A robot system for intelligent inspection and dredging of a tunnel water channel

Abstract

The application belongs to the technical field of sewer dredging, and particularly relates to a robot system for intelligent inspection and dredging of a tunnel water ditch, which is applied to side ditch dredging operation in a railway tunnel drainage system and comprises a robot, an inspection module, a dredging storage module and an autonomous charging module. The robot is of a tracked type or a wheeled type. The inspection module is used for identifying the grade and type of silt. The positioning module is used for calibrating the current robot and the silted position of the side ditch. The silt in the side ditch is collected on the silt storage module by the dredging module and then transported to a silt treatment point, so that silt dredging is realized while inspection is performed. The autonomous charging module monitors the power in real time and autonomously navigates to a charging point to complete automatic docking charging. The intelligent inspection and dredging robot system realizes intelligent maintenance of the tunnel drainage system by automatically inspecting and quantitatively evaluating the silted state of the tunnel side ditch and driving the robot to complete efficient and accurate dredging of the side ditch.

Description

Technical Field

[0001] This invention relates to the field of drainage dredging technology, specifically to a robotic system for intelligent inspection and dredging of tunnel ditches. Background Technology

[0002] As the "blood vessels" of a tunnel structure, the drainage system's unobstructed flow directly determines the safety, stability, and durability of a railway tunnel, making it one of the core infrastructures ensuring the safe operation of railway lines. my country's railway tunnel drainage system adopts a multi-layered, collaborative design, mainly consisting of circumferential drainage blind pipes, longitudinal drainage blind pipes, transverse water guide pipes, double-sided drainage ditches, and a central drainage pipe (ditch). Among these, the side ditches occupy a crucial position in the drainage system: in single-track tunnels, the side ditches serve as the main drainage channels, undertaking the core function of draining accumulated water from inside the tunnel to the outside; in double-track tunnels, the side ditches also serve as important water passages, working in conjunction with the central drainage pipe (ditch) to achieve water diversion.

[0003] However, due to the complex operating environment and variable geological conditions of tunnels, tunnel drainage systems are prone to blockages. On the one hand, natural phenomena such as mineral crystallization, soil particle deposition, and debris accumulation in the water gradually reduce the cross-sectional area of ​​the drainage channels. On the other hand, structural problems such as aging and failure of the tunnel waterproofing layer and leakage from lining cracks can cause silt and debris to enter the drainage system with seepage water, further exacerbating the blockage. If the blockage problem is not resolved for a long time, it will lead to water retention, which in turn can induce derivative problems such as water damage and frost damage, accelerate the deterioration process of the tunnel lining, and in severe cases, affect the structural safety of the tunnel and even threaten the safety of railway traffic.

[0004] Currently, the inspection and dredging of drainage systems in my country's railway tunnels still face numerous bottlenecks, making it difficult to meet the needs of modern tunnel operation and maintenance. Regarding inspection, due to the concealed nature and wide distribution of tunnel drainage systems, traditional inspection methods require manually opening drainage ditch covers to observe internal siltation and blockage, which is cumbersome and inefficient. Furthermore, due to railway operation scheduling limitations, engineering departments can only conduct sampling inspections of some ditches during maintenance windows (train stoppages), making it impossible to achieve full-range, real-time inspections. This hinders a comprehensive understanding of the overall operational status of the drainage system, leading to delayed detection of blockages and the inability to proactively implement mitigation measures, ultimately causing the damage to continue to develop and expand.

[0005] In terms of dredging, the current operation method is still mainly based on traditional manual centralized dredging. The operation also needs to be completed within the time window. The blockage is cleared by manual digging and sweeping. Not only is the operation time tight and the labor intensity extremely high, but the safety of the operation is also difficult to guarantee. Especially for tunnels in plateau and remote areas, the difficulty of manual dredging is further increased due to environmental factors such as low temperature, lack of oxygen and inconvenient transportation. The efficiency and safety of the operation are greatly reduced, and it can no longer meet the needs of tunnel drainage dredging in such special scenarios.

[0006] In summary, existing methods for inspecting and dredging tunnel drainage ditches suffer from significant drawbacks, including incomplete inspections, poor real-time performance, low dredging efficiency, high labor intensity, and insufficient safety. These limitations hinder the realization of refined and intelligent operation and maintenance of tunnel drainage systems. Therefore, developing an intelligent inspection and dredging robot system for tunnel drainage ditches, enabling the robot to autonomously inspect the ditches, accurately identify siltation and blockages, and efficiently clear blockages, is of significant practical importance and application value for ensuring smooth tunnel drainage systems, reducing operation and maintenance costs, and improving the structural safety and durability of tunnels. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a robot system for intelligent inspection and dredging of tunnel drainage ditches. By automatically inspecting and quantitatively evaluating the siltation status of tunnel side ditches, the robot is driven to complete the efficient and accurate dredging of the side ditches, thereby realizing the intelligent maintenance of the tunnel drainage system.

[0008] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0009] A robotic system for intelligent inspection and dredging of tunnel drainage ditches, applied to the dredging of side ditches in railway tunnel drainage systems, includes: a robot, an inspection module, a dredging and storage module, and an autonomous charging module;

[0010] The robot is either tracked or wheeled, with a minimum climbing angle of ≥15°; a slope with a gradient of ≤15° is provided between the bottom of the side ditch and the ground on one side of the side ditch.

[0011] The inspection module includes a visual recognition module and a positioning module. The visual recognition module uses LiDAR and a camera to identify the level and type of silt and to collect and store data. The positioning module includes an inertial navigation system mounted on the robot and identification tags spaced on the side ditch wall to calibrate the current silt position of the robot and the side ditch. The identification tags can correct the cumulative deviation of the inertial navigation system.

[0012] The dredging and storage module includes an integrated dredging module and a silt storage module. The dredging and storage module is installed on the robot or on a dredging trolley independent of the robot. After the silt in the side ditch is collected by the dredging module and stored in the silt storage module, the silt is transported to the silt treatment point, realizing simultaneous inspection and dredging.

[0013] The autonomous charging module includes charging points introduced from the tunnel equipment chamber to the side ditch. The robot monitors the battery level in real time and autonomously navigates to the charging point to complete automatic docking and charging based on the remaining power.

[0014] As one embodiment of the present invention, the robot is also equipped with a water level detection module and / or a temperature sensor. The water level detection module monitors the wading depth of the robot in real time. If the wading depth exceeds the threshold, the robot stops working and immediately retreats. The temperature sensor is used to observe the temperature changes in the side ditch to prevent frost damage.

[0015] In one embodiment of the present invention, the dredging module adopts a suction dredging robot, and the power can be automatically adjusted according to the actual working conditions.

[0016] In one embodiment of the present invention, when the dredging and storage module uses a dredging trolley independent of the robot, the dredging trolley is equipped with the same positioning module as the robot; the robot and the dredging trolley communicate wirelessly in real time to exchange their positioning coordinates and silt collection point data, thereby realizing the collaborative operation of the robot and the dredging trolley.

[0017] In one embodiment of the present invention, a waterproof NFC reader is provided in the middle of the side of the robot. The identification tag is an anti-metal waterproof NFC passive tag pre-embedded in the side wall of the side ditch. The identification tag is rectangular and its length is set along the vertical direction. By setting the length and pre-embedded height of the identification tag, the robot can still be positioned by the identification tag when walking on the surface of the silt.

[0018] In one embodiment of the present invention, the self-charging module adopts wireless charging.

[0019] As one embodiment of the present invention, the robot is tracked or wheeled, with a minimum climbing angle of ≥15°; a slope with a gradient of ≤15° is provided between the bottom of the side ditch and the ground on one side of the side ditch; the horizontal projection angle between the length direction of the slope and the length direction of the side ditch is an acute angle of less than 30°, so that the slope can be arranged in the narrow space between the side ditch and the inner wall of the tunnel.

[0020] As one embodiment of the present invention, the robot is also equipped with a data storage module and a communication module, which are used to store the data of each module and transmit it to the area controller of the tunnel equipment chamber; the communication module adopts a wireless transmission method.

[0021] In one embodiment of the present invention, the side ditch is divided into multiple working sections according to the length distance, and each working section is equipped with a set of robots and corresponding supporting modules; the area controller in the tunnel equipment chamber of each working section is linearly connected to the central controller.

[0022] As one embodiment of the present invention, the robot and the modules installed on the robot have an overall protection rating of IP68, which supports long-term immersion in water of ≤50cm.

[0023] The beneficial effects of adopting the above technical solution are as follows:

[0024] The intelligent inspection and dredging robot system provided by this invention enables the robot to autonomously inspect within ditches, accurately identify siltation and blockage conditions, and efficiently complete silt removal operations. Inspection and dredging are carried out simultaneously in each work area, realizing intelligent maintenance of the tunnel drainage system. This system has significant practical significance and application value for ensuring smooth tunnel drainage, reducing operation and maintenance costs, and improving the structural safety and durability of tunnels. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the railway tunnel drainage system in this invention.

[0026] The components include: 1. Tunnel, 2. Circular drainage blind pipe, 3. Horizontal water diversion pipe, 4. Side ditch, 5. Central water ditch, and 6. Water flow direction. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the invention will be described clearly and completely below in conjunction with specific embodiments.

[0028] like Figure 1 The robot system shown is used for intelligent inspection and dredging of tunnel drainage ditches. It is applied to the dredging operation of side ditch 4 in the drainage system of railway tunnels. It includes: a robot, an inspection module, a dredging and storage module and an autonomous charging module.

[0029] The robot is either tracked or wheeled, adaptable to conditions of silt and water accumulation, and supports long-distance continuous operation, with a minimum climbing angle ≥15°. A cover plate is installed above the side ditch 4, which is typically about 80cm deep. Some tunnels have double covers in the side ditch 4 for insulation, at which point the depth is about 50cm. To accommodate the dimensions of the side ditch 4, the robot body adopts a narrow and compact design, with a width of 20-28cm and a height ≤30cm, suitable for side ditches with a net width ≥30cm. By removing the cover plate, the robot can be placed into or removed from the side ditch 4 through the gap in the cover plate.

[0030] The inspection module includes a visual recognition module and a positioning module. The visual recognition module uses an integrated IP68 waterproof LiDAR and camera. After the LiDAR and camera collect data on the siltation in the side ditch, the data is fused and processed by the built-in processor to identify the type of siltation in the side ditch 4, accurately quantify it, and automatically classify it. The data is then stored to provide data support for siltation. The positioning module includes an inertial navigation system mounted on the robot and identification tags spaced on the inner wall of the side ditch 4. These tags are used to calibrate the current position of the robot and the siltation in the side ditch 4, achieving accurate perception and positioning. Furthermore, the identification tags can correct the cumulative deviation of the inertial navigation system, adapting to the complex environment of the tunnel.

[0031] The dredging and storage module includes an integrated dredging module and a silt storage module. The dredging and storage module is mounted on a robot or a dredging trolley independent of the robot. After the dredging module collects the silt in the side ditch 4 into the silt storage module, the silt is transported to the silt treatment point for discharge, realizing simultaneous inspection and dredging. When the dredging and storage module uses a dredging trolley independent of the robot, the dredging trolley is equipped with the same positioning module as the robot. The robot and the dredging trolley exchange their positioning coordinates and silt collection point data in real time via wireless communication, realizing collaborative operation between the robot and the dredging trolley. In this embodiment, the silt treatment point is located in the side ditch 4. A silt collection device is placed inside the tunnel equipment chamber, and a suction pipe is set between the side ditch and the silt collection device. A negative pressure device generates negative pressure in the suction pipe to suck the silt in the dredging and storage module into the silt collection device. In addition, the robot can also autonomously navigate to the tunnel equipment chamber via a ramp, connect to the pre-set silt collection device inside the chamber (connected to the central ditch 5), and automatically discharge the silt in the dredging and storage module into the silt collection device.

[0032] The robot's autonomous charging module monitors the battery level in real time. When the battery level falls below a preset threshold, the robot automatically pauses its current inspection and dredging task and autonomously navigates to a charging point to complete automatic charging. The autonomous charging module includes charging points extending from the tunnel equipment chamber into the side ditch 4. The robot monitors the battery level in real time and autonomously navigates to the charging point based on the remaining power to complete automatic charging. Alternatively, the charging point can be located inside the tunnel equipment chamber, allowing the robot to climb out of the side ditch 4 via a ramp and enter the tunnel equipment chamber to charge.

[0033] In this embodiment, the dredging module adopts a sluice suction dredging robot, which cleans up the silt by combining a spiral cutter and negative pressure suction. Its power can be automatically adjusted according to the actual working conditions.

[0034] A waterproof NFC reader is installed in the middle of the side of the robot. The identification tag is an anti-metal waterproof NFC passive tag pre-embedded in the side wall of the side ditch 4. The identification tag is rectangular and its length is set along the vertical direction. By setting the length and pre-embedded height of the identification tag, the robot can still be located by the identification tag when walking on the surface of the silt.

[0035] The side ditch 4 is divided into multiple working sections according to its length. Each working section is equipped with a set of robots and corresponding supporting modules. The area controller in the tunnel equipment chamber of each working section is linearly connected to the central controller.

[0036] The robot and its modules are rated IP68, which allows it to withstand long-term immersion in water up to 50cm deep.

[0037] As a further optimization, the robot is also equipped with a water level detection module and / or a temperature sensor. The water level detection module monitors the robot's wading depth in real time. If the wading depth exceeds the threshold, the robot stops working and immediately withdraws. The water level detection module uses a pressure depth sensor. The temperature sensor is used to observe temperature changes in the side ditch 4 to prevent freezing damage and to clean up accumulated water and silt in a timely manner.

[0038] As a further optimization, the autonomous charging module adopts contact wireless charging or contactless magnetic resonance wireless charging.

[0039] As a further optimization, a slope with a gradient of ≤15° is provided between the bottom of the side ditch 4 and the ground on one side of the side ditch 4; the angle between the horizontal projection of the slope along its length and the horizontal projection of the side ditch 4 is less than 30°, meaning the slope and the side ditch 4 are not perpendicular to each other, allowing the slope to be arranged within the narrow space between the side ditch 4 and the tunnel wall. This enables the robot to automatically enter and exit from the slope provided on the side of the gap between adjacent cover plates on the side ditch 4, resulting in a lightweight design and easy deployment.

[0040] As a further optimization, the robot is also equipped with a data storage module and a communication module, which are used to store the data of each module and transmit it to the area controller of the tunnel equipment chamber; the communication module adopts wireless transmission methods such as WiFi and Bluetooth.

[0041] Workflow:

[0042] 1. Startup initialization:

[0043] The robot starts from the initial docking point in the tunnel equipment chamber, automatically completes the system self-check, and after all modules are fault-free, it automatically plans the operation path of tunnel side ditch 4, divides the work area according to the direction of side ditch 4, avoids missed inspections and cleaning, and completes the initial preparation.

[0044] 2. Autonomous Inspection:

[0045] The robot autonomously walks along a preset path. LiDAR and cameras collect real-time images and data of the interior of the side ditch 4. After fusion analysis, the siltation level is quantified and the siltation type (silt, clumps, debris) is identified. During the inspection, the robot accurately locates and records the siltation position using an inertial navigation system and identification tags, generates an inspection report for the work area, and marks areas requiring key dredging.

[0046] The automatic attachment to the NFC valid reading area includes:

[0047] After entering the pre-approach zone, the robot slows down and moves along the side ditch 4, while the NFC reader continuously polls. The LiDAR detects the distance between the robot body and the side wall of the side ditch 4 in real time and makes real-time adjustments to ensure that the robot body is parallel to the inner wall of the side ditch 4 and the distance is within the effective NFC reading range, thereby improving the reading success rate.

[0048] 3. Autonomous dredging:

[0049] The dredging and storage module on the robot or the dredging trolley independent of the robot can carry out dredging operations on the marked key siltation areas. During the operation, the siltation status is monitored in real time, and the dredging power is automatically adjusted to avoid overwork or omissions, so as to achieve the simultaneous progress of inspection and dredging.

[0050] 4. Automatic centralized treatment of silt:

[0051] When the storage capacity of the dredging and storage module reaches the preset threshold, the dredging operation will be automatically paused. The module will autonomously navigate to the silt treatment point in side ditch 4 and suck the silt in the dredging and storage module into the silt collection device through the suction pipe to complete the silt discharge. After emptying, the module will automatically return to the paused operation point to continue the remaining dredging task. No manual intervention is required throughout the entire process.

[0052] 5. Automatic charging and battery replenishment:

[0053] During operation, the robot monitors the battery level in real time. When the battery level is lower than a preset threshold (such as 20%), it automatically pauses the current inspection or dredging task, autonomously navigates to the charging point, and completes automatic docking and charging. After being fully charged, it automatically starts and returns to the paused work point to continue the maintenance task, ensuring long-term, continuous autonomous operation under the cover without the need for manual recycling and charging.

[0054] 6. Cyclic Operation and Maintenance and Anomaly Handling

[0055] After completing the inspection, dredging, and silt removal of the entire tunnel side ditch, the robot automatically returns to the initial docking point in the equipment chamber and uploads the operation and maintenance data (inspection report, dredging range, total silt volume, location information, etc.). If the water level exceeds the threshold, the positioning signal is abnormal, or the module malfunctions during the operation, the robot automatically stops and sends a prompt signal, while autonomously withdrawing to a safe area to await manual inspection to ensure operational safety.

[0056] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic system for intelligent inspection and dredging of tunnel drainage ditches, applied to the dredging of side ditches in railway tunnel drainage systems, characterized in that: include: Robot, inspection module, dredging and storage module, and autonomous charging module; The inspection module includes a visual recognition module and a positioning module. The visual recognition module uses LiDAR and a camera to identify the level and type of silt and to collect and store data. The positioning module includes an inertial navigation system mounted on the robot and identification tags spaced on the side ditch wall to calibrate the current silt position of the robot and the side ditch. The identification tags can correct the cumulative deviation of the inertial navigation system. The dredging and storage module includes an integrated dredging module and a silt storage module. The dredging and storage module is installed on the robot or on a dredging trolley independent of the robot. After the silt in the side ditch is collected by the dredging module and stored in the silt storage module, the silt is transported to the silt treatment point, realizing simultaneous inspection and dredging. The autonomous charging module includes charging points introduced from the tunnel equipment chamber to the side ditch. The robot monitors the battery level in real time and autonomously navigates to the charging point to complete automatic docking and charging based on the remaining power.

2. The robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 1, characterized in that: The robot is also equipped with a water level detection module and / or a temperature sensor. The water level detection module monitors the robot's wading depth in real time. If the wading depth exceeds the threshold, the robot stops working and immediately retreats. The temperature sensor is used to observe temperature changes in the side ditch to prevent frost damage.

3. The robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 2, characterized in that: The dredging module uses a suction dredging robot, and its power can be automatically adjusted according to the actual working conditions.

4. The robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 3, characterized in that: When the dredging and storage module uses a dredging trolley independent of the robot, the dredging trolley is equipped with the same positioning module as the robot; the robot and the dredging trolley communicate wirelessly in real time to exchange their positioning coordinates and silt collection point data, so as to realize the collaborative operation of the robot and the dredging trolley.

5. A robotic system for intelligent inspection and dredging of tunnel drainage ditches according to any one of claims 1-4, characterized in that: A waterproof NFC reader is installed in the middle of the side of the robot. The identification tag is an anti-metal waterproof NFC passive tag pre-embedded in the side wall of the ditch. The identification tag is rectangular and its length is set along the vertical direction. By setting the length and pre-embedded height of the identification tag, the robot can still be located by the identification tag when walking on the surface of the silt.

6. The robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 5, characterized in that: The self-charging module uses wireless charging.

7. A robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 6, characterized in that: The robot is either tracked or wheeled, with a minimum climbing angle of ≥15°; a slope with a gradient of ≤15° is provided between the bottom of the side ditch and the ground on one side of the side ditch; the horizontal projection angle between the length direction of the slope and the length direction of the side ditch is an acute angle of less than 30°, so that the slope can be arranged in the narrow space between the side ditch and the inner wall of the tunnel.

8. A robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 7, characterized in that: The robot is also equipped with a data storage module and a communication module, which are used to store the data of each module and transmit it to the area controller of the tunnel equipment chamber; the communication module adopts wireless transmission.

9. A robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 8, characterized in that: The side ditch is divided into multiple working sections according to its length. Each working section is equipped with a set of robots and corresponding supporting modules. The area controller in the tunnel equipment chamber of each working section is linearly connected to the central controller.

10. A robotic system for intelligent inspection and dredging of tunnel drainage ditches according to claim 9, characterized in that: The robot and its modules are rated IP68, which allows it to withstand long-term immersion in water up to 50cm deep.

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