Tunnel patrol robot based on machine vision

Abstract

The invention discloses a tunnel patrol robot based on machine vision, and relates to the technical field of tunnel patrol robots, the tunnel patrol robot comprises a mounting base, a patrol device is arranged at the bottom of the mounting base, and a protection unit is connected to the outer side of the patrol device. Through cooperation of a driving motor, a driving gear, a connecting gear ring, a connecting rod, a supporting column and two cleaning scrapers, the inner surface and the outer surface of the cover body can be conveniently and synchronously cleaned in the patrol process, and water vapor or dust is prevented from affecting the patrol result; and the accuracy of patrol monitoring data is improved, the labor cost of equipment maintenance is reduced, and the two cleaning scrapers are conveniently and rapidly disassembled and assembled, so that the cleaning scrapers are cleaned and replaced, the cleaning effect is guaranteed, and the maintenance difficulty of the robot and the cover body is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel inspection robots, and in particular to a tunnel inspection robot based on machine vision. Background Art

[0002] The tunnel inspection robot can conduct regular inspections and monitoring of the tunnel through the track set in the tunnel, without the need for repeated manual inspections. Through program settings, it can conduct timely inspections of the facilities and hidden dangers in the tunnel to ensure the safe use of the tunnel. When using patrol robots for patrol, since the patrol robots work based on machine vision, it is particularly important to protect the robot's monitoring probe. Patrols in different environments will cause water vapor or dust to appear on the surface of the robot's protective cover, affecting the robot's patrol and monitoring results and increasing the difficulty of manual maintenance and repair. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a tunnel inspection robot based on machine vision, which solves the problem that water vapor or dust on the surface of the robot's shield affects the inspection results.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: A tunnel inspection robot based on machine vision, comprising a mounting seat, a patrol device is arranged at the bottom of the mounting seat, and a protection unit is connected to the outer side of the patrol device; The mounting seat comprises a seat body, the inner side wall of the seat body is provided with two sets of guide rails, the inner side walls of the two guide rails are connected with a plurality of pulleys, and the surfaces of the two guide rails are provided with lubricating sheets; The protection unit includes a cover body, the top outer surface of the cover body is annularly connected with four connecting blocks, the end faces of the four connecting blocks are penetrated and connected with fastening bolts, the bottom end of the cover body is penetrated and connected with a support column, the outer surface of the support column and the inner and outer sides of the cover body are connected with connecting sleeves, and the outer surfaces of the two connecting sleeves are connected with cleaning scrapers.

[0005] As a further technical solution of the present invention, a sensor is provided at the bottom end of the inspection device, the inner side wall of the cover body is connected to a driving motor, the driving end of the driving motor is connected to a driving gear, the inner side wall of the top of the cover body is connected to a connecting gear ring, the outer surface of the connecting gear ring is provided with a guide strip, the bottom end of the connecting gear ring is connected to a connecting rod, and the bottom end of the connecting rod is connected to the outer surface of the connecting sleeve.

[0006] As a further technical solution of the present invention, positioning columns are provided on the bottom surfaces of both ends of the lubricating plate, two plug blocks are connected to the lower surface of the lubricating plate, mounting grooves are provided on the surface of the guide rail corresponding to the lubricating plate, positioning holes are provided on the inner bottom side of the mounting groove corresponding to the positioning columns, and fixing screws are connected to the surface of the guide rail and through the surface of the plug blocks.

[0007] As a further technical solution of the present invention, a magnetic head is provided at the top of the two cleaning scrapers, and sliding grooves are provided on the inner and outer surfaces of the cover body corresponding to the sliding path of the magnetic head. One end of the two cleaning scrapers is connected to a mounting head, and limiting blocks are provided on both side surfaces of the mounting head.

[0008] As a further technical solution of the present invention, the outer surfaces of the two connecting sleeves are respectively provided with adjustment grooves corresponding to the sliding paths of the two mounting heads, the inner bottom side of the adjustment groove is connected to a sliding rod, the outer surface of the sliding rod and the inner side wall of the connecting sleeve are connected to a limiting spring, the bottom end of the limiting spring and the outer surface of the sliding rod are connected to a positioning sleeve, and a connecting groove is provided on one end surface of the mounting head corresponding to the sliding rod.

[0009] As a further technical solution of the present invention, the end faces of the two connecting sleeves are connected with a locking column, the outer surface of the locking column is connected with an adjusting block, one end of the adjusting block is connected with a supporting block, the bottom end surface of the supporting block is provided with a receiving groove corresponding to the positioning sleeve, the bottom end of the supporting block is provided with two protrusions, and the surface of the mounting head is provided with two notches corresponding to the support block.

[0010] As a further technical solution of the present invention, a splitting groove is provided on the outer surface of the connecting sleeve and at the corresponding position of the inner side wall of the adjusting groove and the sliding path of the two limit blocks, two engaging holes are provided on the surface of the adjusting block corresponding to the engaging column, and a movable groove is provided between the two engaging holes and at the corresponding position of the surface of the adjusting block and the sliding path of the engaging column.

[0011] As a further technical solution of the present invention, the inner diameter of the mounting groove is matched with the outer diameter of the lubricating plate, the surface of the lubricating plate is made of sponge material, the inner diameter of the positioning hole is matched with the outer diameter of the positioning column, and the lubricating plate is connected to the guide rail through the positioning column, the plug block and the fixing screw.

[0012] As a further technical solution of the present invention, the inner diameter size of the splitting groove is adapted to the sliding path of the limit block, the inner diameter size of the adjusting groove is adapted to the sliding path of the mounting head, the inner diameter size of the positioning sleeve is adapted to the inner diameter size of the receiving groove, the inner diameter size of the connecting groove is adapted to the outer diameter size of the sliding rod, the inner diameter size of the engaging hole is adapted to the outer diameter size of the engaging column, and the inner diameter size of the movable groove is adapted to the sliding path of the engaging column.

[0013] The present invention provides a tunnel inspection robot based on machine vision. Compared with the prior art, it has the following beneficial effects:

[0014] 1. A tunnel inspection robot based on machine vision can realize the robot's active inspection through the cooperation of the base, guide rail and pulley, and the cooperation of the lubricating sheet, plug block, mounting slot and fixing screw can lubricate and maintain the track during the inspection process, ensuring the smooth operation of the robot and improving the inspection efficiency.

[0015] 2. A tunnel inspection robot based on machine vision, through the cooperation of the driving motor, driving gear, connecting gear ring, connecting rod, supporting column and two cleaning scrapers, can conveniently clean the inner and outer surfaces of the cover during the inspection process, prevent water vapor or dust from affecting the inspection results, improve the accuracy of inspection monitoring data, and reduce the labor cost of equipment maintenance.

[0016] 3. A tunnel inspection robot based on machine vision can facilitate the rapid disassembly and assembly of two cleaning scrapers through the cooperation between the mounting head and the limit block and the slide rod and the limit spring and the positioning sleeve and the adjustment block, so as to clean and replace the cleaning scrapers, ensure the cleaning effect, and reduce the difficulty of maintaining the robot and the cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a tunnel inspection robot based on machine vision; Figure 2 It is a front view of a tunnel inspection robot based on machine vision; Figure 3 A tunnel inspection robot based on machine vision Figure 2 AA section view in; Figure 4 A schematic diagram of the exploded structure of a mounting base of a tunnel inspection robot based on machine vision; Figure 5 The figure is a schematic diagram of the decomposition structure of a protection unit of a tunnel inspection robot based on machine vision; Figure 6 The figure is a schematic diagram of the installation structure of a cleaning scraper of a tunnel inspection robot based on machine vision; Figure 7 A tunnel inspection robot based on machine vision Figure 6 Magnified view of A in .

[0018] In the figure: 1. mounting base; 11. base body; 12. guide rail; 13. pulley; 14. lubricating sheet; 15. insert block; 16. positioning column; 17. positioning hole; 18. mounting slot; 19. fixing screw; 2. inspection device; 21. sensor; 3. protection unit; 31. cover body; 32. connecting block; 33. fastening bolt; 34. support column; 35. connecting sleeve; 36. driving motor; 37. driving gear; 38. connecting rod; 39. connecting Gear ring; 301, guide strip; 302, cleaning scraper; 303, magnetic head; 304, slide groove; 305, mounting head; 306, adjusting groove; 307, limit block; 308, slide rod; 309, limit spring; 311, positioning sleeve; 312, engaging column; 313, adjusting block; 314, engaging hole; 315, movable groove; 316, supporting block; 317, receiving groove; 318, connecting groove; 319, splitting groove; 321, notch. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 1-7 The present invention provides a technical solution of a tunnel inspection robot based on machine vision: a tunnel inspection robot based on machine vision, comprising a mounting seat 1, a patrol device 2 is arranged at the bottom of the mounting seat 1, and a protection unit 3 is connected to the outside of the patrol device 2, the mounting seat 1 comprises a seat body 11, and the inner side wall of the seat body 11 is provided with two groups of guide rails 12, and the inner side walls of the two guide rails 12 are connected with a plurality of pulleys 13, and the surfaces of the two guide rails 12 are both provided with lubricating sheets 14, and the protection unit 3 comprises a cover body 31, and the top outer surface of the cover body 31 is annularly connected with four connecting blocks 32, and the end faces of the four connecting blocks 32 are penetrated and connected with fastening bolts 33, and the bottom end of the cover body 31 is penetrated and connected with a support column 34, and the outer surface of the support column 34 and the inner and outer sides of the cover body 31 are connected with connecting sleeves 35, and the outer surfaces of the two connecting sleeves 35 are connected with cleaning scrapers 302.

[0021] like Figure 5-6As shown, the bottom end of the inspection device 2 is provided with a sensor 21, the inner side wall of the cover body 31 is connected to a driving motor 36, the driving end of the driving motor 36 is connected to a driving gear 37, the inner side wall of the top of the cover body 31 is connected to a connecting toothed ring 39, the outer surface of the connecting toothed ring 39 is provided with a guide strip 301, the bottom end of the connecting toothed ring 39 is connected to a connecting rod 38, the bottom end of the connecting rod 38 is connected to the outer surface of the connecting sleeve 35, the top ends of the two cleaning scrapers 302 are both provided with a magnetic suction head 303, the inner and outer surfaces of the cover body 31 are connected to the inner side wall of the top of the cover body 31, and the inner and outer surfaces of the cover body 31 are connected to the connecting rod 38. The surfaces are provided with sliding grooves 304 corresponding to the sliding paths of the magnetic suction heads 303. One ends of the two cleaning blades 302 are connected to mounting heads 305. Limiting blocks 307 are provided on the surfaces of both sides of the mounting heads 305. It should be noted that the driving motor 36 can drive the rotation of the connecting gear ring 39 through the driving gear 37. When the connecting gear ring 39 rotates, the supporting column 34 and the two connecting sleeves 35 can be driven to rotate synchronously, thereby achieving the cleaning effect of the two cleaning blades 302 on the inner and outer surfaces of the cover body 31.

[0022] like Figure 1-4 As shown, the inner diameter of the mounting groove 18 is matched with the outer diameter of the lubricating sheet 14, the surface of the lubricating sheet 14 is made of sponge material, the inner diameter of the positioning hole 17 is matched with the outer diameter of the positioning column 16, the lubricating sheet 14 is connected to the guide rail 12 through the positioning column 16, the plug block 15 and the fixing screw 19, the bottom surfaces of both ends of the lubricating sheet 14 are provided with positioning columns 16, the lower surface of the lubricating sheet 14 is connected with two plug blocks 15, the surface of the guide rail 12 and the lubricating sheet 14 are provided with mounting grooves 18 corresponding to the lubricating sheet 14, the inner bottom side of the mounting groove 18 and the positioning column 16 are provided with positioning holes 17 corresponding to the positioning column, the surface of the guide rail 12 and the surface of the plug block 15 are connected with fixing screws 19, it should be noted that the lubricating sheet 14 can lubricate the track when the seat body 11 runs on the track in the tunnel, thereby ensuring the smooth operation of the robot, preventing movement from being obstructed, and improving inspection efficiency.

[0023] like Figure 6-7As shown, the outer surfaces of the two connecting sleeves 35 are respectively provided with adjustment grooves 306 corresponding to the sliding paths of the two mounting heads 305, and the inner bottom side of the adjustment groove 306 is connected to a slide bar 308. The outer surface of the slide bar 308 and the inner side wall of the connecting sleeve 35 are connected to a limit spring 309, and the bottom end of the limit spring 309 and the outer surface of the slide bar 308 are connected to a positioning sleeve 311. One end surface of the mounting head 305 is provided with a connecting groove 318 corresponding to the slide bar 308, and the end faces of the two connecting sleeves 35 are connected to a locking column 312. The outer surface of the coupling column 312 is connected to an adjustment block 313, one end of the adjustment block 313 is connected to a support block 316, the bottom surface of the support block 316 is provided with a receiving groove 317 corresponding to the positioning sleeve 311, the bottom end of the support block 316 is provided with two protrusions, the surface of the mounting head 305 is provided with two notches 321 corresponding to the support block 316, the outer surface of the connecting sleeve 35 and the inner side wall of the adjustment groove 306 corresponding to the sliding path of the two limit blocks 307 are provided with a splitting groove 319, the surface of the adjustment block 313 is provided with the coupling column 312 Two engaging holes 314 are correspondingly provided, and a movable groove 315 is provided between the two engaging holes 314 and at the position corresponding to the sliding path of the engaging column 312 and the surface of the adjusting block 313. The inner diameter size of the splitting groove 319 is adapted to the sliding path of the limit block 307, the inner diameter size of the adjusting groove 306 is adapted to the sliding path of the mounting head 305, the inner diameter size of the positioning sleeve 311 is adapted to the inner diameter size of the receiving groove 317, the inner diameter size of the connecting groove 318 is adapted to the outer diameter size of the sliding rod 308, and the inner diameter size of the engaging hole 314 is adapted to the outer diameter size of the sliding rod 308. The outer diameter of the locking column 312 is adapted, and the inner diameter of the movable groove 315 is adapted to the sliding path of the locking column 312. It should be noted that the two positioning sleeves 311 and the limit spring 309 can drive the sliding of the mounting head 305 and the cleaning blade 302, so that the cleaning blade 302 fits the inner and outer surfaces of the cover body 31, which is convenient for cleaning the cover body 31, and the support block 316 is limited by the adjustment block 313 and the locking hole 314, so that the cleaning blade 302 can be quickly disassembled and assembled, which is convenient for replacement and cleaning, and the cleaning effect is guaranteed.

[0024] The working principle of the present invention is as follows: when in use, the lubricating sheet 14 is placed into the mounting groove 18 on the surface of the guide rail 12, so that the positioning column 16 is inserted into the positioning hole 17, and then two fixing screws 19 are screwed into the surface of the insert block 15 along the surface of the guide rail 12, so that the installation of the lubricating sheet 14 can be completed. During the operation of the pulley 13 and the guide rail 12, the lubricating sheet 14 continuously lubricates the track, thereby improving the smooth operation rate of the robot; During the inspection process, when water vapor or dust appears on the inner and outer surfaces of the cover body 31, the driving motor 36 is started to drive the gear 37 to rotate, driving the connecting gear ring 39 to rotate. With the rotation of the connecting gear ring 39, the connecting rod 38, the supporting column 34 and the connecting sleeve 35 are driven to rotate, so that the two cleaning scrapers 302 synchronously rotate along the inner and outer surfaces of the cover body 31 and clean the water vapor or dust on the cover body 31. The mounting head 305 at one end of the cleaning blade 302 is slid along the inner wall of the adjustment slot 306, driving the positioning sleeve 311 to squeeze the limit spring 309 along the outer surface of the slide rod 308. When the positioning sleeve 311 slides to the top, the adjustment block 313 is slid along the outer surface of the locking column 312, so that the locking column 312 slides along the inner wall of the movable slot 315 to another locking hole 314. The receiving groove 317 on the surface of the support block 316 is engaged with the inner wall of the positioning sleeve 311, and the two notches 321 on the surface of the mounting head 305 are separated from the bottom surface of the positioning sleeve 311. Then the mounting head 305 and the limit block 307 are taken out along the inner wall of the splitting slot 319, and the cleaning blade 302 can be replaced to ensure the cleaning effect.

[0025] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel inspection robot based on machine vision, comprising a mounting base (1), characterized in that: A patrol device (2) is provided at the bottom of the mounting seat (1), and a protection unit (3) is connected to the outside of the patrol device (2); The mounting seat (1) comprises a seat body (11), the inner side wall of the seat body (11) being provided with two sets of guide rails (12), the inner side walls of the two guide rails (12) being connected to a plurality of pulleys (13), and the surfaces of the two guide rails (12) being provided with lubricating sheets (14); The protection unit (3) comprises a cover body (31), the top outer surface of the cover body (31) is connected to four connection blocks (32) in a ring shape, the end surfaces of the four connection blocks (32) are penetrated and connected to fastening bolts (33), the bottom end of the cover body (31) is penetrated and connected to a support column (34), the outer surface of the support column (34) and the inner and outer sides of the cover body (31) are connected to connecting sleeves (35), and the outer surfaces of the two connecting sleeves (35) are connected to cleaning scrapers (302).

2. A tunnel inspection robot based on machine vision according to claim 1, characterized in that: The bottom end of the inspection device (2) is provided with a sensor (21), the inner side wall of the cover body (31) is connected to a drive motor (36), the drive end of the drive motor (36) is connected to a drive gear (37), the inner side wall of the top of the cover body (31) is connected to a connecting gear ring (39), the outer surface of the connecting gear ring (39) is provided with a guide strip (301), the bottom end of the connecting gear ring (39) is connected to a connecting rod (38), and the bottom end of the connecting rod (38) is connected to the outer surface of the connecting sleeve (35).

3. The machine vision-based tunnel inspection robot according to claim 1, characterized in that: The bottom surfaces of both ends of the lubricating sheet (14) are provided with positioning columns (16), the lower surface of the lubricating sheet (14) is connected to two plug blocks (15), the surface of the guide rail (12) and the lubricating sheet (14) are provided with mounting grooves (18) corresponding to the lubricating sheet (14), the inner bottom side of the mounting groove (18) and the positioning columns (16) are provided with positioning holes (17), and the surface of the guide rail (12) and the surface of the plug blocks (15) are connected with fixing screws (19).

4. The machine vision-based tunnel inspection robot according to claim 2, characterized in that: The top ends of the two cleaning scrapers (302) are each provided with a magnetic suction head (303), the inner and outer surfaces of the cover body (31) are each provided with a sliding groove (304) at a position corresponding to the sliding path of the magnetic suction head (303), one end of the two cleaning scrapers (302) is each connected to a mounting head (305), and both side surfaces of the mounting head (305) are each provided with a limiting block (307).

5. The machine vision-based tunnel inspection robot according to claim 4, characterized in that: The outer surfaces of the two connecting sleeves (35) are respectively provided with adjustment grooves (306) at positions corresponding to the sliding paths of the two mounting heads (305); the inner bottom side of the adjustment groove (306) is connected to a slide bar (308); the outer surface of the slide bar (308) and the inner side wall thereof are connected to a limit spring (309); the bottom end of the limit spring (309) and the outer surface of the slide bar (308) are connected to a positioning sleeve (311); and a connection groove (318) is provided on one end surface of the mounting head (305) corresponding to the slide bar (308).

6. The machine vision-based tunnel inspection robot according to claim 5, characterized in that: The end surfaces of the two connecting sleeves (35) are both connected to a snap-fit ​​column (312), the outer surface of the snap-fit ​​column (312) is connected to an adjustment block (313), one end of the adjustment block (313) is connected to a support block (316), a bottom surface of the support block (316) is provided with a receiving groove (317) corresponding to the positioning sleeve (311), two protrusions are provided at the bottom end of the support block (316), and two notches (321) are provided on the surface of the mounting head (305) and the support block (316) corresponding to each other.

7. The machine vision-based tunnel inspection robot according to claim 6, characterized in that: A splitting groove (319) is provided on the outer surface of the connecting sleeve (35) and at a position corresponding to the inner side wall of the adjusting groove (306) and the sliding path of the two limit blocks (307). Two engaging holes (314) are provided on the surface of the adjusting block (313) and at a position corresponding to the engaging column (312). A movable groove (315) is provided between the two engaging holes (314) and at a position corresponding to the sliding path of the engaging column (312) and the surface of the adjusting block (313).

8. The machine vision-based tunnel inspection robot according to claim 3, characterized in that: The inner diameter of the mounting groove (18) matches the outer diameter of the lubricating sheet (14); the surface of the lubricating sheet (14) is made of sponge material; the inner diameter of the positioning hole (17) matches the outer diameter of the positioning column (16); the lubricating sheet (14) is connected to the guide rail (12) via the positioning column (16), the insert block (15) and the fixing screw (19).

9. The machine vision-based tunnel inspection robot according to claim 7, characterized in that: The inner diameter of the splitting groove (319) is compatible with the sliding path of the limit block (307), the inner diameter of the adjusting groove (306) is compatible with the sliding path of the mounting head (305), the inner diameter of the positioning sleeve (311) is compatible with the inner diameter of the receiving groove (317), the inner diameter of the connecting groove (318) is compatible with the outer diameter of the sliding rod (308), the inner diameter of the engaging hole (314) is compatible with the outer diameter of the engaging column (312), and the inner diameter of the movable groove (315) is compatible with the sliding path of the engaging column (312).

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