Tunnel video event detection and robot emergency linkage system

Abstract

The utility model discloses a tunnel video event detection and robot emergency linkage system, which comprises a tunnel video event detection system and a tunnel track robot system, and is characterized in that the tunnel video event detection system is arranged on the inner side wall and is used for detecting abnormal parking, traffic accidents, object throwing and the like in a tunnel; the tunnel track robot system carries out linkage according to the abnormal event; the tunnel track robot system comprises a robot body, a guide rail and positioning module and a power supply and communication transmission module, the robot body is used for collecting field environment images and temperature data, the power supply and communication transmission module is used for remote interaction and power supply with trapped persons in a tunnel, and the guide rail and positioning module comprises a guide rail and a positioning device. The guide rail is a convex guide rail and is mounted on the side inner wall of a tunnel through the rail mounting bracket, and the positioning device is used for providing position information of the tunnel rail robot in the tunnel; according to the utility model, the safety of tunnel disaster detection is improved, the detection efficiency is improved, and the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of highway tunnel, more particularly to a tunnel video event detection and robot emergency linkage system. BACKGROUND

[0002] In the field of transportation, highway tunnels are a special type of road structure that is more closed than ordinary roads. While this closure improves the efficiency and safety of the road to some extent, it also poses potential risks. Due to the limitations of tunnel space, once a traffic accident occurs, especially a serious traffic accident or a tunnel fire, the consequences are very serious. Due to the difficulty of evacuation, rescue is difficult, and these accidents not only cause casualties and property losses, but also may cause long-term paralysis of the transportation system. In order to deal with such problems, it is necessary to monitor the situation in the tunnel. Video round patrol, as one of the most commonly used means, has the advantages of low cost and easy installation. However, video round patrol is through the installation of cameras, and the traffic situation in the tunnel is monitored by the monitoring personnel in real time to discover and handle potential safety hazards. There are obvious limitations. On the one hand, video round patrol requires a large amount of human resources, increasing management costs. On the other hand, due to the limited attention and reaction speed of humans, it is difficult to ensure that all abnormal situations are discovered and handled in the first time.

[0003] With the progress of science and technology, automation and intelligent technology are gradually applied in various fields. In the field of transportation, if long-term automatic monitoring of the running state of tunnel vehicles can be realized, the safety and management efficiency of the tunnel will be greatly improved. Through advanced sensors and algorithms, the system can monitor the traffic situation in the tunnel in real time, discover abnormal events in time, and respond quickly when accidents occur. At the same time, through the sensors and remote communication technology carried, the system can convey the on-site information to the managers in real time, and carry out remote diversion and control. These measures include sound and light alarm, voice interaction, escape guidance, etc., which can effectively avoid the occurrence of secondary accidents and reduce casualties and property losses.

[0004] Therefore, it is urgent to develop a system with real-time monitoring, alarm and escape guidance functions to improve the safety and management efficiency of the tunnel. UTILITY MODEL CONTENT

[0005] The utility model aims at overcoming at least one defect of the prior art, and provides a tunnel video event detection and robot emergency linkage system to solve the problem of difficult timely discovery of disaster and rapid response.

[0006] The utility model discloses a kind of tunnel video event detection and robot emergency linkage system, including tunnel video event detection system and tunnel track robot system, the tunnel video event detection system is arranged in tunnel inner side wall;The tunnel track robot system includes robot body, guide rail and positioning module, power supply and communication transmission module, the robot body is used to collect field environment image and temperature data, the power supply and communication transmission module are used to and power supply with the remote interaction of the person trapped in tunnel, the guide rail and positioning module include guide rail and positioning device, the guide rail is convex guide rail, is installed on tunnel side inner wall by track mounting bracket, the positioning device is used to provide the position information of tunnel track robot in tunnel.

[0007] Tunnel video event detection system utilizes high-definition camera and intelligent algorithm, realizes instant monitoring and accurate identification to various events in tunnel, and is mainly used for detecting events such as abnormal parking, pedestrian, traffic accident and throwing in tunnel. The functions of the components of tunnel track robot system are as follows: the robot body has strong environmental adaptability, can penetrate into complex environment inside tunnel, is also equipped with high-resolution camera and temperature sensor, is used for collecting field environment image and accurate temperature data in real time, provides key information for event evaluation and emergency decision; the power supply and communication transmission module not only ensures the continuous power supply of robot in tunnel, but also realizes instant remote interaction with the person trapped in tunnel through advanced communication technology, provides professional technical support for rescue operation, greatly improves rescue efficiency and safety; guide rail and intelligent positioning module adopt convex guide rail design, are firmly fixed on tunnel side inner wall through firm track mounting bracket, ensure the stability and accuracy of robot running in tunnel, and can feed back accurate position information of robot in tunnel through adding intelligent positioning device, provide strong technical support for rapid positioning and scheduling. Tunnel video event detection and robot emergency linkage system, through highly integrated and intelligent design, not only greatly improves the efficiency and accuracy of tunnel safety management, but also provides strong technical support and guarantee for dealing with various emergencies in tunnel, is a great innovation and breakthrough in modern tunnel safety management field.

[0008] In order to improve the stability and firmness of the guide rail mounting bracket, the track mounting bracket is a triangle, the side of the triangle is mounted on the tunnel side wall, the bottom of the triangle extends outward, and the guide rail is fixedly mounted. The design of the triangular structure makes the guide rail mounting bracket have high stability and bearing capacity, and also considers the limitation of the tunnel space and the convenience of installation. The triangular side part is fixedly installed on the inner side wall of the tunnel through the high-strength connecting piece, which ensures the stability of the bracket in the complex tunnel environment; the bottom part of the triangle extends outward, so that the guide rail can be mounted on the extended part of the triangle, which improves the stability of the guide rail and ensures the stability and safety of the tunnel track robot running on the guide rail.

[0009] In order to monitor and identify the real-time and accurate events in the tunnel, the tunnel video event detection system includes a camera and an algorithm server, the camera is arranged at the front end of the tunnel video event detection system, and the algorithm server is arranged at the rear end of the tunnel video event detection system. The high-definition camera has excellent imaging ability and wide viewing angle, which ensures that every detail in the tunnel can be clearly captured, and the camera not only has night vision, anti-shake and other advanced functions, but also transmits real-time video stream to the rear processing center through a high-speed data transmission interface; the algorithm server is loaded with video analysis algorithm and deep learning model, which can process and analyze the video stream transmitted by the front-end camera in real time, through intelligent identification and judgment, the algorithm server can quickly identify various abnormal events in the tunnel, such as vehicle failure, pedestrian intrusion, fire smoke, etc., and immediately trigger the corresponding emergency response mechanism.

[0010] The tunnel track robot system comprises a body structure, a driving device, a control device and a sensing interaction device, the body structure is used to carry the driving device, the control device and the sensing interaction device, the driving device is used to drive the movement of the body structure of the robot, the control device is used to process the electrical signal of the robot and accept and send the control instruction, and the sensing interaction device is used to collect the image of the accident scene, the temperature information and the voice interaction with the trapped personnel in the scene. The body structure as the core support of the system adopts high-strength, corrosion-resistant lightweight materials, which not only ensures the excellent load capacity and stability of the robot in the complex tunnel environment, but also provides a reliable mounting platform for other components; the driving device is equipped with a motor and a transmission system, which provides driving force and precise movement control for the robot. Through the fine tuning algorithm, the driving device can ensure the fast, stable and accurate movement of the robot on the tunnel track; the control device integrates a high-performance microprocessor and a complex control algorithm, which is responsible for processing the electrical signal inside the robot, receiving and sending control instructions, and through the wireless communication module, the control device can realize real-time data exchange with the remote control center, ensuring that the robot can work efficiently according to the preset task planning; the sensing interaction device integrates a high-definition camera, an infrared thermal imager and a high-fidelity voice communication device, which can collect the image of the accident scene and the temperature information in the tunnel in real time, and clearly interact with the trapped personnel on the scene, not only improving the environmental monitoring capability of the robot, but also providing valuable on-site information for rescue personnel, providing strong support for rescue and personnel evacuation.

[0011] In order to ensure the stable operation of the tunnel track robot on the track, the bottom of the body structure is concave, the middle of the concave is provided with a roller, and the two sides of the concave are provided with clamping sub-devices, the clamping sub-devices are used to stabilize the tunnel track robot system. The concave bottom of the body structure fits the shape of the tunnel track, the roller is installed in the middle of the concave, the roller is made of high-strength wear-resistant material, which ensures that the robot can move smoothly and efficiently on the track; the two sides of the concave are equipped with clamping sub-devices to further improve the stability and safety of the system.

[0012] In order to improve the stability and safety of the robot on the tunnel track, the clamping sub-device is composed of a telescopic component, a connecting rod and a side roller, the telescopic component is arranged on the inner wall of the concave, one end of the connecting rod is connected with the telescopic component, and the other end of the connecting rod is connected with the side roller. The telescopic component of the clamping sub-device comprises a push-pull rod and a spring, the spring is installed in the push-pull rod, when the robot is installed on the guide rail, the convex guide rail props open the side roller, the side roller drives the connecting rod, the connecting rod drives the telescopic component to retract, the spring is extruded, the side roller is pressed against the two sides of the guide rail, and the robot is stable and does not shake; the lower bottom surface and the side connecting part of the side roller are inclined, which is convenient for the convex guide rail to prop open the side roller.

[0013] In order to realize the accurate positioning of the robot on the tunnel track, the positioning device comprises an RFID tag and a carbon steel positioning screw, the RFID tag is fixed in the groove of the rail bottom surface, and the carbon steel positioning screw is used to fix the RFID tag in the groove of the rail bottom surface. RFID is a non-contact automatic identification technology that can store and transmit specific identity information. By fixing the RFID tag in the groove of the rail bottom surface, the close fit between the tag and the track is ensured, and the identification failure problem caused by external environmental factors such as dust and moisture is avoided. In order to fix the RFID tag in the groove of the rail bottom surface, high-strength carbon steel positioning screws are used to fix it. The carbon steel material has excellent hardness and corrosion resistance, which ensures that the screw will not loosen or be damaged due to excessive force or environmental factors during long-term use. The combination of RFID tag and carbon steel positioning screw not only realizes the accurate positioning of the robot on the tunnel track, but also realizes the real-time monitoring and tracking of the robot running state through the automatic identification function of RFID technology.

[0014] In order to provide continuous power supply for the robot and realize real-time communication, the power supply and communication transmission device comprises a charging maintenance station and a wireless communication bridge, the charging maintenance station is arranged directly above the center of the rail, and the electric box is arranged below the rail; the wireless communication bridge is arranged on the inner wall of the other side of the tunnel, and a power distribution box is arranged below the wireless communication bridge, the power distribution box comprises an AC 220V power supply and a video monitoring network switch interface, and the AC 220V power supply and the video monitoring network switch interface are arranged in the power distribution box. The charging maintenance station ensures that the robot can access and obtain the required power during the travel process. The charging maintenance station not only considers the charging efficiency, but also integrates the intelligent maintenance function, which can realize real-time monitoring of the battery state of the robot and improve the overall performance of the system. The wireless communication bridge avoids the route interference of the traditional communication line to the robot, and also ensures the stable transmission of the signal. The wireless communication bridge has the characteristics of high speed, low delay and strong anti-interference ability, which can provide stable and reliable communication link for the robot, and ensure the real-time transmission of data and the accurate reception of instructions. The electric box provides the required power support for the charging maintenance station and the wireless communication bridge. The position of the electric box considers the safety and easy maintenance, which ensures the stable operation of the whole power supply and communication transmission device. The power distribution box provides stable and reliable power supply for the communication bridge and related equipment, and the switch interface supports high-speed data transmission, which ensures the real-time and stability of the video monitoring signal.

[0015] The bottom of the charging maintenance station is a protruding wireless charging induction part, and the charging maintenance station is 0.2 m above the tunnel track robot system. The wireless charging induction part adopts electromagnetic induction technology to ensure efficient and stable wireless charging transmission. The position of the charging maintenance station can optimize the wireless charging efficiency, ensure smooth and unobstructed movement of the robot during movement, and ensure safety and stability during charging.

[0016] In order to cope with different abnormal events, the tunnel video event detection system detects abnormal events in the tunnel in real time, outputs alarm information of abnormal events, the alarm information includes abnormal parking, traffic accident and pedestrian event, and feeds back the alarm information containing event type and position information to the tunnel track robot system. The tunnel track robot quickly reaches the accident site according to the alarm instruction.

[0017] Compared with the prior art, the beneficial effects of the utility model mainly embody in the following several aspects:

[0018] 1. Safety

[0019] Reduce personnel exposure to dangerous environment: the track robot carrying infrared camera can enter the high-risk area for inspection in the case of disaster such as fire, collapse or toxic gas leakage, etc., reduce the risk brought by artificial inspection;

[0020] Continuous monitoring: the event detection system can monitor 24 hours uninterruptedly under unattended condition, and find safety hidden danger in time.

[0021] 2. High efficiency

[0022] Quick response: in the case of traffic accident and initial fire in the tunnel, the specified position can be quickly reached, the on-site accident situation can be viewed in real time, and the traffic can be guided and commanded;

[0023] Precise detection: equipped with advanced sensors and technologies such as infrared imager, temperature detector, temperature and humidity sensor, etc., more accurate data collection and analysis can be realized.

[0024] 3. Low cost

[0025] Reduce labor cost: automatic inspection reduces the demand for human resources, especially at night or in bad weather conditions. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The structure diagram of the utility model.

[0027] Figure 2 The structure diagram of the tunnel video event detection system of the utility model.

[0028] Figure 3The utility model discloses a tunnel track robot system's structure diagram.

[0029] Figure 4 The utility model discloses a guide rail mounting bracket and guide rail's structure diagram.

[0030] Figure 5 The utility model discloses a positioning device's structure diagram.

[0031] Figure 6 The utility model discloses a body structure's structure diagram.

[0032] Figure 7 The utility model discloses a clamping sub device's structure diagram.

[0033] Figure 8 The utility model discloses a charging device and wireless communication bridge's structure diagram. Specific implementation

[0034] The utility model discloses the drawing only for example explanation, can not be understood as the limitation of the utility model.

[0035] Example 1

[0036] As Figure 1 Shown, a tunnel video event detection and robot emergency linkage system of this embodiment, including tunnel video event detection system 100 and tunnel track robot system 200, tunnel video event detection system 100 sets up at the tunnel wall side, and tunnel track robot system 200 sets up on the guide rail.

[0037] Event detection linkage function: according to the traffic accident, the event such as illegal parking detected by tunnel video event detection system 100, goes to the accident point by oneself;

[0038] Thermal monitoring function: through the collection of monitoring point infrared image data, accurately analyzes tunnel surface temperature, shows each point temperature, can be applied to the auxiliary decision of monitoring vehicle smoke, fire and other events;

[0039] Tunnel environment monitoring: through the perception system of carrying, the tunnel environment monitoring includes temperature, smoke and other environmental information in the tunnel, supports monitoring data real-time display, storage, inquiry, data statistics and overrun alarm, is applied to the auxiliary decision of environmental anomaly, fire, toxic and harmful gas leak and other events;

[0040] Two-way voice intercom and broadcast: the robot carries a microphone and a loudspeaker, supports remote shouting intercom with the client, supports voice reminding and warning broadcast;

[0041] Escape guide: electronic display boards are used to guide the escape passage and prompt rescue information;

[0042] Remote control: remotely control the robot, obtain images of the scene from different angles, formulate corresponding rescue measures, and remotely guide the accident site;

[0043] Robot state self-check: the robot supports logical detection of its own power information, driver state information, gas carrying equipment, etc., and real-time monitoring of its own state. When the power is lower than the set value or the task is completed, the robot supports returning to the set point for automatic charging;

[0044] Storage: video data and environmental monitoring data storage.

[0045] In this embodiment, as shown in Figure 2 The tunnel video event detection system 100 includes a camera 110 and an algorithm server 120. The camera 110 is arranged at the front end of the tunnel video event detection system 100, and the algorithm server 120 is arranged at the rear end of the tunnel video event detection system 100. The camera 110 is a fixed camera in the tunnel, and is distributed at intervals of 150 m to realize video coverage of the whole scene in the tunnel and 24-hour real-time monitoring. The algorithm server 120 receives data transmitted by the camera 110, analyzes and compares the data, and obtains normal and abnormal results. The abnormal results include abnormal parking, pedestrians, traffic accidents, etc. in the tunnel. After the algorithm server 120 detects the abnormal results, the algorithm server 120 sends an alarm to the tunnel track robot system 200, and the tunnel track robot system 200 responds.

[0046] In this embodiment, combined with Figures 3 to 5As shown, the tunnel track robot system 200 comprises a guide rail and positioning module 210, a robot body 220 and a communication transmission module 230. The guide rail and positioning module 210 comprises a guide rail 211 and a positioning device 213. The guide rail 211 is fixed on the inner side wall of the tunnel by a guide rail mounting bracket 212, and the positioning device is installed at the bottom of the guide rail 211. The guide rail 211 is a convex guide rail, which is installed on the right side arm of the tunnel in the driving direction, providing movement for the tunnel track robot 200. The track installation height is about 3.0-3.5m away from the maintenance channel and 0.5m away from the side wall. The guide rail mounting bracket 212 is fixed by expansion bolts, and then the guide rail 211 is fixed on the bracket by bolts. The guide rail 211 has a simple structure and low manufacturing cost, and is suitable for various highway tunnels. The guide rail mounting bracket 212 is triangular, with the hypotenuse fixed on the inner side wall of the tunnel and the bottom edge extending outward to be fixed with the guide rail 211. The triangular guide rail mounting bracket 212 has high stability and load-bearing capacity. The positioning device 213 is an RFID tag and a carbon steel positioning screw. RFID is a non-contact automatic identification technology that can store and transmit specific identity information. The RFID tag is fixed in the groove at the bottom of the guide rail, which not only ensures the close fit between the tag and the track, but also avoids identification failure caused by external environmental factors such as dust and moisture. When installing the RFID tag, a safety distance of 10m is reserved at the end of the track, and then the 0m coordinate of the robot movement positioning is recorded as the key point of the safety distance. An RFID tag is installed every 100m. The carbon steel positioning screw is used to fix the RFID tag in the groove at the bottom of the guide rail. In order to fix the RFID tag in the groove at the bottom of the guide rail, a high-strength carbon steel positioning screw is used for fixation. The carbon steel material has excellent hardness and corrosion resistance, ensuring that the screw will not loosen or be damaged due to excessive force or environmental factors during long-term use. The combination of RFID tag and carbon steel positioning screw not only realizes the precise positioning of the robot on the tunnel track, but also realizes the real-time monitoring and tracking of the robot running state through the automatic identification function of RFID technology.

[0047] In this embodiment, as shown in Figure 6 The robot body 220 comprises a body structure 221, a driving device 222, a control device 223 and a perception interaction device 224. The driving device 222, the control device 223 and the perception interaction device 224 are all arranged on the body structure 221, and the body structure 221 moves on the guide rail 211. The body structure 221 meets the tunnel clearance requirements, the driving device 222 is used to realize the autonomous movement of the robot body structure 221; the control device 223 is used for processing of robot electrical signals and receiving and sending of control instructions; the perception interaction device 224 meets the requirements of the robot for collecting images, temperature, etc. of the accident scene, and realizes voice interaction with the trapped personnel on site through a voice shouting system.

[0048] In the embodiment, as shown in Figure 7 the bottom of the body structure 221 of the robot is concave, a roller 225 is arranged in the middle of the concave bottom, and clamping sub-devices are arranged on the inner walls of the two sides of the concave bottom. The clamping sub-devices include an extension assembly 226, a connecting rod 227 and a side roller 228. The extension assembly 226 is arranged on the inner wall of the concave bottom, one end of the connecting rod 227 is connected with the extension assembly 226, and the other end of the connecting rod 227 is connected with the side roller 228. The extension assembly 226 of the clamping sub-device includes a push-pull rod and a spring, the spring is arranged in the push-pull rod. When the body structure 221 of the robot is installed on the guide rail 221, the convex guide rail supports the side roller 228, the side roller 228 drives the connecting rod 227, the connecting rod 227 drives the extension assembly 226 to contract, the spring is pressed, the side roller 228 is abutted against the two sides of the guide rail 221, and the robot is stable and does not shake. The lower bottom surface and the side connecting part of the side roller 228 are inclined, so that the convex guide rail can support the side roller 228.

[0049] In the embodiment, as shown in Figure 8As shown, the power supply and communication transmission module 230 includes a charging maintenance station 231 and a wireless communication bridge 233, the charging maintenance station 231 is arranged directly above the center of the guide rail 211, and the electric box 232 is arranged below the guide rail 211; the wireless communication bridge 233 is arranged on the inner wall of the other side of the tunnel. The charging maintenance station is 0.2m above the tunnel track robot system, the direction is parallel to the upper surface of the guide rail 211, and the charging maintenance station ensures repeated contact with the charging contact of the body structure 221 of the robot. When installing, the charging maintenance station 231 needs to be fixed to the side wall of the tunnel through M8 expansion bolts; the charging maintenance station 231 not only considers the charging efficiency, but also integrates the intelligent maintenance function, can monitor the battery state of the robot in real time, and improves the overall performance of the system. The wireless communication bridge 233 is fixed on the side wall of the tunnel through M8 expansion bolts, located at the waist position of the left side of the tunnel, and the design installation height is about 6m away from the maintenance channel. The wireless communication bridge avoids the interference of the traditional communication line on the route of the robot, also ensures the stable transmission of the signal, and the wireless communication bridge has the characteristics of high speed, low delay and strong anti-interference ability, can provide stable and reliable communication link for the robot, and ensures the real-time transmission of data and accurate reception of instructions. A power distribution box is arranged below the communication bridge, the power distribution box includes an AC 220V power supply and a video monitoring network switch interface, after the AC 220V cable and the video monitoring network are led out from the power distribution box, the cable and the network are connected to the power distribution box at the response position on the right side of the tunnel, and stable and reliable power supply is provided for the communication bridge and related equipment. The switch interface supports high-speed data transmission, ensures the real-time and stability of the video monitoring signal. The electric box 232 is arranged below the charging maintenance station 231 and the guide rail 211, and the electric box provides the required power support for the charging maintenance station and the wireless communication bridge. The position of the electric box considers safety and easy maintenance, and ensures stable operation of the whole power supply and communication transmission device.

[0050] In the embodiment, the bottom of the charging maintenance station is a protruding wireless charging induction part, the wireless charging induction part adopts electromagnetic induction technology, ensures efficient and stable wireless charging transmission, the position of the charging maintenance station can optimize the wireless charging efficiency, ensures smooth and unobstructed driving of the robot, and safety and stability during the charging process.

[0051] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the technical scheme of the utility model, and are not a limitation on the specific embodiments of the utility model. Any modification, equivalent replacement and improvement made within the spirit and principle of the utility model claim should be included in the protection scope of the utility model claim.

Claims

1. A tunnel video event detection and robot emergency linkage system, characterized in that, The tunnel video event detection system and the tunnel track robot system, the tunnel video event detection system is arranged on the inner side wall; the tunnel track robot system includes a robot body, a guide rail and a positioning module, a power supply and communication transmission module, the robot body is used for collecting on-site environment images and temperature data, the power supply and communication transmission module is used for remote interaction and power supply with the trapped personnel in the tunnel, the guide rail and the positioning module include a guide rail and a positioning device, the guide rail is a convex guide rail, which is installed on the inner wall of the tunnel side by a track mounting bracket, and the positioning device is used to provide the position information of the tunnel track robot in the tunnel; the tunnel track robot system is linked according to the tunnel abnormal event detected by the video event detection system.

2. The tunnel video event detection and robot emergency linkage system according to claim 1, wherein, The track mounting bracket is a triangle, the side of the triangle is mounted on the tunnel side wall, and the bottom of the triangle extends outward and is fixed with the guide rail.

3. The tunnel video event detection and robot emergency linkage system according to claim 2, wherein, The tunnel video event detection system includes a camera and an algorithm server, the camera is arranged at the front end of the tunnel video event detection system, and the algorithm server is arranged at the rear end of the tunnel video event detection system.

4. The tunnel video event detection and robot emergency linkage system according to claim 3, wherein, The tunnel track robot system includes a body structure, a driving device, a control device and a sensing interaction device, the body structure is used for carrying the driving device, the control device and the sensing interaction device, the driving device is used for driving the movement of the body structure of the robot, the control device is used for processing the electrical signal of the robot and receiving and sending the control instruction, and the sensing interaction device is used for collecting the image of the accident scene, temperature information and voice interaction with the trapped personnel on the scene.

5. The tunnel video event detection and robot emergency linkage system according to claim 4, wherein, The bottom of the body structure is concave, the middle of the concave is provided with a roller, and the two sides of the concave are provided with clamping sub-devices, the clamping sub-devices are used to stabilize the tunnel track robot system.

6. The tunnel video event detection and robot emergency linkage system according to claim 5, wherein, The clamping sub-device is composed of a telescopic component, a connecting rod and a side roller, the telescopic component is arranged on the inner wall of the concave, one end of the connecting rod is connected with the telescopic component, and the other end of the connecting rod is connected with the side roller.

7. The tunnel video event detection and robot emergency linkage system according to any one of claims 1-6, characterized in that, The positioning device includes an RFID tag and a carbon steel positioning screw, the RFID tag is fixed in the groove of the bottom surface of the guide rail, and the carbon steel positioning screw is used to fix the RFID tag in the groove of the bottom surface of the guide rail. 8.The tunnel video event detection and robot emergency linkage system according to any one of claims 1-6, wherein, The power supply and communication transmission device includes a charging maintenance station and a wireless communication bridge, the charging maintenance station is arranged directly above the center of the guide rail, and the electric box is arranged below the guide rail; the wireless communication bridge is arranged on the inner wall of the other side of the tunnel, a power distribution box is arranged below the wireless communication bridge, the power distribution box includes an AC220V power supply and a video monitoring network switch interface, and the AC220V power supply and the video monitoring network switch interface are arranged in the power distribution box.

9. The tunnel video event detection and robot emergency linkage system according to claim 8, wherein, The bottom of the charging maintenance station is a protruding inductive part of the wireless charging, and the charging maintenance station is 0.2m above the tunnel track robot system.

10. The tunnel video event detection and robot emergency linkage system according to any one of claims 1-6, characterized in that, The tunnel video event detection system detects abnormal events in the tunnel in real time, outputs alarm information of the abnormal events, the alarm information includes abnormal parking, traffic accidents and pedestrian events, and feeds back the alarm information containing the event type and location information to the tunnel track robot system, and the tunnel track robot reaches the accident site according to the alarm instruction.

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