Rail type highway tunnel inspection robot and control method thereof

Abstract

The application discloses a track type highway tunnel inspection robot and a control method thereof, and relates to the field of highway tunnel inspection robots.The track type highway tunnel inspection robot comprises a robot operation track system structure, a track installation structure, an operation control module structure, an inspection function module structure, a culvert propulsion quick response module structure and a robot charging interface.Charging devices are arranged on both sides of the robot operation track system structure.By adopting a separable modular design, the functions of a driving control module, an inspection module and a quick response module of the robot are integrated in different module structures, so that the problems of the existing highway tunnel inspection equipment, such as weak independence of each function, slow response speed of abnormal events, single power source and power supply mode, etc., can be solved.In the process of performing normal inspection, a conventional motor drive is adopted as a power source, when an abnormal event is encountered, the culvert propulsion quick response module structure is separated from the robot main body, and power is provided by using a culvert fan, so that the possibility of modular deployment of the robot is improved.

Description

Technical Field

[0001] This invention belongs to the field of track-based robot technology, specifically relating to a track-based highway tunnel inspection robot and its control method. Background Technology

[0002] In the field of automated highway tunnel inspection, track-mounted robots, due to their advantages such as controllable paths and high positioning accuracy, can be used to complete various tasks such as traffic flow status detection, tunnel environmental monitoring, and tunnel defect detection, greatly reducing the labor costs required for inspection and improving inspection efficiency. Existing track-mounted inspection robots often have multiple detection functions, but the installation and operation of each functional module are not independent. When the robot needs to handle abnormal events such as traffic accidents, the entire robot needs to go, while functional modules not involved, such as environmental monitoring modules, need to stop working and go along. This greatly reduces the efficiency and flexibility of highway tunnel inspection.

[0003] To address the aforementioned shortcomings, existing solutions and their drawbacks are as follows: First, setting up multiple tracks, each with a different inspection function, significantly increases construction costs and wastes resources and space. Second, patent CN118927219B discloses a single-track multi-machine switching system for track-type robots. This system maintains a single-track structure but incorporates a multi-machine switching system, allowing inspection robots with different functions to take turns performing inspections. However, if there are many inspection functions and high requirements for inspection cycle, this system is difficult to meet the requirements.

[0004] Therefore, existing track-based inspection robot systems all suffer from the problem of difficulty in simultaneously and independently completing various inspection functions under conditions of limited space and construction resources. To address the problems of existing technologies, this invention proposes a track-based highway tunnel inspection robot that separates the functional modules and corresponding structures used for rapid response from the robot body, thereby enabling the robot to perform normal inspection work without interrupting its response tasks. Summary of the Invention

[0005] The purpose of this invention is to provide a track-mounted highway tunnel inspection robot and its control method, so as to overcome the problem that the existing technology is unable to achieve the simultaneous and independent completion of various inspection functions.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A track-mounted highway tunnel inspection robot includes a robot running track system structure, a track mounting structure, a running control module structure, an inspection function module structure, a culvert propulsion rapid response module structure, and a robot charging interface. Charging devices are installed on both sides of the robot running track system structure. The robot running track system structure is mounted on the sidewall of the highway tunnel via the track mounting structure. The running control module structure is slidably mounted on the robot running track system structure. An inspection function module structure is located on each side of the running control module structure on the robot running track system structure, and the running control module structure and the inspection function module structure are detachably connected. Each inspection function module structure is connected to a culvert propulsion rapid response module structure. The robot running track system structure, running control module structure, inspection function module structure, and culvert propulsion rapid response module structure are connected via the robot charging interface.

[0007] Preferably, the robot running track system structure includes a three-slot running track, a side-mounted drive belt with limiters, and a track-end charging station; a running slot is provided at each end of the three-slot running track, and an installation slot is provided in the middle of the three-slot running track; the side-mounted drive belt with limiters is installed on one side of the three-slot running track, and the side-mounted drive belt with limiters includes drive belt teeth and drive belt limiters, with a drive belt limiter on each of the upper and lower sides of the drive belt teeth.

[0008] Preferably, the track mounting structure includes an upper mounting frame, a lower mounting frame, and a rotatable track mounting base. The upper mounting frame is installed on the tunnel sidewall, the lower mounting frame is fixedly connected to the upper mounting frame, the rotatable track mounting base is connected to the lower mounting frame, and a lower mounting frame body is provided at the lower end of the lower mounting frame, with a positioning buckle installed on the lower mounting frame body.

[0009] Preferably, the rotatable track mounting base includes a track mounting base body, a vertical air damper, and a lateral air damper. A rotating pair is formed between the track mounting base body and the lower mounting frame. The vertical air damper and the lateral air damper are used to reduce the vibration of the track in both the vertical and lateral directions during robot operation.

[0010] Preferably, the operation control module structure includes an operation control module frame, an operation control module housing, flange wheel sets, a drive motor system, an operation control battery module, and a control module; the operation control module housing is installed on the outside of the operation control module frame; multiple flange wheel sets are installed on the top of the operation control module housing, and the flange wheel sets contact the three-groove running track; the drive motor system is installed inside the operation control module frame; the operation control battery module and the control module are both installed inside the operation control module frame, the operation control battery module is used to provide the power required by the control module and the drive motor system, and the control module is used to store the controller and related equipment required by the robot.

[0011] Preferably, the drive motor system includes a drive motor, a drive motor coupling, a synchronous gear hub, a pulley shaft, a pulley connecting key, and a motor connecting key; the motor shaft of the drive motor is connected to the drive motor coupling via the motor connecting key; the synchronous gear hub is connected to the drive motor coupling via the pulley shaft and is circumferentially positioned via the pulley connecting key; the rotation of the drive motor can be transmitted to the synchronous gear hub; the synchronous gear hub meshes with the drive belt teeth of the drive belt with a limiting side-mounted drive belt.

[0012] Preferably, the ducted propulsion rapid response module structure includes a rapid response module body, a rapid response wheel set, and a ducted fan; the rapid response wheel set is installed on top of the rapid response module body and contacts the three-slot running track; two pairs of ducted fans are installed on each side of the rapid response module body.

[0013] Preferably, the robot charging interface includes a male charging port and a female charging port, and a set of robot charging interfaces is installed on the operation control module structure, the inspection function module structure, and the duct propulsion rapid response module structure.

[0014] Preferably, the male charging port includes a male charging port base, a male charging port contact terminal, and a male charging port; the female charging port includes a female charging port base, a female charging port contact terminal, and a female charging port interface; the male charging port and the female charging port are a pair of charging structures.

[0015] A control method based on the above-mentioned track-type highway tunnel inspection robot specifically includes the following steps: The robot's running track system structure is installed on the side wall of the highway tunnel using a track installation structure. Then, the running control module structure, the inspection function module structure, and the culvert propulsion rapid response module structure are installed on the robot's running track system structure and connected through the robot charging interface. When performing normal inspection tasks, the above modules are driven by the overall operation control module structure. There is a ducted propulsion rapid response module structure at the front and rear of the robot. When a task to be responded to occurs, the ducted propulsion rapid response module structure in the corresponding direction separates from the other modules and then uses its own ducted fan as a power source to quickly reach the target position to respond. When the robot needs to be charged, it can be charged at the track-end charging station at any end of the robot's running track system structure. During charging, all modules that need to be charged are connected in sequence through the male and female charging ports, and finally connected to the charging interface on the track-end charging station to achieve the effect of charging together and supplying power separately.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: This invention provides a track-mounted highway tunnel inspection robot. By adopting a separable modular design, the functions of the robot's drive control module, inspection module, and rapid response module are integrated into different module structures. During normal inspection, a conventional motor drive is used as the power source. When an abnormal event is encountered, the culvert propulsion rapid response module structure separates from the robot body and uses the culvert fan to provide power to quickly move to the location of the event to be handled. This can solve the problems of weak functional independence, slow response speed to abnormal events, and single power source and power supply mode of existing highway tunnel inspection equipment.

[0017] To avoid the common wheel-rail slippage problem in track-mounted inspection robots, this robot system employs a drive system with a side-mounted drive belt with limiters and synchronous gear hub engagement, thereby improving the accuracy and stability of robot movement and positioning. Simultaneously, this design utilizes a distributed battery concept, distributing the power supply to each module within its own structure. Charging is achieved through the robot's charging interface, enabling separate power supply and simultaneous charging. This improves energy efficiency, ensures that a potential failure in one module will not affect the normal operation of other modules, and enhances the possibility of modular robot deployment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall appearance of the track-type highway tunnel inspection robot described in this invention; Figure 2 This is an external view of the operating track system structure of the track-type highway tunnel inspection robot described in this invention; Figure 3 This is a schematic diagram of the three-groove running track and the side-mounted drive belt with limit position of the track-type highway tunnel inspection robot described in this invention. Figure 4 This is a schematic diagram of the track installation structure of the track-mounted highway tunnel inspection robot described in this invention. Figure 5 This is a schematic diagram of the rotatable track mounting base structure of a track-type highway tunnel inspection robot according to the present invention; Figure 6 This is a schematic diagram of the robot charging interface of a track-type highway tunnel inspection robot according to the present invention; Figure 7 This is a schematic diagram of the operating control module structure of the track-type highway tunnel inspection robot described in this invention. Figure 8 This is a schematic diagram of the internal structure of the operation control module of the track-type highway tunnel inspection robot described in this invention. Figure 9 This is a schematic diagram of the flange wheel assembly structure of a track-type highway tunnel inspection robot according to the present invention; Figure 10 This is a schematic diagram of the drive motor system of a track-type highway tunnel inspection robot according to the present invention. Figure 11 This is a cross-sectional view of the internal connection of the drive motor system of the track-type highway tunnel inspection robot described in this invention. Figure 12 This is a schematic diagram of the inspection function module structure of a track-type highway tunnel inspection robot according to the present invention. Figure 13 This is a schematic diagram of the internal structure of the inspection function module of the track-type highway tunnel inspection robot described in this invention. Figure 14 This is a schematic diagram of the external appearance of the culvert propulsion rapid response module structure of the track-type highway tunnel inspection robot described in this invention. Figure 15 This is a schematic diagram of the rapid response wheel assembly structure of a track-type highway tunnel inspection robot according to the present invention; Figure 16 This is a schematic diagram of the duct fan structure of a track-type highway tunnel inspection robot according to the present invention; In the picture: 1 represents the structure of the robot's running track system; 101 represents the three-slot running track; 102 represents the side-mounted drive belt with limiters; 103 represents the track-end charging station; 1011 represents the running slot; 1012 represents the mounting slot; 1021 represents the drive belt with teeth; and 1022 represents the drive belt with limiters. 2 is the track mounting structure, 201 is the upper mounting frame, 202 is the lower mounting frame, 203 is the rotatable track mounting base, 2021 is the lower mounting frame body, 2022 is the positioning buckle, 2031 is the track mounting base body, 2032 is the vertical air vibration damper, 2033 is the lateral air vibration damper, and 20311 is the positioning slot. 3 represents the structure of the operation control module; 301 represents the frame of the operation control module; 302 represents the housing of the operation control module; 303 represents the flange wheel assembly; 304 represents the drive motor system; 305 represents the operation control battery module; 306 represents the control module; 3031 represents the flange wheel with bearings; 3032 represents the flange wheel shaft; 3033 represents the flange wheel bracket; 3041 represents the drive motor; 3042 represents the drive motor coupling; 3043 represents the synchronous gear hub; 3044 represents the pulley shaft; 3045 represents the pulley connecting key; 3046 represents the motor connecting key; 30312 represents the flange wheel rim; 30311 represents the flange wheel body; and 30313 represents the flange wheel bearing. 4 represents the inspection function module structure, 401 represents the inspection module frame, 402 represents the inspection module housing, 403 represents the inspection battery module, 404 represents the inspection module, and 405 represents the inspection camera. 5 represents the structure of the ducted propulsion rapid response module, 501 represents the rapid response module body, 502 represents the rapid response wheel assembly, 503 represents the ducted fan, 5021 represents the flange response wheel, 5022 represents the response wheel shaft, 5023 represents the response wheel bracket, 5031 represents the ducted fan housing, 5032 represents the ducted fan blades, and 5033 represents the ducted fan mounting bracket. 6 is the robot charging interface, 601 is the male charging port, 602 is the female charging port, 6011 is the male charging port base, 6012 is the male contact terminal, 6013 is the male plug, 6021 is the female charging port base, 6022 is the female contact terminal, and 6023 is the female port interface. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 12 , Figure 14 , Figure 16This invention provides a track-mounted highway tunnel inspection robot, specifically comprising a robot running track system structure 1, a track mounting structure 2, a running control module structure 3, an inspection function module structure 4, a culvert propulsion rapid response module structure 5, and a robot charging interface 6. Charging devices are provided on both sides of the robot running track system structure 1. The robot running track system structure 1 is mounted on the sidewall of the highway tunnel via the track mounting structure 2. The running control module structure 3 is slidably mounted on the robot running track system structure 1. An inspection function module structure 4 is respectively located on both sides of the running control module structure 3 on the robot running track system structure 1. Block structure 3 and inspection function module structure 4 are detachably connected and can both operate on the robot running track system structure 1; the robot body is composed of the above-mentioned one operation control module structure 3 and two inspection function module structures 4; each inspection function module structure 4 is connected to a ducted propulsion rapid response module structure 5, and both ducted propulsion rapid response module structures 5 operate on the robot running track system structure 1, and the ducted propulsion rapid response module structure 5 is detachably connected to the robot body; the robot running track system structure 1, operation control module structure 3, inspection function module structure 4 and ducted propulsion rapid response module structure 5 are connected through the robot charging interface 6.

[0022] In a specific embodiment of this application, the robot running track system structure 1 includes a three-slot running track 101, a side-mounted drive belt with limiters 102, and a track-end charging station 103. The three-slot running track 101 provides a running space for the robot. The running slots 1011 on both sides are used for the robot's wheels to travel, serving as limiters and guides. The mounting slot 1012 in the middle is used when the track is installed on the track mounting structure 2 to extend the rotatable track mounting seat 203 under the track to support and fix the three-slot running track 101. A side-mounted drive belt 102 with a limit is installed on one side of a three-groove running track 101. It consists of drive belt teeth 1021 and drive belt limit flanges 1022. The drive belt teeth 1021 mesh with the synchronous toothed hub 3043 on the robot, thereby moving the robot along the track direction. The drive belt limit flanges 1022 limit the position of the synchronous toothed hub 3043 by restricting its rim position, thereby ensuring that it is always in mesh with the drive belt teeth 1021, thus ensuring the continuity and stability of the robot's operation.

[0023] In a specific embodiment of this application, the track mounting structure 2 includes an upper mounting frame 201, a lower mounting frame 202, and a rotatable track mounting base 203. The upper mounting frame 201 is mounted on the tunnel sidewall, and the lower mounting frame 202 is welded to the upper mounting frame 201. The rotatable track mounting base 203 is connected below the lower mounting frame 202. A lower mounting frame body 2021 is provided at the lower end of the lower mounting frame 202. A positioning buckle 2022 is installed on the lower mounting frame body 2021 for circumferential positioning of the rotatable track mounting base 203. The rotatable track mounting base 203 includes a track mounting base body 2031, a vertical air damper 2032, and a lateral air damper 2033. A rotating pair is formed between the track mounting base body 2031 and the lower mounting frame body 2021. The vertical air damper 2032 and the lateral air damper 2033 are used to reduce the vibration of the track in both the vertical and lateral directions during the robot's operation.

[0024] In a specific embodiment of this application, the method for installing the three-slot running track 101 onto the track mounting structure 2 is as follows: First, rotate the track mounting base 2031 to a position where it can pass through the mounting slot 1012. Then, pass the track mounting base 2031 through the mounting slot 1012 and extend it to the bottom 101 of the three-slot running track. Next, rotate the track mounting base 2031 until its positioning slot 20311 aligns with the positioning buckle 2022 on the lower mounting frame 202. Push the positioning buckle 2022 into the positioning slot 20311 to achieve circumferential positioning of the track mounting base 2031, preventing it from rotating around the lower mounting frame 2021. Then, install the vertical air damper 2032 and the lateral air damper 2033 on the track mounting base 2031. Finally, place the three-slot running track 101 on the dampers and connect and fix it to complete the track installation.

[0025] In a specific embodiment of this application, the operation control module structure 3 includes an operation control module frame 301, an operation control module housing 302, flange wheel sets 303, a drive motor system 304, an operation control battery module 305, and a control module 306. The operation control module frame 301 is the main skeleton of the operation control module structure 2. The operation control module housing 302 is installed on the outside of the operation control module frame 301 to protect the internal components. The three flange wheel sets 303 are installed above the operation control module housing 302 and contact the three-groove running track 101 to support the robot's mass and limit the robot's position, preventing derailment. The drive motor system 304 is installed inside the operation control module frame 301 and is the drive device for the robot body. The operation control battery module 305 and the control module 306 are both installed inside the operation control module frame 301. The operation control battery module 305 provides the power required by the control module and the drive motor system 304, and the control module 306 stores the controller and related equipment required by the robot.

[0026] In a specific embodiment of this application, the drive motor system 304 includes a drive motor 3041, a drive motor coupling 3042, a synchronous gear hub 3043, a pulley shaft 3044, a pulley connecting key 3045, and a motor connecting key 3046. The motor shaft of the drive motor 3041 is connected to the drive motor coupling 3042 via the motor connecting key 3046. The synchronous gear hub 3043 is connected to the drive motor coupling 3042 via the pulley shaft 3044 and is circumferentially positioned via the pulley connecting key 3045. The rotation of the drive motor 3041 can be transmitted to the synchronous gear hub 3043. The synchronous gear hub 3043 meshes with the drive belt teeth 1021 of the side-mounted drive belt 102 to achieve meshing transmission. Since the side-mounted drive belt 102 is fixedly installed on the three-groove running track 101, the robot can be driven to run along the track by the rotation of the drive motor 3041. At the same time, the rim of the synchronous gear hub 3043 is restricted by the drive belt limiting stop 1022 of the side-mounted drive belt 102, so that the synchronous gear hub 3043 and the drive belt teeth 1021 always remain in a meshing state and will not disengage due to vibration during the running process, thus ensuring the stability and continuity of the movement.

[0027] In a specific embodiment of this application, the ducted propulsion rapid response module structure 5 includes a rapid response module body 501, a rapid response wheel set 502, and a ducted fan 503. The rapid response module body 501 is the main structure of the ducted propulsion rapid response module structure 5. The rapid response wheel set 502 is installed above the rapid response module body 501 and contacts the three-slot running track 101. It is used to support the mass of the ducted propulsion rapid response module 5 and limit its position to prevent it from deviating from the track during movement. Two pairs of ducted fans 503 are installed on both sides of the rapid response module body 501. When the ducted fans 503 are running, they can quickly spray air backward, thereby propelling the ducted propulsion rapid response module structure 5 to move quickly along the track, thereby quickly reaching the location of the event to be responded to. When the destination is reached, the ducted fans 503 spray air in the opposite direction, causing the ducted propulsion rapid response module structure 5 to decelerate quickly.

[0028] In a specific embodiment of this application, the robot charging interface 6 includes a male charging port 601 and a female charging port 602; the male charging port 601 includes a male charging port base 6011, a male charging port contact terminal 6012, and a male charging port 6013; the female charging port 602 includes a female charging port base 6021, a female charging port contact terminal 6022, and a female charging port interface 6023; the male charging port 601 and the female charging port 602 are a pair of charging structures, and when the male charging port 6013 of the male charging port 601 is inserted into the female charging port interface 6023 of the female charging port 602, the two are tightly connected. A tight connection is established, at which point the male contact terminal 6012 and the female contact terminal 6022 make contact, achieving circuit continuity. The robot charging interface 6 is installed on the track-end charging station 103, the operation control module structure 3, the inspection function module structure 4, and the duct propulsion rapid response module structure 5, realizing a reliable connection between the various structures. When the structures are not connected to the track-end charging station 103, the robot charging interface 6 only serves as a connection. When connected to the track-end charging station 103, all structures connected to the track-end charging station 103 through the robot charging interface 6 can be charged simultaneously.

[0029] In a specific embodiment of this application, a track-type highway tunnel inspection robot of the present invention comprises a robot track operation system structure 1 mounted on the sidewall of a highway tunnel via several track mounting structures 2. An operation control module structure 3, an inspection function module structure 4, and a culvert propulsion rapid response module structure 5 all operate on the robot track system structure 1. A complete robot structure should include at least one operation control module structure 3, two inspection function module structures 4, and two culvert propulsion rapid response module structures 5. The two ends of the robot track system structure 1 are track-end charging stations 103. The length of the three-slot track 101 is determined according to the needs of the inspection scenario. A track mounting structure 2 is installed at fixed intervals on the track system structure 1 to support the track. The operation control module structure 3 and the inspection function module structure 4 contact the three-groove running track 101 through the flange wheel assembly 303 and travel in the running groove 1011. The flange wheel 3031 with bearing in the flange wheel assembly 303 travels in the running groove 1011 on the three-groove running track 101. The duct propulsion rapid response module structure 5 is connected to the three-groove running track 101 through the rapid response wheel assembly 502. The flange response wheel 5021 in the rapid response wheel assembly 502 travels on the three-groove running track 101, thereby ensuring that the rapid response module does not detach from the track when operating independently. Each of the operation control module structure 3, the inspection function module structure 4, and the rapid response system structure 5 is equipped with a set of robot charging interfaces 6, including a male charging port 601 and a female charging port 602. Charging can be achieved after the male charging port 601 and the female charging port 602 are connected. Therefore, the operation control module structure 3, the inspection function module structure 4, and the ducted propulsion rapid response module structure 5 control their mutual connection and disconnection through the connection and disconnection of the charging interfaces installed on them. The drive motor system 304 in the operation control module structure 3 is used to drive the robot body. The synchronous gear hub 3043 in the drive motor system 304 connects with the drive belt teeth 1 on the side-mounted drive belt 102 with limit. 021 meshes, and the wheel rim is limited within a certain range by the drive belt limit stop to prevent the transmission from disengaging. Thus, the drive motor 3041 drives the synchronous gear hub 3043 to rotate along the limit drive belt 102, so that the robot runs along the three-groove running track 101. After the inspection function module structure 4 is connected to the operation control module structure 3, it runs by relying on the power provided by the operation control module structure 3 and has no power of its own. When the ducted propulsion rapid response module structure 5 is connected to the inspection function module structure 4, it runs by relying on the power provided by the operation control module 3. When it performs response work alone, it is separated from the inspection function module structure 4 and relies on its own ducted fan 503 to provide the power for rapid operation.

[0030] As a preferred embodiment of the present invention, refer to Figures 1 to 6 , Figure 9The robot running track system structure 1 includes a three-slot running track 101, a side-mounted drive belt with limiters 102, and a track-end charging station 103. The three-slot running track 101 has running slots 1011 and mounting slots 1012. The running slots 1011 are for robot operation, and the mounting slots 1012 allow the track mounting structure 2 to extend under the track for installation. The side-mounted drive belt 102 includes drive belt teeth 1021 and drive belt limiters 1022. The side-mounted drive belt 102 is installed on one side of the three-slot running track 101. The drive belt teeth 1021 mesh with the synchronous toothed hub 3043. The drive belt limit stop 1022 is used to limit the position of the synchronous toothed hub 3043 and prevent the meshing from disengaging. The track-end charging station 103 is installed at both ends of the three-slot running track 101 and is used to charge the robot modules. The track-end charging station 103 is equipped with robot charging interfaces 6. One side is equipped with a male charging port 601 and the other side is equipped with a female charging port 602.

[0031] As a preferred embodiment of the present invention, refer to Figures 2 to 5 The track mounting structure 2 includes an upper mounting frame 201, a lower mounting frame 202, and a rotatable track mounting base 203. The upper mounting frame 201 is used for fixed installation on the side wall of the highway tunnel. The lower mounting frame body 2021 of the lower mounting frame 202 is welded to the upper mounting frame 201. The lower mounting frame body 2021 and the track mounting base body 2031 of the rotatable track mounting base 203 form a rotating pair. After the track mounting structure 2 is fixedly installed on the side wall of the highway tunnel, the track mounting base body 2031 is first rotated to a position where it can extend into the mounting slot 1012 of the three-slot running track 101. After extending 31 below the track, install two vertical air dampers 2032 and one lateral air damper 2033 onto the track mounting base 2031 to form a complete rotatable track mounting base 203. Then rotate it until the mounting slot 20311 on the track mounting base 2031 and the positioning buckle 2022 on the lower mounting bracket 202 are aligned. Push the positioning buckle 2022 into the mounting slot 20311 to achieve circumferential positioning of the rotatable track mounting base 203. Then install the three-slot running track 101 onto the rotatable track mounting base 203 to complete the track installation.

[0032] As a preferred embodiment of the present invention, refer to Figure 2 , Figure 3 , Figures 6 to 11The operation control module structure 3 includes an operation control module frame 301, an operation control module housing 302, flange wheel sets 303, a drive motor system 304, an operation control battery module 305, a control module 306, and a charging male terminal 601 and a charging female port 602. The operation control module frame 301 is the basic skeleton of the operation control module structure 3. The operation control module housing 302 is installed on the outside of the operation control module frame 301 to protect the internal components and equipment. Three pairs of flange wheel sets 303 are installed on the upper part of the operation control module housing 302. Each pair consists of a flange wheel 3031 with bearings, a flange wheel axle 3032, a flange wheel bracket 3033, a wheel axle support sleeve 3034, and a wheel frame. The system comprises a support 3035, a bearing flange wheel 3031 that contacts the three-groove running track, a flange wheel shaft 3032 connecting the bearing flange wheel 3031 and the flange wheel bracket 3033, a wheel shaft support sleeve 3034 supporting the flange wheel shaft 3032, and a wheel frame support 3035 for mounting the flange wheel assembly 303 onto the robot. The bearing flange wheel further includes a flange wheel body 30311, a flange wheel rim 30312, and a flange wheel bearing 30313. The flange wheel body 30311 rolls in contact with the surface of the three-groove running track 101, the flange wheel rim 30312 contacts the side wall of the running groove 1011 in the three-groove running track 101 for limiting its position, and the flange wheel bearing 30313 connects to the flange wheel shaft. 3032 connection; The drive motor system 304 is installed inside the operation control module frame 301 and consists of a drive motor 3041, a drive motor coupling 3042, a synchronous gear hub 3043, a pulley shaft 3044, a pulley connecting key 3045, and a motor connecting key 3046. The motor shaft of the drive motor 3041 is connected to the drive motor coupling 3042 and positioned by the motor connecting key 3046. The other end of the drive motor coupling 3042 is connected to the pulley shaft 3044 and positioned by the pulley connecting key 3045. A synchronous gear hub 3043 is mounted on the pulley shaft. The synchronous gear hub 3043 meshes with the drive belt teeth 1021 of the drive belt 102 with a limit side mounting, thereby driving the motor 3041. The rotation of 041 is transmitted through the drive motor coupling 3042, pulley shaft 3044, pulley connecting key 3045 and motor connecting key 3046, which can drive the rotation of the synchronous gear hub 3043, so that the operation control module structure 3 can move along the three-slot running track 101. The operation control battery module 305 is installed inside the operation control module frame 301 to store and provide electrical energy for the drive motor 3041 and control module 306. The control module 306 is also installed inside the operation control module frame 301 to control the movement of the robot and communication with the outside world. The operation control module structure 3 is connected to the inspection function module structure 4 through the charging male terminal 601 and the charging female terminal 602.

[0033] As a preferred embodiment of the present invention, refer to Figure 2 , Figure 3 , Figure 7 , Figure 9 , Figure 12 , Figure 13 The inspection function module structure 4 includes an inspection module frame 401, an inspection module housing 402, an inspection battery module 403, an inspection module 404, an inspection camera 405, flange wheel sets 303, and a charging male terminal 601 and a charging female port 602. The inspection module frame 401 is the basic skeleton of the inspection function module structure 4. The inspection module housing 402 is installed on the outside of the inspection module frame 401 to protect the internal components and equipment. Three pairs of flange wheel sets 303 are installed on the upper part of the inspection function module housing 402. The structure and function of the flange wheel sets 303 are the same as those in the operation control module structure 3, and will not be described again here. The battery module 403 is installed inside the inspection module frame 401 to store and provide the power required by the inspection module 404 and the inspection camera 405. The inspection module is also installed inside the inspection module frame 401 to house the functional modules and processing equipment required for inspection. The inspection camera 405 is mounted below the inspection functional module structure 4 to collect images of the inspected scene. The inspection functional module structure is connected to the operation control module structure 3 and the duct propulsion fast response module structure 5 through the charging male terminal 601 and the charging female port 602. The inspection functional module structure 4 has no power source, and its movement is driven by the operation control module structure 3 after being connected to it.

[0034] As a preferred embodiment of the present invention, refer to Figure 2 , Figure 3 , Figure 5 , Figure 7 , Figure 12 , Figure 14 , Figure 15 , Figure 16The ducted propulsion fast response module structure 5 includes a fast response module body 501, fast response wheel sets 502, ducted fans 503, and charging male and female terminals 601 and 602. The fast response module body 501 is the main structure of the ducted propulsion fast response module structure 5, and can house the power supply, motor, and other equipment required for response. Two pairs of fast response wheel sets 502 are installed on top of the fast response module body 501. Each pair of wheel sets is symmetrical and consists of a flange response wheel 5021, a response wheel axle 5022, and a response wheel bracket 5023. The flange response wheel 5021 travels on the running groove 1011 of the three-groove running track 101. Two pairs of ducted fans 503 are installed on both sides of the fast response module body 501. Each ducted fan consists of a ducted fan housing 5031, a ducted fan blade 5032, and a duct. The fan mounting bracket 5033 is composed of the ducted propulsion rapid response module structure 5, which can be connected to the inspection function module structure 4 and the track-end charging station 103 through the charging male port 601 and the charging female port 602. The ducted propulsion rapid response module structure 5 has two modes of movement. When it is connected to the inspection function module structure 4 through the robot charging interface 6, it does not provide its own power and relies on the power provided by the operation control module structure 3 to run together with other modules. When the ducted propulsion rapid response module structure 5 needs to perform a response task, it separates from the inspection function module structure 4 and moves along the three-slot running track 101 by the thrust provided by its own ducted fan 503. The movement is driven by two pairs of ducted fans 503, and the movement speed is much higher than the movement speed of the robot driven by the motor, so as to quickly reach the location of the task to be responded to.

[0035] As a preferred embodiment of the present invention, refer to Figure 1 , Figure 6 , Figure 7 , Figure 12 , Figure 14The robot charging interface 6 includes a male charging port 601 and a female charging port 602. The male charging port 601 includes a male charging port base 6011, a male charging port contact terminal 6012, and a male charging port socket 6013. The female charging port 602 includes a female charging port base 6021, a female charging port contact terminal 6022, and a female charging port interface 6023. The male charging port base 6011 and the female charging port base 6021 are used to install the charging interface. The male charging port contact terminal 6012 and the female charging port contact terminal 6022 are used to enable power supply. The male charging port 6013 and the female charging port interface 6023... 3 is used to achieve connection. The charging male terminal 601 and the charging female terminal 602 are a pair of charging structures. When the male terminal 6013 of the charging male terminal 601 is inserted into the female terminal 6023 of the charging female terminal 602, the two are tightly connected. At this time, the male terminal contact terminal 6012 and the female terminal contact terminal 6022 are in contact, realizing the circuit connection. The robot charging interface is installed on the track-end charging station 103, the operation control module structure 3, the inspection function module structure 4, and the duct propulsion rapid response module structure 5 to realize the connection and charging between the modules.

[0036] Example: First, the robot running track system structure 1 is installed on the side wall of the highway tunnel using the track installation structure 2. Then, the operation control module structure 3, the inspection function module structure 4, and the culvert propulsion rapid response module structure 5 are installed on the robot running track system structure 1.

[0037] The operation control module structure 3, the inspection function module structure 4, and the ducted propulsion rapid response module structure 5 all run on the robot's running track system structure 1. When performing normal inspection tasks, the above modules are connected through the robot charging interface 6 and are driven as a whole by the operation control module structure 3. The other modules do not provide their own power sources. There is a ducted propulsion rapid response module structure 5 at the front and rear of the robot. When a task to be responded to occurs, the ducted propulsion rapid response module structure 5 in the corresponding direction separates from the other modules and then uses its own ducted fan 503 as a power source to quickly reach the target position to respond. Since the ducted fan consumes a lot of power, and in order to enable the ducted propulsion rapid response module structure 5 to run quickly, its own weight is small, so it cannot carry a large-capacity battery. Therefore, this driving method is only suitable for modules with short-term rapid movement requirements, which is exactly in line with the working requirements of the ducted propulsion rapid response module structure 5.

[0038] When the robot needs to be charged, it can be charged at the track-end charging station 103 at any end of the robot's running track system structure 1. During charging, all modules that need to be charged are connected in sequence through the charging male port 601 and the charging female port 602, and finally connected to the charging interface on the track-end charging station 103 to achieve the effect of charging together and supplying power separately.

[0039] Starting with the robot in the charging station, the robot's operation process is described as follows: When the robot is in the charging station, the track-end charging station 103 and the various modules of the robot are connected through the robot charging interface 6. The robot charging interface 6 serves both as a connection and as a charging port. The robot charging interface 6 consists of a male charging port 601 and a female charging port 602. At this time, the male charging port 601 and female charging port 602 of each module are connected sequentially. When the robot is stationary, the drive motor 3041 does not rotate, and therefore the synchronous gear hub 3043 does not rotate. Because the synchronous gear hub 3043 meshes with the drive belt teeth 1021 of the side-mounted drive belt 102, the two remain relatively stationary and will not slip due to other interference factors.

[0040] When performing an inspection task, the charging interface between the robot and the track-end charging station 103 is disconnected, while the other charging interfaces remain connected. That is, the modules are still connected end to end through the charging interfaces, and then the robot begins to perform normal inspection work as a whole.

[0041] The robot moves as a whole through the operation control module structure 3. The drive motor system 304 in this module starts working, and the drive motor 3041 drives the synchronous gear hub 3043 to rotate. The synchronous gear hub 3043 meshes with the drive belt teeth 1021 of the drive belt with limit side mounting 102, thereby driving the robot to move forward along the track. The robot's flange wheel set 303 travels in two running slots 1011 on the three-slot running track 101, which serve the functions of load bearing and limit. The meshing of the synchronous gear hub 3043 with the drive belt with limit side mounting 102 provides the driving force required for forward movement. This transmission does not serve as a load bearing structure, but only provides the power required for operation and positions the robot on the track, effectively improving the robot's positioning accuracy and running stability.

[0042] The operation control battery module 305 in the operation control module structure 3 is used to provide the power required to drive the robot and control the robot's motion, while the inspection battery module 403 in the inspection function module 4 is used to provide the power required to the inspection module 404 and the inspection camera 405. The power supply of each module is completely independent and does not interfere with each other, which improves the robot's endurance and lays the foundation for the modular design of the robot. The inspection function module 4 can be added, removed or replaced according to specific inspection needs without affecting the connection and communication between the robot's modules.

[0043] When the robot detects an abnormal event or receives an abnormal event handling signal, the robot charging interface 6 between the corresponding ducted propulsion rapid response module structure 5 and the inspection function module structure 4 disconnects, allowing the robot to proceed independently to perform a response task. This module does not operate during normal inspection tasks; it connects to the robot body via the charging interface and is driven by the operation control module structure. When a response task is required, the module detaches, activates the necessary response equipment, and operates independently using its own power supply and power source. When performing a response task independently, the module uses a ducted fan 503 propulsion system. High-speed operation is achieved by the ducted fans 503 mounted on both sides of the robot body rapidly jetting air backward. This is combined with the rapid response wheel assembly 502 connected to the three-slot running track 101, thus combining the rapid movement capability provided by the ducted fans 503 with the guiding capability provided by the track. The complementary advantages of both achieve rapid and stable movement. Upon reaching the target position, the ducted fans 503 reverse thrust, enabling the robot to decelerate rapidly. At this time, the robot body continues its normal inspection task, proceeding simultaneously with the rapid response task without interference, significantly improving inspection efficiency.

[0044] After the rapid response task is completed, the ducted propulsion rapid response module structure 5 reconnects to the robot body via the robot charging interface 6. Because the ducted propulsion rapid response module structure 5 is lightweight and compact, it is difficult to carry a large-capacity battery. Furthermore, the ducted fan 503 has a high operating power, meaning the battery carried in the module cannot sustain its operation for extended periods. However, the frequency of events requiring response is low, and the module does not need to be in a constant high-speed state. Therefore, a small-capacity battery is sufficient to support its task completion, fully leveraging the module's advantages of high operating speed and lightweight, compact structure, making it extremely suitable for rapid response tasks in highway tunnel patrol. After completing one round of inspection tasks, the robot returns to the nearest track-end charging station 103 for charging or directly begins the next round of inspection tasks.

Claims

1. A track-mounted highway tunnel inspection robot, characterized in that, The system includes a robot running track system structure (1), a track installation structure (2), a running control module structure (3), an inspection function module structure (4), a culvert propulsion rapid response module structure (5), and a robot charging interface (6). Charging devices are provided on both sides of the robot running track system structure (1). The robot running track system structure (1) is installed on the side wall of a highway tunnel via the track installation structure (2). The running control module structure (3) is slidably mounted on the robot running track system structure (1). An inspection function module structure (4) is provided on both sides of the running control module structure (3) on the robot running track system structure (1). The running control module structure (3) and the inspection function module structure (4) are connected. The module structure (4) is detachably connected; each inspection function module structure (4) is connected to a ducted propulsion rapid response module structure (5); the robot running track system structure (1), the running control module structure (3), the inspection function module structure (4) and the ducted propulsion rapid response module structure (5) are connected through the robot charging interface (6). The robot running track system structure (1) includes a three-slot running track (101), a side-mounted drive belt with limit (102) and a track-end charging station (103); a running slot (1011) is set at each end of the three-slot running track (101), and an installation slot (1012) is set in the middle of the three-slot running track (101). The drive belt (102) is installed on one side of the three-groove running track (101). The side-mounted drive belt (102) with limiter includes drive belt teeth (1021) and drive belt limiter sidewalls (1022). A drive belt limiter sidewall (1022) is provided on the upper and lower sides of the drive belt teeth (1021). The track mounting structure (2) includes an upper mounting frame (201), a lower mounting frame (202), and a rotatable track mounting seat (203). The upper mounting frame (201) is installed on the tunnel sidewall. The lower mounting frame (202) is fixedly connected to the upper mounting frame (201). The rotatable track mounting seat (203) is connected below the lower mounting frame (202). The lower mounting frame (202) has a lower mounting frame body (202) at the lower end. 1) A positioning buckle (2022) is installed on the lower mounting frame (2021). The operation control module structure (3) includes an operation control module frame (301), an operation control module housing (302), a flange wheel assembly (303), a drive motor system (304), an operation control battery module (305), and a control module (306). The operation control module housing (302) is installed on the outside of the operation control module frame (301). Multiple flange wheel assemblies (303) are installed on the top of the operation control module housing (302), and the flange wheel assemblies (303) are in contact with the three-groove running track (101). The drive motor system (304) is installed inside the operation control module frame (301).The operation control battery module (305) and control module (306) are both installed inside the operation control module frame (301). The operation control battery module (305) provides the power required by the control module and drive motor system (304). The control module (306) stores the controller and related equipment required by the robot. The ducted propulsion rapid response module structure (5) includes a rapid response module body (501), a rapid response wheel set (502), and a ducted fan (503). The rapid response wheel set (502) is installed above the rapid response module body (501) and contacts the three-groove running track (101). A pair of ducted fans (503) are installed on both sides of the rapid response module body (501).

2. The track-mounted highway tunnel inspection robot according to claim 1, characterized in that, The rotatable track mounting base (203) includes a track mounting base body (2031), a vertical air damper (2032), and a lateral air damper (2033). A rotating pair is formed between the track mounting base body (2031) and the lower mounting frame (2021). The vertical air damper (2032) and the lateral air damper (2033) are used to reduce the vibration of the track in both the vertical and lateral directions during the operation of the robot.

3. The track-mounted highway tunnel inspection robot according to claim 1, characterized in that, The drive motor system (304) includes a drive motor (3041), a drive motor coupling (3042), a synchronous gear hub (3043), a pulley shaft (3044), a pulley connecting key (3045), and a motor connecting key (3046). The motor shaft of the drive motor (3041) is connected to the drive motor coupling (3042) via the motor connecting key (3046). The synchronous gear hub (3043) is connected to the drive motor coupling (3042) via the pulley shaft (3044) and is circumferentially positioned via the pulley connecting key (3045). The rotation of the drive motor (3041) can be transmitted to the synchronous gear hub (3043). The synchronous gear hub (3043) meshes with the drive belt teeth (1021) of the drive belt with a limiting side-mounted drive belt (102).

4. The track-mounted highway tunnel inspection robot according to claim 1, characterized in that, The robot charging interface (6) includes a charging male port (601) and a charging female port (602). A set of robot charging interfaces (6) is installed on the operation control module structure (3), the inspection function module structure (4), and the duct propulsion rapid response module structure (5).

5. The track-mounted highway tunnel inspection robot according to claim 4, characterized in that, The male charging port (601) includes a male charging port base (6011), a male contact terminal (6012), and a male connector (6013); the female charging port (602) includes a female charging port base (6021), a female contact terminal (6022), and a female connector (6023); the male charging port (601) and the female charging port (602) are a pair of charging structures.

6. A control method for the track-type highway tunnel inspection robot according to claim 5, characterized in that, Specifically, the following steps are included: The robot's running track system structure is installed on the side wall of the highway tunnel using a track installation structure. Then, the running control module structure, the inspection function module structure, and the culvert propulsion rapid response module structure are installed on the robot's running track system structure and connected through the robot charging interface. When performing normal inspection tasks, the above-mentioned operation control module structure (3), inspection function module structure (4), and ducted propulsion rapid response module structure (5) are driven by the operation control module structure as a whole. There is a ducted propulsion rapid response module structure at the front and rear of the robot. When a task to be responded to occurs, the ducted propulsion rapid response module structure in the corresponding direction is separated from the inspection function module structure connected to the ducted propulsion rapid response module structure. Then, the ducted fan of the ducted propulsion rapid response module structure itself is used as the power source to quickly reach the target position to respond. When the robot needs to be charged, it can be charged at the track-end charging station at any end of the robot's running track system structure. During charging, all modules that need to be charged are connected in sequence through the male and female charging ports, and finally connected to the charging interface on the track-end charging station to achieve the effect of charging together and supplying power separately.

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