A double-cabin tunnel inspection robot control system

Abstract

The utility model relates to a kind of double-cabin tunnel inspection robot control system, including robot body, track system, charging station and control system, and robot body includes two cabins, walking mechanism is provided on cabin upper end, cabin is slidably connected with track system by walking mechanism, driving motor, power battery pack and peripheral expansion interface are all set in two cabins, track system includes track main body, stroke switch and buffer in track two ends and equidistantly set on the RFID tag of track main body, charging station includes wireless charging emission module, control system includes main control board, power management module, communication module, voice module, RFID module and drive module, and main control board is connected with environment detection module by exchange chip and peripheral expansion interface.The utility model sets two power battery packs to provide hardware basis for the charging and power consumption switching of power battery pack in combination with control system, and the electrical installation of multiple types of sensors is realized by increasing peripheral expansion interface.

Description

Technical Field

[0001] This utility model relates to the field of tunnel inspection technology, specifically to a dual-chamber tunnel inspection robot control system. Background Technology

[0002] Highway tunnel inspection robots are installed inside tunnels via tracks to perform multi-dimensional environmental monitoring and assist workers in directing operations. During operation, workers remotely control the robot to move along the tracks. Existing tunnel inspection robots are mostly single-compartment structures, which limit the number of sensors that can be installed, thus preventing the expansion to include more types of sensors. Similarly, due to structural limitations and insufficient installation space, they are difficult to adapt to diverse inspection scenarios.

[0003] To address the aforementioned issues, a dual-compartment structure was adopted to increase the installation space for various types of sensors. To ensure sufficient power and stable operation, drive motors were installed in both compartments. The increased number of drive motors and sensors leads to higher power consumption, and the existing electrical system cannot support the operation of the current dual-compartment structure.

[0004] Therefore, it is imperative to improve the existing circuit structure to ensure power support and to ensure that the processing and transmission of data from multiple types of sensors have a hardware foundation. Utility Model Content

[0005] This invention addresses the problem that the existing power supply system of the dual-compartment tunnel inspection robot, which uses a dual-compartment structure, cannot support the operation of the improved dual-compartment tunnel inspection robot. It proposes a dual-compartment tunnel inspection robot control system, which sets up two power battery packs and combines the control system to provide the hardware foundation for charging and power switching of the power battery packs. It also adds peripheral expansion interfaces to realize the electrical installation of various types of sensors.

[0006] To achieve the above objectives, this utility model proposes a dual-cabin tunnel inspection robot control system, including a robot body, a track system, a charging station and a control system. The robot body includes two cabins, and a walking mechanism is provided at the upper end of each cabin. The cabins are slidably connected to the track system through the walking mechanism. Each of the two cabins is provided with a drive motor, a power battery pack and an external expansion interface.

[0007] The track system includes a track body, limit switches and buffers at both ends of the track, and RFID tags equidistantly arranged on the track body. The charging station is fixed to the side of the track and includes a wireless charging transmitter module.

[0008] The control system includes a main control board, a power management module, a communication module, a voice module, an RFID module, and a drive module;

[0009] The main control board is electrically connected to the power management module. The power battery pack is connected to a wireless charging receiver module through the power management module. The main control board is electrically connected to the drive motor through the drive module. The main control board is also communicatively connected to the communication module, the voice module, and the RFID module.

[0010] The main control board is connected to a switching chip via a communication module, and the main control board is connected to an environmental monitoring module via the switching chip and peripheral expansion interface.

[0011] Furthermore, the two power battery packs are divided into a main battery pack and a backup battery pack;

[0012] A charging circuit is provided between the main battery pack and the backup battery pack. The main battery pack and the backup battery pack are connected in parallel through the charging circuit and then connected to the wireless charging receiver module. The charging circuit includes a first diode, a second diode, a backup diode A, and a backup diode B. The output terminal of the wireless charging receiver module is connected to the positive terminal of the first diode and is connected to the main battery pack through the first diode. The output terminal of the wireless charging receiver module is connected to the positive terminal of the second diode and is connected to the backup battery pack through the second diode.

[0013] A backup diode A is provided between the main battery pack and the first diode, and a backup diode B is provided between the backup battery pack and the second diode.

[0014] The main battery pack and the backup battery pack do not affect each other during charging. The main battery pack and the backup battery pack are protected by diodes to prevent reverse discharge of the main battery pack and the backup battery pack. This also protects the wireless charging receiver module and prevents the main battery pack and the backup battery pack from charging each other.

[0015] Furthermore, a switching circuit is provided between the main battery pack and the backup battery pack. The switching circuit includes a third diode, a fourth diode, a MOS switch, and a hysteresis comparator. The main battery pack is connected to the positive terminal of the third diode. The main battery pack is connected to the drive module, the control system, and the environmental detection module through the third diode. The output terminal of the main battery pack is connected to the hysteresis comparator. The hysteresis comparator is connected to the gate (G) terminal of the MOS switch.

[0016] The backup battery pack is connected to the positive terminal of the fourth diode, and the backup battery pack is connected to the MOS switch through the fourth diode. The MOS switch is connected to the drive module, the control system, and the environmental detection module.

[0017] During operation, the main battery pack operates first and is actively powered. Only when the main battery pack's charge is insufficient will the hysteresis comparator control the MOS switch to open and use the backup battery pack for power. When the backup battery pack voltage is higher than the main battery pack voltage, the third diode will cut off. Therefore, there will be no instantaneous voltage drop during switching.

[0018] Furthermore, the voice module includes a voice chip, a power amplifier unit, and a speaker. The voice chip is communicatively connected to the main control board, and the voice chip is connected to the speaker through the power amplifier unit.

[0019] The voice module is set up to provide voice prompts.

[0020] Furthermore, the environmental detection module includes a gas sensor, a laser rangefinder, a temperature and humidity sensor, and a light sensor, which are electrically connected to the main control board.

[0021] The gas sensor, laser rangefinder, temperature and humidity sensor, and light sensor are electrically connected to the main control board via peripheral expansion interfaces or communication modules. The main control board receives detection data from the gas sensor, laser rangefinder, temperature and humidity sensor, and light sensor.

[0022] Furthermore, the environmental detection module also includes a rear camera, a front camera, and a thermal imaging sensor, and the communication module includes a PHY module and an RS485 module;

[0023] The main control board communicates with the switching chip via the PHY module, and the main control board communicates with the rear camera, front camera and thermal imaging sensor via the switching chip.

[0024] As the network physical layer interface, the PHY module ensures the stability and reliability of network data transmission between the main control board and the switching chip, and ensures efficient high-definition data exchange between devices such as cameras and sensors.

[0025] Furthermore, the main control board is connected to a host computer via a switching chip.

[0026] Furthermore, the output terminal of the limit switch is electrically connected to the main control board.

[0027] The beneficial effects of this utility model through the above technical solution are as follows:

[0028] 1. This utility model expands the robot's carrying space and functional potential through a dual-cabin structure. Dual drive motors improve power output stability, and dual power battery packs, along with dedicated charging and switching circuits, achieve safe switching and independent charging of the main and backup batteries, avoiding mutual interference and reverse discharge, while significantly extending the runtime and ensuring continuous tunnel inspection. Simultaneously, the integration of multiple sensors and a multi-dimensional environmental detection module, combined with an efficient communication link, enables comprehensive perception of the tunnel's status and real-time data transmission, greatly improving the reliability and comprehensiveness of the inspection.

[0029] 2. The control system of this utility model achieves efficient data interaction between multiple devices and remote management by the host computer through centralized scheduling via the main control board and the switching chip. With the addition of safety designs such as limit switches, it not only ensures the safety and remote controllability of the robot operation, but also realizes status prompts and rapid response to anomalies during the inspection process through the collaborative work of the voice module and the environmental detection module, effectively improving the intelligence level and management efficiency of tunnel inspection. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a dual-chamber tunnel inspection robot control system according to the present invention;

[0031] Figure 2 This is one of the electrical schematic diagrams of a dual-chamber tunnel inspection robot control system according to this utility model;

[0032] Figure 3 This is the second electrical schematic diagram of the control system for a dual-chamber tunnel inspection robot according to this utility model;

[0033] Figure 4 This is the third electrical schematic diagram of the control system for a dual-chamber tunnel inspection robot of this utility model.

[0034] The reference numerals are as follows: 1 is the robot body, 2 is the charging station, 3 is the walking mechanism, 4 is the drive motor, 5 is the limit switch, 6 is the RFID tag, 7 is the wireless charging transmitter module, 8 is the main control board, 9 is the power management module, 10 is the communication module, 11 is the voice module, 12 is the RFID module, 13 is the drive module, 14 is the wireless charging receiver module, 15 is the switching chip, 16 is the main battery pack, 17 is the backup battery pack, 18 is the charging circuit, 19 is the switching circuit, and 20 is the environmental detection module. Detailed Implementation

[0035] Example 1

[0036] like Figures 1-4 As shown, a dual-chamber tunnel inspection robot control system includes a robot body 1, a track system, a charging station 2 and a control system. The robot body 1 includes two chambers. A walking mechanism 3 is provided at the upper end of each chamber. The chambers are slidably connected to the track system through the walking mechanism 3. Each of the two chambers is provided with a drive motor 4, a power battery pack and an external expansion interface.

[0037] The track system includes a track body, limit switches 5 and buffers at both ends of the track, and RFID tags 6 equidistantly arranged on the track body. The charging station 2 is fixed to the side of the track and includes a wireless charging transmitter module 7.

[0038] The control system includes a main control board 8, a power management module 9, a communication module 10, a voice module 11, an RFID module 12, and a drive module 13;

[0039] The main control board 8 is electrically connected to the power management module 9. The power battery pack is connected to the wireless charging receiver module 14 through the power management module 9. The main control board 8 is electrically connected to the drive motor 4 through the drive module 13. The main control board 8 is also connected to the communication module 10, the voice module 11, and the RFID module 12.

[0040] The main control board 8 is connected to the switching chip 15 through the communication module 10, and the main control board 8 is connected to the environmental detection module 20 through the switching chip 15 and the peripheral expansion interface.

[0041] The zero point and end point of the operation of the dual-chamber tunnel inspection robot will be set at a distance of about 0.5 meters from both ends of the track, with the limit switch trigger device and buffer at the zero point and end point positions.

[0042] The main control board 8 includes an ARM chip, the power management module 9 is a CN3722 chip, and the voice module 11 and RFID module 12 communicate with the ARM chip via UART serial port.

[0043] The two power battery packs are divided into a main battery pack 16 and a backup battery pack 17.

[0044] A charging circuit 18 is provided between the main battery pack 16 and the backup battery pack 17. The main battery pack 16 and the backup battery pack 17 are connected in parallel through the charging circuit 18 and then connected to the wireless charging receiver module 14. The charging circuit 18 includes a first diode, a second diode, a backup diode A, and a backup diode B. The output terminal of the wireless charging receiver module 14 is connected to the positive terminal of the first diode and is connected to the main battery pack 16 through the first diode. The output terminal of the wireless charging receiver module 14 is connected to the positive terminal of the second diode and is connected to the backup battery pack 17 through the second diode.

[0045] A backup diode A is provided between the main battery pack 16 and the first diode, and a backup diode B is provided between the backup battery pack 17 and the second diode.

[0046] A switching circuit 19 is provided between the main battery pack 16 and the backup battery pack 17. The switching circuit 19 includes a third diode, a fourth diode, a MOS switch and a hysteresis comparator. The main battery pack 16 is connected to the positive terminal of the third diode. The main battery pack 16 is connected to the drive module 13, the control system and the environmental detection module 20 through the third diode. The output terminal of the main battery pack 16 is connected to the hysteresis comparator. The hysteresis comparator is connected to the gate terminal of the MOS switch.

[0047] The backup battery pack 17 is connected to the positive terminal of the fourth diode, and the backup battery pack 17 is connected to the MOS switch through the fourth diode. The MOS switch is connected to the drive module 13, the control system and the environmental detection module 20.

[0048] The voice module 11 includes a voice chip (SYN6288E chip), a power amplifier unit (LM4871LD chip), and a speaker. The voice chip is communicatively connected to the main control board 8, and the voice chip is connected to the speaker through the power amplifier unit.

[0049] The environmental detection module 20 includes a gas sensor (ZE03 module), a laser rangefinder, a temperature and humidity sensor, and a light sensor. The gas sensor, laser rangefinder, temperature and humidity sensor, and light sensor are electrically connected to the main control board 8.

[0050] The output terminals of the gas sensor, laser rangefinder, and temperature and humidity sensor are connected to the input pins of the ARM chip, and the light sensor communicates with the ARM chip via UART serial port through an RS485 module.

[0051] The environmental detection module 20 also includes a rear camera, a front camera and a thermal imaging sensor, and the communication module 10 includes a PHY module and an RS485 module.

[0052] The main control board 8 communicates with the switching chip 15 through the PHY module, and the main control board 8 communicates with the rear camera, the front camera and the thermal imaging sensor through the switching chip 15.

[0053] The ARM chip communicates with the PHY module via the MII serial port, and the ARM chip communicates with the switching chip 15.

[0054] The main control board 8 is connected to the host computer via the switching chip 15.

[0055] The output terminal of the limit switch 5 is electrically connected to the main control board 8.

[0056] After powering on, the main control board 8 (ARM chip) first starts the initialization program, completing the initialization of hardware peripherals such as GPIO, UART, and ADC, as well as software resources, and triggers the limit switch 5 (0 point or end point, 0.5 meters from both ends of the track) to complete the position calibration. Subsequently, the robot body 1 receives the inspection task issued by the host computer through the communication module 10 (including the PHY module and RS485 module), and clarifies the inspection route and target location.

[0057] When the inspection is initiated, the main control board 8 controls the two drive motors 4 of the dual-cabin body to operate through the drive module 13, and the walking mechanism 3 drives the robot body 1 to slide along the track system. During operation, the RFID module 12 reads the RFID tags 6 on the track in real time and calibrates them with its own calculated position information to ensure accurate running trajectory. At the same time, the two drive motors 4 work together to provide power to ensure sufficient power.

[0058] During the inspection, the environmental monitoring module 20 simultaneously starts data acquisition: the gas sensor collects the gas concentration in the tunnel, the laser rangefinder monitors the distance to obstacles in front in real time (accuracy ±5cm), and the temperature and humidity sensor obtains the ambient temperature and humidity. The above data are directly transmitted to the input pin of the main control board 8.

[0059] The light sensor sends data to the main control board 8 via the RS485 module and UART serial port;

[0060] The front camera, rear camera, and thermal imaging sensor collect images and object surface temperature data, which are then aggregated to the main control board 8 via the switching chip 15 (which is connected to the main control board 8 via the PHY module) and uploaded to the host computer via the communication module 10.

[0061] During operation, if the laser rangefinder detects that the distance in front is less than the danger threshold, the main control board 8 immediately controls the drive motor 4 to decelerate and stop, and triggers the voice module 11, which drives the speaker to emit an alarm voice through the power amplifier unit, while setting the indicator light to flash as a reminder.

[0062] The main battery pack 16 provides priority power, supplying power to the drive module 13, control system, and environmental monitoring module 20 via the third diode. When the voltage of the main battery pack 16 falls below a set value, the hysteresis comparator triggers the MOS switch to turn on, and the backup battery pack 17 switches power supply via the fourth diode. When the voltage of the backup battery pack 17 is higher than that of the main battery pack 16, the third diode turns off to prevent sudden voltage drops.

[0063] Upon arrival at charging station 2, the wireless charging receiver module 14 connects with the wireless charging transmitter module 7, and the charging circuit 18 is activated. The wireless charging current charges the main battery pack 16 through the first diode or backup diode A via the CN3722 chip, and charges the backup battery pack 17 through the second diode or backup diode B via the CN3722 chip (the diodes prevent reverse discharge and mutual charging of the batteries). The low-voltage batteries are charged first, and then they are charged synchronously after the voltages are consistent. The charging stops automatically when the batteries are fully charged.

[0064] The embodiments described above are merely preferred embodiments of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the patent claims of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. A control system for a dual-cabin tunnel inspection robot, comprising a robot body (1), a track system, a charging station (2), and a control system, characterized in that, The robot body (1) includes two cabins. A walking mechanism (3) is provided at the upper end of the cabin. The cabin is slidably connected to the track system through the walking mechanism (3). A drive motor (4), a power battery pack and an external expansion interface are provided in both cabins. The track system includes a track body, limit switches (5) and buffers at both ends of the track, and RFID tags (6) equidistantly arranged on the track body. The charging station (2) is fixed to the side of the track and includes a wireless charging transmitter module (7). The control system includes a main control board (8), a power management module (9), a communication module (10), a voice module (11), an RFID module (12), and a drive module (13). The main control board (8) is electrically connected to the power management module (9). The power battery pack is connected to the wireless charging receiver module (14) through the power management module (9). The main control board (8) is electrically connected to the drive motor (4) through the drive module (13). The main control board (8) is also connected to the communication module (10), the voice module (11), and the RFID module (12). The main control board (8) is connected to a switching chip (15) through a communication module (10), and the main control board (8) is connected to an environmental detection module (20) through the switching chip (15) and peripheral expansion interface.

2. The dual-chamber tunnel inspection robot control system according to claim 1, characterized in that, The two power battery packs are divided into a main battery pack (16) and a backup battery pack (17). A charging circuit (18) is provided between the main battery pack (16) and the backup battery pack (17). The main battery pack (16) and the backup battery pack (17) are connected in parallel through the charging circuit (18) and then connected to the wireless charging receiver module (14). The charging circuit (18) includes a first diode, a second diode, a backup diode A and a backup diode B. The output terminal of the wireless charging receiver module (14) is connected to the positive terminal of the first diode and is connected to the main battery pack (16) through the first diode. The output terminal of the wireless charging receiver module (14) is connected to the positive terminal of the second diode and is connected to the backup battery pack (17) through the second diode. A spare diode A is provided between the main battery pack (16) and the first diode, and a spare diode B is provided between the spare battery pack (17) and the second diode.

3. The dual-chamber tunnel inspection robot control system according to claim 2, characterized in that, A switching circuit (19) is provided between the main battery pack (16) and the backup battery pack (17). The switching circuit (19) includes a third diode, a fourth diode, a MOS switch and a hysteresis comparator. The main battery pack (16) is connected to the positive terminal of the third diode. The main battery pack (16) is connected to the drive module (13), the control system and the environmental detection module (20) through the third diode. The output terminal of the main battery pack (16) is connected to the hysteresis comparator. The hysteresis comparator is connected to the gate of the MOS switch. The backup battery pack (17) is connected to the positive terminal of the fourth diode. The backup battery pack (17) is connected to the MOS switch through the fourth diode. The MOS switch is connected to the drive module (13), the control system and the environmental detection module (20).

4. The dual-chamber tunnel inspection robot control system according to claim 1, characterized in that, The voice module (11) includes a voice chip, a power amplifier unit and a speaker. The voice chip is connected to the main control board (8) and the voice chip is connected to the speaker through the power amplifier unit.

5. The dual-chamber tunnel inspection robot control system according to claim 1, characterized in that, The environmental detection module (20) includes a gas sensor, a laser rangefinder, a temperature and humidity sensor, and a light sensor. The gas sensor, laser rangefinder, temperature and humidity sensor, and light sensor are electrically connected to the main control board (8).

6. The dual-chamber tunnel inspection robot control system according to claim 1, characterized in that, The environmental detection module (20) also includes a rear camera, a front camera and a thermal imaging sensor, and the communication module (10) includes a PHY module and an RS485 module; The main control board (8) is connected to the switching chip 15 via the PHY module, and the main control board (8) is connected to the rear camera, front camera and thermal imaging sensor via the switching chip 15.

7. The dual-chamber tunnel inspection robot control system according to claim 6, characterized in that, The main control board (8) is connected to the host computer via the switching chip 15.

8. The dual-chamber tunnel inspection robot control system according to claim 1, characterized in that, The output terminal of the limit switch (5) is electrically connected to the main control board (8).

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