Underground pipe gallery inspection robot walking control system and method

Abstract

The application provides a kind of underground pipe gallery inspection robot walking control system and method, underground pipe gallery inspection robot walking control system includes self-checking module, instruction receiving module, authority lock module and controller.Working condition self-checking is carried out to walking module and obstacle avoidance module by self-checking module, and normal or abnormal self-checking result is generated respectively.Instruction receiving module receives the walking trigger instruction of external device.When instruction receiving module receives walking trigger instruction, authority lock module reads self-checking result, and outputs unlock signal or lock signal to walking module.When the self-checking result of walking module and obstacle avoidance module is normal, control authority lock module outputs unlock signal to allow walking module to act.Otherwise, control authority lock module outputs lock signal to prohibit walking module to act.The underground pipe gallery inspection robot walking control system provided by the application can avoid that robot blindly responds to walking instruction regardless of its own hardware health status.

Description

Technical Field

[0001] This invention belongs to the field of power tunnel operation and maintenance technology, specifically relating to a walking control system and method for an underground utility tunnel inspection robot. Background Technology

[0002] Urban utility tunnels and power tunnels are underground infrastructure that carries municipal pipelines such as electricity, communications, and water supply and drainage. Their enclosed, narrow spaces and limited ventilation make them prone to high humidity, temperature and humidity fluctuations, and the accumulation of harmful gases. Due to the unique underground environment, tunnel inspections face high safety risks and high operating costs, making it difficult to achieve round-the-clock, high-frequency, and comprehensive routine monitoring. Using inspection robots to perform environmental monitoring, equipment inspection, and emergency inspections of utility tunnels has become the mainstream approach in this field.

[0003] In existing technologies, inspection robots are typically equipped with a walking module and an obstacle avoidance module, and possess the ability to perceive the general status of both modules, enabling them to independently collect operational data and provide status alerts. However, under traditional control logic, the status perception functions of the walking and obstacle avoidance modules are separated from the robot's walking operation control. When receiving manual walking or emergency inspection commands, the robot directly responds and operates according to its inherent logic, ignoring the real-time health status of the walking and obstacle avoidance modules. This can easily lead to collisions, resulting in low operational safety and difficulty in meeting the operational safety requirements of narrow underground tracks. Consequently, the stability and safety assurance capabilities of the operation process are limited. Summary of the Invention

[0004] This invention provides a walking control system and method for an underground utility tunnel inspection robot, aiming to improve the operational safety and reliability of the robot.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: Firstly, a walking control system for an underground utility tunnel inspection robot is provided, comprising a self-test module, an instruction receiving module, an access control module, and a controller. The self-test module performs self-tests on the walking module and obstacle avoidance module respectively after the robot is powered on and before task execution, and generates normal or abnormal self-test results respectively. The instruction receiving module receives walking trigger instructions from external devices, including manual walking instructions and emergency inspection instructions. The access control module is electrically connected to both the self-test module and the instruction receiving module, and reads the self-test results when the instruction receiving module receives the walking trigger instructions, and outputs an unlock signal or a lock signal to the walking module. The controller is configured to: when the self-test results of both the walking module and the obstacle avoidance module are normal, control the access control module to output an unlock signal to allow the walking module to move; when the self-test result of at least one of the walking module and the obstacle avoidance module is abnormal, control the access control module to output a lock signal to prohibit the walking module from moving.

[0006] In conjunction with the first aspect, in one possible implementation, the underground utility tunnel inspection robot's walking control system further includes a status indication module, which is electrically connected to the self-test module. The self-test module is also used to: identify the source of the anomaly and generate a corresponding anomaly type identifier when an abnormal self-test result is generated. The controller is configured to: control the status indication module to issue an alarm using visual and / or auditory indications based on the anomaly type identifier.

[0007] In some embodiments, the walking control system of the underground utility tunnel inspection robot also includes a communication reporting unit. The communication reporting unit is electrically connected to the self-test module and is used to upload the anomaly type identifier and the corresponding anomaly source to the remote monitoring backend.

[0008] For example, the walking control system of the underground utility tunnel inspection robot also includes an energy management module and a navigation and positioning module. The energy management module is electrically connected to the access control module, used to collect battery power in real time, and sets alarm thresholds. The navigation and positioning module is electrically connected to the walking module, used to acquire the robot's real-time position information, and stores the coordinates of the charging point. The controller is configured to: when the battery power is lower than the alarm threshold, control the access control module to output a lock signal to prevent the walking module from responding to the walking trigger command from the command receiving module; and based on the real-time position information and the charging point coordinates, generate a return control command to directly drive the walking module to move towards the charging point coordinates.

[0009] For example, the navigation and positioning module has a range estimation unit used to estimate the remaining driving distance based on battery level and historical driving energy consumption data. The range estimation unit stores a safe return distance. The controller is also configured to compare the remaining driving distance with the safe return distance. When the remaining driving distance is lower than the safe return distance, the control access interlock module outputs an interlock signal and controls the driving module to move towards the charging point coordinates. When the remaining driving distance is not lower than the safe return distance, the driving module continues to operate.

[0010] In conjunction with the first aspect, in one possible implementation, the instruction receiving module includes a first communication unit and a second communication unit. The first communication unit is electrically connected to the access control module and is used to receive manual walking instructions sent by the handheld remote control terminal. The second communication unit is electrically connected to the access control module and is used to receive emergency inspection instructions sent by the remote monitoring backend.

[0011] In some embodiments, the underground utility tunnel inspection robot's walking control system also includes a log management module. The log management module is electrically connected to the controller and is used to synchronize the robot's clock with the remote monitoring backend after power-on, and to save the work log.

[0012] The beneficial effects of the underground utility tunnel inspection robot walking control system provided by this invention are as follows: Compared with the prior art, this invention performs self-checks on the walking module and obstacle avoidance module after the robot is powered on and before task execution, and generates working condition judgment results. It can receive walking trigger commands and simultaneously read the self-check results upon receiving the commands. The controller performs logical judgment based on the self-check status of the walking module and obstacle avoidance module. When both self-check results are normal, an unlock signal is output to allow the walking module to move; if either module's self-check is abnormal, a lock signal is output to prohibit the walking module from performing any action.

[0013] Compared with the existing technology where the status perception of the walking module and obstacle avoidance module are separated from the robot's walking operation control, this invention uses the module's self-check as a prerequisite for walking operation and emergency inspection. This can prevent the robot from blindly responding to walking commands regardless of its own hardware health status, avoid collisions with the robot in narrow underground utility tunnels, and improve the safety and reliability of the inspection robot's walking control and emergency inspection operations.

[0014] Secondly, this invention also provides a walking control method for an underground utility tunnel inspection robot based on the underground utility tunnel inspection robot walking control system, comprising the following steps: After the robot is powered on and before the task is executed, the walking module and the obstacle avoidance module are checked for their working conditions, and normal or abnormal self-check results are generated respectively.

[0015] Receive walking trigger commands from external devices, including manual walking commands and emergency inspection commands.

[0016] Upon receiving a walking trigger command, read the self-test results.

[0017] When both the walking module and the obstacle avoidance module test results are normal, an unlock signal is output to allow the walking module to move. Otherwise, a lock signal is output to prevent the walking module from moving.

[0018] In conjunction with the second aspect, one possible implementation, after outputting the locking signal to prohibit the walking module from moving, also includes: setting a preset alarm threshold; real-time monitoring of battery power, maintaining the locking signal when the battery power is below the alarm threshold to prevent the walking module from responding to walking trigger commands; acquiring the robot's real-time position information and determining the preset charging point coordinates, and controlling the walking module to move towards the charging point coordinates based on the real-time position information and the charging point coordinates.

[0019] For example, after generating normal or abnormal self-test results, the process further includes: when an abnormal self-test result is generated, identifying the source of the abnormality and generating a corresponding abnormality type identifier. Based on the abnormality type identifier, issuing an alarm using visual and / or auditory indications. Uploading the abnormality type identifier and the corresponding abnormality source to the remote monitoring backend.

[0020] The beneficial effects of the walking control method for underground utility tunnel inspection robots provided by this invention are as follows: Compared with the prior art, this invention performs self-checks on the walking and obstacle avoidance modules after the robot is powered on and before task execution, generating corresponding status results, and can also receive walking trigger commands. Upon receiving a walking trigger command, the self-check status is retrieved. Walking is allowed only when both the walking and obstacle avoidance modules pass the self-check simultaneously; if any module malfunctions, the walking execution process is directly intercepted. This enables the construction of a pre-emptive safety verification process. Compared with the crude operation mode of directly responding to walking commands in the prior art, this changes the robot's operation initiation logic, achieving standardized control of inspection walking and emergency inspection actions, preventing the robot from operating with defects, and meeting the operational control requirements of unmanned inspection in the confined and narrow environment of underground utility tunnels. Attached Figure Description

[0021] Figure 1 A schematic diagram of the walking control system for an underground utility tunnel inspection robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram showing the connection between the self-test module, the status indication module, and the communication reporting unit in an embodiment of the present invention; Figure 3 This is a schematic diagram showing the connection between the energy management module, the navigation and positioning module, and the walking control process in an embodiment of the present invention; Figure 4 A process flow diagram of the walking control method for an underground utility tunnel inspection robot provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0023] It should be noted that when an element is referred to as being "set on" another element, it can be directly on or indirectly on the other element. It should be understood that the terms "upper," "lower," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. The terms "first" and "second" 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, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0024] Please see Figure 1 This invention provides a walking control system for an underground utility tunnel inspection robot. The system includes a self-test module, a command receiving module, an access control module, and a controller. The self-test module performs self-checks on the walking module and obstacle avoidance module after the robot is powered on and before task execution, generating normal or abnormal self-test results respectively. The command receiving module receives walking trigger commands from external devices, including manual walking commands and emergency inspection commands. The access control module is electrically connected to both the self-test module and the command receiving module. It reads the self-test results when the command receiving module receives the walking trigger commands and outputs an unlock signal or a lock signal to the walking module. The controller is configured to: when the self-test results of both the walking module and the obstacle avoidance module are normal, control the access control module to output an unlock signal to allow the walking module to move; when the self-test result of at least one of the walking module and the obstacle avoidance module is abnormal, control the access control module to output a lock signal to prohibit the walking module from moving.

[0025] It should be noted that the self-test module, as a basic testing unit, can employ an integrated multi-parameter testing circuit, which internally includes testing channels for the walking module and obstacle avoidance module. After the robot is powered on, the self-test module sends an no-load operation command to the drive motor of the walking module, detects the motor output speed through a built-in speed sensor, monitors the power supply stability of the drive circuit through a voltage sampling circuit, and detects the contact pressure of the tracks or wheels through a tension sensor. Each parameter is then compared with a preset standard range.

[0026] The obstacle avoidance module can employ a combination of infrared sensors and lidar. The self-test module triggers the infrared sensor to emit a detection signal, and the signal receiving circuit detects the response time and intensity of the reflected signal to verify whether the detection range meets the requirements of the utility tunnel operation. Simultaneously, it checks the communication link between the infrared sensor and the controller. Before task execution, the self-test module repeats the above detection process to prevent abnormalities caused by static placement or environmental changes. After each detection, the self-test module generates a corresponding status identifier, which can be in digital encoding form: 0 represents normal, and 1 represents abnormal, corresponding to the self-test results of the walking module and the obstacle avoidance module, respectively. The results are stored in the built-in cache unit.

[0027] The instruction receiving module can employ dual communication units. Manual walking instructions can be received via a Bluetooth communication module, which pairs with the operator's handheld remote control terminal. This allows the module to receive operational instructions from the terminal, and instruction transmission uses an encrypted protocol to prevent signal interference from the electromagnetic environment inside the utility tunnel. Emergency inspection instructions can be received via an industrial-grade 4G communication module. This module connects to the city's dedicated wireless communication network for utility tunnels, establishing a stable connection with the remote monitoring backend. When emergencies occur within the utility tunnel, such as excessive concentrations of harmful gases or abnormal pipeline temperatures, the backend sends an emergency inspection instruction containing the inspection target location and work priority. The instruction receiving module converts both types of instructions into digital signals recognizable by the controller and transmits them in real-time to the access control module.

[0028] The access control interlocking module can employ a combination of electromagnetic relays and signal processing chips. It establishes electrical connections with the signal outputs of both the self-test module and the command receiving module via copper core wires, achieving low-latency signal transmission. When the command receiving module receives a walking trigger command, the access control interlocking module initiates data reading and sends a request to the self-test module. Upon response, the self-test module synchronously transmits the stored self-test results of the walking and obstacle avoidance modules to the access control interlocking module. The access control interlocking module temporarily stores the results and forwards them to the controller, awaiting control commands from the controller.

[0029] The controller has a pre-stored logic judgment program. After receiving the self-test result transmitted by the access control module, the controller will perform calculations according to the preset judgment rules, parsing the status flags of the walking module and the obstacle avoidance module respectively. Only when both flags are normal codes will the controller output an unlock control signal to the access control module to control the access control module to output an unlock signal. The unlock control signal can be a high-level digital signal. If the flag of either module is an abnormal code, the controller will immediately output a low-level lock control signal to control the access control module to output a lock signal. The lock control signal is continuous and can continue until the abnormal state is cleared and the self-test is completed again.

[0030] Compared with existing technologies, the underground utility tunnel inspection robot walking control system provided by this invention performs self-checks on the walking and obstacle avoidance modules after the robot is powered on and before task execution, and generates working condition judgment results. It can receive walking trigger commands and simultaneously read the self-check results upon receiving the commands. The controller performs logical judgment based on the self-check status of the walking and obstacle avoidance modules. When both self-check results are normal, it outputs an unlock signal to allow the walking module to move; if either module's self-check is abnormal, it outputs a lock signal to prevent the walking module from performing any action.

[0031] Compared with the existing technology where the status perception of the walking module and obstacle avoidance module are separated from the robot's walking operation control, this invention uses the module's self-check as a prerequisite for walking operation and emergency inspection. This can prevent the robot from blindly responding to walking commands regardless of its own hardware health status, avoid collisions with the robot in narrow underground utility tunnels, and improve the safety and reliability of the inspection robot's walking control and emergency inspection operations.

[0032] Please see Figure 2 The underground utility tunnel inspection robot's walking control system also includes a status indication module, which is electrically connected to the self-test module. The self-test module is also used to: identify the source of the anomaly and generate a corresponding anomaly type identifier when an abnormal self-test result is generated. The controller is configured to: control the status indication module to issue an alarm using visual and / or auditory indicators based on the anomaly type identifier.

[0033] It should be noted that the status indicator module can employ a combination of high-brightness indicator lights and a buzzer, establishing an electrical connection with the signal output port of the self-test module. It can be installed on top of the robot for quick observation in dimly lit environments within the pipe gallery. The indicator lights can be set to multiple colors, each corresponding to a different alarm level. The buzzer supports multi-frequency tone output, achieving differentiated prompts through combinations of color and tone. The status indicator module can have an independent power supply unit to avoid being affected by voltage fluctuations from other modules, ensuring stable alarm signal output.

[0034] The self-test module has a pre-stored fault characteristic database for the walking and obstacle avoidance modules, containing parameter thresholds and signal characteristics for various faults. When the self-test module detects that the parameters of the walking or obstacle avoidance modules exceed the standard range, it will perform anomaly judgment. For the walking module, if the speed sensor detects that the motor speed is lower than the preset value and the drive circuit voltage is stable, it is judged as motor mechanical jamming; if the voltage sampling circuit detects that the power supply fluctuation exceeds the allowable range, it is judged as a drive circuit fault. For the obstacle avoidance module, if the infrared sensor reflection signal intensity is zero and the lidar signal is normal, it is judged as infrared sensor damage; if both have no reflection signal and the communication link has no data transmission, it is judged as communication interface loose. After completing the anomaly source identification, the self-test module will generate a corresponding anomaly type identifier.

[0035] The controller analyzes the anomaly type identifier transmitted by the self-test module. If the identifier indicates that the walking module motor is stuck, the controller sends a control signal to the status indicator module, activating the red indicator light and controlling it to flash twice per second, while simultaneously driving the buzzer to output a continuous 1000 Hz tone. If the identifier indicates that the obstacle avoidance module communication interface is loose, the controller controls the yellow indicator light to flash once per second, and the buzzer outputs an intermittent 500 Hz tone. The entire control process is responsive, providing immediate feedback on fault information.

[0036] Please see Figure 2 The underground utility tunnel inspection robot's walking control system also includes a communication reporting unit. This unit is electrically connected to the self-test module and is used to upload anomaly type identifiers and corresponding anomaly sources to the remote monitoring backend.

[0037] It should be noted that the communication reporting unit can use a wireless transmission component adapted to the underground confined space transmission environment, which is electrically connected to the data output port of the self-test module, and can integrate scattered fault information.

[0038] After the self-test module generates an anomaly type identifier, it sends the anomaly source details and corresponding identifier content to the communication reporting unit. The communication reporting unit systematically processes the received information, removing invalid data caused by environmental electromagnetic interference. After the information processing is complete, the communication reporting unit sends the data out.

[0039] The communication reporting unit can automatically switch to an appropriate information transmission rate based on the actual signal coverage of different sections of the underground utility tunnel. In the main area of ​​the tunnel with sufficient signal, the transmission rate is set to the normal rate, while in the branch areas of the tunnel with sparse signal, the transmission rate is slowed down to ensure data integrity.

[0040] After receiving fault-related information transmitted by the communication reporting unit, the remote monitoring backend automatically categorizes, stores, and archives the information. It also displays corresponding fault prompts on the backend interface. Backend personnel can monitor the specific fault type and location of the on-site inspection robot in real time without entering the utility tunnel.

[0041] Please see Figure 3 The underground utility tunnel inspection robot's walking control system also includes an energy management module and a navigation and positioning module. The energy management module is electrically connected to the access control module, used to collect real-time battery power data and set alarm thresholds. The navigation and positioning module is electrically connected to the walking module, used to acquire the robot's real-time location information and store the charging point coordinates. The controller is configured to: when the battery power is below the alarm threshold, control the access control module to output a lock signal to prevent the walking module from responding to walking trigger commands from the command receiving module; and based on the real-time location information and charging point coordinates, generate a return-to-home control command to directly drive the walking module to move towards the charging point coordinates.

[0042] It should be noted that the energy management module can continuously capture real-time data on the remaining power in the battery. After completing a round of data collection, the energy management module transmits the processed power data to the controller. Power alarm thresholds can be set in the energy management module's storage area, based on the actual inspection mileage of the utility tunnel and the daily energy consumption of the equipment. Different value standards can be set for different inspection areas to adapt to different inspection scenarios. The energy management module establishes an electrical connection with the access control module. When the battery power is detected to be below the alarm threshold, a low power status signal is transmitted to the access control module.

[0043] The navigation and positioning module utilizes indoor positioning sensors adapted to the enclosed underground environment. It performs orientation calibration using pre-deployed positioning reference nodes within the utility tunnel to determine the robot's current spatial location. The module includes a storage area to record the orientation information of all fixed charging stations within the tunnel. The navigation and positioning module establishes a direct electrical connection with the walking module, enabling the transmission of real-time orientation control commands to the walking module. This drives the walking module to adjust its direction and speed, ensuring efficient response during the return journey.

[0044] The controller continuously receives real-time power information from the energy management module, while simultaneously retrieving real-time location data and charging point orientation data from the navigation and positioning module. When the measured power level falls below a predetermined threshold, the controller sends a locking control command to the access control module. Upon receiving the command, the access control module continuously outputs a locking signal, and the walking module refuses to respond to external walking trigger commands. The controller combines the robot's current location with the orientation information of the charging point, along with the internal passageway of the utility tunnel, to plan a safe and smooth travel route and generate corresponding return-to-home control commands. The walking module proceeds according to the orientation and return-to-home control commands transmitted by the navigation and positioning module, avoiding various pipelines and fixed structures within the utility tunnel, moving towards the charging point.

[0045] Adding energy-endurance constraints to operations makes the criteria for robot start-up and shutdown more comprehensive. This can reduce the number of times robots run out of power and become stuck in remote sections of utility tunnels, and reduce the manpower required for personnel to enter complex utility tunnel spaces to drag and move equipment.

[0046] Please see Figure 3 The navigation and positioning module includes a range estimation unit, which estimates the remaining driving distance based on battery level and historical driving energy consumption data. This unit stores a safe return distance. The controller is also configured to compare the remaining driving distance with the safe return distance. When the remaining driving distance is lower than the safe return distance, the control access interlock module outputs an interlock signal and controls the driving module to move towards the charging point coordinates. When the remaining driving distance is not lower than the safe return distance, the driving module continues to operate.

[0047] It should be noted that the endurance estimation unit has a data storage area capable of storing historical energy consumption data accumulated during long-term inspection operations of the robot. Power consumption information under different travel speeds and road conditions can be retained. When the robot is in inspection mode, the endurance estimation unit receives real-time battery power information from the energy management module and combines it with various internally stored energy consumption records to perform calculations. It can then calculate the remaining distance the robot can travel supported by the current remaining power.

[0048] The battery endurance estimation unit's storage area allows for the input and setting of a safe return distance. This safe return distance is determined by considering the overall length of the utility tunnel route and the undulations of the road along the way; it represents the minimum travel distance required for the robot to reach the charging point without obstruction. The safe return distance can be adjusted according to the inspection range of different utility tunnel areas to adapt to underground maintenance scenarios of varying scales. After calculating the remaining travel distance, the battery endurance estimation unit transmits the calculation results to the controller.

[0049] After receiving two sets of data—remaining movable distance and safe return distance—the controller compares the two values. If the actual calculated remaining movable distance is less than the preset safe return distance, the controller sends a locking control command to the access control module, causing it to output a locking signal. The walking module loses its ability to respond to external walking trigger commands, stops its ongoing inspection movement, and adjusts its direction of travel to follow the planned return path. The controller uses the real-time spatial position obtained by the navigation and positioning module and the coordinates of the charging point to determine the optimal route, guiding the walking module towards the power supply point.

[0050] If the calculated remaining movable distance is greater than or equal to the safe return distance, the robot can maintain its original normal operating mode for the entire process. Following the planned inspection route, the robot completes the predetermined tasks, such as inspecting equipment inside the utility tunnel and collecting environmental data.

[0051] After each round of inspection, the robot's range estimation unit records the energy consumption information generated during the entire journey, continuously enriching its internal historical energy consumption database. This continuous enrichment and improvement of the data sample ensures that subsequent range estimates better reflect the actual operating conditions of the equipment, narrowing the gap between theoretical calculations and actual travel capabilities.

[0052] Please see Figure 1 The instruction receiving module includes a first communication unit and a second communication unit. The first communication unit is electrically connected to the access control module and is used to receive manual walking instructions sent by the handheld remote control terminal. The second communication unit is also electrically connected to the access control module and is used to receive emergency inspection instructions sent by the remote monitoring backend.

[0053] It should be noted that the first communication unit can be a short-range wireless communication chip, capable of signal communication with the access control module. The handheld remote control terminal is frequency band matched with the first communication unit, allowing operators to send manual movement commands to the first communication unit when moving close to the inside of the utility tunnel.

[0054] After the control signal from the handheld remote terminal arrives at the first communication unit, the first communication unit converts the general control signal from the external remote control device into a standard electrical signal that the robot system can recognize, and then transmits it to the access control module after processing. Manual walking commands are typically used for routine equipment maintenance and debugging, short-distance relocation of pipe gallery entrances and exits, and fine-tuning of local points, offering flexibility in on-site operation.

[0055] The second communication unit can employ long-distance communication components adapted to underground space network transmission. It is compatible with the communication network deployed throughout the utility tunnel, enabling long-term signal communication with the remote monitoring backend. In the event of emergencies such as abnormal pipeline heating, excessive concentrations of harmful gases, or sudden facility damage within the utility tunnel, the remote monitoring backend personnel can generate corresponding emergency inspection instructions, which are then pushed to the second communication unit via the network link.

[0056] After receiving the emergency inspection command from the remote end, the second communication unit filters out invalid noise generated during network transmission and transmits the valid command information to the access control module. The emergency inspection command includes information such as the specified inspection route, key inspection areas, and task execution priority.

[0057] The first and second communication units operate independently during operation, avoiding the obstruction of each other's signal transmission channels. They can simultaneously receive walking trigger commands from different sources and transmit the walking trigger command information to the access control module. Regardless of whether the walking trigger command comes from the field handheld terminal or the remote monitoring backend, the access control module will retrieve the equipment operating condition self-test results generated by the self-test module while receiving the walking trigger command, and then send all the information to the controller for safety determination.

[0058] In some embodiments, the underground utility tunnel inspection robot's walking control system also includes a log management module. The log management module is electrically connected to the controller and is used to synchronize the robot's clock with the remote monitoring backend after power-on, and to save the work log.

[0059] It should be noted that after the device completes the power-on startup process, the log management module initiates a time calibration program to search for an external universal standard time source, complete data integration, and correct time differences in the device's internal timing components. After the clock alignment operation is completed, all timing parameters within the module are consistent with the common standard time, avoiding timing offsets and errors.

[0060] Once the standardized time is established, the log management module enters the information collection state, continuously capturing real-time operational information generated during equipment operation from the controller. The log management module organizes and arranges the data according to a predetermined format, ensuring that each record has complete event elements and a time stamp, guaranteeing clear and organized log content for easy retrieval and verification by staff later.

[0061] The log management module can use a circular storage mode to save work logs. Staff can define the log storage capacity range within the log management module, and newly generated operation logs are stored in the designated storage space in chronological order. When the storage space is full of recently generated log content, the log management module deletes the earliest batch of log content in the storage sequence and continues to store new operation records, maintaining the storage space in a reasonable state of utilization.

[0062] The log management module uses a unified clock synchronization system, ensuring all operational events have a consistent time scale and preventing timing discrepancies during collaborative maintenance of multiple devices. Circular storage retains sufficient recent operational data to meet daily verification needs without unnecessarily wasting storage resources due to the accumulation of massive amounts of data over time. This provides reliable data support for optimizing inspection scheduling and adjusting equipment safety control logic, thus improving the overall operation and maintenance management system for underground utility tunnel inspection robots.

[0063] Please see Figure 4 The present invention also provides a walking control method for an underground utility tunnel inspection robot based on the underground utility tunnel inspection robot walking control system, including the following steps: After the robot is powered on and before the task is executed, the walking module and the obstacle avoidance module are checked for their working conditions, and normal or abnormal self-check results are generated respectively.

[0064] Receive walking trigger commands from external devices, including manual walking commands and emergency inspection commands.

[0065] Upon receiving a walking trigger command, read the self-test results.

[0066] When both the walking module and the obstacle avoidance module test results are normal, an unlock signal is output to allow the walking module to move. Otherwise, a lock signal is output to prevent the walking module from moving.

[0067] It should be noted that after the robot completes the power-on startup, it performs a comprehensive self-check of the walking and obstacle avoidance modules. This self-check includes verifying the smoothness of the internal power transmission structure of the walking module, the stability of the power supply to the drive components, and checking the signal transmission and reception capabilities and circuit connectivity of the obstacle avoidance module's sensing elements. After the check, a definitive result is given indicating whether the corresponding module is operating normally or abnormally.

[0068] Handheld control devices used for routine on-site debugging can issue manual walking commands, while remote back-end devices responsible for overall operation and maintenance scheduling can issue emergency inspection commands. These two types of commands for different purposes are recognized and received, meeting the operation start-up needs of different operation and maintenance scenarios.

[0069] Upon receiving any type of walking trigger command, the system retrieves the self-test results of the walking module and obstacle avoidance module that have been generated and stored. The collected self-test results are verified. If all self-test results for the walking module and obstacle avoidance module are determined to be normal, an unlock control signal is sent out. Upon receiving the unlock control signal, the walking module responds normally to walking-related commands and completes the inspection and movement actions. If any self-test result for either the walking module or the obstacle avoidance module is determined to be abnormal, a lockout control signal is sent to restrict all operational permissions of the walking module.

[0070] Compared with existing technologies, the walking control method for underground utility tunnel inspection robots provided by this invention performs self-checks on the walking and obstacle avoidance modules after the robot is powered on and before task execution, generating corresponding status results. It can also receive walking trigger commands. Upon receiving a walking trigger command, the self-check status is retrieved. Walking is allowed only when both the walking and obstacle avoidance modules pass the self-check simultaneously; otherwise, the walking execution process is directly intercepted. This enables the construction of a pre-emptive safety verification process. Compared with the crude operation mode of directly responding to walking commands in existing technologies, the walking module, upon receiving a lock signal, will not generate any movement-related actions even if external devices continuously issue walking trigger commands. This process avoids the equipment performing inspection operations while malfunctioning, meeting the operational control requirements for unmanned inspection in the confined environment of underground utility tunnels.

[0071] In conjunction with the second aspect, one possible implementation, after outputting the locking signal to prohibit the walking module from moving, also includes: setting a preset alarm threshold; real-time monitoring of battery power, maintaining the locking signal when the battery power is below the alarm threshold to prevent the walking module from responding to walking trigger commands; acquiring the robot's real-time position information and determining the preset charging point coordinates, and controlling the walking module to move towards the charging point coordinates based on the real-time position information and the charging point coordinates.

[0072] It should be noted that, taking into account the overall length of the underground utility tunnel inspection route, the energy consumption of the robot during normal operation, and the power consumption deviation caused by environmental factors, alarm threshold values ​​corresponding to the power consumption are set in advance. These values ​​can be flexibly modified according to the operational needs of different inspection areas and serve as the standard for power consumption control.

[0073] When the robot is in a stationary, locked state, the power acquisition components continuously capture the remaining power data of the energy storage battery, and the data acquisition process continues uninterrupted, accurately capturing subtle changes in power consumption caused by stable power consumption and instantaneous load power consumption. The collected power data is compared in real time with pre-set alarm values, ensuring uninterrupted power monitoring throughout the entire process.

[0074] When the real-time battery level is below a predetermined alarm threshold, the relevant interlocking controls remain active. Regardless of the type of walking trigger command sent by external devices, the walking module remains stationary to avoid conducting inspections while the battery is low. The robot's current spatial location is determined using positioning, and the specific location information of each pre-recorded charging point is retrieved. The most convenient charging station from the robot's current location is selected, and the coordinates of the final resupply point are determined.

[0075] After determining the coordinates of the target charging point, a reasonable travel route is planned based on the layout of the underground utility tunnel's internal passage space, avoiding pipelines, equipment, and obstacles within the tunnel. The moving module, which is in a locked and stationary state, adjusts its operating status and slowly moves towards the location of the charging point.

[0076] The power-triggered interlocking and autonomous return-to-home mechanism can work in conjunction with the interlocking process triggered by self-test anomalies, both of which can lock travel permissions. Even in situations where the equipment experiences both hardware malfunction and insufficient power, the established procedures will still be executed to ensure the overall operational safety of the equipment.

[0077] For example, after generating normal or abnormal self-test results, the process further includes: when an abnormal self-test result is generated, identifying the source of the abnormality and generating a corresponding abnormality type identifier. Based on the abnormality type identifier, issuing an alarm using visual and / or auditory indications. Uploading the abnormality type identifier and the corresponding abnormality source to the remote monitoring backend.

[0078] It should be noted that when the self-test detects operational abnormalities in the walking module and obstacle avoidance module, an investigation into the root cause of the abnormality is initiated. By comparing the stored standard operating parameters, the power supply lines, drive structures, sensing elements, and communication links of the abnormal modules are examined one by one to pinpoint the specific location and cause of the fault. This allows for the accurate identification of false faults caused by environmental interference and precise determination of the true scope of the abnormality.

[0079] After identifying the specific source of the anomaly, an anomaly type identifier for this fault is generated according to the pre-arranged rules. Different fault locations and different fault phenomena will correspond to unique identifier content. The anomaly type identifier has a unique distinguishing attribute, which can clearly distinguish the severity level and the category to which the fault belongs.

[0080] Retrieve the anomaly type identifier and activate differentiated on-site warning actions. Visual alerts can be provided through changes in light intensity and color, while auditory alerts can be provided through variations in sound frequency and duration. These two types of alerts can also be combined. Different anomaly identifiers correspond to specific warning combinations, allowing on-site personnel to quickly identify the type of fault based solely on visual perception.

[0081] Once the on-site warning action is activated, data transmission begins, sending out the compiled anomaly type identification text information and detailed anomaly source information obtained from precise troubleshooting. Fault-related information is transmitted to a remote monitoring backend, where the server can collect, categorize, and temporarily store the fault information.

[0082] After receiving the reported information, the remote monitoring backend can organize and arrange the faults according to the equipment number, time of occurrence, and specific type of fault. Backend personnel can monitor in real time the various operational faults of the inspection robots distributed throughout the utility tunnel. Based on the detailed fault information reported, staff can pre-allocate suitable maintenance parts, plan on-site inspection routes, and coordinate offline maintenance personnel to carry out maintenance work at the fault locations.

[0083] 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, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A walking control system for an underground utility tunnel inspection robot, characterized in that, include: The self-test module is used to perform working condition self-tests on the walking module and obstacle avoidance module after the robot is powered on and before the task is executed, and generate normal or abnormal self-test results respectively. The instruction receiving module is used to receive walking trigger instructions from external devices, including manual walking instructions and emergency inspection instructions; The access control module is electrically connected to the self-test module and the instruction receiving module, respectively, and is used to read the self-test result when the instruction receiving module receives the walking trigger instruction, and output an unlock signal or a lock signal to the walking module. The controller is configured to: when the self-test results of the walking module and the obstacle avoidance module are both normal, control the access control module to output an unlock signal to allow the walking module to move; when the self-test result of at least one of the walking module and the obstacle avoidance module is abnormal, control the access control module to output a lock signal to prohibit the walking module from moving.

2. The underground utility tunnel inspection robot walking control system as described in claim 1, characterized in that, Also includes: The status indicator module is electrically connected to the self-test module; The self-test module is also used to: identify the source of the abnormality and generate a corresponding abnormality type identifier when an abnormal self-test result is generated; The controller is configured to: based on the anomaly type identifier, control the status indication module to issue an alarm with visual and / or auditory indication status.

3. The underground utility tunnel inspection robot walking control system as described in claim 2, characterized in that, Also includes: The communication reporting unit is electrically connected to the self-test module. The communication reporting unit is used to upload the abnormality type identifier and the corresponding abnormality source to the remote monitoring backend.

4. The underground utility tunnel inspection robot walking control system as described in claim 1, characterized in that, Also includes: The energy management module is electrically connected to the access control module and is used to collect battery power in real time and has alarm thresholds set. The navigation and positioning module is electrically connected to the walking module and is used to acquire the robot's real-time position information and store the coordinates of the charging point. The controller is configured to: when the battery power is lower than the alarm threshold, control the permission locking module to output the locking signal to prevent the walking module from responding to the walking trigger command from the command receiving module; and generate a return control command based on the real-time location information and the charging point coordinates to directly drive the walking module to move to the charging point coordinates.

5. The underground utility tunnel inspection robot walking control system as described in claim 4, characterized in that, The navigation and positioning module has a range estimation unit, which is used to estimate the remaining driving distance of the battery based on the battery power and historical driving energy consumption data; the range estimation unit stores the safe return distance; The controller is further configured to: compare the remaining movable distance with the safe return distance; when the remaining movable distance is lower than the safe return distance, control the access control module to output the lock signal and control the walking module to move towards the charging point coordinates; when the remaining movable distance is not lower than the safe return distance, maintain the operation of the walking module.

6. The underground utility tunnel inspection robot walking control system as described in claim 1, characterized in that, The instruction receiving module includes: The first communication unit is electrically connected to the access control module and is used to receive the manual walking command sent by the handheld remote control terminal. The second communication unit is electrically connected to the access control module and is used to receive the emergency inspection command sent by the remote monitoring backend.

7. The underground utility tunnel inspection robot walking control system as described in claim 1, characterized in that, Also includes: The log management module, electrically connected to the controller, is used to synchronize the clock with the remote monitoring backend after the robot is powered on, and to save the work log.

8. A walking control method for an underground utility tunnel inspection robot, based on the walking control system for an underground utility tunnel inspection robot as described in any one of claims 1-7, characterized in that, Includes the following steps: After the robot is powered on and before the task is executed, the walking module and the obstacle avoidance module are checked for their working conditions, and normal or abnormal self-check results are generated respectively. Receive walking trigger commands from external devices, including manual walking commands and emergency inspection commands; Upon receiving the walking trigger command, the self-test result is read; When the self-test results of the walking module and the obstacle avoidance module are both normal, an unlock signal is output to allow the walking module to move. Otherwise, a locking signal is output to prevent the walking module from operating.

9. The walking control method for an underground utility tunnel inspection robot as described in claim 8, characterized in that, After the output latching signal is used to prevent the walking module from operating, the following is also included: Preset alarm thresholds; The battery level is collected in real time. When the battery level is lower than the alarm threshold, the lock signal is maintained to prevent the walking module from responding to the walking trigger command. The robot's real-time location information is obtained, and the preset charging point coordinates are determined. Based on the real-time location information and the charging point coordinates, the walking module is controlled to move towards the charging point coordinates.

10. The walking control method for an underground utility tunnel inspection robot as described in claim 8, characterized in that, After generating normal or abnormal self-test results respectively, the process also includes: When generating abnormal self-check results, identify the source of the abnormality and generate the corresponding abnormality type identifier; Based on the anomaly type identifier, an alarm is issued using visual and / or auditory indications. The anomaly type identifier and the corresponding anomaly source are uploaded to the remote monitoring backend.

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