vehicle (200) moving forward and backward; the hanging rail (100) is provided with a pressing plate (130), and 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 the 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 the retracted state.

2. The tunnel inspection system according to claim 1, 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.

3. The tunnel inspection system according to claim 1, 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).

4. 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).

5. The tunnel inspection system according to claim 4, 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).

6. The tunnel inspection system according to claim 4, 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.

7. A tunnel inspection method, characterized in that: The steps include: A tunnel inspection system as described in any one of claims 1 to 6 is used to inspect a tunnel.

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