Tunnel robot automatic inspection system and method

Abstract

The invention discloses a tunnel robot automatic inspection system and method, and the system comprises an inspection robot which comprises a master robot and two slave robots, the starting position of the master robot is located at the midpoint of a tunnel, and the starting positions of the two slave robots are located at the two opposite ends of the tunnel respectively and are close to a tunnel portal; the task generation module is used for generating an inspection task based on a set inspection plan and distributing the inspection task to the master robot and the slave robot according to a preset rule; wherein each of the master robot and the slave robot is provided with a communication module, a control module, a driving module and airborne detection equipment; the communication module is used for acquiring an inspection task including an inspection path, an inspection object and an inspection index, and transmitting an inspection report generated after inspection is executed according to the inspection task; the control module is used for controlling the driving module and the airborne detection equipment to detect the inspection indexes of the inspection object according to the inspection path according to the inspection task, and generating an inspection report; the driving module is used for controlling the inspection robot to move according to the inspection path and the inspection object so as to enable the detection module to complete corresponding detection; and the data processing module is connected with the master robot and the slave robot, and is used for comparing index parameters of the inspection indexes in the inspection report with threshold values corresponding to the inspection indexes to determine the emergency degree, judging whether an emergency occurs or not, and if yes, displaying the emergency on a screen.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and particularly relates to a tunnel robot automatic inspection system and method. Background Art

[0002] Tunnel intelligent inspection robots can run at high speed on the inner wall track of the tunnel, complete the comprehensive daily inspection work of the tunnel, conduct real-time video monitoring, enable tunnel management personnel to quickly understand the on-site emergency situation, promptly formulate emergency plans, and efficiently execute emergency evacuation and other measures.

[0003] Tunnel inspection robots utilize control software, AI algorithms, and the QS industrial Internet platform to obtain the operating status information of the internal equipment of the tunnel, and analyze various state characteristics such as tunnel structure, equipment operation, vehicle driving, road surface, and meteorology. Through the analysis of this information, changes caused by damage or degradation during the operation of the tunnel can be diagnosed, and evaluation and judgment can be made, providing a scientific basis and guidance for the maintenance, repair, and management of the tunnel.

[0004] Due to different tasks of the robot, it is necessary for the robot to obtain detailed tunnel information, and it is also necessary for the robot to quickly detect obstacles and discover the emergency handling time. In the prior art, if the inspection speed of the robot is too fast, the detected tunnel structure information will be relatively less. If the running speed is too slow, although more tunnel structure information can be detected, obstacles and emergency events cannot be quickly discovered. Based on this, the present application is proposed. Summary of the Invention

[0005] In view of the above situation, the embodiments of the present application propose a tunnel robot automatic inspection system and method, which achieve automatic inspection and improve the efficiency and accuracy of inspection.

[0006] In a first aspect, the embodiments of the present application provide a tunnel robot automatic inspection system, including:

[0007] An inspection robot, including a main robot and two slave robots. The starting position of the main robot is located at the midpoint of the tunnel, and the starting positions of the two slave robots are respectively located at opposite ends of the tunnel and close to the tunnel entrances;

[0008] A task generation module, configured to generate inspection tasks based on a set inspection plan, and allocate the inspection tasks to the main robot and the slave robots according to preset rules;

[0009] Wherein, both the main and slave robots are equipped with a communication module, a control module, a driving module, and on-board detection equipment;

[0010] The communication module is configured to obtain inspection tasks including inspection paths, inspection objects, and inspection indicators, and transmit inspection reports generated after performing inspections according to the inspection tasks;

[0011] The control module is used to control the driving module and the on-board detection device to detect the inspection indicators of the inspection object according to the inspection task along the inspection path, and generate the inspection report;

[0012] The driving module is used to control the inspection robot to move according to the inspection path and the inspection object so that the detection module can complete the corresponding detection;

[0013] The data processing module is connected to the master robot and the slave robot, and is used to determine the urgency based on the comparison between the index parameters of the inspection indicators in the inspection report and the thresholds corresponding to the inspection indicators, determine whether it is an emergency event, and if so, display the emergency event on the screen.

[0014] In one embodiment, the data processing module stores the emergency event processing logic. If it is detected that the proportion of the emergency event on the screen exceeds 30%, the inspection robot decelerates until the proportion exceeds 50%, and the inspection robot stops. At this time, the control module calls the emergency event processing logic for processing.

[0015] In one embodiment, the control module is further used to, when multiple inspection tasks are obtained simultaneously, determine the execution process of the inspection task based on the task importance degree, the inspection path, and the inspection time.

[0016] In one embodiment, the data processing module stores the emergency logics of different inspection tasks, and the control module retrieves and executes the corresponding processing logic when the inspection indicators of the inspection task are abnormal.

[0017] In one embodiment, the inspection tasks configured for the master robot are obstacle detection and tunnel structure detection, and the operation process of the master robot is as follows:

[0018] If an obstacle is detected, stop moving and enter the corresponding processing logic, and the processing logic is the obstacle avoidance logic;

[0019] If there is no obstacle, start the tunnel structure detection device. If the inspection indicators of the tunnel are detected to be abnormal, enter the corresponding processing logic, and the processing logic is the structure abnormality processing logic.

[0020] In one embodiment, the inspection tasks of the slave robot are obstacle detection and environment detection in sequence;

[0021] If an obstacle is detected, upload the obstacle information and enter the corresponding processing logic, and the processing logic is the obstacle avoidance logic;

[0022] If no obstacle is detected, perform environment detection and collect the environmental parameters in the tunnel at preset time intervals;

[0023] If an abnormal environmental parameter is detected, the corresponding processing logic, i.e., the environmental emergency logic, will be entered.

[0024] In one embodiment, the data processing module stores an inspection program. When the inspection robot is started, the control module calls the inspection program to check for motor faults and battery power.

[0025] In one embodiment, the data processing module stores a charging logic. When the control module detects that the battery power of the current inspection robot is less than a preset threshold, it calls the charging logic to control the robot to return to the charging pile for charging.

[0026] In one embodiment, the charging logic is specifically as follows:

[0027] When the control module detects that the battery power of the current inspection robot is less than the preset threshold, it locates the current position of the slave robot.

[0028] Based on the current position of the slave robot and the position information of the charging pile obtained by reading the RFID tag information, the moving direction of the robot is determined.

[0029] It is judged whether the slave robot reaches the limit range of the charging pile. If so, it stops moving and finely adjusts to the optimal charging position in the forward or backward direction at a very small speed according to the current position of the slave robot.

[0030] If not, it moves to the preset charging range of the charging pile at the preset moving speed and then finely adjusts to the optimal charging position.

[0031] When it is detected that the battery power reaches the preset power, the slave robot returns to the main logic.

[0032] In a second aspect, the embodiments of the present application further provide a method for automatic inspection of tunnel robots, and the method includes:

[0033] Configure the inspection robot as one master robot and two slave robots. The starting position of the master robot is located at the midpoint of the tunnel, and the starting positions of the two slave robots are respectively located at the opposite ends of the tunnel and close to the tunnel openings.

[0034] Generate inspection tasks based on the set inspection plan, and allocate the inspection tasks to the master robot and the slave robots according to preset rules.

[0035] The master robot and the slave robots obtain the inspection tasks and transmit the inspection reports generated after performing the inspection according to the inspection tasks.

[0036] Control the drive module and the on-board detection equipment according to the inspection tasks to detect the inspection indicators of the inspection object along the inspection path, and generate the inspection report.

[0037] configured to control a patrol robot to move according to the patrol path and the patrol object so that the detection module completes corresponding detections;

[0038] configured to determine the urgency level by comparing the index parameters of the patrol indicators in the patrol report with the thresholds corresponding to the patrol indicators, and determine whether it is an emergency event.

[0039] The above at least one technical solution adopted in the embodiments of the present application can achieve the following beneficial effects:

[0040] The on-board detection device feeds back the detection results to the control module. After the control module generates a detection report, it uploads it to the data processing module through the communication module. The patrol robot realizes automatic patrol through the communication module, the control module, the motion module and the detection module, improving the efficiency and accuracy of the patrol. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0042] Figure 1 Shows the layout structure diagram (one) of the patrol robot in a tunnel according to an embodiment of the present application.

[0043] Figure 2 Shows the layout structure diagram (two) of the patrol robot in a tunnel according to an embodiment of the present application.

[0044] Figure 3 Shows the main operation logic diagram of the patrol robot according to an embodiment of the present application.

[0045] Figure 4 Shows the emergency event handling logic diagram of the patrol robot according to an embodiment of the present application.

[0046] Figure 5 Shows the obstacle avoidance logic diagram of the patrol robot according to an embodiment of the present application.

[0047] Figure 6 Shows the charging logic diagram of the patrol robot according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments of this application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0049] The following will detail the technical solutions provided by each embodiment of this application with reference to the drawings.

[0050] This application provides an automatic inspection system for tunnel robots, including: a task generation module, several inspection robots, on-board detection equipment, and data processing. Each of the robots is equipped with the corresponding on-board detection equipment and walks along the tunnel.

[0051] The task generation module is used to generate inspection tasks based on the inspection plan set by the user. It should be noted that the task generation module can be set in the inspection robot or in the background server.

[0052] The inspection robot and the task generation module can be connected wirelessly or wired. For example, when the task generation module is set in the inspection robot, it can be connected to the inspection robot by wire to transmit the inspection task. When the task generation module is not set in the inspection robot, it can be connected to the inspection robot wirelessly to transmit the inspection task.

[0053] The inspection tasks can include: inspection paths, inspection objects, and inspection indicators. However, the present invention is not limited to this. In the embodiments of the present invention, each inspection task can include at least one inspection indicator for at least one inspection object.

[0054] In the embodiments of the present invention, the inspection indicators include: obstacle parameter indicators, tunnel parameter indicators, and environmental indicators. The obstacle parameter indicators can be data such as the length, width, and volume of recognizable obstacles. The tunnel parameter indicators can be data such as water leakage, cracks, and peeling on the inner wall (inspection object) of the tunnel. The environmental indicators can be data such as temperature, humidity, dust, and special gases (methane, oxygen, carbon monoxide, hydrogen sulfide) in the tunnel.

[0055] According to the working conditions and environments, the types of on-board detection equipment are different. For example, in the field of track detection, the on-board detection equipment mainly includes: track parameter detection equipment, obstacle detection devices, environmental detection devices, and a server supporting the above equipment. Detection devices can be added according to different actual needs.

[0056] The environmental detection device is used to collect temperature and humidity, detect O2 concentration, and detect CO and combustible gas concentrations. The robot conducts patrol inspections in the tunnel and monitors and records the temperature, humidity, O2 concentration, CO and combustible gas concentrations in the tunnel, and uploads them to the background server to generate the average distribution curves of the corresponding temperature, humidity, etc., for users to analyze the situation in the tunnel.

[0057] The patrol inspection robot is used to execute the patrol inspection task and generate a detection report. According to an embodiment of the present invention, the patrol inspection robot can generate a detection report after each execution of a patrol inspection index in the patrol inspection task, so as to generate a detection report based on a patrol inspection index in the patrol inspection task. Or generate a detection report after each execution of all or multiple patrol inspection indexes in the patrol inspection task, so as to generate a detection report based on all or multiple patrol inspection indexes in the patrol inspection task. According to an embodiment of the present invention, after the patrol inspection robot generates the detection report, it uploads the detection report and determines whether the patrol inspection task is completed. If not, it executes the next patrol inspection index in the detection report.

[0058] Among them, the data processing module is used to determine the urgency level by comparing the index parameters of the patrol inspection indexes in the detection report with the thresholds corresponding to the patrol inspection indexes in the detection report, and determine whether it is an emergency event. The data processing module stores preset thresholds for each patrol inspection index.

[0059] The data processing module stores an emergency event processing logic. If it is an emergency event, the control module calls the emergency event processing logic for processing.

[0060] In this application, the control module is also used to determine the operation process of executing the patrol inspection task based on the task importance level, patrol inspection path, and patrol inspection time when multiple patrol inspection tasks are obtained simultaneously.

[0061] The data processing module stores the emergency logic for different patrol inspection tasks. The control module retrieves and executes the corresponding processing logic when the patrol inspection index of the patrol inspection task is abnormal.

[0062] In this application, the connection method between the patrol inspection robot and the data processing module is similar to the connection method between the patrol inspection robot and the task generation module. The data processing module can be set on the patrol inspection robot or on the background server.

[0063] The specific structure of the patrol inspection robot of this application is as follows:

[0064] The patrol robot of this application has a master-slave structure. According to business needs, there is 1 master robot and 2 slave robots. The functions of the master robot are different from those of the slave robots. The set running speed of the master robot is less than that of the slave robots. Patrol tasks are assigned to the master and slave robots according to the urgency of the situation. The slave robots run fast and can quickly detect emergency events and give feedback.

[0065] As Figure 1 , Figure 2 shown, in this application, taking a specific embodiment as an example, the patrol robot is 1 master robot M and 2 slave robots (left slave robot SL, right slave robot SR). The starting position of the master robot is at the midpoint of the tunnel. The starting positions of the two slave robots are respectively at the opposite ends of the tunnel and close to the tunnel openings. There are 3 charging piles (T1, T2, T3) set between the outside of the tunnel EP and the outside of the tunnel SP. The outside of the tunnel EP and the outside of the tunnel SP are the tunnel openings mentioned in this application. Among them, the master robot M is located at the midpoint D2 of the track from the outside of the tunnel EP to the outside of the tunnel SP. The midpoint D2 is the starting position of the master robot. The charging pile T2 and the starting point of the host M are both the midpoint D2. The starting position of the left slave robot SL coincides with the position of the charging pile T1 (the charging position T1 coincides with the starting point D1). The starting position of the right slave robot SR coincides with the position of the charging pile T3 (the charging position T3 coincides with the starting point D3). The starting position of the left slave robot SL is at D1 on the left side of the track, and the starting point of the right slave robot SR is at D3 on the right side of the track. The inside of the tunnel is defined as the area between D1 on the left side of the track and D3 on the right side of the track. The patrol range of the master robot is D1-D3. The patrol range of the left slave robot SL is from the outside of the tunnel EP to the outside of the tunnel SP, and that of the right slave robot SR is from the outside of the tunnel SP to the outside of the tunnel EP. The distance from the outside of the tunnel EP to the outside of the tunnel SP or from the outside of the tunnel SP to the outside of the tunnel EP is the distance from the starting point to the end point of the tunnel.

[0066] The patrol robots of this application all have a communication module, a control module, a driving module, and on-board detection equipment.

[0067] According to an embodiment of the present invention, the communication module is used to obtain a patrol task including a patrol path, a patrol object, and a patrol index, and transmit a detection report generated after performing patrol according to the patrol task.

[0068] According to an embodiment of the present invention, during the process of the patrol robot performing patrol, it can be connected to the task management module in a wired / wireless manner through the communication module to obtain a patrol task. This communication module can also be connected to the data processing module in a wired / wireless manner to transmit the detection report generated after performing patrol according to the patrol task to the data processing module.

[0069] According to an embodiment of the present invention, the control module is used to control the driving module and the on-board detection equipment according to the patrol task to detect the patrol index of the patrol object according to the patrol path, and generate the detection report.

[0070] According to an embodiment of the present invention, the control module can generate a detection report after each inspection index in the inspection task is completed, or generate a detection report after all or multiple inspection indexes in the inspection task are completed. After each detection report is generated, the detection report is uploaded, and it is determined whether the inspection task is completed. If not, the next inspection index in the detection report is executed.

[0071] According to an embodiment of the present invention, the control module is further configured to determine the execution order of the inspection tasks based on the inspection paths and execution time information of the multiple inspection tasks when multiple inspection tasks are obtained simultaneously.

[0072] In an embodiment of the present application, the data processing module stores a charging logic. When the control module detects that the power of the current inspection robot is less than a preset threshold, the charging logic is called to control the robot to return to the charging pile for charging. Specifically, the control module can also be used to monitor the power of the inspection robot. When the power is insufficient or it is predicted that the current power cannot complete the detection of the next inspection index, after the detection of the current inspection index is completed, the current inspection task is interrupted, a detection report is generated, and the inspection robot is controlled to return to the charging pile for charging according to the charging logic.

[0073] The driving module is used to control the inspection robot to move according to the inspection path and the inspection object so that the on-board detection device can complete the corresponding detection. According to an embodiment of the present invention, the driving module can move based on the control of the control module. For example, it controls the inspection robot to move according to the inspection path and the inspection object so that the on-board detection device can complete the corresponding detection. Such as returning to the charging pile for charging according to the charging instruction and charging path of the control module.

[0074] In a specific embodiment of the present application, both the master robot and the slave robot are provided with the above basic configurations, namely, the communication module, the control module, the driving module, and the on-board detection device. According to different inspection tasks, the on-board detection devices of the master robot and the slave robot are configured differently.

[0075] The control module configured for the master robot is the microprocessor MN, the communication module is the communication module MW, and the driving module is the motor driving module MM. The motor driving module MM is used for motor driving. The microprocessor MN serves as the edge computing unit and the main processor of the master robot. The communication module MW is composed of an internal wifi module and a bridge in the edge computing unit, and is used to obtain an inspection task including an inspection path, an inspection object, and an inspection index, and transmit a detection report generated after performing the inspection according to the inspection task.

[0076] In this application, the on-board detection device configured for the main robot is the first on-board detection device, and the first on-board detection device is configured with a tunnel structure detection device, an obstacle detection device, etc.

[0077] The obstacle detection device includes: an obstacle avoidance module MU, which is composed of ultrasonic radars MU1 (front) and MU2 (rear), and a laser ranging sensor ML, and a lidar is selected.

[0078] The tunnel structure detection device includes a vision sensor MC and an illumination module MI. The vision sensor MC is used to collect data on diseases in the tunnel such as cracks and peeling, and is composed of a group of cameras (MC1, MC2... MCn). The vision sensor MC is a high-definition camera, and the illumination module MI provides supplementary light for the vision sensor, and is composed of a lighting lamp MIL and a swing motor MIM.

[0079] The process of the robot in this application detecting an obstacle is as follows:

[0080] The main robot and the slave robot are equipped with an obstacle avoidance module MU, which uses ultrasonic radars MU1 (front) and MU2 (rear) to continuously scan the surrounding environment of the robot in real time, detect potential obstacles, and send the detection information to the data processing module.

[0081] The main robot moves at medium and low speeds, and the slave robot can be configured to move at high speeds. The main robot is configured with a tunnel structure detection device, allowing the inspection main robot to automatically move at a low speed and uniformly in the middle of the tunnel. The body of the inspection main robot relies on multiple high-definition cameras carried by itself to continuously take pictures of the tunnel environment to obtain images. While the multiple high-definition cameras are taking pictures, the inspection main robot body embeds the moving coordinates into the image information, and then the inspection main robot body transmits the obtained images to the background server while moving.

[0082] The on-board detection device feeds back the detection results to the control module. After the control module generates a detection report, it uploads it to the data processing module through the communication module. The inspection robot realizes automatic inspection through the communication module, the control module, the motion module, and the detection module, improving the efficiency and accuracy of the inspection.

[0083] In addition to the above basic configuration, the main robot of this application is also configured with a positioning module MP, a battery unit, a switch unit, and an alarm device.

[0084] The positioning module MP is used to provide position information for the robot and adopts an RFID positioning scheme.

[0085] The battery unit includes a charging module MT and a battery module MB. The battery module MB provides power for the robot, and the charging module MT, which is composed of MAC / DC and a battery management system MTB, charges the robot.

[0086] The alarm device includes: a warning module MA, a warning light MAL, etc. The warning module MA emits a sound and light alarm when encountering an obstacle to make the obstacle leave, and is composed of a speaker MAP and a warning light MAL.

[0087] Switch unit: the main switch MO of the robot, the emergency stop switch of the robot. The main switch MO of the robot is a thermal switch of the robot, and the emergency stop switch ME of the robot is applied during the debugging stage of the robot. The emergency stop switch ME of the robot is connected to the microprocessor MN to control the stop of the robot.

[0088] In this application, the on-board detection device configured for the slave robot is the second on-board detection device, and the second on-board detection device has an obstacle detection device, an environment detection device, a battery detection device, a motor fault detection device, etc. The environment detection device has a light sensor RIL, a gas sensor RG, an infrared sensor RI, a pickup RP, etc. The obstacle detection device has an obstacle avoidance module RU, an event camera RC, a front view camera RCF, etc.

[0089] In this application, the control module configured for the slave robot is the microprocessor RN, the communication module is the communication module RW, and the drive module is the motor drive module RM.

[0090] Same as the master robot, in addition to the above basic configurations, the slave robot of this application is also configured with a positioning module RP, a battery unit, a switch unit, an alarm device, and an emergency lighting device.

[0091] The battery unit has a motor drive module RM and a charging module RT.

[0092] Alarm device, warning module RA, warning light.

[0093] Switch unit: the main switch RO of the robot, the emergency stop switch RE

[0094] Emergency lighting device: laser pointer projector, emergency lighting lamp, etc.

[0095] Among them: the event camera RC is a high-definition camera with no less than 2 million pixels, which collects and analyzes videos of driving safety events. The front view camera sensor RCF: is responsible for visual analysis and measurement of the cave entrance and portal. The gas sensor module RG: collects the gas in the cave and gives parameters, such as CO concentration, O2 concentration, etc. The infrared sensor module RI: an infrared thermal imaging sensor, which is responsible for detecting high-temperature hazard sources in the cave. The light sensor RIL: measures the light conditions in the cave. The pickup RP: picks up voice intercom. The laser pointer projector RL: projects a laser road sign during emergency disposal, and the emergency lighting lamp RLE: is used when an emergency occurs or the lighting in the cave fails.

[0096] The communication module RW, obstacle avoidance module RU, charging module RT, warning module RA, battery module RB, main robot switch RO, motor drive module RM, and emergency stop switch RE of the slave robot have the same functions as those on the main robot, and will not be elaborated here.

[0097] In this application, the alarm device and positioning module of the inspection robot are both connected to the microprocessor MN, so as to issue warnings during the inspection process, and when the inspection robot fails, it is convenient for maintenance personnel to accurately locate the faulty robot and manually control the stop of the robot.

[0098] In this application, RFID radio frequency identification modules are installed on the main inspection robot and the slave robot, and RFID tags are installed on or near the charging pile as positioning points, and the position information of the charging pile is obtained by reading the RFID tag information. When the main inspection robot and the slave robot move, the real-time coordinate positions are recorded and uploaded to the background server.

[0099] By calculating the change rate of the difference between the current current and the normal charging current in real time during the movement of the inspection robot when returning to charge, and determining the next movement direction according to the change rate situation, through this closed-loop working method, the best charging position can be accurately found and the charging efficiency can be effectively improved.

[0100] As Figure 2 shown, multiple RFID tags are installed on or near the charging piles T1, T2, and T3. One RFID tag is distributed every 20 cm starting from the outside of the cave EP (turning point) for three consecutive ones, one RFID tag is distributed every 20 cm outside the cave SP (turning point) for three consecutive ones, and one RFID tag is distributed every 200 cm between the outside of the cave EP and the outside of the cave SP. The RFID tags are used to interact with the RFID radio frequency identification module. After the above settings, the RFID tags are used as positioning points to calibrate the position information of the charging pile.

[0101] The principle of the method for positioning the position information of the charging pile is:

[0102] Calibrate the normal charging current and obtain the current charging current, and then calculate the change rate of the difference between the current current and the calibrated current charging current. The smaller the difference between the current charging current and the normal charging current, the better the charging position. Determine the moving direction according to the change rate to determine the optimal charging position. Specifically, after the inspection robot reaches the positioning point, it determines the moving direction in a closed-loop manner by obtaining the change rate of the current difference to determine the optimal charging position. When the inspection robot confirms the optimal charging position, it first moves slowly along one side of the horizontal direction of the charging pile. If the difference between the current charging current and the calibrated charging current increases at this time, it stops moving and then moves in the opposite direction. If the difference decreases, it continues to move until it stops at the place where the difference is the smallest, and this position is the optimal charging position.

[0103] The following are the method embodiments of the present invention, which can be executed by each module provided by the device embodiments of the present invention. In the following description of the method, the same parts as the foregoing device will not be described in detail.

[0104] The present application provides a method for automatic inspection of tunnel robots, and the method includes:

[0105] Configure the inspection robot as one main robot and two slave robots. The starting position of the main robot is located at the midpoint of the tunnel, and the starting positions of the two slave robots are respectively located at opposite ends of the tunnel and close to the tunnel entrance;

[0106] Generate inspection tasks based on the set inspection plan, and allocate the inspection tasks to the main robot and the slave robots according to preset rules;

[0107] The main robot and the slave robots obtain the inspection tasks and transmit the inspection reports generated after performing inspections according to the inspection tasks;

[0108] Control the driving module and the on-board detection device according to the inspection tasks to detect the inspection indicators of the inspection object along the inspection path, and generate the inspection report;

[0109] Used to control the inspection robot to move according to the inspection path and the inspection object so that the detection module can complete the corresponding detection;

[0110] Used to determine the urgency based on the comparison between the index parameters of the inspection indicators in the inspection report and the thresholds corresponding to the inspection indicators, and determine whether it is an emergency event.

[0111] The data processing module stores the emergency event processing logic. If the screen occupancy of the detected emergency event exceeds 30%, the inspection robot starts to decelerate until the screen occupancy of the emergency event exceeds 50%, stops moving, and the control module calls the emergency event processing logic for processing.

[0112] The specific process of the emergency handling logic is as follows:

[0113] When it is detected that the proportion of the emergency event on the screen exceeds 30%, start decelerating until the proportion of the emergency event on the screen exceeds 50%, and the slave robot stops moving, then start the emergency handling logic, which is as follows:

[0114] Obtain the position information of the current emergency event and judge the running direction of the slave robot;

[0115] Based on the running direction of the robot, turn on the corresponding laser indicator projector RL to obtain the laser road sign projection;

[0116] Turn on the emergency lighting lamp RLE, which is used when an emergency event occurs or the lighting in the cave fails. Through the pick-up microphone RP for voice intercom prompt and display the emergency prompt on the screen;

[0117] And send the position information of the obstacle event to the background server for storage;

[0118] After manual event handling or after the slave robot restarts, the slave robot returns to the slave host logic.

[0119] When the master and slave robots are running with the main logic (inspection task program instructions), when it is detected that the inspection index is abnormal, the corresponding handling logic will be called. The data processing module stores the emergency logics of different inspection tasks, and the control module calls and executes the corresponding handling logic when the inspection index of the inspection task is abnormal. The running main logic of the master and slave robots is as follows:

[0120] The inspection tasks configured for the master robot are obstacle detection and tunnel structure detection. The running process of the master robot is:

[0121] If an obstacle is detected, stop moving and enter the corresponding handling logic, and the handling logic is the obstacle avoidance logic;

[0122] The obstacle avoidance logic is:

[0123] If an obstacle is detected, stop moving and start the alarm device;

[0124] After an interval of a preset time, for example, after 10 minutes, if the fault has not disappeared, then push the relevant fault information to the background server and display it on the screen for manual intervention.

[0125] If there is no obstacle, start the tunnel structure detection device. If it is detected that the inspection index of the tunnel is abnormal, then enter the corresponding handling logic, and the handling logic is the structure abnormality handling logic.

[0126] The structure abnormality handling logic is: if it is abnormal, send the abnormal information of the tunnel parameter index to the data processing module for storage and display on the screen, and the data processing module issues various inspection reports based on the abnormal information of the tunnel parameter index;

[0127] Main robot operation logic diagram:

[0128] S1 The main robot starts from the starting position D2, powers on and stands by;

[0129] S2 When the inspection time arrives, it starts from the standby state, and the main robot powers on and works;

[0130] S3 Start the obstacle detection device. If an obstacle is detected, stop moving and start the alarm device;

[0131] After an interval of a preset time, for example, after 10 minutes, if the fault has not disappeared, push the relevant fault information to the background server for screen display and manual intervention.

[0132] S4 If there is no fault, start the tunnel structure detection device. If abnormal information of tunnel parameter indicators is detected, the abnormal information of tunnel parameter indicators includes: disease type, information related to disease degree, abnormal information of tunnel parameter indicators, abnormal information of tunnel parameter indicators

[0133] S5 If no abnormal information of tunnel parameter indicators is detected, the main robot continues to move forward, identifies the turning point through RFID positioning and returns.

[0134] As Figure 3 shown, from the operation main logic diagram of the slave robot of the present application, it can be seen that the slave robot powers on and starts, the microprocessor starts, and it is time-triggered.

[0135] Operation convention: Each time it restarts, terminates, or charges, it moves to the right at a speed of 1 m / s to obtain the initial position.

[0136] From 0:00 to 3:00 in the preset time, it enters the charging logic, and from 3:00 in the morning to 12:00 at night, it runs the event inspection logic. The two slave robots move relatively along different straight lines at a constant speed of 1 m / s and turn back at the EP (turning point) outside the tunnel and the SP (turning point) outside the tunnel respectively.

[0137] Turn on the robot and start the inspection task:

[0138] When the slave robot is running, it obtains the charging pile position information by reading the RFID tag information every 5 s and uploads the real-time position St1 to the background server for storage;

[0139] If a motor fault is detected, send the fault information to the background server, and the background server issues an instruction to restart the motor according to the fault information.

[0140] If there is no motor fault, check in turn whether the battery power is greater than 50%. If it is less than 50%, start the charging logic.

[0141] As Figure 6As shown in the figure, the slave charging logic runs:

[0142] When the control module detects that the battery power of the current inspection robot is less than the preset threshold, it locates the current position of the slave robot.

[0143] Based on the current position of the slave robot and the charging pile position information obtained by reading the RFID tag information, it determines the moving direction of the robot.

[0144] Whether the slave robot reaches the charging pile limit range;

[0145] If so, it stops moving and fine-tunes to the optimal charging position in the forward or backward direction at a very small speed according to the current position of the slave robot.

[0146] If not, it moves to the preset charging range of the charging pile at the preset moving speed, such as 1m / s, and then fine-tunes to the optimal charging position.

[0147] Specifically: It moves to within 2 meters of the charging pile at 1m / s and decelerates to 0.1m / s after arrival.

[0148] Turn on the charging switch;

[0149] When it detects that the battery power reaches the preset power, the slave robot returns to the main logic.

[0150] If there is no problem, it starts the formal inspection task. The process of the event inspection logic running:

[0151] If an obstacle is detected, it uploads the obstacle parameter indicators to the data processing module and enters the obstacle avoidance logic.

[0152] The slave robot collects the environmental information in the cave every minute. If it is abnormal, it enters the environmental emergency logic.

[0153] The process of the environmental emergency logic:

[0154] Start the environmental detection device. The environmental detection device has a light sensor RIL, a gas sensor RG, and an infrared sensor RI.

[0155] Collect the concentrations of various gases in the cave and compare the collected gas concentrations with the preset safety thresholds.

[0156] If it exceeds the safety threshold, start the sound and light alarm, push a message to the server background and display it on the display screen.

[0157] If it is still abnormal after the preset time interval, start manual intervention and switch back to the main program of the slave robot.

[0158] If the above detections are all normal, the event camera RC starts and enters the structure inspection. During the structure inspection, the event inspection is still in working state, but the inspection frequency is reduced. When the structure inspection is abnormal, it enters the emergency event handling logic.

[0159] As Figure 5 shown, the specific process of the obstacle avoidance logic is as follows:

[0160] According to the continuous data collection of the obstacle detection device on the traveling path and the surrounding environment of the slave robot, it is judged whether there are obstacles on the main traveling route of the slave robot;

[0161] If an obstacle is encountered, the obstacle parameter indicators will be uploaded to the background server, and the background server will generate an alarm instruction based on the obstacle parameter indicators and send the alarm instruction to the alarm device;

[0162] If the obstacle still exists after the preset time period, the information that the obstacle still exists will be sent to the background server;

[0163] Subsequently, manual intervention is carried out, and after a manual restart, it enters the main logic of the slave machine.

[0164] If a motor fault is detected, the fault information will be sent to the background server, and the background server will send an instruction to restart the motor according to the fault information.

[0165] The above are only the embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A tunnel robot automatic inspection system, characterized in that: include: The inspection robot comprises a master robot and two slave robots, wherein the starting position of the master robot is located at the midpoint of the tunnel, and the starting positions of the two slave robots are respectively located at opposite ends of the tunnel and close to the tunnel entrance; The task generation module is used to generate inspection tasks based on the set inspection plan and assign inspection tasks to the master robot and slave robots according to preset rules; Among them, both the master and slave robots have communication modules, control modules, drive modules and onboard detection equipment; The communication module is used to obtain an inspection task including an inspection path, an inspection object and an inspection index, and transmit an inspection report generated after the inspection is performed according to the inspection task; The control module is used to control the driving module and the airborne detection equipment to detect the inspection indicators of the inspection object according to the inspection task and generate the inspection report; The driving module is used to control the inspection robot to move according to the inspection path and the inspection object so that the detection module completes the corresponding detection; The data processing module is connected to the master robot and the slave robot, and is used to determine the degree of urgency based on the comparison between the index parameters of the inspection index in the inspection report and the threshold value corresponding to the inspection index, and to determine whether it is an emergency event. If so, the emergency event will be displayed on the screen.

2. The tunnel robot automatic inspection system according to claim 1, characterized in that: The data processing module stores emergency event processing logic. If the detected emergency event accounts for more than 30% of the screen, the inspection robot slows down until it accounts for more than 50%, then the inspection robot stops. At this time, the control module calls the emergency event processing logic for processing.

3. The automatic inspection system for tunnel robots according to claim 2, characterized in that: The control module is also used to determine the execution process of the inspection task based on the importance of the task, the inspection path and the inspection time when multiple inspection tasks are obtained at the same time.

4. The automatic inspection system for tunnel robots according to claim 3, characterized in that: The data processing module stores the emergency logic of different inspection tasks, and the control module calls and executes the corresponding processing logic when the inspection index of the inspection task is abnormal.

5. The automatic inspection system for tunnel robots according to claim 4, characterized in that: The inspection tasks configured by the main robot are obstacle detection and tunnel structure detection. The operation process of the main robot is: If an obstacle is detected, the movement is stopped and the corresponding processing logic is entered, which is the obstacle avoidance logic; If there is no obstacle, the tunnel structure detection device is started. If it is detected that the inspection index of the tunnel is abnormal, the corresponding processing logic is entered, and the processing logic is the structure abnormality processing logic.

6. The automatic inspection system for tunnel robots according to claim 4, characterized in that: The inspection tasks of the slave robot are obstacle detection and environment detection in order; If an obstacle is detected, the obstacle information is uploaded and the corresponding processing logic is entered, and the processing logic is the obstacle avoidance logic; If no obstacle is detected, environmental detection is performed to collect environmental parameters in the tunnel at preset time intervals; If an abnormal environmental parameter is detected, the corresponding processing logic is entered, and the processing logic is the environmental emergency logic.

7. The automatic inspection system for tunnel robots according to claim 1, characterized in that: The data processing module stores a patrol inspection program. When the patrol inspection robot is started, the control module calls the patrol inspection program to perform motor fault inspection and power inspection.

8. The automatic inspection system for tunnel robots according to claim 1, characterized in that: The data processing module stores the charging logic. When the control module detects that the current power of the inspection robot is less than a preset threshold, the charging logic is called to control the robot to return to the charging pile for charging.

9. The automatic inspection system for tunnel robots according to claim 8, characterized in that: The charging logic is specifically as follows: When the control module detects that the power of the current inspection robot is less than a preset threshold, the current slave robot is located; Determine the robot's moving direction based on the current position of the robot and the location information of the charging pile obtained by reading the RFID tag information; Determine whether the slave robot has reached the limit range of the charging pile; if so, stop moving, and fine-tune forward or backward at a small speed to the optimal charging position according to the current position of the slave robot; Otherwise, move the vehicle to the preset charging range of the charging pile at the preset moving speed, and then fine-tune to the optimal charging position; When it is detected that the power reaches the preset power, the slave robot returns to the main logic.

10. A tunnel robot automatic inspection method, characterized in that: The method includes: The inspection robot is configured as a master robot and two slave robots, the starting position of the master robot is located at the midpoint of the tunnel, and the starting positions of the two slave robots are respectively located at opposite ends of the tunnel and close to the tunnel entrance; Generate inspection tasks based on the set inspection plan, and assign inspection tasks to the master robot and slave robots according to preset rules; The master robot and the slave robot obtain the inspection task and transmit the inspection report generated after performing the inspection according to the inspection task; Controlling the driving module and the onboard detection equipment to detect the inspection indicators of the inspection object according to the inspection task and generating the inspection report; Used to control the inspection robot to move according to the inspection path and the inspection object so that the detection module completes the corresponding detection; It is used to determine the urgency based on the comparison between the indicator parameter of the inspection indicator in the inspection report and the threshold value corresponding to the inspection indicator, and judge whether it is an emergency event.

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