A tunnel robot

Abstract

The utility model discloses a tunnel robot, comprising: a track, a robot body and an intelligent system coupled to each other, an actuator, an inspection and positioning module, a power system, a communication system, a background management platform and a warning module. The robot body moves on the track through the actuator, and the intelligent system comprises a control module, a data processing module and an operation module. The application is equipped with a variety of sensors and monitoring equipment, which can monitor tunnel environmental data in real time, including parameters such as temperature, humidity, air quality, road surface spills, potholes, water accumulation, vehicle congestion, tunnel deformation, wall seepage cracks, etc., so as to automatically perform inspection work, reduce manual daily inspections, and improve tunnel detection efficiency.

Description

Technical Field

[0001] The utility model relates to the field of tunnel structure detection, in particular to a tunnel robot. Background Art

[0002] With the rapid development of the domestic transportation industry, the scale of tunnel operation is getting larger and larger. During the construction and operation of tunnels, due to the load and soil disturbance of the ground and surrounding buildings, the construction of tunnel surrounding projects, and the vibration of train operation, tunnel structure cracks, water leakage, peeling and other diseases often occur, affecting the operational safety of tunnels. Tunnels cover a wide range and have long lines, so the detection time is limited, the manual inspection tasks are heavy, and the personnel costs are high. Utility Model Content

[0003] In order to solve the above problem, the utility model provides a tunnel robot to solve the problem.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] A tunnel robot comprises: a track, a robot body, and mutually coupled intelligent systems, actuators, an inspection and positioning module, a power system, a communication system, a background management platform, and an alarm module. The robot body moves on the track through the actuator, and the intelligent system comprises a control module, a data processing module, and an operation module.

[0006] The track is further configured to be an I-shaped track, the actuator is a transverse running wheel and a longitudinal running wheel placed on the robot body and rollingly connected to the track, a motor for controlling the rotation of the transverse running wheel and the longitudinal running wheel is arranged on the robot body, and the motor is built with a servo controller for controlling its operation and coupled to the control module

[0007] It is further configured that: the communication system exchanges data with each system through a router.

[0008] It is further configured as follows: the power system includes: a charging unit, a power management unit and a backup power module.

[0009] It is further configured as follows: the warning module includes: a warning light and a voice broadcaster installed on the robot body.

[0010] It is further configured as follows: the inspection and positioning module includes: a radar module, a cruise monitoring camera, a sensor module and a positioning module; the cruise monitoring camera is coupled with a thermal imaging module.

[0011] It is further configured that the sensor module is used to monitor multiple environmental parameters, including but not limited to: PM2.5, humidity, temperature, VOC, combustible gas, smoke, CO and other dangerous and harmful gases.

[0012] It is further configured as follows: the positioning module includes a high-frequency electronic tag reader / writer, an electronic tag is provided on the robot body, and the high-frequency electronic tag reader / writer determines the location of the robot body by reading the information of the electronic tag.

[0013] The further configuration is as follows: a mounting plate is provided above the track, a vertical mounting column is provided on the upper surface of the mounting plate, a mounting block is fixedly provided on the upper surface of the mounting column, and the mounting block is installed on the top wall inside the tunnel; the track is composed of a plurality of flush abutting slide rails, a connecting column is provided on the top surfaces of the plurality of slide rails, a plurality of rodless cylinders corresponding to the connecting columns are provided on the upper surface of the mounting plate, a sub-controller coupled to the rodless cylinder is provided on the track, and the top ends of the plurality of connecting columns are slidably passed through the mounting plate and are respectively fixedly connected to the pistons of the plurality of rodless cylinders.

[0014] Compared with the prior art, the beneficial technical effects of the utility model are:

[0015] 1. This application is equipped with a variety of sensors and monitoring equipment, which can monitor tunnel environmental data in real time, including temperature, humidity, air quality, road spills, potholes, water accumulation, vehicle congestion, tunnel deformation, wall seepage cracks and other parameters, so as to automatically carry out inspection work, reduce manual daily inspections, and improve tunnel inspection efficiency;

[0016] 2. This application can intelligently analyze inspection data, generate statistical analysis and early warning reports through the background control management platform and data processing module, provide decision-making references for manual processing, realize fault diagnosis and disease prediction, and respond to abnormal situations and issue alarms in real time through warning modules such as warning lights and voice broadcasters, effectively reminding personnel to take corresponding measures and improve operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 for Figure 1 A front view of

[0020] Figure 3 for Figure 1 A top view of

[0021] Figure 4 for Figure 1 Side view of

[0022] Figure 5 for Figure 4 A local enlarged schematic diagram of point A;

[0023] Figure 6 A partial structural diagram intended to emphasize the connection method of the mounting plate;

[0024] Figure 7 It is the framework connection diagram of the utility model;

[0025] Figure 8 It is a logic flow chart of the utility model.

[0026] Figure numerals: 1. track; 2. robot body; 3. radar module; 4. cruise monitoring camera; 5. sensor module; 6. thermal imaging module; 7. warning light; 8. lateral running wheel; 9. longitudinal running wheel; 10. mounting plate; 11. mounting column; 12. mounting block; 13. slide rail; 14. connecting column; 15. rodless cylinder; 16. piston. DETAILED DESCRIPTION

[0027] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Example 1

[0031] Reference Figure 1-Figure 8 , a tunnel robot disclosed in the utility model, comprising: a track 1, a robot body 2, an intelligent system, an actuator, an inspection and positioning module, a power system, a communication system, a background management platform and a warning module, wherein the track 1 is installed on the top of the tunnel, and the robot body 2 provides bearing support for the intelligent system, the actuator, the inspection and positioning module, the power system and the communication system;

[0032] The intelligent system includes a control module, a data processing module and an operation module; the data processing module is responsible for processing, analyzing and converting the data collected by the robot. Specifically, the data processing module processes the data obtained by the inspection and positioning module, performs tasks such as feature extraction, environmental recognition, obstacle detection, analyzes environmental information, supports path planning, obstacle avoidance, target tracking, etc.

[0033] In this embodiment, the operating module is based on an embedded operating system to achieve efficient collaborative work among the functional modules of the robot, provide a basic operating environment for the control module, support the development and deployment of a variety of application software, and facilitate users to customize robot functions according to actual needs, thereby enhancing the flexibility and scalability of the robot.

[0034] The communication system interacts with each system through a router. By installing adapters and wireless routers in each system, wireless data transmission and communication between the intelligent system, actuators, inspection and positioning modules, power systems, and background management platforms can be achieved.

[0035] At the same time, connecting through a router can also ensure the security and stability of the entire system and prevent unauthorized access or data leakage.

[0036] In this embodiment, the actuator is coupled to the control module. The actuator receives instructions sent by the control module, converts the instructions into specific operating actions, and drives the various components of the overall tunnel robot to move and work.

[0037] The power system includes a charging unit, a power management unit and a backup power module. The charging unit supplies power to the entire tunnel robot system. It can convert external power (such as grid power or solar cells, etc.) into electrical energy suitable for various components and systems of the tunnel robot to ensure the continuous operation and power supply of the robot during work.

[0038] The power management unit is responsible for managing and controlling the overall power supply of the tunnel robot. It is used to monitor the battery status, current and voltage, realize the reasonable distribution and regulation of electric energy, and ensure the normal operation of various components and systems.

[0039] The backup power module can ensure the normal operation of the robot system in the event of a main power failure or emergency, avoiding system interruption and downtime.

[0040] Furthermore, the inspection and positioning module is coupled with the intelligent system. The inspection and positioning module is mainly responsible for monitoring, identifying and collecting environmental information, sensing the surrounding environment, locating the location, and realizing data collection during the execution of tasks;

[0041] Specifically, the inspection and positioning module includes a radar module 3, a cruise monitoring camera 4 capable of 360-degree shooting and monitoring, a sensor module 5, and a positioning module; wherein the radar module 3 uses a 3D laser radar, which integrates laser, global positioning technology (GPS) and inertial navigation system (INS). The 3D laser radar emits a laser beam to the surrounding environment and receives the reflected signal. By analyzing the round-trip time of the laser, it can obtain extremely accurate three-dimensional terrain data, realize the profile detection and deformation monitoring of the tunnel, and timely upload the displacement, settlement and other disease information to the background management platform;

[0042] The cruise monitoring camera 4 is used to capture and monitor the external environment. During the monitoring process, the camera can automatically scan, track and identify, and transmit high-definition images and accurate monitoring information in real time;

[0043] Furthermore, the cruise monitoring camera 4 is coupled to a thermal imaging module 6, which receives infrared energy from the surface of an object through an infrared detector and converts it into an electrical signal. The data processing module performs signal processing and image reconstruction to generate a thermal image of the surface of the object, wherein different colors represent the temperature distribution of the object, thereby realizing non-contact temperature measurement of the object, and is used for intelligent detection of defects such as tunnel lining walls, road cracks and water seepage, and judging the evolution of the expansion of the defect.

[0044] Furthermore, the cruise monitoring camera 4 is also equipped with an intelligent monitoring module to automatically identify abnormal situations, such as: moving objects, illegal parking of vehicles, fire and foreign objects on the road;

[0045] In this embodiment, the sensor module 5 is used to monitor multiple environmental parameters, including but not limited to PM2.5, humidity, temperature, VOC, combustible gas, smoke, CO and other dangerous and harmful gases; the sensor module 5 uploads the monitoring information to the background management platform, and the data processing module analyzes and processes it, and generates a linear distribution diagram of temperature, humidity and air quality in the tunnel to intuitively reflect the environmental changes in the tunnel.

[0046] When the inspection and positioning module detects abnormal data, it transmits a signal to the control module, which determines whether to activate the alarm based on the preset threshold.

[0047] In this embodiment, the warning module includes a warning light 7 and a voice broadcaster installed on the robot body 2. The warning light 7 serves as a fault alarm actuator, and attracts people's attention through the color, brightness and flashing frequency of the light, so as to achieve the purpose of reminder and warning. The color of the warning module is red, blue, yellow, etc., and the brightness and flashing frequency of the warning module will also be adjusted according to the occurrence scenario to achieve the best warning effect;

[0048] For example: when the sensor module 5 detects that the concentration of harmful gases exceeds the standard, the control module sends a command to control the warning light 7 to turn on and flash yellow quickly; the control module also cooperates with the fan in the tunnel to exhaust air.

[0049] When the inspection and positioning module detects an accident, it transmits a signal to the control module, and the control module controls the warning light 7 to turn on, and a red and blue rapid flashing alarm is issued. At the same time, the control module controls the voice broadcaster to turn on, broadcasting "pull over, evacuate", etc., and the voice reminds the user to evacuate in an orderly manner.

[0050] At the same time, the warning module can remind the on-duty personnel to promptly process the background data to form statistical analysis reports and improve safety prevention capabilities.

[0051] The positioning module includes a high-frequency electronic tag reader / writer. An electronic tag is provided on the robot body 2. The high-frequency electronic tag reader / writer determines the location of the robot body 2 by reading the information of the electronic tag, thereby realizing the positioning, tracking and navigation functions.

[0052] In this embodiment, the track 1 is arranged in an I-shape, and the actuators are a transverse running wheel 8 and a longitudinal running wheel 9 which are arranged on the robot body 2 and are rollingly connected to the track 1. A motor for controlling the rotation of the transverse running wheel 8 and the longitudinal running wheel 9 is arranged on the robot body 2. The motor has a built-in servo controller for controlling its operation. Furthermore, the servo controller is coupled to the control module, and the control module drives the motor by controlling the servo controller, thereby realizing the control of the running wheel and realizing precise position, direction and speed control.

[0053] Furthermore, the robot body 2 is loaded with but not limited to: video module, intelligent heat dissipation module, remote shouting, emergency stop and other application modules.

[0054] The backend management platform remotely monitors, manages and stores data for the entire tunnel robot, realizing digital integrated management of the entire tunnel robot.

[0055] The backend management system is loaded with but not limited to the following functional modules: robot status analysis, robot control, multi-robot collaboration, diagnosis, remote parameter adjustment, walking control, configuration management, database services, task scheduling, positioning, monitoring, command, equipment status identification, analysis, monitoring data query, data visualization, image AI intelligent recognition, water leakage detection, structural disease detection, traffic incident detection, etc.

[0056] Example 2

[0057] In this embodiment, the 3D laser radar and the cruise monitoring camera 4 can detect the environment of the tunnel in real time, and the robot body 2 can detect and avoid obstacles in advance to prevent collisions.

[0058] Specifically, a mounting plate 10 is arranged above the track 1, a vertical mounting column 11 is arranged on the upper surface of the mounting plate 10, a mounting block 12 is fixedly arranged on the upper surface of the mounting column 11, the lower surface of the mounting block 12 is arranged to be a plane, the upper surface of the mounting block 12 is in contact with the top wall of the tunnel, and the mounting block 12 is mounted on the top wall of the tunnel by bolts;

[0059] In this embodiment, the track 1 is composed of a plurality of flush slide rails 13, a connecting column 14 is provided at the center position of the top surface of the plurality of slide rails 13, a plurality of rodless cylinders 15 corresponding to the connecting columns 14 are vertically provided on the upper surface of the mounting plate 10, a sub-controller coupled to the rodless cylinder 15 is provided on the track 1, and the top ends of the plurality of connecting columns 14 are slidably penetrated through the mounting plate 10 and are respectively fixedly connected to the pistons 16 of the plurality of rodless cylinders 15;

[0060] Under normal circumstances, the piston 16 of the rodless cylinder 15 is in a low position. When the 3D laser radar and the cruise monitoring camera 4 detect an obstacle ahead, the signal is transmitted to the sub-controller. The sub-controller controls the rodless cylinder 15 corresponding to the section of the slide rail 13 to start, so that its piston 16 moves upward, driving the slide rail 13 connected to it through the connecting column 14 to move upward, thereby driving the robot body 2 to move upward to avoid obstacles. After the robot body 2 bypasses the obstacle, the piston 16 of the rodless cylinder 15 drives the slide rail 13 to return to its initial position.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A tunnel robot, characterized in that: include: A track (1), a robot body (2), and mutually coupled intelligent systems, actuators, inspection and positioning modules, power systems, communication systems, background management platforms, and warning modules. The robot body (2) moves on the track (1) through the actuator. The intelligent system includes a control module, a data processing module, and an operation module. A mounting plate (10) is arranged above the track (1). A vertically arranged mounting column (11) is arranged on the upper surface of the mounting plate (10). A mounting block (12) is fixedly arranged on the upper surface of the mounting column (11). The mounting block (12) is mounted on the top wall of the tunnel; the track (1) is composed of a plurality of flush-connected slide rails (13), the top surfaces of the plurality of slide rails (13) are provided with connecting columns (14), the upper surface of the mounting plate (10) is provided with a plurality of rodless cylinders (15) corresponding one to one with the connecting columns (14), a sub-controller coupled to the rodless cylinders (15) is provided on the track (1), and the top ends of the plurality of connecting columns (14) are slidably penetrated through the mounting plate (10) and are respectively fixedly connected with the pistons (16) of the plurality of rodless cylinders (15).

2. A tunnel robot according to claim 1, characterized in that: The track (1) is arranged in an I-shape, the actuator is a transverse running wheel (8) and a longitudinal running wheel (9) which are arranged on the robot body (2) and are rollingly connected to the track (1), a motor for controlling the rotation of the transverse running wheel (8) and the longitudinal running wheel (9) is arranged on the robot body (2), and the motor is equipped with a servo controller for controlling its operation and coupled to a control module.

3. A tunnel robot according to claim 1, characterized in that: The communication system exchanges data with various systems through routers.

4. A tunnel robot according to claim 1, characterized in that: The power system includes: a charging unit, a power management unit and a backup power module.

5. The tunnel robot according to claim 1, characterized in that: The warning module comprises: a warning light (7) installed on the robot body (2) and a voice broadcaster.

6. A tunnel robot according to claim 1, characterized in that: The inspection and positioning module comprises: a radar module (3), a cruise monitoring camera (4), a sensor module (5) and a positioning module; the cruise monitoring camera (4) is coupled to a thermal imaging module (6).

7. A tunnel robot according to claim 6, characterized in that: The sensor module (5) is used to monitor a variety of environmental parameters, including PM2.5, humidity, temperature, VOC, combustible gas, smoke and CO.

8. The tunnel robot according to claim 6, characterized in that: The positioning module comprises a high-frequency electronic tag reader / writer, an electronic tag is provided on the robot body (2), and the high-frequency electronic tag reader / writer determines the location of the robot body (2) by reading the information of the electronic tag.

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