Tunnel deformation guide rail patrolling mechanism based on machine vision and guide rail patrolling robot

Abstract

The utility model discloses a machine vision-based tunnel deformation guide rail inspection mechanism and a guide rail inspection robot, the guide rail inspection mechanism comprises a moving mechanism, a chassis module and a front end monitoring device, the moving mechanism is detachably connected with a guide rail in a sliding manner, one end of the chassis module is connected with the moving mechanism, and the other end of the chassis module is connected with the front end monitoring device. And the other end of the chassis module is detachably connected with the front-end monitoring equipment. The guide rail patrol robot mainly comprises a guide rail patrol mechanism, a control system and a stepping motor system, the control system is respectively and wirelessly connected with front-end monitoring equipment, a positioner and the stepping motor system, and the stepping motor system is respectively and electrically connected with a power supply module and two mechanical transmission mechanisms. Compared with the prior art, the guide rail inspection robot has the advantages that the stepping motor system cooperates with the positioner and the front-end monitoring equipment to achieve the functions of more accurate preset position, cruise line, intelligent control and the like, an operator can directly conduct related operation through the control system, and more convenience is achieved.

Description

Technical Field

[0001] The utility model relates to the fields of engineering detection and deformation monitoring, and particularly relates to a tunnel deformation guide rail patrol survey mechanism and a guide rail patrol survey robot based on machine vision. Background Technique

[0002] Tunnels belong to underground projects, with complex geological structures and construction conditions, numerous construction machines and personnel, poor internal environments, and inconvenient communication. During the construction process, safety accidents occur frequently, such as tunnel collapses, explosion accidents, support damage, other injuries, etc., causing great casualties and property losses to the project construction. The safety situation of tunnel construction is severe, and tunnel accidents caused by tunnel deformation, especially tunnel collapses, account for the main part. Therefore, it is urgent to monitor tunnel deformation.

[0003] The traditional monitoring of surrounding rocks and support structures is mainly completed by collecting data on-site and then analyzing the data. The real-time performance of its monitoring means is relatively poor. The conditions of personnel and machines cannot be perceived in real time, the deformation information of the tunnel cannot be known in time, early warnings cannot be given in time when risks come, and the safety status and location of personnel cannot be accurately judged in time when dangerous accidents occur.

[0004] Therefore, how to provide a tunnel deformation guide rail patrol survey mechanism and a guide rail patrol survey robot based on machine vision, so that they can achieve the technical effects of positioning cruise and image data collection, is a technical problem that needs to be solved urgently by those skilled in the art. Content of the Utility Model

[0005] In view of the related problems existing in the prior art, the technical problem to be solved by the utility model is to provide a tunnel deformation guide rail patrol survey mechanism and a guide rail patrol survey robot based on machine vision, so that they can achieve the technical effects of positioning cruise and image data collection.

[0006] To achieve the above object, the utility model provides a tunnel deformation guide rail patrol survey mechanism based on machine vision. The tunnel deformation guide rail patrol survey mechanism based on machine vision includes: a moving mechanism, one end of the moving mechanism is detachably and slidably connected to a track; a chassis module, the chassis module is located below the moving mechanism, and one end of the chassis module is fixedly connected to the other end of the moving mechanism; a front-end monitoring device, a fixing seat of the front-end monitoring device is detachably connected to the other end of the chassis module.

[0007] In the first aspect, the moving mechanism includes: a moving body, one end of the moving body is fixedly connected to one end of the chassis module; a track machine, one end of the track machine is detachably connected to the other end of the moving body, and the other end of the track machine is detachably connected to the track.

[0008] In a first aspect, the rail machine has a hollow cube structure, and a sliding opening is provided at the other end of the rail machine.

[0009] In a first aspect, the moving mechanism further includes two mechanical transmission mechanisms, which are respectively located on both sides of the sliding opening and fixed to the inner side of the other end of the rail machine. Each mechanical transmission mechanism is in sliding contact with the upper rail end face of the rail.

[0010] In a first aspect, the chassis module includes: a chassis body, one end of the chassis body is fixedly connected to one end of the moving body; an equipment support frame, one end of the equipment support frame is fixedly connected to the other end of the chassis body, and the other end of the equipment support frame is detachably connected to the fixed seat of the front-end monitoring device.

[0011] In a first aspect, the front-end monitoring device is a binocular pan-tilt camera.

[0012] In a first aspect, the tunnel deformation rail surveying mechanism based on machine vision further includes a locator; wherein, an accommodating space is provided inside the chassis body, and the locator is arranged in the accommodating space.

[0013] In a first aspect, the tunnel deformation rail surveying mechanism based on machine vision further includes a power supply module, the power supply module is electrically connected to the front-end monitoring device and the locator respectively, and the power supply module is arranged in the accommodating space.

[0014] The present utility model also provides a tunnel deformation rail surveying robot based on machine vision, which includes: the above-mentioned tunnel deformation rail surveying mechanism based on machine vision, and a control system; the control system is wirelessly connected to the front-end monitoring device and the locator respectively.

[0015] In a second aspect, the tunnel deformation rail surveying robot based on machine vision further includes: a stepping motor system, the stepping motor system is electrically connected to the power supply module and the two mechanical transmission mechanisms respectively; wherein, the stepping motor system is wirelessly connected to the control system, and the stepping motor system is arranged in the accommodating space.

[0016] Beneficial effects:

[0017] In the present utility model, the guide rail inspection mechanism is detachably and slidably connected to the track through a moving mechanism. The moving mechanism is used for sliding on the track. The moving mechanism is sleeved on the track from one end of the track, so that the moving mechanism can be detached from the track, which is convenient for maintenance. The chassis module is used to connect the moving mechanism and the front-end monitoring device. At the same time, the chassis module is also used to provide an installation space, making the structure of the tunnel deformation guide rail inspection mechanism based on machine vision more compact, saving the installation space, and thus reducing the size of the tunnel deformation guide rail inspection mechanism based on machine vision. The front-end monitoring device is used for real-time video monitoring by camera and infrared temperature measurement. Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a front view structural schematic diagram of a tunnel deformation guide rail inspection mechanism based on machine vision of the present utility model;

[0020] Figure 2 It is a side view structural schematic diagram of a tunnel deformation guide rail inspection mechanism based on machine vision of the present utility model;

[0021] Figure 3 It is a top view structural schematic diagram of a tunnel deformation guide rail inspection mechanism based on machine vision of the present utility model;

[0022] Figure 4 It is a control connection relationship diagram of a tunnel deformation guide rail inspection robot based on machine vision of the present utility model.

[0023] Reference Signs:

[0024] 1. Moving mechanism; 11. Moving body; 12. Track machine; 13. Mechanical transmission mechanism; 2. Track; 3. Chassis module; 31. Chassis body; 32. Equipment support frame; 4. Front-end monitoring device; 5. Positioner; 6. Power supply module; 7. Control system; 8. Stepper motor system. Detailed Embodiments

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present specification with reference to the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some embodiments of the present specification, rather than all embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present utility model.

[0026] Embodiment 1

[0027] As Figures 1 to 3 shown, Embodiment 1 of the present invention provides a tunnel deformation guide rail inspection mechanism based on machine vision. The tunnel deformation guide rail inspection mechanism based on machine vision includes: a moving mechanism 1, one end of the moving mechanism 1 is detachably and slidably connected to a track 2; a chassis module 3, the chassis module 3 is located below the moving mechanism 1, and one end of the chassis module 3 is fixedly connected to the other end of the moving mechanism 1; a front-end monitoring device 4, a fixed seat of the front-end monitoring device 4 is detachably connected to the other end of the chassis module 3.

[0028] In the present utility model, the guide rail inspection mechanism is detachably and slidably connected to the track through the moving mechanism. The moving mechanism is used for sliding on the track. The moving mechanism is pushed into the track from one side of the track, so that the moving mechanism is sleeved on the track, and the moving mechanism can be detached from the track, which is convenient for maintenance; the chassis module is used for connecting the moving mechanism and the front-end monitoring device. At the same time, the chassis module is also used for providing an installation space, making the structure of the tunnel deformation guide rail inspection mechanism based on machine vision more compact, saving the installation space, and thus reducing the size of the tunnel deformation guide rail inspection mechanism based on machine vision; the front-end monitoring device is used for real-time video monitoring by camera and infrared temperature measurement to collect image data.

[0029] In some possible implementation manners, the moving mechanism 1 includes: a moving body 11, one end of the moving body 11 is fixedly connected to one end of the chassis module 3; a track machine 12, one end of the track machine 12 is detachably connected to the other end of the moving body 11, and the other end of the track machine 12 is detachably connected to the track 2; the track machine 12 has a hollow cube structure, and a sliding opening is provided at the other end of the track machine 12.

[0030] Specifically, the moving body is used for connecting the track machine and the chassis module. Since the track machine is connected to the track, the track machine has a hollow cube structure and a sliding opening is provided at the other end of the track machine, so that the track machine can be pushed into the track from one side of the track, and the moving mechanism is sleeved on the track, so that the track machine is detachably connected to the track, which is convenient for maintenance.

[0031] In some possible implementation manners, the moving mechanism 1 further includes two mechanical transmission mechanisms 13. The two mechanical transmission mechanisms 13 are respectively located on both sides of the sliding opening and are fixed to the inner side of the other end of the track machine 12. Each mechanical transmission mechanism 13 is in sliding contact with the upper track end face of the track 2.

[0032] Specifically, the mechanical transmission mechanism is used to make the rail machine slide on the rail. The mechanical transmission mechanism is fixed inside the rail machine on both sides of the sliding opening. When the rail machine is installed on the rail, the mechanical transmission mechanism presses on the upper rail section of the rail, and when the mechanical transmission mechanism slides on the upper rail section, it makes the rail machine move on the rail.

[0033] In some possible implementation manners, the chassis module 3 includes: a chassis body 31, one end of the chassis body 31 is fixedly connected to one end of the moving body 11; an equipment support frame 32, one end of the equipment support frame 32 is fixedly connected to the other end of the chassis body 31, and the other end of the equipment support frame 32 is detachably connected to the fixed seat of the front-end monitoring device 4; the front-end monitoring device 4 is a binocular pan-tilt camera; the tunnel deformation rail patrol and survey mechanism based on machine vision further includes a locator 5; wherein, there is an accommodation space inside the chassis body 31, and the locator 5 is arranged in the accommodation space.

[0034] Specifically, the chassis body is used to provide an installation space, making the structure of the tunnel deformation rail patrol and survey mechanism based on machine vision more compact, saving the installation space, thereby reducing the size of the tunnel deformation rail patrol and survey mechanism based on machine vision. At the same time, the chassis body is also used to connect the moving body and the front-end monitoring device, enabling the tunnel deformation rail patrol and survey mechanism based on machine vision to move on the rail; the support frame is provided to connect and fix the front-end monitoring device; the binocular pan-tilt camera is used for real-time video monitoring and infrared temperature measurement to collect image data; the locator is used for positioning and cruising, facilitating path-defined patrol, specified-point patrol, and remote control patrol. At the same time, the positioning function of the locator can cooperate with the front-end monitoring device to realize the preset position and patrol route functions.

[0035] In some possible implementation manners, the tunnel deformation rail patrol and survey mechanism based on machine vision further includes a power supply module 6. The power supply module 6 is electrically connected to the front-end monitoring device 4 and the locator 5 respectively, and the power supply module 6 is arranged in the accommodation space.

[0036] Specifically, the power supply module is used to supply power to the front-end monitoring device, the locator, and the stepping motor system.

[0037] Embodiment 2

[0038] As Figures 1 to 4As shown in the figure, Embodiment 2 of the present utility model provides a tunnel deformation guide rail inspection robot based on machine vision. The tunnel deformation guide rail inspection robot based on machine vision includes: a tunnel deformation guide rail inspection mechanism based on machine vision as described in Embodiment 1, and a control system 7; the control system 7 is wirelessly connected to the front-end monitoring device 4 and the locator 5 respectively; the tunnel deformation guide rail inspection robot based on machine vision further includes: a stepping motor system 8, and the stepping motor system 8 is electrically connected to the power supply module 6 and the two mechanical transmission mechanisms 13 respectively; wherein, the stepping motor system 8 is wirelessly connected to the control system 7, and the stepping motor system 8 is arranged in the accommodating space.

[0039] Specifically, in the present utility model, the tunnel deformation guide rail inspection robot based on machine vision controls the mechanical transmission mechanism to slide on the track by controlling the stepping motor system through the control system. The stepping motor system can control the sliding speed and sliding route of the mechanical transmission mechanism, so as to cooperate with the locator and the front-end monitoring device to realize functions such as preset positions, inspection routes and intelligent control. At the same time, by cooperating with the locator and the front-end monitoring device, the preset positions, inspection routes and intelligent control can be made more accurate; the control system controls the normal operation of the front-end monitoring device and the locator, and at the same time also receives the collected data of the front-end monitoring device and the real-time data of the locator; the wireless connection of the control system enables the tunnel deformation guide rail inspection robot based on machine vision of the present utility model, during operation, the operator can directly perform relevant operations through the control system, which is more convenient and avoids personnel injuries.

[0040] It should be noted that the tunnel deformation guide rail inspection robot based on machine vision in Embodiment 2 includes a tunnel deformation guide rail inspection mechanism based on machine vision in Embodiment 1. Therefore, the performance principle of the tunnel deformation guide rail inspection mechanism based on machine vision will not be elaborated here, and for the unelaborated parts, reference can be made to Embodiment 1.

[0041] The preferred specific embodiments of the present utility model have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present utility model without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present application based on the concept of the present utility model through logical analysis, reasoning or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A tunnel deformation guide rail inspection mechanism based on machine vision, characterized in that, The tunnel deformation guide rail inspection mechanism based on machine vision includes: A moving mechanism (1), one end of the moving mechanism (1) is detachably and slidably connected to a rail (2); A chassis module (3), the chassis module (3) is located below the moving mechanism (1), and one end of the chassis module (3) is fixedly connected to the other end of the moving mechanism (1); A front-end monitoring device (4), the fixing seat of the front-end monitoring device (4) is detachably connected to the other end of the chassis module (3).

2. The tunnel deformation guide rail surveying mechanism based on machine vision according to claim 1, characterized in that, The moving mechanism (1) includes: A moving body (11), one end of the moving body (11) is fixedly connected to one end of the chassis module (3); A rail machine (12), one end of the rail machine (12) is detachably connected to the other end of the moving body (11), and the other end of the rail machine (12) is detachably connected to the rail (2).

3. The tunnel deformation guide rail inspection mechanism based on machine vision according to claim 2, characterized in that: The rail machine (12) has a hollow cube structure, and a sliding opening is provided at the other end of the rail machine (12).

4. The tunnel deformation guide rail inspection mechanism based on machine vision according to claim 3, characterized in that: The moving mechanism (1) further includes two mechanical transmission mechanisms (13), the two mechanical transmission mechanisms (13) are respectively located on both sides of the sliding opening and are fixed to the inner side of the other end of the rail machine (12), and each mechanical transmission mechanism (13) is in sliding contact with the upper rail end face of the rail (2).

5. The tunnel deformation guide rail inspection mechanism based on machine vision according to claim 4, characterized in that, The chassis module (3) includes: A chassis body (31), one end of the chassis body (31) is fixedly connected to one end of the moving body (11); An equipment support frame (32), one end of the equipment support frame (32) is fixedly connected to the other end of the chassis body (31), and the other end of the equipment support frame (32) is detachably connected to the fixing seat of the front-end monitoring device (4).

6. The tunnel deformation guide rail inspection mechanism based on machine vision according to claim 5, characterized in that: The front-end monitoring device (4) is a binocular pan-tilt camera.

7. The tunnel deformation guide rail inspection mechanism based on machine vision according to claim 6, characterized in that: The tunnel deformation guide rail inspection mechanism based on machine vision further includes a locator (5); wherein, there is an accommodation space inside the chassis body (31), and the locator (5) is arranged in the accommodation space.

8. The tunnel deformation guide rail inspection mechanism based on machine vision according to claim 7, characterized in that: The tunnel deformation guide rail inspection mechanism based on machine vision further includes a power supply module (6), the power supply module (6) is electrically connected to the front-end monitoring device (4) and the locator (5) respectively, and the power supply module (6) is arranged in the accommodation space.

9. A tunnel deformation guide rail inspection robot based on machine vision, the tunnel deformation guide rail inspection robot based on machine vision includes: The tunnel deformation guide rail inspection mechanism according to claim 8, a control system (7); The control system (7) is wirelessly connected to the front-end monitoring device (4) and the locator (5) respectively.

10. The tunnel deformation guide rail patrol robot based on machine vision according to claim 9, characterized in that, The tunnel deformation guide rail inspection robot based on machine vision further includes: A stepping motor system (8), the stepping motor system (8) is electrically connected to the power supply module (6) and the two mechanical transmission mechanisms (13) respectively; Wherein, the stepping motor system (8) is wirelessly connected to the control system (7), and the stepping motor system (8) is arranged in the accommodation space.

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