Tunnel detection robot and method based on collaborative operation of double mechanical arms

Abstract

The invention relates to a tunnel detection robot and method based on collaborative operation of double mechanical arms, the tunnel detection robot comprises a mobile carrier, a first mechanical arm, a second mechanical arm, an angle adjusting mechanism and a detection module, one end of the first mechanical arm is connected with the mobile carrier, and the other end of the first mechanical arm is connected with the second mechanical arm; the detection module is installed on the second mechanical arm through the angle adjusting mechanism and driven by the first mechanical arm and the second mechanical arm in a matched mode to move in the x direction and the z direction. And the angle adjusting mechanism drives the rotating shaft to rotate around the axis extending in the y direction and the axis extending in the z direction. According to the tunnel detection robot and method based on collaborative operation of the double mechanical arms, the problems that an existing detection mode is high in safety risk, small in detection range, low in detection efficiency and difficult to meet the large-section tunnel detection requirement are solved.

Description

Technical Field

[0001] This invention relates to the field of automated detection equipment technology, and in particular to a tunnel detection robot and method based on the collaborative operation of two robotic arms. Background Technology

[0002] In tunnel and underground engineering construction, advance detection of adverse geological formations (such as karst caves, fault fracture zones, and water-rich layers) is a crucial step in ensuring construction safety and efficiency. Traditional ground-penetrating radar (GPR) advance prediction mainly relies on manual operation of handheld radar equipment at the tunnel face. The operator manually adjusts the detection position and angle to acquire radar signals, combining this with their experience to analyze the geological conditions ahead. However, traditional methods have significant limitations: manual operation is constrained by tunnel space, resulting in a narrow detection range prone to blind spots and poor spatial data coverage; simultaneously, the complex environment at the tunnel face poses safety risks to manual operation, and the low detection efficiency makes it difficult to meet the detection needs of large-section tunnels. Summary of the Invention

[0003] The main objective of this invention is to propose a tunnel detection robot and method based on the collaborative operation of two robotic arms, aiming to solve the problems of high safety risks, small detection range, low detection efficiency, and difficulty in adapting to the needs of large-section tunnel detection in existing detection methods.

[0004] To achieve the above objectives, the present invention proposes a tunnel exploration robot based on dual-arm collaborative operation, comprising a mobile carrier, a first robotic arm, a second robotic arm, an angle adjustment mechanism, and a detection module. One end of the first robotic arm is connected to the mobile carrier, and the other end is connected to the second robotic arm. The detection module is mounted on the second robotic arm via the angle adjustment mechanism. The detection module is driven by the first and second robotic arms to move in the x and z directions respectively, and is driven by the angle adjustment mechanism to rotate around axes extending in the y and z directions respectively.

[0005] According to some embodiments of the present invention, the second robotic arm is rotatably connected to the first robotic arm about an axis extending in the z-direction. The first robotic arm includes a first telescopic mechanism that extends and retracts in its length direction. The first telescopic mechanism is rotatably mounted on the mobile carrier about an axis extending in the x-direction. The second robotic arm includes a second telescopic mechanism that extends and retracts in its length direction. The detection module is mounted on the second telescopic mechanism through the angle adjustment mechanism.

[0006] According to some embodiments of the present invention, the mobile carrier is provided with a first guide structure extending along the y-direction, the first robotic arm further includes a sliding seat and a connecting seat, the sliding seat is movably disposed on the first guide structure, the outer rod of the first telescopic mechanism is rotatably mounted on the sliding seat about an axis extending in the x-direction, the connecting seat is rotatably connected to the inner rod of the first telescopic mechanism about an axis extending in the y-direction, the outer rod of the second telescopic mechanism is rotatably connected to the connecting seat about an axis extending in the z-direction, and the inner rod of the second telescopic mechanism is connected to the detection module through the angle adjustment mechanism.

[0007] According to some embodiments of the present invention, a support mechanism is further included, the support mechanism further including a support rod and a slider rotatably connected, and the mobile carrier is also provided with a second guide structure extending in the y direction. One end of the support rod is rotatably connected to the outer rod of the first telescopic mechanism, and the other end is movably disposed on the second guide structure through the slider.

[0008] According to some embodiments of the present invention, the angle adjustment mechanism includes a first connector, a second connector, and a third connector. The first connector is connected to the inner rod of the second telescopic mechanism. The second connector is rotatably connected to the first connector about an axis extending in the y-direction. The third connector is rotatably connected to the second connector about an axis extending in the z-direction. The detection module is rotatably connected to the third connector about an axis extending in the x-direction.

[0009] According to some embodiments of the present invention, a counterweight is further included, which is mounted on the outer rod of the second telescopic mechanism and is movable in the length direction of the second telescopic mechanism.

[0010] According to some embodiments of the present invention, a first rod, a second rod, a third rod, and a fourth rod are sequentially sleeved between the inner rod and the outer rod of the first telescopic mechanism from the inside to the outside. The first rod is sleeved on the inner rod, and the outer rod is sleeved on the fourth rod. Each rod is telescopically arranged relative to the rod disposed on its outer side.

[0011] According to some embodiments of the present invention, the first telescopic mechanism further includes a drive assembly and a telescopic transmission assembly. The fourth rod is driven to extend and retract relative to the outer rod by the drive assembly. The telescopic transmission assembly includes a first fixed pulley, a second fixed pulley, a third fixed pulley, a fourth fixed pulley, a first transmission belt, a second transmission belt, a third transmission belt, and a fourth transmission belt. The first fixed pulley is disposed on the top of the fourth rod. The first transmission belt is wound around the first fixed pulley. One end of the first transmission belt is connected to the bottom of the outer rod, and the other end is connected to the bottom of the third rod. The second fixed pulley is disposed on the top of the fourth rod. The top of the three rods is connected to the second fixed pulley, with one end of the second transmission belt connected to the bottom of the fourth rod and the other end connected to the bottom of the second rod. The third fixed pulley is located on the top of the second rod, with the third transmission belt wound around it. One end of the third transmission belt is connected to the bottom of the third rod and the other end connected to the bottom of the first rod. The fourth fixed pulley is located on the top of the first rod, with the fourth transmission belt wound around it. One end of the fourth transmission belt is connected to the bottom of the second rod and the other end connected to the bottom of the inner rod.

[0012] According to some embodiments of the present invention, the first telescopic mechanism further includes a retraction transmission assembly, which includes a fifth fixed pulley, a sixth fixed pulley, a seventh fixed pulley, an eighth fixed pulley, a fifth transmission belt, a sixth transmission belt, a seventh transmission belt, and an eighth transmission belt. The fifth fixed pulley is disposed at the bottom of the fourth rod, and the fifth transmission belt is wound around the fifth fixed pulley. One end of the fifth transmission belt is connected to the top of the outer rod, and the other end is connected to the bottom of the third rod. The sixth fixed pulley is disposed at the bottom of the third rod, and the sixth transmission belt is wound around the sixth fixed pulley. On the pulley, one end of the sixth transmission belt is connected to the top of the fourth rod and the other end is connected to the bottom of the second rod. The seventh fixed pulley is located at the bottom of the second rod, and the seventh transmission belt is wound around the seventh fixed pulley. One end of the seventh transmission belt is connected to the top of the third rod and the other end is connected to the bottom of the first rod. The eighth fixed pulley is located at the bottom of the first rod, and the eighth transmission belt is wound around the eighth fixed pulley. One end of the eighth transmission belt is connected to the top of the second rod and the other end is connected to the bottom of the inner rod.

[0013] In addition, the present invention also provides a detection method based on a tunnel detection robot as described in any of the above claims, wherein the tunnel detection robot further includes an environmental perception module disposed on the mobile vehicle;

[0014] The detection method includes the following steps:

[0015] After the tunnel detection robot moves to the tunnel face, it acquires a three-dimensional model of the area to be measured through the environmental perception module.

[0016] The survey trajectory of the detection module and the corresponding detection points of the tunnel detection robot are determined based on the three-dimensional model of the area to be tested.

[0017] The tunnel detection robot is controlled to move to the first detection point, and the first robotic arm, the second robotic arm, and the angle adjustment mechanism are controlled to move so that the detection module moves along the corresponding survey line trajectory and always faces the surface to be measured, so as to complete the detection operation at the current detection point.

[0018] Control the tunnel detection robot to move to the next detection point until the detection work of the entire area to be tested is completed.

[0019] According to some embodiments of the present invention, determining the survey trajectory of the detection module and the corresponding detection points of the tunnel detection robot based on the three-dimensional model of the area to be measured includes:

[0020] When the three-dimensional model of the area to be measured includes a three-dimensional model of the working face, multiple measuring lines are generated at intervals in the horizontal direction based on the point cloud data of the working face of the three-dimensional model of the working face and the required distance between the detection module and the surface to be measured.

[0021] Obtain the normal distance between the actual measuring point on the face of the tunnel corresponding to each measuring line and the design point on the design section. The normal distance is the over-excavation or under-excavation value of each actual measuring point.

[0022] The over-excavation and under-excavation index of each survey line is scored based on the over-excavation and under-excavation values ​​of each actual survey point on each survey line;

[0023] Obtain the number of required survey lines, and divide the entire working face into multiple detection blocks in the horizontal direction according to the number of required survey lines;

[0024] The lowest-scoring survey line within each detection block is selected as the face survey line trajectory of the detection module.

[0025] The detection points of the tunnel detection robot corresponding to each working face are determined based on the surveying trajectory of each working face.

[0026] When the three-dimensional model of the area to be measured includes a three-dimensional model of the arch top and arch waist, the trajectory of each arch top and arch waist measuring line is determined by the above method based on the point cloud data of the arch top and arch waist of the three-dimensional model of the arch top and arch waist and the required distance between the detection module and the surface to be measured.

[0027] The detection points of the tunnel detection robot corresponding to the arch top and arch waist are determined based on the survey lines of the arch top and arch waist.

[0028] According to some embodiments of the present invention, determining the detection points of the tunnel detection robot corresponding to each working face based on the surveying trajectory of each working face includes:

[0029] The tunnel ground point cloud is obtained through the environmental perception module;

[0030] Multiple flat points were selected based on the tunnel ground point cloud;

[0031] Based on the tunnel face survey lines, the length of the first guide structure, and the maximum extension length of the second telescopic mechanism, the entire tunnel face is divided into multiple detection zones in the horizontal direction, ensuring that each detection zone contains multiple tunnel face survey lines and that each detection zone corresponds to at least one flat point.

[0032] If there is only one corresponding flat point in the current detection area, then that point will be used as the corresponding detection point in the detection area; if there are multiple corresponding flat points in the current detection area, then the flat point with the lowest overall movement cost will be selected as the corresponding detection point in the detection area.

[0033] By determining the detection points corresponding to each detection zone using the above method, the detection points of the tunnel detection robot corresponding to the tunnel face can be obtained.

[0034] According to some embodiments of the present invention, controlling the tunnel detection robot to move to the first detection point and controlling the movement of the first robotic arm, the second robotic arm, and the angle adjustment mechanism to make the detection module move along the corresponding survey line trajectory and keep the detection module always facing the surface to be measured, so as to complete the detection operation at the current detection point, includes:

[0035] When the three-dimensional model of the area to be tested includes the three-dimensional model of the tunnel face, the tunnel detection robot is controlled to move to the first detection point corresponding to the tunnel face;

[0036] Control the first telescopic mechanism of the first robotic arm to rotate relative to the sliding seat until the first telescopic mechanism extends vertically;

[0037] Control the second telescopic mechanism of the second robotic arm to rotate relative to the connecting seat of the first robotic arm, extend the second telescopic mechanism and move the counterweight block synchronously relative to the second telescopic mechanism, and control the second connecting member of the angle adjustment mechanism to rotate relative to the first connecting member and the third connecting member to rotate relative to the second connecting member, so that the detection module moves to the bottom of the corresponding tunnel face measurement trajectory and the detection module faces the tunnel face;

[0038] Control the first telescopic mechanism to extend so that the detection module moves upward to the top along the survey line trajectory of the tunnel face, so as to complete the detection operation at the current detection point.

[0039] According to some embodiments of the present invention, controlling the tunnel detection robot to move to the first detection point and controlling the movement of the first robotic arm, the second robotic arm, and the angle adjustment mechanism to make the detection module move along the corresponding survey line trajectory and keep the detection module always facing the surface to be measured, so as to complete the detection operation at the current detection point, includes:

[0040] When the three-dimensional model of the area to be tested includes a three-dimensional model of the arch top and arch waist, control the tunnel detection robot to move to the first detection point corresponding to the arch top and arch waist;

[0041] Control the first telescopic mechanism of the first robotic arm to rotate relative to the sliding seat until the first telescopic mechanism extends vertically;

[0042] Control the second telescopic mechanism of the second robotic arm to rotate relative to the connecting seat of the first robotic arm, the connecting seat to rotate relative to the first telescopic mechanism, the second telescopic mechanism to extend and the counterweight to move synchronously relative to the second telescopic mechanism, and control the second connecting member of the angle adjustment mechanism to rotate relative to the first connecting member and the third connecting member to rotate relative to the second connecting member, so that the detection module moves to the starting point of the arch waist measurement trajectory and the detection module is facing the arch waist;

[0043] Controlling the first telescopic mechanism to extend, the connecting seat to rotate relative to the first telescopic mechanism, the second connecting piece to rotate relative to the first connecting piece, the second telescopic mechanism to extend and retract, and the counterweight block to move synchronously relative to the second telescopic mechanism, so that the detection module moves along the arch top and arch waist measuring line trajectory and ensures that the detection module is always facing the arch waist or arch top;

[0044] After the detection module passes the highest point of the arch top and arch waist survey line trajectory, the first telescopic mechanism is controlled to retract, the connecting seat continues to rotate relative to the first telescopic mechanism in the original rotation direction, the second connecting piece rotates relative to the first connecting piece, the second telescopic mechanism extends and retracts, and the counterweight moves synchronously relative to the second telescopic mechanism, so that the detection module continues to move along the arch top and arch waist survey line trajectory to the end point and ensures that the detection module is always facing the arch waist or arch top, so as to complete the detection operation of the current detection point.

[0045] According to some embodiments of the present invention, acquiring the three-dimensional model of the area to be measured through the environment perception module includes:

[0046] The original point cloud of the tunnel is obtained through the environmental perception module;

[0047] The original point cloud of the tunnel is preprocessed to remove outliers, and an initial point cloud model is established.

[0048] Obtain a 3D model of the tunnel's design cross-section;

[0049] Multiple corresponding feature points are selected from the initial point cloud model and the three-dimensional model of the design section, respectively;

[0050] The feature points on the initial point cloud model and the design section 3D model are overlapped one by one to obtain a 3D model of the area to be tested.

[0051] The present invention has at least the following beneficial effects:

[0052] In this invention, after the mobile vehicle moves to the detection point in front of the tunnel face, the first and second robotic arms work together to drive the detection module to move in the x and z directions respectively. This allows the detection module to perform geological exploration of the area to be measured along the survey line trajectory corresponding to the current detection point. Simultaneously, an angle adjustment mechanism drives the detection module to rotate around the axes extending in the y and z directions respectively, ensuring that the detection module is always facing the surface to be measured during the detection process. This invention replaces manual handheld radar equipment with a tunnel exploration robot equipped with dual robotic arms for detection operations, increasing the detection range and making it suitable for the detection needs of large-section tunnels. Furthermore, since the entire detection operation is completed by the machine without human intervention, safety risks are reduced and detection efficiency is improved. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A schematic diagram of the structure of a tunnel exploration robot based on dual robotic arm collaborative operation is provided in an embodiment of the present invention;

[0055] Figure 2 for Figure 1 A schematic diagram of the structure in which the mid-angle adjustment mechanism and the detection module work together;

[0056] Figure 3 for Figure 1 Schematic diagram of the telescopic drive principle of the first telescopic mechanism;

[0057] Figure 4 This is a flowchart illustrating the first embodiment of the detection method of the present invention;

[0058] Figure 5This is a flowchart illustrating the second embodiment of the detection method of the present invention;

[0059] Figure 6 This is a flowchart illustrating the third embodiment of the detection method of the present invention;

[0060] Figure 7 This is a flowchart illustrating the fourth embodiment of the detection method of the present invention;

[0061] Figure 8 This is a flowchart illustrating the fifth embodiment of the detection method of the present invention;

[0062] Figure 9 This is a flowchart illustrating the sixth embodiment of the detection method of the present invention.

[0063] Explanation of reference numerals in the attached figures:

[0064] 100-Tunnel Exploration Robot; 1-Mobile Vehicle; 11-Mounting Base; 12-Drive Component; 13-Walking Mechanism; 2-First Robotic Arm; 21-First Telescopic Mechanism; 211-Inner Rod; 212-Outer Rod; 213-First Rod; 214-Second Rod; 215-Third Rod; 216-Fourth Rod; 217-Drive Assembly; 2171-Motor; 2172-Transmission Chain; 2173-Transmission Wheel; 218-Telescopic Transmission Assembly; 2181-First Fixed Pulley; 2182-Second Fixed Pulley; 2183-Third Fixed Pulley; 2184-Fourth Fixed Pulley; 2185-First Transmission Belt; 2186-Second Transmission Belt; 2187-Third Transmission Belt Belt; 2188-Fourth transmission belt; 219-Retractable transmission assembly; 2191-Fifth fixed pulley; 2192-Sixth fixed pulley; 2193-Seventh fixed pulley; 2194-Eighth fixed pulley; 2195-Fifth transmission belt; 2196-Sixth transmission belt; 2197-Seventh transmission belt; 2198-Eighth transmission belt; 22-Sliding seat; 23-Connecting seat; 3-Second robotic arm; 31-Second telescopic mechanism; 4-Angle adjustment mechanism; 41-First connecting piece; 42-Second connecting piece; 43-Third connecting piece; 5-Detection module; 6-First guide structure; 7-Support mechanism; 71-Support rod; 72-Slider; 8-Second guide structure; 9-Counterweight. Detailed Implementation

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below. 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 are within the scope of protection of the present invention.

[0066] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0067] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0068] This invention provides a tunnel exploration robot and method based on the collaborative operation of two robotic arms. Figures 1 to 9 This invention provides a specific embodiment of a tunnel exploration robot and method based on the collaborative operation of two robotic arms.

[0069] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a tunnel exploration robot 100 based on dual-arm collaborative operation, including a mobile carrier 1, a first robotic arm 2, a second robotic arm 3, an angle adjustment mechanism 4, and a detection module 5. One end of the first robotic arm 2 is connected to the mobile carrier 1, and the other end is connected to the second robotic arm 3. The detection module 5 is mounted on the second robotic arm 3 through the angle adjustment mechanism 4. The detection module 5 is driven by the first robotic arm 2 and the second robotic arm 3 to move in the x and z directions respectively, and is driven by the angle adjustment mechanism 4 to rotate around the axis extending in the y direction and the axis extending in the z direction respectively.

[0070] In this invention, after the mobile vehicle 1 moves to the detection point in front of the tunnel face, the first robotic arm 2 and the second robotic arm 3 work together to drive the detection module 5 to move in the x and z directions respectively. This allows the detection module 5 to perform geological exploration of the area to be measured along the survey line trajectory corresponding to the current detection point. Simultaneously, the angle adjustment mechanism 4 drives the detection module 5 to rotate around the axes extending in the y and z directions respectively, ensuring that the detection module 5 is always facing the surface to be measured during the detection process. This invention replaces manually held radar equipment with a tunnel exploration robot 100 with dual robotic arms for exploration operations, increasing the detection range and making it suitable for the exploration needs of large-section tunnels. Furthermore, since the entire exploration operation is completed by the machine without human intervention, safety risks are reduced and exploration efficiency is improved.

[0071] It should be noted that the detection module 5 is a ground-penetrating radar.

[0072] Preferably, in some embodiments, such as Figure 1 As shown, the mobile vehicle 1 includes a mounting base 11, four drive members 12, and four traveling mechanisms 13 corresponding to the four corners of the mounting base 11. Each traveling mechanism 13 is driven by its corresponding drive member 12 to rotate relative to the mounting base 11 in the z-direction. This configuration, where the four drive members 12 control the direction of the four traveling mechanisms 13 respectively, improves the mobility of the mobile vehicle 1.

[0073] In some embodiments, such as Figure 1 As shown, the second robotic arm 3 is rotatably connected to the first robotic arm 2 about an axis extending in the z-direction. The first robotic arm 2 includes a first telescopic mechanism 21 that extends and retracts along its length. The first telescopic mechanism 21 is rotatably mounted on the mobile carrier 1 about an axis extending in the x-direction. The second robotic arm 3 includes a second telescopic mechanism 31 that extends and retracts along its length. The detection module 5 is mounted on the second telescopic mechanism 31 via the angle adjustment mechanism 4. With this configuration, the first telescopic mechanism 21 of the first robotic arm 2 first rotates about an axis extending in the x-direction until it extends vertically. Then, the first telescopic mechanism 21 extends and retracts, allowing the detection module 5 to move in the z-direction. The second robotic arm 3 rotates relative to the first robotic arm 2 about an axis extending in the z-direction until it extends in the x-direction. Then, the second telescopic mechanism 31 of the second robotic arm 3 extends and retracts, allowing the detection module 5 to move in the x-direction.

[0074] Furthermore, in some embodiments, such as Figure 1As shown, the mobile carrier 1 is provided with a first guide structure 6 extending in the y-direction. The first robotic arm 2 also includes a sliding seat 22 and a connecting seat 23. The sliding seat 22 is movably disposed on the first guide structure 6. The outer rod 212 of the first telescopic mechanism 21 is rotatably mounted on the sliding seat 22 about an axis extending in the x-direction. The connecting seat 23 is rotatably connected to the inner rod 211 of the first telescopic mechanism 21 about an axis extending in the y-direction. The outer rod 212 of the second telescopic mechanism 31 is rotatably connected to the connecting seat 23 about an axis extending in the z-direction. The inner rod 211 of the second telescopic mechanism 31 is connected to the detection module 5 through the angle adjustment mechanism 4. With this configuration, after the detection module 5 moves along a survey line trajectory to complete the detection operation, the tunnel detection robot 100 will move to the detection point corresponding to the next survey line trajectory, so that the detection module 5 can move along the next survey line trajectory. By setting a first guide structure 6 extending in the y direction on the mobile carrier 1, the first robotic arm 2 can move in the y direction when the mobile carrier 1 is not moving, so as to drive the detection module 5 to move to the next survey line trajectory, thereby reducing the number of detection points and the number of times the mobile carrier 1 moves, and thus improving the detection efficiency.

[0075] Furthermore, in some embodiments, such as Figure 1 As shown, the tunnel detection robot 100 also includes a support mechanism 7, which further includes a support rod 71 and a slider 72 rotatably connected. The mobile carrier 1 is also provided with a second guide structure 8 extending along the y-direction. One end of the support rod 71 is rotatably connected to the outer rod 212 of the first telescopic mechanism 21, and the other end is movably mounted on the second guide structure 8 via the slider 72. This configuration allows the support rod 71 to apply a supporting force or pulling force to the first telescopic mechanism 21 of the first robotic arm 2, thereby sharing the weight of the second robotic arm 3 and the detection module 5 connected to the first robotic arm 2, making the first telescopic mechanism 21 more stable after rotating to the required angle.

[0076] The specific structure of the angle adjustment mechanism 4 is not limited; for example, in some embodiments, such as... Figure 2As shown, the angle adjustment mechanism 4 includes a first connecting member 41, a second connecting member 42, and a third connecting member 43. The first connecting member 41 is connected to the inner rod 211 of the second telescopic mechanism 31. The second connecting member 42 is rotatably connected to the first connecting member 41 about an axis extending in the y-direction, and the third connecting member 43 is rotatably connected to the second connecting member 42 about an axis extending in the z-direction. The detection module 5 is rotatably connected to the third connecting member 43 about an axis extending in the x-direction. With this configuration, the second connecting member 42 rotates relative to the first connecting member 41, allowing the detection module 5 to rotate about an axis extending in the y-direction. The third connecting member 43 rotates relative to the second connecting member 42, allowing the detection module 5 to rotate about an axis extending in the z-direction. Simultaneously, the detection module 5 is rotatably connected to the third connecting member 43 about an axis extending in the x-direction, enabling the detection module 5 to rotate to different angles according to different survey trajectory planning strategies.

[0077] To ensure torque balance in the second robotic arm 3, in some embodiments, such as Figure 1 As shown, the tunnel detection robot 100 also includes a counterweight 9, which is mounted on the outer rod 212 of the second telescopic mechanism 31 and is movable along the length of the second telescopic mechanism 31. This configuration allows the counterweight 9 to balance the weight of the angle adjustment mechanism 4 and the detection module 5. When the second telescopic mechanism 31 extends or retracts, the counterweight 9 moves synchronously on the outer rod 212 of the second telescopic mechanism 31 to maintain torque balance.

[0078] To expand the detection range of the tunnel detection robot 100, in some embodiments, such as Figure 1 and Figure 3 As shown, in the first telescopic mechanism 21, a first rod 213, a second rod 214, a third rod 215, and a fourth rod 216 are sequentially sleeved from the inside to the outside between the inner rod 211 and the outer rod 212. The first rod 213 is sleeved on the inner rod 211, and the outer rod 212 is sleeved on the fourth rod 216. Each rod is telescopically connected relative to the rod located on its outer side. This arrangement increases the telescopic length of the first telescopic mechanism 21 by increasing the number of telescopic rods, thereby expanding the detection range of the tunnel detection robot 100.

[0079] Furthermore, in some embodiments, such as Figure 1 and Figure 3As shown, the first telescopic mechanism 21 further includes a drive assembly 217 and a telescopic transmission assembly 218. The fourth rod 216 is driven to extend and retract relative to the outer rod 212 by the drive assembly 217. The telescopic transmission assembly 218 includes a first fixed pulley 2181, a second fixed pulley 2182, a third fixed pulley 2183, a fourth fixed pulley 2184, a first transmission belt 2185, a second transmission belt 2186, a third transmission belt 2187, and a fourth transmission belt 2188. The first fixed pulley 2181 is located on the top of the fourth rod 216. The first transmission belt 2185 is wound around the first fixed pulley 2181. One end of the first transmission belt 2185 is connected to the bottom of the outer rod 212, and the other end is connected to the bottom of the third rod 215. The second fixed pulley 2182 is located on the top of the fourth rod 216. The top of the third rod 215 is provided, the second transmission belt 2186 is wound around the second fixed pulley 2182, one end of the second transmission belt 2186 is connected to the bottom of the fourth rod 216, and the other end is connected to the bottom of the second rod 214, the third fixed pulley 2183 is provided on the top of the second rod 214, the third transmission belt 2187 is wound around the third fixed pulley 2183, one end of the third transmission belt 2187 is connected to the bottom of the third rod 215, and the other end is connected to the bottom of the first rod 213, the fourth fixed pulley 2184 is provided on the top of the first rod 213, the fourth transmission belt 2188 is wound around the fourth fixed pulley 2184, one end of the fourth transmission belt 2188 is connected to the bottom of the second rod 214, and the other end is connected to the bottom of the inner rod 211. With this configuration, when the first telescopic mechanism 21 extends, the drive assembly 217 drives the fourth rod 216 to extend relative to the outer rod 212. The first fixed pulley 2181 rotates to drive the first transmission belt 2185 to move, causing the third rod 215 to extend relative to the fourth rod 216. In this way, the second rod 214, the first rod 213, and the inner rod 211 are extended in sequence. When the first telescopic mechanism 21 retracts, the drive assembly 217 drives the fourth rod 216 to retract relative to the outer rod 212, and the remaining rods descend under their own gravity to achieve retraction.

[0080] Furthermore, in some embodiments, such as Figure 1 and Figure 3As shown, the first telescopic mechanism 21 further includes a retraction transmission assembly 219, which includes a fifth fixed pulley 2191, a sixth fixed pulley 2192, a seventh fixed pulley 2193, an eighth fixed pulley 2194, a fifth transmission belt 2195, a sixth transmission belt 2196, a seventh transmission belt 2197, and an eighth transmission belt 2198. The fifth fixed pulley 2191 is located at the bottom of the fourth rod 216, and the fifth transmission belt 2195 is wound around the fifth fixed pulley 2191. One end of the fifth transmission belt 2195 is connected to the top of the outer rod 212, and the other end is connected to the bottom of the third rod 215. The sixth fixed pulley 2192 is located at the bottom of the third rod 215, and the sixth transmission belt 2196 is wound around the fifth fixed pulley 2194. On the six fixed pulleys 2192, one end of the sixth transmission belt 2196 is connected to the top of the fourth rod 216, and the other end is connected to the bottom of the second rod 214. The seventh fixed pulley 2193 is located at the bottom of the second rod 214. The seventh transmission belt 2197 is wound around the seventh fixed pulley 2193. One end of the seventh transmission belt 2197 is connected to the top of the third rod 215, and the other end is connected to the bottom of the first rod 213. The eighth fixed pulley 2194 is located at the bottom of the first rod 213. The eighth transmission belt 2198 is wound around the eighth fixed pulley 2194. One end of the eighth transmission belt 2198 is connected to the top of the second rod 214, and the other end is connected to the bottom of the inner rod 211. With this configuration, when the first telescopic mechanism 21 retracts, the drive assembly 217 drives the fourth rod 216 to retract relative to the outer rod 212, and the fifth fixed pulley 2191 rotates to drive the fifth transmission belt 2195 to move, causing the third rod 215 to retract relative to the fourth rod 216. In this way, the second rod 214, the first rod 213, and the inner rod 211 are retracted in sequence. Compared with the method where each rod descends under its own gravity to achieve retraction, the retraction is more stable.

[0081] Specifically, in some embodiments, such as Figure 1 and Figure 3 As shown, the drive assembly 217 includes a motor 2171, a transmission chain 2172, and two transmission wheels 2173. The fourth rod 216 is connected to the transmission chain 2172. The two transmission wheels 2173 are respectively located at the top and bottom of the outer rod 212, and are connected to each other via the transmission chain 2172. One of the transmission wheels 2173 is driven to connect to the output shaft of the motor 2171. With this configuration, the motor 2171 drives the transmission wheel 2173 to rotate, thereby moving the transmission chain 2172 and causing the fourth rod 216 to extend or retract relative to the outer rod 212.

[0082] Those skilled in the art will understand that the above-described structure does not constitute a limitation on the tunnel detection robot 100, and may include more or fewer components than described above, or combine certain components, or have different component arrangements.

[0083] like Figure 4 As shown, based on the tunnel detection robot 100, which further includes an environmental perception module mounted on the mobile vehicle 1, this embodiment of the invention provides a detection method comprising the following steps:

[0084] Step S10: After the tunnel detection robot 100 moves to the tunnel face, it acquires a three-dimensional model of the area to be measured through the environmental perception module.

[0085] It should be noted that the area to be tested includes the tunnel face, tunnel arch, and tunnel waist.

[0086] Step S20: Determine the survey trajectory of the detection module 5 and the corresponding detection points of the tunnel detection robot 100 based on the three-dimensional model of the area to be measured.

[0087] It should be noted that when the area to be measured is the tunnel face, it is necessary to obtain the measurement trajectory of each tunnel face. The measurement trajectory of the tunnel face is generally a straight line. When the area to be measured is the tunnel arch and arch waist, it is necessary to obtain the measurement trajectory of each arch and arch waist. The measurement trajectory of the arch and arch waist is generally an arc.

[0088] Step S30: Control the tunnel detection robot 100 to move to the first detection point, and control the first robotic arm 2, the second robotic arm 3 and the angle adjustment mechanism 4 to move so that the detection module 5 moves along the corresponding survey line trajectory and always faces the surface to be measured, so as to complete the detection operation at the current detection point.

[0089] Step S40: Control the tunnel detection robot 100 to move to the next detection point until the detection operation of the entire area to be tested is completed.

[0090] refer to Figure 5 , Figure 5 This is a flowchart illustrating the second embodiment of the detection method of the present invention.

[0091] Based on the first embodiment described above, the detection method in this embodiment includes the following in step S20:

[0092] Step S21: When the three-dimensional model of the area to be measured includes the three-dimensional model of the working face, multiple measuring lines are generated at intervals in the horizontal direction based on the point cloud data of the working face of the three-dimensional model of the working face and the required distance between the detection module 5 and the surface to be measured.

[0093] It should be noted that the point cloud data of the working face includes the three-dimensional coordinates of each point on the working face surface. Based on the point cloud data of the working face, a candidate survey line is generated every 10cm in the horizontal direction. Each candidate survey line extends vertically. Since the required distance between the detection module 5 and the surface to be measured in this embodiment is 40cm, it is necessary to ensure that the normal distance between each survey line and the working face is less than 40cm. Multiple survey lines that meet the conditions are selected based on this constraint.

[0094] It should be noted that multiple survey lines can also be generated in the vertical direction, in which case each survey line extends in the horizontal direction.

[0095] Step S22: Obtain the normal distance between the actual measuring point on the face of the tunnel corresponding to each measuring line and the design point on the design section. The normal distance is the over-excavation or under-excavation value of each actual measuring point.

[0096] It should be noted that the over- or under-digging value can be positive or negative.

[0097] Step S23: Score the over-excavation and under-excavation index of each survey line based on the over-excavation and under-excavation values ​​of each actual measuring point on each survey line.

[0098] It should be noted that the over-excavation and under-excavation index scores can reflect the flatness of the working face corresponding to each survey line.

[0099] It should be noted that, firstly, the absolute values ​​of each over-excavation and under-excavation value are calculated based on the over-excavation and under-excavation values ​​of each actual measuring point, and the maximum value is selected as the absolute value of the maximum deviation. Then, the average over-excavation and under-excavation value is calculated based on the over-excavation and under-excavation values ​​of each actual measuring point. Finally, the over-excavation and under-excavation variance is calculated based on the average over-excavation and under-excavation value and each over-excavation and under-excavation value. The over-excavation and under-excavation index score A = α * average over-excavation and under-excavation value + β * over-excavation and under-excavation variance + γ * absolute value of the maximum deviation.

[0100] Specifically, α, β, and γ are all weighting coefficients that can be adjusted according to actual needs.

[0101] Step S24: Obtain the number of required survey lines and divide the entire tunnel face into multiple detection blocks in the horizontal direction according to the number of required survey lines.

[0102] It should be noted that the number of required survey lines can be determined based on the horizontal detection width of the detection module 5 and the horizontal width of the tunnel. The number of required survey lines is greater than or equal to the ratio of the tunnel width to the detection width.

[0103] Step S25: Select the survey line with the lowest score in each detection block as the face survey line trajectory of the detection module 5.

[0104] It should be noted that if the distance between the lowest-scoring survey line in the current detection block and the tunnel face survey line trajectory determined by the previous detection block is less than a preset threshold, then the second lowest-scoring survey line in the current detection block is selected, and its distance with the previous tunnel face survey line trajectory is obtained, until the lowest-scoring survey line in the current detection block with a distance greater than the preset threshold is selected. In this embodiment, the preset threshold is 1m.

[0105] Step S26: Determine the detection points of the tunnel detection robot 100 corresponding to the working face based on the surveying trajectory of each working face.

[0106] It should be noted that, generally speaking, by extending the survey line trajectory of the tunnel face to the ground, the points on the ground trajectory line selected according to the maximum extension length of the second telescopic mechanism 31 can be used as the corresponding detection points. However, since the ground in the actual tunnel is also uneven, when the first telescopic mechanism 21 rotates to be perpendicular to the top surface of the mobile vehicle 1, it does not extend in the vertical direction and needs to be rotated at a certain angle. In order to shorten the time for driving the first telescopic mechanism 21 to extend vertically, it is necessary to select a relatively flat position as the detection point. Therefore, the method of steps S22 to S23 above can be used to score the over-excavation and under-excavation index of the ground trajectory line, so as to select the position with the lowest score on the ground trajectory line as the detection point.

[0107] Step S27: When the three-dimensional model of the area to be measured includes the three-dimensional model of the arch top and arch waist, the trajectory of each arch top and arch waist measuring line is determined by the above method based on the point cloud data of the three-dimensional model of the arch top and arch waist and the required distance between the detection module 5 and the surface to be measured.

[0108] It should be noted that the method for determining the survey lines of each arch crown and arch waist is the same as that for steps S21 to S25, except that the coordinates of each point on the working face are replaced with the coordinates of each point on the arch crown and arch waist.

[0109] Step S28: Determine the detection points of the tunnel detection robot 100 corresponding to the arch top and arch waist according to the surveying trajectory of each arch top and arch waist.

[0110] It should be noted that, generally speaking, each of the aforementioned detection points is located directly below the corresponding arch waist survey line trajectory and is situated in the exact middle of both sides of the arch waist.

[0111] Therefore, refer to Figure 6 , Figure 6 This is a flowchart illustrating the third embodiment of the detection method of the present invention.

[0112] Based on the second embodiment described above, the detection method in this embodiment includes the following in step S26:

[0113] Step S261: Obtain the tunnel ground point cloud through the environmental perception module.

[0114] Step S262: Select multiple flat points based on the tunnel ground point cloud.

[0115] It should be noted that the methods described in steps S22 to S23 above can be used to score the over-excavation and under-excavation index of each point on the tunnel ground point cloud, so as to select multiple locations with lower scores as leveling points.

[0116] Step S263: Divide the entire working face into multiple detection zones in the horizontal direction according to the measured line trajectories of each working face, the length of the first guide structure 6 and the maximum extension length of the second telescopic mechanism 31, ensuring that each detection zone contains multiple working face measured line trajectories and that each detection zone corresponds to at least one flat point.

[0117] It should be noted that, since the mobile vehicle 1 is provided with a first guide structure 6 extending in the y direction, when the mobile vehicle 1 is not moving, the first robotic arm 2 can move in the y direction to drive the detection module 5 to move to the next measurement line trajectory, thereby reducing the number of detection points and the number of times the mobile vehicle 1 moves, thus improving detection efficiency.

[0118] It should be noted that by combining the spacing of the measurement lines of each adjacent tunnel face in the x and y directions, the length of the first guide structure 6, and the maximum extension length of the second telescopic mechanism 31, the entire tunnel face is divided into multiple detection zones in the horizontal direction. Each detection zone corresponds to at least one flat point, ensuring that the detection range of the tunnel detection robot 100 can completely cover all the tunnel face measurement lines in the current detection zone after it moves to the flat point.

[0119] Step S264: If there is only one corresponding flat point in the current detection area, then use it as the corresponding detection point of the detection area; if there are multiple corresponding flat points in the current detection area, then select the flat point with the lowest overall movement cost as the corresponding detection point of the detection area.

[0120] It should be noted that if there are multiple corresponding flat points in the current detection area, the total travel distance of the first robotic arm 2, the total extension and retraction distance of the first telescopic mechanism 21, and the total extension and retraction distance of the second telescopic mechanism 31 are simulated when the first robotic arm 2 and the second robotic arm 3 drive the detection module 5 to move along the multiple face survey lines in the current detection area. The total travel distance of the first robotic arm 2, the total extension and retraction distance of the first telescopic mechanism 21, and the total extension and retraction distance of the second telescopic mechanism 31 are weighted and calculated to obtain the comprehensive motion cost of each flat point. The flat point with the lowest comprehensive motion cost is selected as the detection point.

[0121] Step S265: By determining the detection points corresponding to each detection area using the above method, the detection points of the tunnel detection robot 100 corresponding to the tunnel face can be obtained.

[0122] refer to Figure 7 , Figure 7 This is a flowchart illustrating the fourth embodiment of the detection method of the present invention.

[0123] Based on the second embodiment described above, the detection method in this embodiment includes the following in step S30:

[0124] Step S31: When the three-dimensional model of the area to be tested includes the three-dimensional model of the tunnel face, control the tunnel detection robot 100 to move to the first detection point corresponding to the tunnel face.

[0125] Step S32: Control the first telescopic mechanism 21 of the first robotic arm 2 to rotate relative to the sliding seat 22 until the first telescopic mechanism 21 extends vertically.

[0126] Step S33: Control the second telescopic mechanism 31 of the second robotic arm 3 to rotate relative to the connecting seat 23 of the first robotic arm 2, extend the second telescopic mechanism 31 and move the counterweight 9 synchronously relative to the second telescopic mechanism 31, and control the second connecting member 42 of the angle adjustment mechanism 4 to rotate relative to the first connecting member 41 and the third connecting member 43 to rotate relative to the second connecting member 42, so that the detection module 5 moves to the bottom of the corresponding tunnel face measurement trajectory and the detection module 5 faces the tunnel face.

[0127] Step S34: Control the first telescopic mechanism 21 to extend so that the detection module 5 moves upward to the top along the tunnel face survey line trajectory to complete the detection operation at the current detection point.

[0128] It should be noted that, since the tops of the survey lines at each tunnel face are closer together, by controlling the movement of the tunnel detection robot 100 and the extension and retraction of the first telescopic mechanism 21, the detection module 5 can be driven to move directly from the top of the current survey line trajectory to the top of the next survey line trajectory, thereby realizing the movement of adjacent survey line trajectories, reducing the movement time and improving the detection efficiency.

[0129] refer to Figure 8 , Figure 8 This is a flowchart illustrating the fifth embodiment of the detection method of the present invention.

[0130] Based on the second embodiment described above, the detection method in this embodiment includes the following in step S30:

[0131] Step S35: When the three-dimensional model of the area to be tested includes the three-dimensional model of the arch top and arch waist, control the tunnel detection robot 100 to move to the first detection point corresponding to the arch top and arch waist.

[0132] Step S36: Control the first telescopic mechanism 21 of the first robotic arm 2 to rotate relative to the sliding seat 22 until the first telescopic mechanism 21 extends vertically.

[0133] Step S37: Control the second telescopic mechanism 31 of the second robotic arm 3 to rotate relative to the connecting seat 23 of the first robotic arm 2, the connecting seat 23 to rotate relative to the first telescopic mechanism 21, the second telescopic mechanism 31 to extend and the counterweight 9 to move synchronously relative to the second telescopic mechanism 31, and control the second connecting member 42 of the angle adjustment mechanism 4 to rotate relative to the first connecting member 41 and the third connecting member 43 to rotate relative to the second connecting member 42, so that the detection module 5 moves to the starting point of the arch waist measuring line trajectory and the detection module 5 is facing the arch waist.

[0134] Step S38: Control the first telescopic mechanism 21 to extend, the connecting seat 23 to rotate relative to the first telescopic mechanism 21, the second connecting member 42 to rotate relative to the first connecting member 41, the second telescopic mechanism 31 to extend and retract, and the counterweight 9 to move synchronously relative to the second telescopic mechanism 31, so that the detection module 5 moves along the arch top and arch waist measuring line trajectory and ensures that the detection module 5 is always facing the arch waist or arch top.

[0135] It should be noted that if the difference between the distance between the two arch waists and the maximum length of the second telescopic mechanism 31 after extension is less than twice the required distance, i.e., less than 80cm, then only the connecting seat 23 of the first robotic arm 2 is controlled to rotate relative to the first telescopic mechanism 21, so that the second robotic arm 3 rotates relative to the first telescopic mechanism 21, and the extension and retraction of the second telescopic mechanism 31 can enable the detection module 5 to move along the survey line trajectory of the arch top and arch waist. For arch tops with higher positions, it is only necessary to combine the extension of the first telescopic mechanism 21 to increase the height of the detection module 5 to achieve geological exploration of the arch top. The mobile vehicle 1 does not need to move during the entire process. If the distance between the two arch waists is too large, multiple detection points need to be set for each arch top and arch waist survey line trajectory to meet the requirement of the detection module 5 moving along the survey line trajectory of the arch top and arch waist.

[0136] Step S39: After the detection module 5 passes the highest point of the arch top and arch waist measuring line trajectory, control the first telescopic mechanism 21 to retract, the connecting seat 23 to continue rotating relative to the first telescopic mechanism 21 in the original rotation direction, the second connecting piece 42 to rotate relative to the first connecting piece 41, the second telescopic mechanism 31 to extend and retract, and the counterweight 9 to move synchronously relative to the second telescopic mechanism 31, so that the detection module 5 continues to move along the arch top and arch waist measuring line trajectory to the end point and ensures that the detection module 5 is always facing the arch waist or arch top, so as to complete the detection operation of the current detection point.

[0137] refer to Figure 9 , Figure 9 This is a flowchart illustrating the sixth embodiment of the detection method of the present invention.

[0138] Based on the first embodiment described above, step S10 of this embodiment includes:

[0139] Step S11: Obtain the original point cloud of the tunnel through the environmental perception module.

[0140] It should be noted that the original point cloud of the tunnel can be obtained through the environmental perception module installed on the mobile vehicle 1. The environmental perception module includes a binocular vision system and a lidar system.

[0141] It should be noted that the original point cloud of the tunnel includes the original point cloud of the tunnel face and the original point cloud of the tunnel crown and arch waist.

[0142] Step S12: Preprocess the original point cloud of the tunnel to remove abnormal points and establish an initial point cloud model.

[0143] It should be noted that the preprocessing includes downsampling, normal filtering, and outlier filtering. First, the original tunnel point cloud is downsampled to simplify the point cloud data. Then, the simplified original tunnel point cloud is subjected to normal filtering to remove points with abnormal normal directions. Finally, the original tunnel point cloud is subjected to outlier filtering to remove isolated noise points.

[0144] It should be noted that the initial point cloud model includes the face point cloud model and the crown and waist point cloud model.

[0145] Step S13: Obtain the three-dimensional model of the tunnel's design cross-section.

[0146] It should be noted that the designers create the tunnel model in 3D modeling software according to the required tunnel shape and size, and the 3D model of the design cross section can be obtained from the 3D modeling software.

[0147] It should be noted that the three-dimensional model of the design section includes the design face model and the arch crown and waist model.

[0148] Step S14: Select multiple corresponding feature points from the initial point cloud model and the design cross-section 3D model respectively.

[0149] It should be noted that the highest point of the arch, the turning line or intersection of the arch waist and the side wall, and the intersection of the tunnel face and the arch and arch waist can be extracted from the initial point cloud model. Based on experience, several points with the lowest degree of over-excavation and under-excavation can be selected as feature points to ensure that the multiple feature points are distributed as evenly as possible in the area to be tested.

[0150] Step S15: Overlay each feature point on the initial point cloud model and the design section 3D model one by one, so that the initial point cloud model and the design section 3D model are overlaid to obtain the 3D model of the area to be tested.

[0151] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0152] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0153] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tunnel exploration robot based on dual robotic arm cooperative operation, characterized in that, The device includes a mobile carrier, a first robotic arm, a second robotic arm, an angle adjustment mechanism, and a detection module. One end of the first robotic arm is connected to the mobile carrier, and the other end is connected to the second robotic arm. The detection module is mounted on the second robotic arm via the angle adjustment mechanism. The detection module is driven by the first and second robotic arms to move in the x and z directions, respectively, and is driven by the angle adjustment mechanism to rotate around axes extending in the y and z directions, respectively.

2. The tunnel detection robot as described in claim 1, characterized in that, The second robotic arm is rotatably connected to the first robotic arm about an axis extending in the z-direction. The first robotic arm includes a first telescopic mechanism that extends and retracts in its length direction. The first telescopic mechanism is rotatably mounted on the mobile carrier about an axis extending in the x-direction. The second robotic arm includes a second telescopic mechanism that extends and retracts in its length direction. The detection module is mounted on the second telescopic mechanism through the angle adjustment mechanism.

3. The tunnel detection robot as described in claim 2, characterized in that, The mobile carrier is provided with a first guide structure extending along the y-direction. The first robotic arm also includes a sliding seat and a connecting seat. The sliding seat is movably mounted on the first guide structure. The outer rod of the first telescopic mechanism is rotatably mounted on the sliding seat about an axis extending in the x-direction. The connecting seat is rotatably connected to the inner rod of the first telescopic mechanism about an axis extending in the y-direction. The outer rod of the second telescopic mechanism is rotatably connected to the connecting seat about an axis extending in the z-direction. The inner rod of the second telescopic mechanism is connected to the detection module through the angle adjustment mechanism.

4. The tunnel detection robot as described in claim 3, characterized in that, It also includes a support mechanism, which further includes a support rod and a slider that are rotatably connected. The mobile carrier is also provided with a second guide structure that extends along the y direction. One end of the support rod is rotatably connected to the outer rod of the first telescopic mechanism, and the other end is movably mounted on the second guide structure through the slider.

5. The tunnel detection robot as described in claim 3, characterized in that, The angle adjustment mechanism includes a first connector, a second connector, and a third connector. The first connector is connected to the inner rod of the second telescopic mechanism. The second connector is rotatably connected to the first connector about an axis extending in the y-direction. The third connector is rotatably connected to the second connector about an axis extending in the z-direction. The detection module is rotatably connected to the third connector about an axis extending in the x-direction.

6. The tunnel detection robot as described in claim 3, characterized in that, It also includes a counterweight, which is mounted on the outer rod of the second telescopic mechanism and is movable along the length of the second telescopic mechanism.

7. The tunnel detection robot as described in claim 3, characterized in that, The first telescopic mechanism has a first rod, a second rod, a third rod, and a fourth rod sequentially sleeved between the inner rod and the outer rod from the inside to the outside. The first rod is sleeved on the inner rod, and the outer rod is sleeved on the fourth rod. Each rod is telescopically arranged relative to the rod located on its outer side.

8. The tunnel detection robot as described in claim 7, characterized in that, The first telescopic mechanism further includes a drive assembly and a telescopic transmission assembly. The fourth rod is driven to extend and retract relative to the outer rod by the drive assembly. The telescopic transmission assembly includes a first fixed pulley, a second fixed pulley, a third fixed pulley, a fourth fixed pulley, a first transmission belt, a second transmission belt, a third transmission belt, and a fourth transmission belt. The first fixed pulley is located at the top of the fourth rod. The first transmission belt is wound around the first fixed pulley. One end of the first transmission belt is connected to the bottom of the outer rod, and the other end is connected to the bottom of the third rod. The second fixed pulley is located at the top of the third rod. The second transmission belt is wound around the second fixed pulley, one end of the second transmission belt is connected to the bottom of the fourth rod, and the other end is connected to the bottom of the second rod. The third fixed pulley is located at the top of the second rod, and the third transmission belt is wound around the third fixed pulley. One end of the third transmission belt is connected to the bottom of the third rod, and the other end is connected to the bottom of the first rod. The fourth fixed pulley is located at the top of the first rod, and the fourth transmission belt is wound around the fourth fixed pulley. One end of the fourth transmission belt is connected to the bottom of the second rod, and the other end is connected to the bottom of the inner rod.

9. The tunnel detection robot as described in claim 8, characterized in that, The first telescopic mechanism further includes a retraction transmission assembly, which includes a fifth fixed pulley, a sixth fixed pulley, a seventh fixed pulley, an eighth fixed pulley, a fifth transmission belt, a sixth transmission belt, a seventh transmission belt, and an eighth transmission belt. The fifth fixed pulley is located at the bottom of the fourth rod, and the fifth transmission belt is wound around the fifth fixed pulley. One end of the fifth transmission belt is connected to the top of the outer rod, and the other end is connected to the bottom of the third rod. The sixth fixed pulley is located at the bottom of the third rod, and the sixth transmission belt is wound around the sixth fixed pulley. One end of the sixth transmission belt is connected to the top of the fourth rod and the other end is connected to the bottom of the second rod. The seventh fixed pulley is located at the bottom of the second rod, and the seventh transmission belt is wound around the seventh fixed pulley. One end of the seventh transmission belt is connected to the top of the third rod and the other end is connected to the bottom of the first rod. The eighth fixed pulley is located at the bottom of the first rod, and the eighth transmission belt is wound around the eighth fixed pulley. One end of the eighth transmission belt is connected to the top of the second rod and the other end is connected to the bottom of the inner rod.

10. A detection method, based on the tunnel detection robot as described in any one of claims 1 to 9, characterized in that, The tunnel exploration robot also includes an environmental perception module mounted on the mobile vehicle; The detection method includes the following steps: After the tunnel detection robot moves to the tunnel face, it acquires a three-dimensional model of the area to be measured through the environmental perception module. The survey trajectory of the detection module and the corresponding detection points of the tunnel detection robot are determined based on the three-dimensional model of the area to be tested. The tunnel detection robot is controlled to move to the first detection point, and the first robotic arm, the second robotic arm, and the angle adjustment mechanism are controlled to move so that the detection module moves along the corresponding survey line trajectory and always faces the surface to be measured, so as to complete the detection operation at the current detection point. Control the tunnel detection robot to move to the next detection point until the detection work of the entire area to be tested is completed.

11. The detection method as described in claim 10, characterized in that, The step of determining the survey trajectory of the detection module and the corresponding detection points of the tunnel detection robot based on the three-dimensional model of the area to be measured includes: When the three-dimensional model of the area to be measured includes a three-dimensional model of the working face, multiple measuring lines are generated at intervals in the horizontal direction based on the point cloud data of the working face of the three-dimensional model of the working face and the required distance between the detection module and the surface to be measured. Obtain the normal distance between the actual measuring point on the face of the tunnel corresponding to each measuring line and the design point on the design section. The normal distance is the over-excavation or under-excavation value of each actual measuring point. The over-excavation and under-excavation index of each survey line is scored based on the over-excavation and under-excavation values ​​of each actual survey point on each survey line; Obtain the number of required survey lines, and divide the entire working face into multiple detection blocks in the horizontal direction according to the number of required survey lines; The lowest-scoring survey line within each detection block is selected as the face survey line trajectory of the detection module. The detection points of the tunnel detection robot corresponding to each working face are determined based on the surveying trajectory of each working face. When the three-dimensional model of the area to be measured includes a three-dimensional model of the arch top and arch waist, the trajectory of each arch top and arch waist measuring line is determined by the above method based on the point cloud data of the arch top and arch waist of the three-dimensional model of the arch top and arch waist and the required distance between the detection module and the surface to be measured. The detection points of the tunnel detection robot corresponding to the arch top and arch waist are determined based on the survey lines of the arch top and arch waist.

12. The detection method as described in claim 11, characterized in that, The step of determining the detection points of the tunnel detection robot corresponding to each tunnel face based on the surveying trajectory of each tunnel face includes: The tunnel ground point cloud is obtained through the environmental perception module; Multiple flat points were selected based on the tunnel ground point cloud; Based on the tunnel face survey lines, the length of the first guide structure, and the maximum extension length of the second telescopic mechanism, the entire tunnel face is divided into multiple detection zones in the horizontal direction, ensuring that each detection zone contains multiple tunnel face survey lines and that each detection zone corresponds to at least one flat point. If there is only one corresponding flat point in the current detection area, then that point will be used as the corresponding detection point in the detection area; if there are multiple corresponding flat points in the current detection area, then the flat point with the lowest overall movement cost will be selected as the corresponding detection point in the detection area. By determining the detection points corresponding to each detection zone using the above method, the detection points of the tunnel detection robot corresponding to the tunnel face can be obtained.

13. The detection method as described in claim 11, characterized in that, The process of controlling the tunnel detection robot to move to the first detection point and controlling the movement of the first robotic arm, the second robotic arm, and the angle adjustment mechanism to make the detection module move along the corresponding survey line trajectory and keep the detection module facing the surface to be measured at all times, so as to complete the detection operation at the current detection point, includes: When the three-dimensional model of the area to be tested includes the three-dimensional model of the tunnel face, the tunnel detection robot is controlled to move to the first detection point corresponding to the tunnel face; Control the first telescopic mechanism of the first robotic arm to rotate relative to the sliding seat until the first telescopic mechanism extends vertically; Control the second telescopic mechanism of the second robotic arm to rotate relative to the connecting seat of the first robotic arm, extend the second telescopic mechanism and move the counterweight block synchronously relative to the second telescopic mechanism, and control the second connecting member of the angle adjustment mechanism to rotate relative to the first connecting member and the third connecting member to rotate relative to the second connecting member, so that the detection module moves to the bottom of the corresponding tunnel face measurement trajectory and the detection module faces the tunnel face; Control the first telescopic mechanism to extend so that the detection module moves upward to the top along the survey line trajectory of the tunnel face, so as to complete the detection operation at the current detection point.

14. The detection method as described in claim 11, characterized in that, The process of controlling the tunnel detection robot to move to the first detection point and controlling the movement of the first robotic arm, the second robotic arm, and the angle adjustment mechanism to make the detection module move along the corresponding survey line trajectory and keep the detection module facing the surface to be measured at all times, so as to complete the detection operation at the current detection point, includes: When the three-dimensional model of the area to be tested includes a three-dimensional model of the arch top and arch waist, control the tunnel detection robot to move to the first detection point corresponding to the arch top and arch waist; Control the first telescopic mechanism of the first robotic arm to rotate relative to the sliding seat until the first telescopic mechanism extends vertically; Control the second telescopic mechanism of the second robotic arm to rotate relative to the connecting seat of the first robotic arm, the connecting seat to rotate relative to the first telescopic mechanism, the second telescopic mechanism to extend and the counterweight to move synchronously relative to the second telescopic mechanism, and control the second connecting member of the angle adjustment mechanism to rotate relative to the first connecting member and the third connecting member to rotate relative to the second connecting member, so that the detection module moves to the starting point of the arch waist measurement trajectory and the detection module is facing the arch waist; Controlling the first telescopic mechanism to extend, the connecting seat to rotate relative to the first telescopic mechanism, the second connecting piece to rotate relative to the first connecting piece, the second telescopic mechanism to extend and retract, and the counterweight block to move synchronously relative to the second telescopic mechanism, so that the detection module moves along the arch top and arch waist measuring line trajectory and ensures that the detection module is always facing the arch waist or arch top; After the detection module passes the highest point of the arch top and arch waist survey line trajectory, the first telescopic mechanism is controlled to retract, the connecting seat continues to rotate relative to the first telescopic mechanism in the original rotation direction, the second connecting piece rotates relative to the first connecting piece, the second telescopic mechanism extends and retracts, and the counterweight moves synchronously relative to the second telescopic mechanism, so that the detection module continues to move along the arch top and arch waist survey line trajectory to the end point and ensures that the detection module is always facing the arch waist or arch top, so as to complete the detection operation of the current detection point.

15. The detection method as described in claim 10, characterized in that, The step of acquiring a 3D model of the area to be measured through the environmental perception module includes: The original point cloud of the tunnel is obtained through the environmental perception module; The original point cloud of the tunnel is preprocessed to remove outliers, and an initial point cloud model is established. Obtain a 3D model of the tunnel's design cross-section; Multiple corresponding feature points are selected from the initial point cloud model and the three-dimensional model of the design section, respectively; The feature points on the initial point cloud model and the design section 3D model are overlapped one by one to obtain a 3D model of the area to be tested.

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