Multi-machine collaborative operation method in tunnel

Abstract

The invention relates to the technical field of tunnel operation, and discloses an in-tunnel multi-machine collaborative operation method, which comprises the following steps of: selecting the number of auxiliary machines and the types of the auxiliary machines according to operation requirements, and then determining the position of each auxiliary machine through a main machine; the host scans a required operation area in the tunnel and establishes a three-dimensional model of the tunnel; the main engine plans a path for the auxiliary engine and presets an operation speed and an operation starting point; the auxiliary machine moves to an operation starting point and operates according to a planned path and a preset operation speed, so that the situation that the machine easily collides with obstacles inside the tunnel and around the tunnel wall to cause damage to the detection machine and obstacle equipment is avoided; the main engine plans an auxiliary engine path and an operation speed in real time; through the path planning of each auxiliary machine by the main machine and the real-time communication between the main machine and each auxiliary machine, the detection is more comprehensive, and the detection omission is avoided, so that the technical effects that the auxiliary machine detection type and area are more comprehensive, and the auxiliary machine and the obstacle equipment are not easy to collide are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel operation, and in particular to a method for multi-machine collaborative operation in a tunnel. Background Art

[0002] As an important part of the modern transportation network, the safety and stability of tunnels are crucial to ensuring smooth traffic. However, the complexity of the internal environment of tunnels and various diseases that may occur during long-term operation, such as cracks, leakage, spalling and internal cavities, pose severe challenges to the maintenance and management of tunnels.

[0003] Traditional tunnel defect detection methods are mainly divided into manual inspection and machine inspection. Manual inspection is time-consuming and labor-intensive, and the detection efficiency is low, so most of the current methods use machine inspection. However, a single machine cannot detect multiple diseases in the tunnel, resulting in incomplete detection types. At the same time, mechanical inspection generally needs to be carried out close to the tunnel surface, which makes it easy for the machine to collide with obstacles inside the tunnel and around the tunnel wall, which can easily cause damage to the detection machine and obstacle equipment, and it is not easy for mechanical inspection to cover all areas in the tunnel, resulting in mechanical inspections that are prone to missed detections. Summary of the invention

[0004] The purpose of the present invention is to provide a method for multi-machine collaborative operation in a tunnel, so as to solve the technical problems in the prior art of incomplete detection types, damage to detection machinery and obstacle equipment, and easy missed detection during mechanical detection.

[0005] In order to solve the above technical problems, the present invention provides a method for multi-machine collaborative operation in a tunnel, comprising the following steps:

[0006] Select the number and type of auxiliary machines according to the operation requirements, and determine the location of each auxiliary machine through the main machine;

[0007] The host computer scans the required operating area in the tunnel and builds a three-dimensional model of the tunnel based on the scanning results;

[0008] The host machine plans the path and presets the operating speed for each auxiliary machine based on the 3D model;

[0009] Determine the operation starting point of each auxiliary machine according to the operation area, the location of each auxiliary machine and the planned path of each auxiliary machine;

[0010] Each auxiliary machine moves to the operation starting point and performs the operation according to the planned path and preset operation speed;

[0011] The host machine plans the subsequent path and preset operation speed of each auxiliary machine in real time;

[0012] Each slave maintains signal transmission with the master.

[0013] In an optional implementation manner, determining the position of each auxiliary machine by the host machine includes:

[0014] After the auxiliary machine is turned on, it transmits signals with the main machine to determine the direction, distance and height of the auxiliary machine relative to the main machine.

[0015] In an optional embodiment, the required operating area includes:

[0016] The whole tunnel or part of a tunnel.

[0017] In an optional embodiment, the host scans the required operating area in the tunnel, and establishing a three-dimensional model of the tunnel according to the scanning result includes:

[0018] The host comprises an environment scanning module, a real-time modeling module and a central control system which are electrically connected to each other, wherein the environment scanning module scans the tunnel and obtains the characteristics of the inner wall of the tunnel;

[0019] The environmental scanning module transmits the acquired features of the inner wall of the tunnel to the real-time modeling module. The real-time modeling module draws a three-dimensional model based on the features of the inner wall of the tunnel and transmits the three-dimensional model to the central control system.

[0020] After receiving the 3D model, the central control system designs the planning path for each auxiliary machine on the 3D model.

[0021] In an optional embodiment, the host machine real-time plans the subsequent path and preset operation speed of each auxiliary machine, including:

[0022] During the movement of the main machine, the environment scanning module obtains the inner wall features of the tunnel and immediately transmits them to the real-time modeling module to draw a three-dimensional model. Then the central control system immediately plans the path of the auxiliary machine based on the three-dimensional model and sends it to the auxiliary machine.

[0023] The environmental scanning module obtains the inner wall of the tunnel, the real-time modeling module draws the three-dimensional model, and the central control system instantly plans the path of the auxiliary machine according to the three-dimensional model and sends it to the auxiliary machine for quasi-real-time synchronization.

[0024] In an optional embodiment, the host establishes a three-dimensional model of the tunnel according to the scanning result, including:

[0025] The host machine marks obstacles in the tunnel.

[0026] In an optional implementation, planning the path of each auxiliary machine to achieve automatic obstacle avoidance includes:

[0027] When the paths of multiple auxiliary machines entering the tunnel overlap, the main machine achieves automatic obstacle avoidance by controlling the moving speed of each auxiliary machine, avoiding obstacle auxiliary machines, and stopping blocked auxiliary machines.

[0028] In an optional implementation, each auxiliary machine can monitor autonomous collisions. At the first moment of a collision, the auxiliary machine promptly stops working and provides feedback to the host machine. The host machine replans the auxiliary machine's path based on the feedback from the auxiliary machine and confirms the information about the collision location.

[0029] In an optional implementation manner, each auxiliary machine maintains signal transmission with the host machine, and after each auxiliary machine transmits the completed operation scope and its own working status information to the host machine, the host machine sorts out the operation scope of each auxiliary machine to confirm that there is no omission;

[0030] The host analyzes the working status information of the auxiliary machine to confirm whether there is any abnormality in the working status of the auxiliary machine.

[0031] In an optional implementation, each auxiliary machine maintains signal transmission with the host machine, and the host machine analyzes the signal transmitted by the auxiliary machine and eliminates data with large deviations.

[0032] The invention provides a method for cooperative operation of multiple machines in a tunnel, comprising the following steps: selecting the number and type of auxiliary machines according to the operation requirements, so that the detection type of the auxiliary machines is more comprehensive, and then determining the position of each auxiliary machine through the host; the host scans the required operation area in the tunnel, and establishes a three-dimensional model of the tunnel according to the scanning results; the host plans a path and presets the operation speed for each auxiliary machine according to the three-dimensional model; determines the operation starting point of each auxiliary machine according to the operation area, the position of each auxiliary machine and the planned path of each auxiliary machine; each auxiliary machine moves to the operation starting point and operates according to the planned path and the preset operation speed, so as to avoid the auxiliary machine from easily colliding with obstacles inside the tunnel and around the tunnel wall, which may easily cause damage to the detection machinery and obstacle equipment; the host plans the subsequent path and preset operation speed of each auxiliary machine in real time; each auxiliary machine maintains signal transmission with the host, and communicates with each auxiliary machine in real time through the planned path and the host, so as to ensure that the detection is more comprehensive and avoid omissions in the detection. The invention solves the technical problems of incomplete detection type, easy damage to auxiliary machines and obstacle equipment and easy missed detection in mechanical detection in the prior art, and achieves the technical effect of more comprehensive detection type and area, and less damage to auxiliary machines and obstacle equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the tunnel, the main machine and the auxiliary machine mentioned in the embodiment of the present invention;

[0034] Figure 2 It is another structural schematic diagram of the tunnel, the main machine and the auxiliary machine mentioned in the embodiment of the present invention;

[0035] Figure 3 This is another structural diagram of the tunnel, main machine and auxiliary machine mentioned in the embodiment of the present invention.

[0036] In the figure, 1-host; 2-auxiliary; 3-tunnel. DETAILED DESCRIPTION

[0037] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the related technologies, tunnel disease detection methods mainly rely on manual inspection, machine inspection and other methods. Manual inspection is time-consuming and labor-intensive, and the detection efficiency is low. For internal diseases that require close-range detection, machine detection not only needs to detect obstacles at the same time, but also the paths between machines that enter successively may overlap, which makes it easy for collisions to occur during on-site detection. At the same time, when a single machine is performing close-range detection, due to the small detection area, it takes a long time to complete the entire tunnel detection.

[0040] In view of this, if Figure 1-Figure 3 As shown, some embodiments of the present invention provide a method for multi-machine collaborative operation in a tunnel, comprising the following steps: selecting the number of auxiliary machines 2 and the type of auxiliary machines 2 according to the operation requirements, and determining the position of each auxiliary machine 2 through the main machine 1; the main machine 1 scans the required operation area in the tunnel 3, and establishes a three-dimensional model of the tunnel 3 according to the scanning results; the main machine 1 plans a path and presets the operation speed for each auxiliary machine 2 according to the three-dimensional model; determines the operation starting point of each auxiliary machine 2 according to the operation area, the position of each auxiliary machine 2 and the planned path of each auxiliary machine 2; each auxiliary machine 2 moves to the operation starting point and operates according to the planned path and the preset operation speed; the main machine 1 plans the subsequent path and preset operation speed of each auxiliary machine 2 in real time; each auxiliary machine 2 maintains signal transmission with the main machine 1.

[0041] In the above embodiment, the auxiliary machine 2 required for detection is set according to the type of tunnel 3 and the detection requirements, such as track-type, wheel-type, crawler-type, bipedal, multi-legged, drone and other robots. The detection method may include knocking or visual detection. The drone can enter in the form of flying with a visual detector, and the crawler-type ground walking robot can knock on the wall of the tunnel 3 with a knocking detector, or the wall-type walking robot can move along the surface of the tunnel 3. Then, the host 1 is placed in the tunnel 3. The host 1 can enter and exit the tunnel 3 in a variety of ways, such as being held in a backpack by a staff member, mounted on a cart or other equipment. After turning on the host 1, the host 1 can start to map the inner wall of the tunnel 3. The host 1 can use CT (Computed Tomography) to map the inner wall of the tunnel 3. Tomography, electronic computer tomography), or sonar detection can also be used. The host 1 can be provided with a transmitting and receiving device for transmitting and receiving signals so that the host 1 can perform preliminary detection on the inner wall of the tunnel 3 and collect surface information of the tunnel 3. Then, after the host 1 receives the detection signal, the host 1 constructs a three-dimensional model of the inner wall of the tunnel 3 through the received detection signal. Then, on the three-dimensional model, according to the type and movement mode of each auxiliary machine 2, the movement path of each auxiliary machine 2 is planned to avoid the movement path of each auxiliary machine 2 from overlapping with the three-dimensional model, thereby avoiding the collision between obstacles or walls in the tunnel 3 and each auxiliary machine 2. Furthermore, different working speeds are set for different types of auxiliary machines 2, and each auxiliary machine 2 maintains wireless communication with the host 1 in real time. The wireless communication mode includes Bluetooth, infrared signal, 4G and 5G, etc., so that the position information and running speed of each auxiliary machine 2 are transmitted to the host 1 in real time. At the same time, in the construction of the three-dimensional model by the host 1, as the new three-dimensional model is generated, the host 1 plans the path and running speed of the auxiliary machine 2 in real time, so that when the host 1 is working, the auxiliary machine 2 can also work non-stop behind the host 1.

[0042] Optionally, the tunnel 3 includes a concrete structure inside the tunnel 3, and obstacle equipment is also arranged on the concrete structure, and the obstacle equipment includes cables, cameras, lighting lamps, etc.

[0043] Some embodiments of the present invention provide a method for multi-machine collaborative operation in a tunnel, comprising the following steps: selecting the number and type of auxiliary machines 2 according to the operation requirements, so as to make the detection type of the auxiliary machines 2 more comprehensive, and then determining the position of each auxiliary machine 2 through the host 1; the host 1 scans the required operation area in the tunnel 3, and establishes a three-dimensional model of the tunnel 3 according to the scanning results; the host 1 plans a path and presets the operation speed for each auxiliary machine 2 according to the three-dimensional model; determines the operation starting point of each auxiliary machine 2 according to the operation area, the position of each auxiliary machine 2 and the planned path of each auxiliary machine 2; each auxiliary machine 2 moves to the operation starting point and moves according to the planned path and preset operation speed. The main machine 1 plans the subsequent path and preset operating speed of each auxiliary machine 2 in real time; each auxiliary machine 2 maintains signal transmission with the main machine 1, and the main machine 1 plans the path of each auxiliary machine 2, and the real-time communication between the main machine 1 and each auxiliary machine 2 ensures that the detection is more comprehensive and avoids omissions in the detection, thereby solving the technical problems in the prior art of incomplete detection types, easy damage to the auxiliary machine 2 and obstacle equipment, and easy missed detection during mechanical detection, and achieving the technical effect of more comprehensive detection types and areas and less damage to the auxiliary machine 2.

[0044] In an optional implementation, determining the position of each auxiliary machine 2 by the host machine 1 includes: after the auxiliary machine 2 is powered on, the auxiliary machine 2 transmits signals to the host machine 1 to determine the position, distance and height of the auxiliary machine 2 relative to the host machine 1 .

[0045] In the above embodiment, each auxiliary machine 2 can transmit signals with the main machine 1 respectively after being turned on outside the tunnel 3, so as to determine the position of each auxiliary machine 2 relative to the main machine 1, wherein the main machine 1 can establish a coordinate system with itself as the origin, the east-west direction as the X axis, the north-south direction as the Y axis, and the altitude direction as the Z axis, and then determine the coordinates of each auxiliary machine 2 in the coordinate system, so as to judge the position and distance of each auxiliary machine 2 relative to the main machine 1, and then, after the main machine 1 scans the tunnel 3 and establishes a three-dimensional model, the auxiliary machine 2 enters the tunnel 3 according to the path set by the main machine 1 and performs operations.

[0046] Optionally, the main machine 1 and the auxiliary machine 2 can be placed at specific positions in the tunnel 3 respectively, and then each auxiliary machine 2 can be turned on. The main machine 1 can establish a coordinate system with itself as the origin, the east-west direction as the X axis, the north-south direction as the Y axis, and the altitude direction as the Z axis, and then determine the coordinates of each auxiliary machine 2 in the coordinate system, so as to judge the position and distance of each auxiliary machine 2 relative to the main machine 1. Then, after the main machine 1 scans the tunnel 3 and establishes a three-dimensional model, the auxiliary machine 2 enters the tunnel 3 according to the path set by the main machine 1 and performs operations.

[0047] Optionally, multiple auxiliary machines 2 and the main machine 1 can enter through the two ends of the tunnel 3 respectively. After the main machine 1 starts to scan the tunnel 3 and build a three-dimensional model, the multiple auxiliary machines 2 can enter the tunnel 3 through the opening, so that the auxiliary machine 2 that enters the tunnel 3 first can correspondingly stop near the opening on the other side of the tunnel 3 after passing through the tunnel 3. Since the auxiliary machine 2 that enters first has arrived farther away, the auxiliary machine 2 that enters later will not pass by the auxiliary machine 2 in front, so that the multiple auxiliary machines 2 will not interfere with each other when entering the tunnel 3. Therefore, when the multiple auxiliary machines 2 enter, there is no need to arrange the paths in a special way. They only need to enter one by one without interference, thereby avoiding collisions caused by overlapping paths of the multiple auxiliary machines 2.

[0048] In an optional embodiment, the required operation area includes: the entire tunnel 3 or a portion of the tunnel 3 .

[0049] In the above embodiment, the working area can be considered as specified or set according to project requirements. The working area can include the entire tunnel 3, or it can be set to a specific position of the tunnel 3, such as between 50 meters and 100 meters at the entrance of the tunnel 3. At the same time, it can also be a partial position in the tunnel 3, such as part of the top, or part of the ground.

[0050] In an optional embodiment, the host 1 scans the required working area in the tunnel 3, and establishes a three-dimensional model of the tunnel 3 according to the scanning results, including: the host 1 includes an environmental scanning module, a real-time modeling module and a central control system that are electrically connected to each other, wherein the environmental scanning module scans the tunnel 3 and obtains the characteristics of the inner wall of the tunnel 3; the environmental scanning module transmits the obtained characteristics of the inner wall of the tunnel 3 to the real-time modeling module, the real-time modeling module draws a three-dimensional model according to the characteristics of the inner wall of the tunnel 3, and transmits the three-dimensional model to the central control system; after receiving the three-dimensional model, the central control system designs a planning path for each auxiliary machine 2 on the three-dimensional model.

[0051] In the above embodiment, the host 1 may include an environmental scanning module, a real-time modeling module and a central control system, wherein the environmental scanning module may include a visual detection probe, a position sensor, a temperature and humidity sensor, etc. The environmental scanning module may detect the temperature and humidity in the tunnel 3, the neatness of the inner wall of the tunnel 3, the size of the protrusions on the inner wall of the tunnel 3, the color of the inner wall of the tunnel 3 and other information, and draw a three-dimensional model based on the information obtained from the detection, wherein the three-dimensional model may be drawn in the computer software, and the size, temperature, humidity, color and other information may be marked correspondingly in each position of the three-dimensional model, wherein for areas with different temperatures, an auxiliary machine 2 with a visual detection function or an auxiliary machine 2 with an internal ultrasonic detection function may be dispatched, and for areas with different colors , an auxiliary machine 2 with a visual detection function can be configured so that auxiliary machines 2 with different functions can be configured corresponding to different information. Further, the real-time modeling model integrates the information obtained by the environmental scanning module and establishes a three-dimensional model, wherein the established three-dimensional model can be tubular, and is roughly set to have a flat bottom and an arc surface on the top according to the shape of the tunnel 3. The central control system can control multiple auxiliary machines 2 separately, and the central control system can distinguish special points in the information collected by the environmental scanning module, such as special colors, special temperatures, etc. At the same time, the central control system can divide the three-dimensional model into multiple areas, and the central control area can mobilize different auxiliary machines 2 through the divided areas, and specify the moving path of each auxiliary machine 2.

[0052] Optionally, the transmission of electrical signals between the environmental scanning module, the real-time modeling module and the central control system can be set as instant communication to make the path planning of the auxiliary machine 2 more timely. Storage devices for storing electrical signals can also be respectively provided in the environmental scanning module, the implementation modeling module and the central control system to delay the signal transmission between the environmental scanning module, the implementation modeling module and the central control system, thereby providing a buffer for the environmental scanning module, the implementation modeling module and the central control system and avoiding the incomplete path planning of the auxiliary machine 2 due to the asynchronous working efficiency of the environmental scanning module, the implementation modeling module and the central control system.

[0053] In an optional embodiment, the host 1 plans the subsequent path and preset operating speed of each auxiliary machine 2 in real time, including: during the movement of the host 1, the environmental scanning module obtains the inner wall features of the tunnel 3, and immediately transmits them to the real-time modeling module to draw a three-dimensional model, and then the central control system immediately plans the path of the auxiliary machine 2 according to the three-dimensional model and sends it to the auxiliary machine 2; the environmental scanning module obtains the inner wall of the tunnel 3, the real-time modeling module draws the three-dimensional model, and the central control system immediately plans the path of the auxiliary machine 2 according to the three-dimensional model and sends it to the auxiliary machine 2 for quasi-real-time synchronization.

[0054] In the above embodiment, the host 1 can start scanning with the environment scanning module at the entrance of the tunnel 3 through the end of the tunnel 3, or start scanning with the environment scanning module at a specific position in the tunnel 3. After the environment scanning module starts to move, the environment scanning module obtains the characteristics of the inner wall of the tunnel 3, and transmits the obtained characteristics to the real-time modeling module through electrical signals as soon as possible. After receiving the electrical signal, the real-time modeling module also draws the electrical signal into a three-dimensional model as soon as possible. At the same time, the central control system can plan the parameters such as the moving path and moving speed of the auxiliary machine 2 according to the three-dimensional model as soon as possible, and transmit them to each auxiliary machine 2, thereby achieving quasi-real-time synchronization.

[0055] In an optional implementation manner, the host 1 establishes the three-dimensional model of the tunnel 3 according to the scanning result, including: the host 1 marks obstacles in the tunnel 3.

[0056] In the above embodiment, the environmental scanning module can mark the obstacles in the tunnel 3 in the three-dimensional model, wherein the obstacles may refer to special structures protruding from the surface of the tunnel 3, such as exposed steel bars in the tunnel 3, steps in the tunnel 3, etc. By marking the obstacles in the three-dimensional model, obstacles can be actively avoided when planning the path of the auxiliary machine 2, thereby preventing the auxiliary machine 2 from colliding with the obstacles.

[0057] In an optional embodiment, planning the path of each auxiliary machine 2 to achieve automatic obstacle avoidance includes: when the paths of multiple auxiliary machines 2 entering the tunnel 3 overlap, the main machine 1 achieves automatic obstacle avoidance by controlling the moving speed of each auxiliary machine 2, avoiding the obstacle auxiliary machine 2 and stopping the blocked auxiliary machine 2.

[0058] In the above embodiment, when each auxiliary machine 2 moves according to the path and the moving speed, when the two paths have an overlapping part, the host machine 1 determines whether the two auxiliary machines 2 will interfere with each other according to the moving speeds of the auxiliary machines 2 on the two paths. If interference occurs, the host machine 1 will control the two auxiliary machines 2 to avoid, thereby avoiding the collision between the two auxiliary machines 2, and the avoidance method may include controlling the moving speed of each auxiliary machine 2, that is, when the paths of the two auxiliary machines 2 overlap, the obstructing auxiliary machine 2 can be controlled to move quickly to move away from the overlapping part of the paths. At this time, when the blocked auxiliary machine 2 at the rear moves to the overlapping part of the paths, the obstructing auxiliary machine 2 has already moved away, thereby avoiding the obstructing auxiliary machine 2 and the blocked auxiliary machine 2 from interfering with each other, or, between the two auxiliary machines 2, the host machine 1 will control the two auxiliary machines 2 to avoid the collision between the two auxiliary machines 2. When the paths overlap, causing interference between the two auxiliary machines 2, the main machine 1 controls the front obstacle auxiliary machine 2 to move in the direction of the path deviating from the blocked auxiliary machine 2, so that the obstacle auxiliary machine 2 is away from the path of the blocked auxiliary machine 2, so that the blocked auxiliary machine 2 can pass smoothly, and then after the blocked auxiliary machine 2 passes, the main machine 1 controls the obstacle auxiliary machine 2 to return to the path and continue working. Alternatively, the interference can be avoided by controlling the moving speed of the blocked auxiliary machine 2 at the rear, and the moving speed of the blocked auxiliary machine 2 can be appropriately reduced, or even the blocked auxiliary machine 2 can be stopped. After the obstacle auxiliary machine 2 moves to a position where no interference occurs, the blocked auxiliary machine 2 at the rear passes through the path overlap again, thereby avoiding collision accidents between the auxiliary machines 2 with overlapping paths.

[0059] In an optional implementation, each auxiliary machine 2 can monitor autonomous collisions. At the first moment of collision, the auxiliary machine 2 promptly stops working and gives feedback to the host machine 1. The host machine 1 replans the path of the auxiliary machine 2 based on the feedback from the auxiliary machine 2 and after confirming the information of the collision location.

[0060] In the above embodiment, each auxiliary machine 2 is provided with a speed detector. When the abdominal muscles collide, the speed of the auxiliary machine 2 drops sharply. At this time, the auxiliary machine 2 can be judged as having collided. The auxiliary machine 2 suspends work and stops moving at this time, and then transmits the position information of the collision to the main machine 1. The main machine 1 re-plans the path of the auxiliary machine 2 based on the position information transmitted by the auxiliary machine 2 and the three-dimensional model, so that the new path of the auxiliary machine 2 can bypass obstacles, thereby effectively solving the problem of the auxiliary machine 2 being bumped.

[0061] In an optional implementation, each auxiliary machine 2 maintains signal transmission with the main machine 1. After each auxiliary machine 2 transmits the completed working scope and its own working status information to the main machine 1, the main machine 1 sorts out the working scope of each auxiliary machine 2 to confirm that there is no omission; the main machine 1 analyzes the working status information of the auxiliary machine 2 to confirm whether there is any abnormality in the working status of the auxiliary machine 2.

[0062] In the above embodiment, after multiple auxiliary machines 2 operate along the path, the main machine 1 combines the operating ranges and paths of different auxiliary machines 2, and cooperates with the three-dimensional model to determine whether the auxiliary machine 2 has any missed inspection positions. When the main machine 1 finds missed inspections, it promptly alarms and adjusts the path of the auxiliary machine 2 until the inspection is comprehensive. At the same time, the main machine 1 monitors the power, temperature, quality and other information of the auxiliary machine 2, and stops and alarms in time when the auxiliary machine 2 is found to be abnormal. For example, if the auxiliary machine 2 has a short circuit, overheating, damage resulting in reduced quality, or damage to electrical components resulting in reduced power, the main machine 1 determines that the detection data of the auxiliary machine 2 is unreliable, and the main machine 1 re-assigns the auxiliary machine 2 for monitoring, and parks the damaged auxiliary machine 2 outside the tunnel 3 and shuts it down.

[0063] In an optional implementation, each auxiliary machine 2 maintains signal transmission with the host machine 1, and the host machine 1 analyzes the signal transmitted by the auxiliary machine 2 and removes data with large deviations.

[0064] In the above embodiment, the central control system can analyze the detection data of each auxiliary machine 2 and eliminate obviously different data, wherein the method of eliminating data can adopt the Grubbs criterion, and the eliminated data can be applied to multiple areas without abnormalities and data transmitted by multiple auxiliary machines 2, so as to avoid inaccurate detection results due to detection errors.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for multi-machine collaborative operation in a tunnel, characterized in that: The steps include: Select the number and type of auxiliary machines according to the operation requirements, and determine the location of each auxiliary machine through the main machine; The host computer scans the required operating area in the tunnel and builds a three-dimensional model of the tunnel based on the scanning results; The host machine plans the path and presets the operating speed for each auxiliary machine based on the 3D model; Determine the operation starting point of each auxiliary machine according to the operation area, the location of each auxiliary machine and the planned path of each auxiliary machine; Each auxiliary machine moves to the operation starting point and performs the operation according to the planned path and preset operation speed; The host machine plans the subsequent path and preset operation speed of each auxiliary machine in real time; Each slave maintains signal transmission with the master.

2. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: The method of determining the position of each auxiliary machine by the host machine includes: After the auxiliary machine is turned on, it transmits signals with the main machine to determine the direction, distance and height of the auxiliary machine relative to the main machine.

3. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: The required operating areas include: The whole tunnel or part of a tunnel.

4. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: The host computer scans the required operation area in the tunnel, and establishes a three-dimensional model of the tunnel according to the scanning result, including: The host comprises an environment scanning module, a real-time modeling module and a central control system which are electrically connected to each other, wherein the environment scanning module scans the tunnel and obtains the characteristics of the inner wall of the tunnel; The environmental scanning module transmits the acquired features of the inner wall of the tunnel to the real-time modeling module. The real-time modeling module draws a three-dimensional model based on the features of the inner wall of the tunnel and transmits the three-dimensional model to the central control system. After receiving the 3D model, the central control system designs the planning path for each auxiliary machine on the 3D model.

5. The method for multi-machine collaborative operation in a tunnel according to claim 4, characterized in that: The host machine plans the subsequent path and preset operation speed of each auxiliary machine in real time, including: During the movement of the main machine, the environment scanning module obtains the inner wall features of the tunnel and immediately transmits them to the real-time modeling module to draw a three-dimensional model. Then the central control system immediately plans the path of the auxiliary machine based on the three-dimensional model and sends it to the auxiliary machine. The environmental scanning module obtains the inner wall of the tunnel, the real-time modeling module draws the three-dimensional model, and the central control system instantly plans the path of the auxiliary machine according to the three-dimensional model and sends it to the auxiliary machine for quasi-real-time synchronization.

6. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: The host establishes a three-dimensional model of the tunnel according to the scanning results, including: The host machine marks obstacles in the tunnel.

7. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: The planning of the path of each auxiliary machine to achieve automatic obstacle avoidance includes: When the paths of multiple auxiliary machines entering the tunnel overlap, the main machine achieves automatic obstacle avoidance by controlling the moving speed of each auxiliary machine, avoiding obstacle auxiliary machines, and stopping blocked auxiliary machines.

8. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: Each auxiliary machine can monitor autonomous collisions. At the first moment of a collision, the auxiliary machine will promptly suspend operation and provide feedback to the host machine. The host machine will re-plan the auxiliary machine's path based on the feedback from the auxiliary machine and after confirming the information on the collision location.

9. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: Each auxiliary machine maintains signal transmission with the main machine. After each auxiliary machine transmits the completed operation scope and its own working status information to the main machine, the main machine sorts out the operation scope of each auxiliary machine to confirm that there is no omission; The host analyzes the working status information of the auxiliary machine to confirm whether there is any abnormality in the working status of the auxiliary machine.

10. The method for multi-machine collaborative operation in a tunnel according to claim 1, characterized in that: Each auxiliary machine maintains signal transmission with the host machine, and the host machine analyzes the signal transmitted by the auxiliary machine and eliminates data with large deviations.

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