Tunnel water leakage monitoring full-automatic robot based on infrared thermal imager

Abstract

The utility model relates to the technical field of water leakage monitoring, in particular to a tunnel water leakage monitoring full-automatic robot based on an infrared thermal imager. According to the technical scheme, the device comprises a transport vehicle, a mounting frame and a robot body, tires are mounted on the transport vehicle, the robot body is arranged in the mounting frame through a hydraulic rod, and an infrared thermal imager body is mounted in the robot body; an air pump and a heating box are installed on the transport vehicle, a liquid storage box is installed on the heating box, a frame is welded in the transport vehicle, a driving mechanism is installed in the frame, and a lead screw is arranged on an output shaft of the driving mechanism; an exhaust pipe and a drainage pipe are installed on the inner wall of the U-shaped frame, a water pump is installed in the liquid storage box, and an electric heating pipe is installed in the heating box. According to the utility model, tunnel water leakage monitoring is satisfied, the monitoring mechanism can be cleaned and maintained during monitoring, and the imaging effect is prevented from being affected by dust and sundries attached after long-time use.

Description

Fully Automated Robot for Tunnel Leakage Monitoring Based on Infrared Thermal Imaging Technical Field

[0001] This utility model relates to the field of water leakage monitoring technology, specifically to a fully automated robot for monitoring tunnel water leakage based on an infrared thermal imager. Background Technology

[0002] Water leakage in tunnels has always been a major challenge in engineering construction and operation. Water leakage is not only related to groundwater and geological conditions, but is also affected by a variety of factors during the tunnel design, construction, and operation stages. Therefore, monitoring of tunnel water leakage is often necessary.

[0003] A search revealed that patent application CN117901129B discloses a fully automated robot for monitoring tunnel water leakage based on an infrared thermal imager. Although the device incorporates an intelligent control system, a positioning and distance-fixed movement structure, and a two-dimensional servo gimbal structure to achieve all-round and fully automated monitoring of tunnel water leakage, the complex conditions inside tunnels, including dust and other debris, cause the monitoring positions to adhere to the robot after prolonged use. This necessitates manual cleaning and maintenance of the imaging positions, affecting the monitoring effect. Therefore, further improvements are needed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a fully automated robot for monitoring tunnel seepage based on an infrared thermal imager, thus solving the problems mentioned in the background section.

[0005] The solution to the above-mentioned technical problems provided by this utility model is as follows:

[0006] The fully automated robot for monitoring tunnel seepage based on infrared thermal imager includes a transport vehicle, a mounting frame, and a robot body. The transport vehicle is equipped with tires, and the robot body is mounted inside the mounting frame via hydraulic rods. The infrared thermal imager is installed inside the robot body.

[0007] The transport vehicle is equipped with an air pump and a heating box, and the heating box is equipped with a liquid storage tank. A frame is welded inside the transport vehicle, and a drive mechanism is installed inside the frame. A lead screw is provided on the output shaft of the drive mechanism.

[0008] The inner wall of the U-shaped frame is equipped with an exhaust pipe and a drain pipe, the liquid storage tank is equipped with a water pump, and the heating box is equipped with an electric heating element.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, there are four tires in total, and the four tires are arranged in a rectangular array relative to the transport vehicle.

[0011] The beneficial effects of adopting the above-mentioned further solutions are:

[0012] Four tires arranged in a rectangular array provide balanced and stable support for the transport vehicle. In the complex and varied road conditions within tunnels, this layout effectively maintains the robot's overall center of gravity. Even when encountering uneven or potholed surfaces, it greatly reduces the risk of the robot tipping over, ensuring continuous and stable monitoring operations based on infrared thermal imaging. This significantly reduces data deviations caused by vehicle movement, guaranteeing the accuracy and reliability of the monitoring results.

[0013] Furthermore, a mounting block is welded to the bottom end face of the mounting bracket, the mounting block is slidably sleeved on the frame, and the mounting block is threaded onto the lead screw.

[0014] The beneficial effects of adopting the above-mentioned further solutions are:

[0015] When the drive mechanism rotates the lead screw, the mounting block, threaded to the lead screw and slidable on the frame, drives the mounting frame to move smoothly along the axis of the lead screw. This design gives the robot body forward and backward mobility, allowing it to get closer to the location to be monitored and to enter relatively narrow spaces independently. After reaching the designated monitoring location, the robot body images the monitoring location using an infrared thermal imager. The image data can then be connected to a computer via wires or other means for display, improving the comprehensiveness and accuracy of the monitoring work.

[0016] Furthermore, a bracket is welded to the bottom end face of the U-shaped frame, and the end of the bracket facing away from the bracket is mounted on the mounting frame.

[0017] The beneficial effects of adopting the above-mentioned further solutions are:

[0018] The bracket can connect the U-shaped frame to the mounting bracket, thereby installing and fixing the U-shaped frame.

[0019] Furthermore, the air pump is equipped with an air inlet pipe, the end of which is embedded and fixed inside the heating box away from the air pump, and the heating box is connected to the air pump through the air inlet pipe.

[0020] The beneficial effects of adopting the above-mentioned further solutions are:

[0021] An air pump can deliver outside air into the heating chamber via an air intake pipe. The electric heating element in the heating chamber then heats the incoming air. The heated air can then be discharged through a subsequent pipe to dry the cleaned robot body and the infrared thermal imager body.

[0022] Furthermore, the water pump is provided with a water outlet pipe, the end of which is opposite to the water pump is embedded and fixed in the drain pipe, and the side end of the heating box is embedded and fixed with an air outlet pipe, the end of which is opposite to the heating box is embedded and fixed in the exhaust pipe.

[0023] The beneficial effects of adopting the above-mentioned further solutions are:

[0024] After the water pump starts, it forces the liquid in the storage tank through the outlet pipe into the drain pipe, and finally sprays it out from the nozzle of the drain pipe. This spraying cleans dust, dirt, and other impurities from the robot body and the infrared thermal imager, creating favorable conditions for the infrared thermal imager to clearly monitor water leakage. Simultaneously, the heated air in the heating chamber enters the exhaust pipe through the air outlet pipe, drying the robot body and the infrared thermal imager after cleaning, preventing water from adhering and affecting the use of the infrared thermal imager.

[0025] Furthermore, a nozzle is installed inside the drain pipe, and a fixing pipe is installed inside the exhaust pipe.

[0026] The beneficial effects of adopting the above-mentioned further solutions are:

[0027] The nozzle design allows the liquid in the drain pipe to be sprayed evenly onto the infrared thermal imager and robot at a specific angle and range. During spraying, the robot moves downwards via a hydraulic rod to align with the air outlet, significantly enhancing the cleaning effect on both the infrared thermal imager and robot, effectively removing impurities that could affect the accuracy of the infrared thermal imager's monitoring. The fixed pipe inside the exhaust pipe guides and constrains the sprayed hot air, concentrating it on the freshly cleaned infrared thermal imager and robot, improving drying efficiency, ensuring rapid drying of both components, reducing monitoring errors caused by moisture, and ultimately enhancing the reliability and stability of the entire tunnel leakage monitoring system.

[0028] This invention provides a fully automated robot for monitoring tunnel seepage based on an infrared thermal imager. It possesses the following features:

[0029] Beneficial effects:

[0030] Mounting bracket and lead screw structure: The mounting bracket is slidably fitted onto the frame via mounting blocks and threadedly connected to the lead screw. When the drive mechanism rotates the lead screw, the mounting bracket can move smoothly along the lead screw axis, giving the robot body the ability to move back and forth, allowing it to get closer to the monitoring position, or even enter narrow positions independently, thus improving the comprehensiveness and accuracy of the monitoring work.

[0031] Air heating and delivery system: The air pump delivers outside air to the heating chamber through the air inlet pipe. The electric heating tubes in the heating chamber heat the air and then discharge it through subsequent pipes. This can dry the cleaned robot body and the infrared thermal imager body, ensuring that the equipment can work normally in a humid environment.

[0032] Liquid spraying and cleaning system: The water pump pressurizes the liquid in the storage tank into the drain pipe through the outlet pipe, and sprays it out through the nozzle. This is used to spray and clean dust, dirt and other impurities on the robot body and the infrared thermal imager body, creating favorable conditions for the infrared thermal imager body to clearly monitor water leakage.

[0033] Drying and guiding structure: The nozzles in the drain pipe spray the liquid evenly, enhancing the cleaning effect; the fixed pipe in the exhaust pipe guides and constrains the hot air, improving drying efficiency, ensuring the equipment dries quickly, and reducing monitoring errors caused by moisture. Attached Figure Description

[0034] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and are used to explain the present invention, but do not constitute an undue limitation of the present invention.

[0035] In the attached diagram:

[0036] Figure 1 is a front view schematic diagram of this utility model;

[0037] Figure 2 is a front view schematic diagram of the robot body of this utility model;

[0038] Figure 3 is a rear view of this utility model;

[0039] Figure 4 is a cross-sectional schematic diagram of the liquid storage tank and heating tank of this utility model.

[0040] The attached diagram lists the components represented by each number as follows:

[0041] 1. Transport vehicle; 101. Tire; 2. Frame; 201. Lead screw; 202. Drive mechanism; 3. Mounting frame; 301. Mounting block; 302. Bracket; 303. U-shaped frame; 304. Infrared thermal imager body; 305. Robot body; 306. Hydraulic rod; 4. Liquid storage tank; 401. Heating box; 402. Air inlet pipe; 403. Air pump; 404. Water outlet pipe; 405. Air outlet pipe; 406. Nozzle; 407. Fixing pipe; 408. Exhaust pipe; 409. Drainage pipe; 410. Electric heating element; 411. Water pump. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0043] Please refer to Figures 1 to 4 for the embodiments provided by this utility model:

[0044] Example 1

[0045] The fully automated robot for monitoring tunnel seepage based on infrared thermal imager includes a transport vehicle 1, a mounting frame 3, and a robot body 305. The transport vehicle 1 is equipped with tires 101. The robot body 305 is installed in the mounting frame 3 via hydraulic rods 306, and the infrared thermal imager body 304 is installed in the robot body 305.

[0046] The transport vehicle 1 is equipped with an air pump 403 and a heating box 401, and a liquid storage tank 4 is installed on the heating box 401. A frame 2 is welded inside the transport vehicle 1, and a drive mechanism 202 is installed inside the frame 2. A lead screw 201 is provided on the output shaft of the drive mechanism 202.

[0047] The inner wall of the U-shaped frame 303 is equipped with an exhaust pipe 408 and a drain pipe 409, the liquid storage tank 4 is equipped with a water pump 411, and the heating box 401 is equipped with an electric heating tube 410.

[0048] There are four tires 101, arranged in a rectangular array relative to the transport vehicle 1. This rectangular array provides balanced and stable support for the transport vehicle 1. In the complex and varied road conditions within tunnels, this layout effectively maintains the stability of the robot's overall center of gravity. Even when encountering uneven or potholed surfaces, it greatly reduces the risk of the robot tipping over, ensuring continuous and stable monitoring operations based on the infrared thermal imager. This significantly reduces data deviations caused by vehicle movement, guaranteeing the accuracy and reliability of the monitoring results.

[0049] Mounting block 301 is welded to the bottom surface of mounting frame 3. Mounting block 301 is slidably sleeved on frame 2 and is threaded onto lead screw 201. When drive mechanism 202 operates and drives lead screw 201 to rotate, mounting block 301, which is threaded to lead screw 201 and slidable on frame 2, drives mounting frame 3 to move smoothly along the axis of lead screw 201. This design gives robot body 305 forward and backward mobility, allowing robot body 305 to get closer to the location to be monitored and to enter relatively narrow locations independently. After reaching the designated monitoring location, robot body 305 images the monitoring location through infrared thermal imager body 304. The imaged data can be connected to a computer via wires or other means for display, improving the comprehensiveness and accuracy of monitoring work.

[0050] A bracket 302 is welded to the bottom end face of the U-shaped frame 303, and the end of the bracket 302 away from the bracket 302 is installed on the mounting frame 3. The bracket 302 can connect the U-shaped frame 303 to the mounting frame 3, thereby installing and fixing the U-shaped frame 303.

[0051] The water pump 411 is provided with a water outlet pipe 404. The end of the water outlet pipe 404 away from the water pump 411 is embedded and fixed in the drain pipe 409. The side end face of the heating box 401 is embedded and fixed with an air outlet pipe 405. The end of the air outlet pipe 405 away from the heating box 401 is embedded and fixed in the exhaust pipe 408.

[0052] Example 2

[0053] To prevent water droplets from adhering to the infrared thermal imager body 304 after spray cleaning and affecting its use, as exemplarily shown in Figures 1 to 4, this utility model also includes: a transport vehicle 1, a mounting frame 3, and a robot body 305. The transport vehicle 1 is equipped with tires 101, and the robot body 305 is provided in the mounting frame 3 through a hydraulic rod 306, and the infrared thermal imager body 304 is installed in the robot body 305.

[0054] The transport vehicle 1 is equipped with an air pump 403 and a heating box 401, and a liquid storage tank 4 is installed on the heating box 401. A frame 2 is welded inside the transport vehicle 1, and a drive mechanism 202 is installed inside the frame 2. A lead screw 201 is provided on the output shaft of the drive mechanism 202.

[0055] The inner wall of the U-shaped frame 303 is equipped with an exhaust pipe 408 and a drain pipe 409. A water pump 411 is installed in the liquid storage tank 4, and an electric heating tube 410 is installed in the heating box 401. The air pump 403 can deliver outside air to the heating box 401 through the air inlet pipe 402. The electric heating tube 410 in the heating box 401 then heats the incoming air. The heated air can be discharged through subsequent pipes to dry the cleaned robot body 305 and the infrared thermal imager body 304.

[0056] The air pump 403 is equipped with an air inlet pipe 402. One end of the air inlet pipe 402, away from the air pump 403, is embedded and fixed inside the heating box 401. The heating box 401 is connected to the air pump 403 via the air inlet pipe 402. After the water pump 411 is started, it can force the liquid in the storage tank 4 into the drain pipe 409 through the water outlet pipe 404, and finally spray it out from the nozzle 406 of the drain pipe 409. This is used to spray and clean dust, dirt and other impurities on the robot body 305 and the infrared thermal imager body 304, creating favorable conditions for the infrared thermal imager body 304 to clearly monitor water leakage. At the same time, the heated air in the heating box 401 enters the exhaust pipe 408 through the air outlet pipe 405. After cleaning, the robot body 305 and the infrared thermal imager body 304 are dried by the exhaust air, preventing water from adhering and affecting the use of the infrared thermal imager body 304.

[0057] A nozzle 406 is installed inside the drain pipe 409, and a fixing pipe 407 is installed inside the exhaust pipe 408. The nozzle 406 allows the liquid in the drain pipe 409 to be sprayed evenly onto the infrared thermal imager body 304 and the robot body 305 at a specific angle and range. During spraying, the robot body 305 can be moved downward by the hydraulic rod 306 to align with the spray outlet position, and can be reset for use after cleaning. This significantly enhances the cleaning effect on the infrared thermal imager body 304 and the robot body 305, effectively removing impurities that may affect the monitoring accuracy of the infrared thermal imager body 304. The fixing pipe 407 inside the exhaust pipe 408 guides and constrains the sprayed hot air, allowing the hot air to act more concentrated on the infrared thermal imager body 304 and the robot body 305 that have just been sprayed and cleaned, improving drying efficiency and ensuring that the infrared thermal imager body 304 and the robot body 305 can dry quickly, reducing monitoring errors caused by moisture, and thus improving the reliability and stability of the entire tunnel seepage monitoring system.

[0058] Working principle:

[0059] Drive mechanism 202 and lead screw 201 transmission: Drive mechanism 202 is installed inside frame 2, and its output shaft drives lead screw 201 to rotate. Since mounting block 301 of mounting frame 3 is threadedly connected to lead screw 201 and can slide on frame 2, according to the principle of threaded transmission, the rotation of lead screw 201 is converted into linear motion of mounting block 301 along the axis of lead screw 201, thereby pushing mounting frame 3 to move back and forth, so that robot body 305 mounted on mounting frame 3 can be flexibly adjusted in position, and drive mechanism 202 can use a combination of motor and reducer to drive lead screw 201.

[0060] Monitoring Principle: Infrared thermal imaging monitoring is used. An infrared thermal imager 304 is installed inside the robot body 305. When the robot moves to the designated monitoring position, the infrared thermal imager 304 begins operation. Its principle is based on the fact that different surface temperatures result in different intensities of emitted infrared radiation. There is a temperature difference between normal areas and areas with water leakage within the tunnel. The infrared thermal imager 304 captures these infrared rays of varying intensities and converts them into thermal images to determine if water leakage exists in the tunnel. The imaged data can be connected to a computer via wires or other wireless transmission methods for display and analysis.

[0061] Equipment maintenance principle: Cleaning principle. Water pump 411 is installed inside the liquid storage tank 4. When water pump 411 is started, its impeller rotates at high speed, creating a negative pressure at one end of the inlet pipe, drawing liquid from the storage tank 4 into the pump body, and then pressurizing it into the drain pipe 409 through the outlet pipe 404. The nozzles 406 inside the drain pipe 409 spray the liquid evenly onto the robot body 305 and the infrared thermal imager body 304 at a specific angle and range, using the flushing force of the liquid to remove dust, dirt, and other impurities from the equipment surface.

[0062] Drying Principle: Air pump 403 draws in outside air through air inlet pipe 402 and delivers it to heating chamber 401. The electric heating element 410 inside heating chamber 401 heats up after being energized, heating the incoming air. The heated air enters exhaust pipe 408 through air outlet pipe 405. The fixed pipe 407 inside exhaust pipe 408 guides and constrains the hot air, concentrating it on the robot body 305 and infrared thermal imager body 304 that have just been sprayed and cleaned. The evaporation of the hot air quickly dries any residual moisture on the equipment surface, preventing moisture from affecting the normal operation of the equipment.

[0063] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A fully automated robot for monitoring tunnel seepage based on an infrared thermal imager, comprising a transport vehicle (1), a mounting frame (3), and a robot body (305), wherein the transport vehicle (1) is equipped with tires (101), the mounting frame (3) is equipped with the robot body (305) via hydraulic rods (306), and the robot body (305) is equipped with an infrared thermal imager body (304), characterized in that: The transport vehicle (1) is equipped with an air pump (403) and a heating box (401), and a liquid storage tank (4) is installed on the heating box (401). A frame (2) is welded inside the transport vehicle (1), and a drive mechanism (202) is installed inside the frame (2). A lead screw (201) is provided on the output shaft of the drive mechanism (202). An exhaust pipe (408) and a drain pipe (409) are installed on the inner wall of the U-shaped frame (303). A water pump (411) is installed inside the liquid storage tank (4), and an electric heating tube (410) is installed inside the heating box (401).

2. The fully automated robot for monitoring tunnel seepage based on an infrared thermal imager as described in claim 1, characterized in that: There are four tires (101) in total, and the four tires (101) are arranged in a rectangular array relative to the transport vehicle (1).

3. The fully automated robot for monitoring tunnel seepage water based on an infrared thermal imager as described in claim 1, characterized in that: The mounting bracket (3) has a mounting block (301) welded to its bottom end face. The mounting block (301) is slidably sleeved on the frame (2) and is threaded onto the lead screw (201).

4. The fully automated robot for monitoring tunnel seepage based on an infrared thermal imager as described in claim 1, characterized in that: The bottom end of the U-shaped frame (303) is welded with a bracket (302), and the end of the bracket (302) facing away from the bracket (302) is mounted on the mounting frame (3).

5. The fully automated robot for monitoring tunnel seepage water based on an infrared thermal imager according to claim 1, characterized in that: The air pump (403) is provided with an air inlet pipe (402). One end of the air inlet pipe (402) away from the air pump (403) is embedded and fixed in the heating box (401), and the heating box (401) is in gas communication with the air pump (403) through the air inlet pipe (402).

6. The fully automated robot for monitoring tunnel seepage water based on an infrared thermal imager according to claim 1, characterized in that: The water pump (411) is provided with a water outlet pipe (404), one end of the water outlet pipe (404) away from the water pump (411) is embedded and fixed in the drain pipe (409), and the side end of the heating box (401) is embedded and fixed with an air outlet pipe (405), one end of the air outlet pipe (405) away from the heating box (401) is embedded and fixed in the exhaust pipe (408).

7. The fully automated robot for monitoring tunnel seepage water based on an infrared thermal imager according to claim 6, characterized in that: A nozzle (406) is installed inside the drain pipe (409), and a fixing pipe (407) is installed inside the exhaust pipe (408).

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