High-precision robot for treating tunnel leakage water

Abstract

The invention discloses a high-precision robot for treating tunnel water leakage, and belongs to the technical field of tunnel maintenance engineering machinery. The robot comprises a track moving vehicle, an active anti-tipping mechanism, a six-degree-of-freedom mechanical arm, a drilling device, a grouting system, a quick mounting structure and a visual scanning system. The track moving trolley moves on the tunnel track to achieve moving positioning. The active anti-rollover mechanism is used for upwards jacking a tunnel segment through an adjustable supporting leg driven by a worm gear and a worm so as to provide anti-rollover stable support; the visual scanning system performs global scanning and modeling through a first visual scanning unit, and performs accurate positioning of a working point by using a second visual positioning unit; the six-degree-of-freedom mechanical arm can quickly change and mount a drilling device or a grouting head through a quick mounting structure, and precise drilling and quantitative grouting operation are sequentially executed; full-automatic, high-precision, continuous and efficient operation of tunnel leakage water treatment is achieved, and the defects of manual treatment and existing equipment in the aspects of stability, precision and efficiency are effectively overcome.

Description

Technical Field

[0001] This invention relates to the field of tunnel maintenance engineering machinery technology, and in particular to a high-precision robot for controlling tunnel water leakage. Background Technology

[0002] As a key component of transportation infrastructure such as railways and subways, tunnels are frequently affected by water leakage at lining joints, segment connections, and concrete cracks during long-term operation due to multiple factors, including changes in structural stress, material aging, geological conditions, and construction defects. Statistics show that approximately 50% of tunnel structural defects are caused by water leakage. This type of defect not only accelerates concrete carbonation and internal steel reinforcement corrosion, shortening the structure's service life, but also triggers a series of chain reactions, such as track corrosion, electrical equipment short circuits, and internal environmental deterioration, seriously affecting train safety and operational efficiency.

[0003] Currently, the treatment of water leakage in operational tunnels still heavily relies on traditional manual methods. Workers must erect scaffolding or operate aerial work platforms during short track maintenance windows, using handheld impact drills and grouting guns to drill and inject grout at close range. This method has the following significant bottlenecks: The operation is characterized by high safety risks and low efficiency: personnel must work for extended periods in damp, dimly lit, and confined high-altitude tunnel environments, facing significant safety risks such as falls from heights, electric shocks, and equipment recoil injuries. The entire process relies on manual labor, resulting in high labor intensity, and is limited by finite working time windows, making continuous, efficient, and large-scale construction difficult.

[0004] The accuracy of the treatment depends on experience, and the quality fluctuates greatly: the identification of leakage points and the determination of the location and angle of the boreholes all rely on human experience. Especially on the complex curved walls of the tunnel, this can easily lead to borehole deviation and inconsistent depths, which not only affect the grouting sealing effect, but may also cause secondary damage to the original lining structure.

[0005] The process is fragmented and lacks coordination: the equipment required for processes such as drilling, testing, and grouting is separate, requiring frequent manual tool changes and workstation adjustments, resulting in frequent process interruptions and difficulties in coordination. This leads to lengthy single-point treatment cycles and cannot meet the needs of rapid treatment of multiple points and large areas within the tunnel.

[0006] To improve automation levels, some mobile treatment equipment equipped with robotic arms has emerged in the industry. However, under the special working conditions of tunnel tracks, existing equipment still has significant shortcomings: Poor adaptability to working conditions and insufficient stability: When the equipment is positioned on a smooth track, it lacks an effective active anti-tipping mechanism. When performing high-reaction-force operations such as drilling, it is prone to slippage or even overturning, making it impossible to guarantee the dynamic stability and safety of the operation process.

[0007] Limited environmental perception and positioning accuracy: Most devices are not equipped with a multi-level vision fusion system, resulting in weak three-dimensional perception of the overall tunnel environment and local work points, making it difficult to achieve high-precision positioning and adaptive attitude adjustment of the robotic arm end on curved surfaces.

[0008] Low level of functional integration and intelligence: Functional modules such as drilling, inspection, and grouting have not achieved integrated and rapid automatic switching. The operation process still requires manual intervention and has not formed a complete automated closed loop, resulting in limited overall efficiency improvement. Summary of the Invention

[0009] The purpose of this invention is to develop an intelligent treatment equipment that can adapt to the tunnel track environment, has high dynamic stability, integrates high-precision visual guidance, and can achieve seamless automation of the entire process of drilling, inspection and grouting in order to solve the above problems. This has become an urgent need to solve the problem of tunnel water leakage treatment and improve the quality and efficiency of infrastructure operation and maintenance.

[0010] The present invention achieves the above objectives through the following technical solutions: A high-precision robot for controlling tunnel water leakage includes a track-mounted mobile vehicle, an active anti-tipping mechanism, a six-degree-of-freedom robotic arm, a drilling device, a grouting system, an ultrasonic crack depth detection system, a quick-assembly structure, and a visual scanning system. The track-mounted mobile vehicle has wheels at its bottom for mounting on the tunnel track and a motor to drive the wheels. The active anti-tipping mechanism includes several sets of retractable support legs symmetrically arranged on both sides of the track-mounted mobile vehicle and a rotating mechanism for driving the support legs to rotate at an upward support angle. At least one six-degree-of-freedom robotic arm is mounted on the track-mounted mobile vehicle. The drilling device is installed on the six-degree-of-freedom robotic arm. The moving end of the arm is used to drill holes at the location of tunnel water leakage; the grouting system includes a grouting head, which is installed on the moving end of the six-degree-of-freedom robotic arm for grouting at the location of tunnel water leakage; the ultrasonic crack depth detection system includes an ultrasonic detector and an auxiliary detection mechanism, which is installed on the moving end of the six-degree-of-freedom robotic arm for measuring crack depth and width; the quick-installation structure is used to facilitate the rapid installation of the drilling device and the grouting head onto the moving end of the six-degree-of-freedom robotic arm; the visual scanning system includes a first visual scanning unit installed at the front end of the track-mounted mobile vehicle and a second visual positioning unit installed on the moving end of the six-degree-of-freedom robotic arm.

[0011] Preferably, the rotating mechanism includes a worm gear mounted on the track moving vehicle via a bearing seat and a rotary motor driving the worm gear to rotate; the lower part of the support leg is rotatably connected to the track moving vehicle via a hinge seat, and the lower end of the support leg is configured as a semi-circular worm wheel, which meshes with the worm gear.

[0012] Preferably, the quick-assembly structure includes a matching female connector and a male connector. The female connector is installed on the moving end of the six-degree-of-freedom robotic arm, and the male connector is installed on the drilling device, the grouting head, and the auxiliary detection mechanism.

[0013] Preferably, the auxiliary detection mechanism includes a mounting frame. A male connector is mounted on the middle of one side of the mounting frame, and a microscope camera probe is mounted on the middle of the other side. Grooves are formed at both ends of the mounting frame on the side away from the male connector. A sliding support that slides left and right is engaged in the upper part of the groove. A support spring is installed between the sliding support near the microscope camera probe and the sidewall of the groove. A swing box is rotatably connected to the sliding support on the side away from the microscope camera probe. The swing box has an opening at the end away from the microscope camera probe. A sliding box that slides left and right is engaged inside the swing box. The end of the sliding box near the microscope camera probe is connected to the swing box. A second telescopic rod is installed between the inner walls of the sliding box; the sliding box is open at the end away from the microscope camera probe, and a sliding plate that slides left and right is locked inside the sliding box. A third telescopic rod is installed between the end of the sliding plate near the microscope camera probe and the inner wall of the sliding box; a reset box is fixedly installed on the upper surface of the end of the sliding plate away from the microscope camera probe, and a planar transducer is provided on the reset box. A spindle is installed at the end of the planar transducer near the sliding plate. The spindle extends into the reset box and is connected to the upper end of the reset box by a ball joint. Reset springs are installed inside the reset box on all four sides corresponding to the front, back, left, and right sides of the spindle.

[0014] Preferably, a lifting platform and a cross-sliding mechanism are provided between the six-degree-of-freedom robotic arm and the track-moving trolley. The lifting platform is a scissor lift. The cross-sliding mechanism is installed on the lifting platform. The cross-sliding mechanism includes a mutually perpendicular X-axis module and a Y-axis module. The X-axis module includes a slide plate, on which a guide rail is fixedly installed. A slider is slidably mounted on the guide rail. A lead screw parallel to the guide rail passes through the slider. The lead screw is threaded to the slider. Both ends of the lead screw are mounted on the slide plate through bearing seats. A sliding motor for driving the lead screw to rotate is fixedly installed on the slide plate. The Y-axis module has the same structure as the X-axis module. The slide plate of the Y-axis module is mounted on the slider of the X-axis module.

[0015] Preferably, the first visual scanning unit is a 3D LiDAR or a panoramic camera, used to perform a large-scale scan of the tunnel wall to generate a global three-dimensional point cloud model and preliminarily identify the leakage area; the second visual positioning unit is a high-resolution industrial camera or a laser displacement sensor, used to accurately locate the leakage point and acquire its three-dimensional coordinates during operation.

[0016] Preferably, the visual scanning system further includes a control unit, which is used to: receive a global three-dimensional point cloud model generated by the first visual scanning unit; plan the motion path of the track-mounted vehicle and the six-degree-of-freedom robotic arm based on the global three-dimensional point cloud model; control the second visual positioning unit to perform a local scan of the target work point to obtain the precise three-dimensional coordinates of the point; fuse the precise three-dimensional coordinates with the global three-dimensional point cloud model to guide the six-degree-of-freedom robotic arm to move to the target position to perform drilling or grouting operations.

[0017] Preferably, the first visual scanning unit and the second visual positioning unit establish a unified coordinate system through the hand-eye calibration method, and the second visual positioning unit and the end effector of the six-degree-of-freedom robotic arm are calibrated through the tool coordinate system.

[0018] Preferably, the number of the six-degree-of-freedom robotic arms is one, and a tool rack for storing the drilling device and grouting head is also provided on the track-mounted vehicle. The tool rack is provided with a positioning groove that matches the shape of the tool.

[0019] Preferably, the number of support legs is two, the number of worm gears is one, the two ends of the worm gear extend to the lower position of the support legs on both sides, a first bevel gear is provided in the middle position of the worm gear, and a second bevel gear that meshes with the first bevel gear is installed on the output end of the rotary motor.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the coordinated design of the track-mounted vehicle and the active anti-tipping mechanism, especially the adjustable support legs based on worm gear transmission, it can actively clamp the tunnel segments to form a stable triangular or cross support under strong reaction force conditions such as drilling; the worm gear mechanism has self-locking characteristics, which can prevent support failure and fundamentally solve the problem of easy slippage and overturning of equipment on smooth tracks, providing a safety guarantee for continuous and reliable high-altitude construction operations; 2. An integrated multi-level vision system consisting of global scanning (first vision scanning unit) and local fine positioning (second vision positioning unit), combined with hand-eye calibration technology, enables intelligent operation of the entire process from three-dimensional reconstruction of the tunnel environment and automatic identification of leakage areas to millimeter-level positioning of work points. This effectively overcomes the subjective errors of human judgment, ensures that the borehole axis is perpendicular to the wall and the grouting point is accurate, and significantly improves the success rate of treatment and long-term sealing effect. 3. The quick-assembly structure (male and female connectors) and centralized tool rack design enable the six-degree-of-freedom robotic arm to quickly change drilling devices, detection probes, or grouting heads, achieving seamless connection and automated closed loop of multiple processes such as "identification-detection-drilling-grouting". This significantly reduces the auxiliary time for equipment handling, tool changing, and workstation adjustment in traditional methods, making it particularly suitable for efficient continuous operation within tunnel "skylight points". 4. With the optional lifting platform and cross sliding mechanism, the vertical and horizontal working range of the robot is greatly expanded without increasing the size and complexity of the robotic arm itself. This design enables the robot to flexibly adapt to tunnels with different cross-sectional dimensions and reduces the frequent relocation of the mobile vehicle through a wide range of coarse position adjustments, thereby maximizing the single-station working range and improving the overall construction efficiency. 5. The innovative integration of an ultrasonic crack depth detection system into the end of a robotic arm, through a unique adaptive probe mechanism (such as a ball joint reset design), enables precise measurement of crack depth and width and estimation of volume on complex curved surfaces, providing a scientific basis for the precise control of subsequent grouting volume; this achieves integrated disease detection and treatment construction, improving the scientific and refined level of treatment decisions; 6. In a further optimized solution, by configuring a dual six-degree-of-freedom robotic arm, drilling and grouting devices can be mounted separately, enabling fully parallel operation of drilling and grouting processes. This completely eliminates the time interval for tool replacement in the single-arm solution, shortening the single-point treatment cycle by more than 40%, and is particularly suitable for working conditions with dense leakage points and urgent treatment tasks. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a three-dimensional structural schematic diagram of Embodiment 1 of the present invention.

[0023] Figure 2 This is a schematic diagram of the transmission mechanism of Embodiment 1 of the present invention.

[0024] Figure 3 This is a three-dimensional structural schematic diagram of the active anti-tipping mechanism of Embodiment 1 of the present invention.

[0025] Figure 4 This is a schematic diagram of the support legs supporting both sides when used in a subway section according to Embodiment 1 of the present invention.

[0026] Figure 5This is a schematic diagram of the support legs supporting both sides when used in a subway station according to Embodiment 1 of the present invention.

[0027] Figure 6 This is a schematic diagram of the internal structure of the auxiliary detection mechanism in Embodiment 1 of the present invention.

[0028] Figure 7 yes Figure 6 Enlarged view of point A.

[0029] Figure 8 This is a three-dimensional structural schematic diagram of the auxiliary detection mechanism of Embodiment 1 of the present invention.

[0030] Figure 9 This is a schematic diagram of the working principle of the auxiliary detection mechanism in Embodiment 1 of the present invention.

[0031] Figure 10 This is a schematic diagram of the cross-support of the support legs when used in a subway section according to Embodiment 1 of the present invention.

[0032] Figure 11 This is a schematic diagram of the cross-support of the support legs when used in a subway station according to Embodiment 1 of the present invention.

[0033] Figure 12 This is a three-dimensional structural schematic diagram of Embodiment 5 of the present invention.

[0034] Figure 13 This is a three-dimensional structural diagram of the lifting platform according to Embodiment 3 of the present invention.

[0035] Figure 14 This is a three-dimensional structural schematic diagram of the lifting platform of Embodiment 3 of the present invention from another perspective.

[0036] Figure 15 This is a three-dimensional structural schematic diagram of the cross sliding mechanism of Embodiment 4 of the present invention.

[0037] Figure 16 This is a three-dimensional structural schematic diagram of Embodiment 6 of the present invention.

[0038] The annotations in the attached figures are explained as follows: 1. Tunnel track; 2. Track moving vehicle; 21. Chassis; 22. Moving wheels; 231. Axle; 232. Transmission sprocket; 233. Chain; 241. Moving motor; 242. Drive sprocket; 31. Support leg; 311. Support foot; 32. Rotating mechanism; 321. Worm gear; 322. Worm; 323. Rotary motor; 4. Lifting platform; 5. Cross sliding mechanism; 51. X-axis module; 52. Y-axis module; 6. Six-freedom mechanism 71. Degree-of-use robotic arm; 72. Male connector; 73. Mounting bracket; 74. First telescopic rod; 75. Sliding support; 76. Slide groove; 77. Support spring; 78. Swing box; 79. Sliding box; 710. Second telescopic rod; 711. Sliding plate; 712. Third telescopic rod; 713. Reset box; 714. Planar transducer; 715. Ball joint; 716. Reset spring; 717. Microscopic camera probe; 718. Locking block; 719. Slot. Detailed Implementation

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection", and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood through the specific circumstances.

[0041] The present invention will be further described below with reference to the accompanying drawings: Example 1

[0042] like Figure 1As shown, a high-precision robot for controlling tunnel seepage includes a track-mounted mobile vehicle 2, an active anti-tipping mechanism, a six-degree-of-freedom robotic arm 6, a drilling device, a grouting system, an ultrasonic crack depth detection system, a quick-assembly structure, and a visual scanning system. The track-mounted mobile vehicle 2 has wheels 22, a transmission mechanism, and a drive unit at its bottom. The wheels 22 include a chassis 21. The transmission mechanism and drive unit are both located on the upper surface of the chassis 21. The drive unit includes a mobile motor 241 and a drive sprocket 242 on the output end of the mobile motor 241. Figure 2 As shown, the transmission mechanism includes an axle 231 mounted on the bottom of the chassis 21 via bearing seats. Movable wheels 22 are fixedly mounted at both ends of the axle 231, and a transmission sprocket 232 is fixedly mounted in the middle of the axle 231. The transmission sprockets 232 of adjacent axles 231 are connected by a chain 233. The transmission sprocket 232 on the axle 231 closest to the moving motor 241 and the drive sprocket 242 are connected by a chain 233. The movable wheels 22 roll on the tunnel track 1. Figure 3 As shown, the active anti-tipping mechanism includes a set of support legs 31 symmetrically arranged on both sides of the upper surface of the chassis 21. The support legs 31 are electrically telescopic rods. A rotating mechanism 32 is installed on the upper surface of the track-moving vehicle 2 corresponding to the support legs 31, for driving the support legs 31 to rotate at a support angle. The rotating mechanism 32 includes a worm gear 322 mounted on the chassis 21 via a bearing seat and a rotary motor 323 driving the worm gear 322 to rotate. The lower part of the support leg 31 is rotatably connected to the chassis 21 via a hinge seat. The lower end of the support leg 31 is set as a semi-circular worm wheel 321, which meshes with the worm gear 322. Figures 4-5 As shown, when the robot is drilling in the tunnel section and at the drop station, the support legs 31 can be pushed against the tunnel segments on both sides for support, preventing the robot from tipping over due to the reaction force during drilling. There are two support legs 31 and one worm gear 322. The two ends of the worm gear 322 extend to the position below the support legs 31 on both sides. A first bevel gear is set in the middle of the worm gear 322, and a second bevel gear that meshes with the first bevel gear is installed on the output end of the rotary motor 323.

[0043] A six-degree-of-freedom robotic arm 6 is mounted on the track-mounted mobile vehicle 2; the drilling device is an impact drill; the grouting system includes a material hopper, a grouting pump, and a grouting head mounted on the chassis 21; a tool rack for storing the impact drill, grouting head, and auxiliary testing mechanism is also mounted on the chassis 21 of the track-mounted mobile vehicle 2. The tool rack has positioning slots that match the shape of the impact drill, grouting head, and auxiliary testing mechanism. The impact drill, grouting head, and auxiliary testing mechanism can only move upwards within the positioning slots, and all other degrees of freedom are restricted; a quick-installation structure is used to facilitate the rapid installation of the drilling device and grouting head onto the moving end of the six-degree-of-freedom robotic arm 6. The quick-installation structure includes matching female and male connectors 71. The female connector is installed on the moving end of the six-degree-of-freedom robotic arm 6, and the male connector 71 is installed on the impact drill, grouting head, and auxiliary testing mechanism. The components are placed flat in the positioning slots, with their male connectors extending out of the side of the tool holder for connection to the six-degree-of-freedom robotic arm 6. The female connector is a threaded sleeve, and the male connector 71 is a screw head that matches the threaded sleeve. A stepper motor is installed at the end of the six-degree-of-freedom robotic arm 6, and the female connector is fixedly installed on the output end of the stepper motor. When the tool needs to be installed, the six-degree-of-freedom robotic arm 6 moves to make the female connector press against the male connector 71, and the stepper motor is started to drive the female connector to rotate and feed it towards the male connector 71. The screw head is inserted into the threaded sleeve through threaded engagement, realizing the quick installation of the tool. When removing the tool, after placing it in the corresponding positioning slot on the tool holder, the stepper motor is started to rotate in the opposite direction and move away from the male connector 71 until the threaded sleeve and the screw head are disengaged, thus completing the tool removal operation. The impact drill is used to drill holes at the location of tunnel water leakage. The grouting head is used to grout at the location of tunnel water leakage.

[0044] The ultrasonic crack depth testing system includes an ultrasonic detector and an auxiliary testing mechanism. The auxiliary testing mechanism is mounted on the moving end of a six-degree-of-freedom robotic arm 6 and is used to measure the crack depth and width; for example... Figures 6-8As shown, the auxiliary testing mechanism includes a mounting frame 72. A male connector 71 is installed in the middle of one side of the mounting frame 72, and a microscope camera probe 716 is installed in the middle of the other side. Grooves are formed at both ends of the mounting frame 72 on the side away from the male connector 71. A sliding support 74 is provided above the interior of each groove. A sliding groove 75 is formed on the side wall of the groove corresponding to the sliding support 74, allowing the sliding support 74 to slide left and right within the groove 75. A support spring 76 is installed between the side of the sliding support 74 near the microscope camera probe 716 and the side wall of the groove. A swing box 77 is rotatably connected to the side of the sliding support 74 away from the microscope camera probe 716. A locking block 717 is installed on the side of the swing box 77 away from the microscope camera probe 716. A slot 718 is provided at the corresponding position of the locking block 717, and the locking block 717 is locked in the slot 718 to achieve limiting and fixation; the swing box 77 is open at the end away from the microscope camera probe 716; a sliding box 78 that slides left and right is installed inside the swing box 77, and a second telescopic rod 79 is installed between the end of the sliding box 78 near the microscope camera probe 716 and the inner wall of the swing box 77; the end of the sliding box 78 that is open away from the microscope camera probe 716 is open, and a sliding plate 710 that slides left and right is installed inside the sliding box 78, and a third telescopic rod 711 is installed between the end of the sliding plate 710 near the microscope camera probe 716 and the inner wall of the sliding box 78; a planar transducer 713 is provided on the upper surface of the end of the sliding plate 710 away from the microscope camera probe 716. The first telescopic rod 73, the second telescopic rod 79 and the third telescopic rod 711 are all electric push rods, such as Figure 9As shown, when using the ultrasonic crack depth detection system, first turn on the ultrasonic detector, then activate the extension of the first telescopic rod 73 and the support spring 76. Due to the length limitation of the slide groove 75, the sliding support 74 moves to its limit position away from the microscope camera probe 716, and then slides out of the slot 718 from the locking block 717 on the swing box 77. The first telescopic rod 73 continues to extend, and the swing box 77 rotates around the sliding support 74 until the planar transducers 713 on both sides are aligned for zero-reading calibration. After calibration, the first telescopic rod 73 retracts, the sliding support 74 is supported by the support spring 76 and does not move, and the swing box 77 rotates to its initial position and is blocked by the mounting bracket 72 and cannot continue to rotate. The first telescopic rod 73 continues to retract, the swing box 77 is pulled, the support spring 76 is compressed, and the locking block... 717 is locked in slot 718, thus locking the swing box 77; the planar transducer 713 of the auxiliary detection mechanism is pressed against the intact tunnel wall near the crack, and the ultrasonic detector is started to measure. Then, the second telescopic rod 79 and the third telescopic rod 711 are extended and measured in sequence to determine the sound velocity without crossing the crack; then, the microscopic camera probe 716 is aligned with the crack position, with the planar transducer 713 on both sides of the crack, and the ultrasonic detector is started to measure. Then, the second telescopic rod 79 and the third telescopic rod 711 are extended and measured in sequence to determine the sound time across the crack; finally, the crack depth can be calculated according to my country's "Technical Specification for Ultrasonic Testing of Concrete Defects"; the microscopic camera probe 716 measures the crack by taking pictures, thereby roughly calculating the crack volume, controlling the grouting volume, and improving the compactness of the grouting.

[0045] The visual scanning system includes a first vision unit installed at the front end of the track-mounted mobile vehicle 2 and a second vision positioning unit installed on the mobile end of the six-degree-of-freedom robotic arm 6.

[0046] The first visual scanning unit uses 3D LiDAR to perform a large-scale scan of the tunnel wall to generate a global three-dimensional point cloud model and initially identify the leakage area; the second visual positioning unit uses a laser displacement sensor to accurately locate the leakage point and obtain its three-dimensional coordinates during operation.

[0047] The visual scanning system also includes a control unit, which is used to: receive a global three-dimensional point cloud model generated by the first visual scanning unit; plan the motion path of the track-mounted mobile vehicle 2 and the six-degree-of-freedom robotic arm 6 based on the global three-dimensional point cloud model; control the second visual positioning unit to perform local scanning of the target work point and obtain the precise three-dimensional coordinates of the point; fuse the precise three-dimensional coordinates with the global three-dimensional point cloud model and guide the six-degree-of-freedom robotic arm 6 to move to the target position to perform drilling or grouting operations.

[0048] The first visual scanning unit and the second visual positioning unit establish a unified coordinate system through the hand-eye calibration method, and the second visual positioning unit and the end effector of the six-degree-of-freedom robotic arm 6 are calibrated through the tool coordinate system.

[0049] In addition, this embodiment also discloses a method for treating tunnel water leakage, which specifically includes the following steps: Step S1: The robot moves along tunnel track 1 to the work area. The first vision positioning unit scans the tunnel wall, identifies the leakage point, and plans the work path.

[0050] Step S2: The robot moves to the target point, and the support leg 31 extends and presses against the upper part of the tunnel segment. The track moving vehicle 2 and the two side support legs 31 form a triangular support in the tunnel, which makes the support more stable. The swing of the support leg 31 is driven by the worm gear 321 and worm 322. Because the worm gear 321 and worm 322 cannot transmit in the opposite direction, the support leg 31 has a self-locking effect, that is, after the swing angle, it will not be changed by external force.

[0051] Step S3: The control unit of the vision scanning system receives the global three-dimensional point cloud model generated by the first vision scanning unit; plans the motion path of the track-moving vehicle 2 and the six-degree-of-freedom robotic arm 6 based on the global three-dimensional point cloud model; controls the second vision positioning unit to perform local scanning of the target work point to obtain the precise three-dimensional coordinates of the point; fuses the precise three-dimensional coordinates with the global three-dimensional point cloud model to guide the six-degree-of-freedom robotic arm 6 to move to the target position for drilling.

[0052] Step S4: After drilling is completed, the robot puts the impact drill back into the tool rack and replaces the grouting head.

[0053] Step S5: The robot guides the grouting head to be precisely inserted into the borehole, and then the grouting pump is started to perform quantitative grouting.

[0054] Step S6: Once the single-point operation is completed, support leg 31 retracts, the robot moves to the next point, and the operation is repeated. Example 2

[0055] The difference between this embodiment and embodiment 1 is that: a reset box 712 is fixedly installed on the sliding plate 710 corresponding to the acoustic transducer 713. A spindle is installed on one end of the transducer 713 near the sliding plate 710. The spindle extends into the reset box 712. The spindle is connected to the upper end of the reset box 712 through a ball joint 714. Reset springs 715 are installed on the four sides corresponding to the spindle inside the reset box 712. In use, the planar transducer 713 needs to be connected as perpendicularly as possible to the crack direction at the measurement location for more accurate measurements. However, the tunnel wall of the subway section is curved. When the crack has no vertical section, it is only necessary to adjust the six-degree-of-freedom robotic arm 6 to make the auxiliary detection mechanism perpendicular to the crack direction. When it is pressed against the tunnel wall, due to the action of the ball joint 714, the planar transducer 713 can swing adaptively to get close to the tunnel wall. When performing cross-crack and non-cross-crack measurements, it is only necessary to keep the angle of the auxiliary detection mechanism unchanged and move it horizontally to the position of the complete crack-free tunnel wall near the crack to perform non-cross-crack measurements. It can be used for cracks in different directions, which can better meet the usage requirements. Example 3

[0056] like Figures 10-11 As shown, the difference between this embodiment and embodiment 1 is that the support legs 31 on both sides of the chassis 21 are staggered in the forward direction of the track moving vehicle 2, and there are two rotary motors 323, which drive the worm gears 322 on both sides to rotate in the same direction through the first bevel gear and the second bevel gear respectively; when support is needed, the support legs 31 rotate into a cross shape, and the support legs 31 press against the tunnel segment or the wall of the subway station, reducing the shear force after the support legs 31 press against the segment, and making the support more stable. Example 4

[0057] The difference between this embodiment and Embodiment 1 is that a lifting platform 4 is provided between the six-degree-of-freedom robotic arm 6 and the track-moving trolley, such as... Figures 13-14 As shown, the lifting platform 4 is a scissor lift; by setting up a lifting platform, the size of the six-degree-of-freedom robotic arm 6 can be reduced without affecting the construction height, thus reducing equipment costs. Example 5

[0058] The difference between this embodiment and Embodiment 1 is that a cross-sliding mechanism 5 is provided between the six-degree-of-freedom robotic arm 6 and the track-moving trolley, such as... Figure 15As shown, the cross-sliding mechanism 5 includes a mutually perpendicular X-axis module 51 and a Y-axis module 52. The X-axis module 51 enables large position adjustments of the six-degree-of-freedom robotic arm 6 in the forward direction, while the Y-axis module 52 enables large position adjustments of the six-degree-of-freedom robotic arm 6 in a direction perpendicular to the forward direction. The X-axis module 51 includes a sliding plate with a guide rail fixedly mounted on it. A slider is slidably mounted on the guide rail, and a lead screw parallel to the guide rail passes through the slider. The lead screw is threadedly connected to the slider, and both ends of the lead screw are mounted on the sliding plate via bearing seats. A sliding motor for driving the lead screw to rotate is fixedly mounted on the sliding plate. The Y-axis module 52 has the same structure as the X-axis module 51. The sliding plate of the Y-axis module 52 is mounted on the slider of the X-axis module 51. By setting up the cross-sliding mechanism 5, the construction range can be increased, the number of steps of the track moving vehicle 2 can be reduced, and the construction efficiency can be improved. Example 6

[0059] like Figure 12 As shown, the difference between this embodiment and Embodiment 1 is that a lifting platform 4 and a cross-sliding mechanism 5 are provided between the six-degree-of-freedom robotic arm 6 and the track-moving trolley. The lifting platform 4 is a scissor lift. The cross-sliding mechanism 5 includes a mutually perpendicular X-axis module 51 and a Y-axis module 52. The X-axis module 51 includes a slide plate, on which a guide rail is fixedly installed. A slider is slidably mounted on the guide rail, and a lead screw parallel to the guide rail passes through the slider. The lead screw is threadedly connected to the slider, and both ends of the lead screw are mounted on the slide plate through bearing seats. A cross-sliding mechanism 5 is fixedly installed on the slide plate. A sliding motor is used to drive the lead screw to rotate; the Y-axis module 52 and the X-axis module 51 have the same structure. The slide plate of the Y-axis module 52 is installed on the slider of the X-axis module 51, and the slide plate of the X-axis module 51 is installed on the lifting platform 4. The six-degree-of-freedom robotic arm 6 is installed on the slider of the Y-axis module 52. By setting up the lifting platform, the size of the six-degree-of-freedom robotic arm 6 can be reduced without affecting the construction height, thus reducing equipment costs. By setting up the cross sliding mechanism 5, the construction range can be increased, the number of steps of the track moving vehicle 2 can be reduced, and the construction efficiency can be improved. Example 7

[0060] like Figure 16 As shown, the difference between this embodiment and Embodiment 1 is that there are two six-degree-of-freedom robotic arms 6, which are respectively set on the front and rear sides of the active anti-tipping mechanism. The drilling device is installed on the moving end of the six-degree-of-freedom robotic arm 6 on the side of the active anti-tipping mechanism closer to the forward direction, and the grouting head is installed on the moving end of the six-degree-of-freedom robotic arm 6 on the side of the active anti-tipping mechanism away from the forward direction. Setting up two six-degree-of-freedom robotic arms 6 can meet the requirements of drilling and grouting at the same time, without having to switch tools back and forth, thus improving construction efficiency.

[0061] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are only illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. A high-precision robot for controlling tunnel water leakage, characterized in that, include: The track moving vehicle (2) is equipped with moving wheels (22) for moving on the tunnel track (1) and a moving motor (241) for driving the moving wheels (22) to rotate. An active anti-tipping mechanism includes several sets of retractable support legs (31) symmetrically arranged on both sides of the track moving vehicle (2) and a rotating mechanism (32) for driving the support legs (31) to rotate the support angle. The support direction of the support legs (31) is upward support. At least one six-degree-of-freedom robotic arm (6) is mounted on the rail-mounted vehicle (2); A drilling device, which is installed on the moving end of the six-degree-of-freedom robotic arm (6), is used to drill holes at the locations of tunnel water leakage. The grouting system includes a grouting head, which is mounted on the moving end of the six-degree-of-freedom robotic arm (6) for grouting the location of tunnel water leakage; The crack depth ultrasonic testing system includes an ultrasonic testing instrument and an auxiliary testing mechanism, wherein the auxiliary testing mechanism is installed on the moving end of the six-degree-of-freedom robotic arm (6) for measuring crack depth and width; A quick-installation structure for facilitating the rapid mounting of the drilling device and grouting head onto the moving end of the six-degree-of-freedom robotic arm (6); and The visual scanning system includes a first visual scanning unit installed at the front end of the track mobile vehicle (2) and a second visual positioning unit installed on the mobile end of the six-degree-of-freedom robotic arm (6).

2. The high-precision robot for controlling tunnel seepage according to claim 1, characterized in that, The rotating mechanism (32) includes a worm (322) mounted on the track moving vehicle (2) via a bearing seat and a rotary motor (323) that drives the worm (322) to rotate; the lower part of the support leg (31) is rotatably connected to the track moving vehicle (2) via a hinge seat, and the lower end of the support leg (31) is set as a semi-circular worm wheel (321), which meshes with the worm (322).

3. The high-precision robot for controlling tunnel seepage according to claim 1, characterized in that, The quick-assembly structure includes a matching female connector and a male connector (71). The female connector is installed on the moving end of the six-degree-of-freedom robotic arm (6). The drilling device, the grouting head, and the auxiliary detection mechanism are all equipped with male connectors (71).

4. The high-precision robot for controlling tunnel seepage according to claim 3, characterized in that, The auxiliary testing mechanism includes a mounting frame (72). A male connector (71) is installed in the middle of one side of the mounting frame (72), and a microscope camera probe (716) is installed in the middle of the other side. Grooves are provided on both the left and right ends of the mounting frame (72) away from the male connector (71). A sliding support (74) that slides left and right is fitted on the upper part of the groove. A support spring (76) is installed between the side of the sliding support (74) near the microscope camera probe (716) and the side wall of the groove. A swing box (77) is rotatably connected to the side of the sliding support (74) away from the microscope camera probe (716). The swing box (77) is open at the end away from the microscope camera probe (716). A sliding box (78) that slides left and right is fitted inside the swing box (77). A first sliding box (78) is installed between the end of the sliding box (78) near the microscope camera probe (716) and the inner wall of the swing box (77). Two telescopic rods (79); the sliding box (78) is open at one end away from the microscope camera probe (716), and a sliding plate (710) that slides left and right is installed inside the sliding box (78). A third telescopic rod (711) is installed between the end of the sliding plate (710) near the microscope camera probe (716) and the inner wall of the sliding box (78); a reset box (712) is fixedly installed on the upper surface of the end of the sliding plate (710) away from the microscope camera probe (716). A planar transducer (713) is provided on the reset box (712). A spindle is installed at the end of the planar transducer (713) near the sliding plate (710). The spindle extends into the reset box (712). The spindle is connected to the upper end of the reset box (712) through a ball joint (714). Reset springs (715) are installed inside the reset box (712) on the four sides corresponding to the front, back, left and right sides of the spindle.

5. The high-precision robot for controlling tunnel seepage according to claim 1, characterized in that, A lifting platform (4) and a cross sliding mechanism (5) are provided between the six-degree-of-freedom robotic arm (6) and the track-moving trolley. The lifting platform (4) is a scissor lift. The cross sliding mechanism (5) is installed on the lifting platform (4). The cross sliding mechanism (5) includes an X-axis module (51) and a Y-axis module (52) that are perpendicular to each other. The X-axis module (51) includes a slide plate. A guide rail is fixedly installed on the slide plate. A slider is slidably arranged on the guide rail. A lead screw parallel to the guide rail passes through the slider. The lead screw is threadedly connected to the slider. The two ends of the lead screw are installed on the slide plate through bearing seats. A sliding motor for driving the lead screw to rotate is fixedly installed on the slide plate. The Y-axis module (52) and the X-axis module (51) have the same structure. The slide plate of the Y-axis module (52) is installed on the slider of the X-axis module (51).

6. The high-precision robot for controlling tunnel seepage according to claim 1, characterized in that, The first visual scanning unit is a 3D lidar or panoramic camera, used to perform a large-scale scan of the tunnel wall to generate a global three-dimensional point cloud model and initially identify the leakage area; the second visual positioning unit is a high-resolution industrial camera or laser displacement sensor, used to accurately locate the leakage point and acquire its three-dimensional coordinates during operation.

7. The high-precision robot for controlling tunnel seepage according to claim 6, characterized in that, The visual scanning system further includes a control unit, which is used for: Receive the global 3D point cloud model generated by the first visual scanning unit; The motion paths of the track-mounted mobile vehicle (2) and the six-degree-of-freedom robotic arm (6) are planned based on the global three-dimensional point cloud model. The second vision positioning unit is controlled to perform a local scan of the target work point to obtain the precise three-dimensional coordinates of the point. The precise three-dimensional coordinates are fused with the global three-dimensional point cloud model to guide the six-degree-of-freedom robotic arm (6) to move to the target position for drilling or grouting operations.

8. The high-precision robot for controlling tunnel seepage according to claim 7, characterized in that, The first visual scanning unit and the second visual positioning unit establish a unified coordinate system through the hand-eye calibration method, and the second visual positioning unit and the end of the six-degree-of-freedom robotic arm (6) are calibrated through the tool coordinate system.

9. The high-precision robot for controlling tunnel seepage according to claim 1, characterized in that, The number of the six-degree-of-freedom robotic arms (6) is one. A tool rack for storing the drilling device and grouting head is also provided on the track moving vehicle (2). The tool rack is provided with a positioning groove that matches the shape of the tool.

10. The high-precision robot for controlling tunnel seepage according to claim 2, characterized in that, The number of the support legs (31) is two, the number of the worm (322) is one, the two ends of the worm (322) extend to the position below the support legs (31) on both sides respectively, a first bevel gear is provided in the middle position of the worm (322), and a second bevel gear that meshes with the first bevel gear is installed on the output end of the rotary motor (323).

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