Tunnel inspection robot high-precision positioning device

Abstract

The utility model relates to a kind of high-precision positioning device of tunnel inspection robot, it includes: several support frames of interval arrangement, it includes fixedly arranged on the fixed plate of tunnel side wall and the main beam of horizontal setting in the fixed plate side;Track is erected on several the support frame;Tunnel inspection robot is movably arranged on the track, and intelligent total station is arranged on the tunnel inspection robot;Several control prism mechanisms, the control prism mechanism includes the mounting seat of being arranged on the support frame, the guide seat of being arranged on the mounting seat and the prism assembly and range-finding module of being lifted and being arranged on the guide seat.The high-precision positioning device is provided, it includes the control prism of being installed on the support frame of track and height can be remotely fine-tuned, can reduce the difficulty of installation personnel adjustment control prism height, and accurately provide the position information of total station on track, to improve the data precision of acquisition monitoring prism further.

Description

Technical Field

[0001] This utility model relates to the field of tunnel deformation detection technology, specifically a high-precision positioning device for a tunnel inspection robot. Background Technology

[0002] A total station mounted on a track is used to detect and record the deformation within the tunnel, enabling automatic inspection of tunnel deformation data (Zhang Chao, et al. Automated monitoring of tunnels based on total station [J], Urban Roads, Bridges and Flood Control, 2023(12): 175-180). The robot travels within the tunnel via a track. It is necessary to use control prisms to calibrate and guide the relative position of the total station on the track in order to accurately measure the spatial position parameters of the monitoring prisms arranged around the tunnel. However, the structure of general control prisms cannot be adapted to the requirements of the total station, that is, they cannot accurately provide the position information of the total station relative to the track of the tunnel inspection robot. To solve this problem, control prisms need to be installed on the support frame of the tunnel inspection robot's track to provide accurate positioning indication of the relative position of the total station as it moves with the inspection robot. At the same time, to improve the efficiency and accuracy of installing control prisms on the support frame, the control prisms on the support frame should have a height fine-tuning function, so that after the installers install the control prisms, they can make consistent fine-tuning of the height of all control prisms on the support frame from the ground. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a high-precision positioning device, which includes a control prism mounted on a support frame on the track and whose height can be remotely fine-tuned. This reduces the difficulty for installers to adjust the height of the control prism and accurately provides the position information of the total station on the track, thereby improving the accuracy of the collected monitoring prism data.

[0004] To solve the above problems, the technical solution adopted by this utility model is as follows:

[0005] A high-precision positioning device for tunnel inspection robots, comprising:

[0006] Several support frames are spaced apart, including a fixed plate fixed to the tunnel sidewall and a main beam horizontally arranged on one side of the fixed plate;

[0007] Tracks erected on several of the aforementioned support frames;

[0008] A tunnel inspection robot is mounted on the track and equipped with an intelligent total station.

[0009] Several control prism mechanisms are provided, including a mounting base on the support frame, a guide seat on the mounting base, a prism assembly that is adjustable in height on the guide seat, and a distance measuring module on one side of the mounting base. The distance measuring module is used to collect the distance between the tunnel inspection robot and the prism assembly.

[0010] As one embodiment of this utility model, the guide seat includes a guide seat body, a sliding chamber obliquely opened on the guide seat body, a screw rotatably disposed in the sliding chamber, and a drive motor disposed on the guide seat body;

[0011] The output rod of the drive motor is connected to the end of the screw to drive the screw to rotate;

[0012] The prism assembly includes a slider nut threadedly connected to the screw, a limiting seat on the slider nut, and a prism on the limiting seat. The guide seat body has a groove communicating with the sliding chamber. The upper part of the slider nut passes through the groove and connects to the limiting seat. The screw rotates to drive the slider nut to slide in the sliding chamber, thereby driving the prism to tilt up or down.

[0013] In one embodiment of this utility model, the sliding chamber is provided with an inclined surface parallel to the length direction of the sliding chamber, and the limiting seat is plate-shaped with its lower end face abutting against the inclined surface.

[0014] In one embodiment of this utility model, the prism includes a prism support rod disposed on the limiting seat and two lens components symmetrically disposed on the upper end of the prism support rod, wherein the prism support rod is vertical.

[0015] In one embodiment of this utility model, a scale plate is provided on the inclined surface. The length direction of the scale plate is parallel to the sliding direction of the prism assembly. The scale plate is provided with scale lines to read the movement stroke of the prism assembly.

[0016] In one embodiment of this utility model, a stop groove is provided at one end of the sliding chamber, and a stop block is provided in the stop groove. The stop block abuts against the slider nut to stop the prism assembly.

[0017] In one embodiment of this utility model, a support rod is inclinedly arranged between the fixing plate and the main beam, and a through mounting hole is provided on the support rod;

[0018] The mounting base includes a vertical plate and a clamping plate arranged opposite to each other, and a horizontal plate disposed on the vertical plate and the clamping plate. The main beam has a groove corresponding to the vertical plate and the clamping plate, so that the vertical plate and the clamping plate are engaged in the groove to position the mounting base.

[0019] The upright plate has an upright plate hole corresponding to the mounting hole, and a bolt assembly is inserted through the upright plate hole and the mounting hole to fix the mounting seat on the support frame.

[0020] In one embodiment of this utility model, a ranging module and an electronic control module are provided on one side of the upright plate. The electronic control module includes a power supply module, a control module, and a communication module. The control module is connected to the ranging module, the power supply module, the communication module, and the guide seat via wiring harnesses.

[0021] In one embodiment of this utility model, the fixing plate is generally in the shape of an arc corresponding to the shape of the tunnel sidewall.

[0022] The beneficial effects of adopting the above technical solution are as follows:

[0023] The tunnel inspection robot of this application is mounted on a track, on which a total station is installed to collect information from the monitoring prism. A control prism mechanism, including a distance measuring module and a prism assembly, is installed on the track support frame. The distance measuring module can provide the distance information between the total station and the support frame to determine the range within which the total station enters the preset measurement position. At this time, the prism assembly, in conjunction with the total station, can obtain the precise distance information between the total station and the support frame, thereby obtaining the precise position information of the total station on the inspection track, increasing the accuracy of the measurement and monitoring prism data.

[0024] The control prism mechanism includes a movable, height-adjustable prism assembly, allowing installation and commissioning personnel to adjust the height of the prism assembly from the ground or remotely, thereby reducing the difficulty of commissioning the prism assembly. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the embodiment and the tunnel inspection robot.

[0026] Figure 2 This is a three-dimensional structural diagram from the perspective of the track below in the embodiment.

[0027] Figure 3 This is a three-dimensional structural diagram from the perspective of the track above the embodiment.

[0028] Figure 4 This is a schematic diagram of the three-dimensional structure after the track is hidden in the embodiment.

[0029] Figure 5 This is a schematic diagram of the guide seat and prism assembly in an embodiment.

[0030] Of which: 100 are tracks; 101 are connecting seats;

[0031] 200 tunnel inspection robots;

[0032] 300 Intelligent Total Station;

[0033] 400 Support frame; 401 Main beam; 402 Fixing plate; 403 Support rod;

[0034] 500 Mounting base; 501 Vertical plate; 502 Horizontal plate; 503 Clamping plate;

[0035] 600 ranging module; 601 electronic control module;

[0036] 700 Guide seat; 701 Guide seat body; 702 Drive motor; 703 Screw;

[0037] 704 Sliding chamber; 705 Stop block; 706 Scale plate;

[0038] 800 Prism assembly; 801 Slider nut; 802 Limit seat; 803 Prism. Detailed Implementation

[0039] To make the objectives, technical solutions and advantages of this utility model clearer, the utility model will be clearly and completely described below in conjunction with specific embodiments.

[0040] like Figures 1 to 5 The high-precision positioning device for a tunnel inspection robot shown includes:

[0041] A plurality of support frames 400 are spaced apart, including a fixing plate 402 fixed on the tunnel sidewall and a main beam 401 horizontally arranged on one side of the fixing plate 402. The fixing plate 402 is generally arc-shaped corresponding to the shape of the tunnel sidewall. One end of the main beam 401 is connected and fixed to the connecting seat 101 welded on the track 100 by a through bolt assembly.

[0042] Tracks 100 are erected on several of the aforementioned support frames 400;

[0043] A tunnel inspection robot 200 is mounted on the track 100 and is equipped with an intelligent total station 300.

[0044] Several control prism mechanisms are provided, including a mounting base 500 disposed on the support frame 400, a guide seat 700 disposed on the mounting base 500, a prism assembly 800 disposed on the guide seat 700 at an angle, and a distance measuring module 600 disposed on one side of the mounting base 500; the distance measuring module 600 is used to collect the distance between the tunnel inspection robot 200 and the prism assembly 800, and the distance is used to ensure that the intelligent total station 300 enters the preset detection range.

[0045] In this embodiment, the ranging module 600 may be an ultrasonic rangefinder, a wireless radio frequency device, a GPS, or an infrared rangefinder.

[0046] The guide seat 700 includes a guide seat body 701, a sliding cavity 704 inclinedly opened on the guide seat body 701, a screw 703 rotatably disposed in the sliding cavity 704, and a drive motor 702 disposed on the guide seat body 701.

[0047] See Figure 5 The output rod of the drive motor is connected to the end of the screw 703 to drive the screw 703 to rotate. The prism assembly 800 includes a slider nut 801 threadedly connected to the screw 703, a limiting seat 802 on the slider nut 801, and a prism 803 on the limiting seat 802. The guide seat body 701 has a groove communicating with the sliding chamber 704. The upper part of the slider nut 801 passes through the groove and connects to the limiting seat 802. The screw 703 rotates to drive the slider nut 801 to slide within the sliding chamber 704, thereby driving the prism 803 to tilt upwards or downwards. The sliding chamber 704 has an inclined surface parallel to the length direction of the sliding chamber 704. The limiting seat 802 is plate-shaped, and its lower end face abuts against the inclined surface. In this embodiment, the prism assembly 800 is designed to slide along the inclined plane to adjust its height, which can increase the overall support strength of the prism assembly 800 and reduce shaking during operation.

[0048] The prism 803 includes a prism support rod mounted on the limiting seat 802 and two lens components symmetrically arranged on the upper end of the prism support rod, wherein the prism support rod is vertical. The two lens components can cooperate with the intelligent total station 800 to collect position information when close to the support frame 400 and position information when far away from the support frame 400.

[0049] A scale plate 706 is provided on the inclined surface. The length direction of the scale plate 706 is parallel to the sliding direction of the prism assembly 800. The scale plate 706 is provided with scale lines to read the movement stroke of the prism assembly 800, so as to facilitate the debugging personnel to test the lifting distance of the prism assembly 800 before installation.

[0050] One end of the sliding chamber 704 is provided with a stop groove, and a stop block 705 is provided in the stop groove. The stop block 705 abuts against the slider nut 801 to stop the prism assembly 800.

[0051] See Figures 1 to 4 A support rod 403 is obliquely arranged between the fixing plate 402 and the main beam 401, and the support rod 403 has a through mounting hole. The mounting base 500 includes a vertical plate 501 and a clamping plate 503 arranged opposite each other, and a horizontal plate 502 arranged on the vertical plate 501 and the clamping plate 503. The main beam 401 has a groove corresponding to the vertical plate 501 and the clamping plate 503, so that the vertical plate 501 and the clamping plate 503 are engaged in the groove to position the mounting base 500. The vertical plate 501 has a vertical plate hole corresponding to the mounting hole, and a bolt assembly is inserted through the vertical plate hole and the mounting hole to fix the mounting base 500 on the support frame 400. The structural design of the support frame 400 and the mounting base 500 facilitates the rapid installation and positioning of the control prism mechanism and increases the installation efficiency.

[0052] See Figure 2 , Figure 3 and Figure 4 The ranging module 600 and the electrical control module 601 are disposed on one side of the upright plate 501. The electrical control module 601 includes a power supply module, a control module, and a communication module. The control module is connected to the ranging module 600, the power supply module, the communication module, and the guide seat 700 via wiring harnesses. The communication module is used to communicate with the tunnel inspection robot, a base station, or the host computer of ground debugging personnel.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision positioning device for a tunnel inspection robot, characterized in that, It includes: A plurality of support frames (400) are arranged at intervals, which include a fixed plate (402) fixed on the side wall of the tunnel and a main beam (401) arranged horizontally on one side of the fixed plate (402); The track (100) is erected on a plurality of support frames (400); The tunnel inspection robot (200) is movably arranged on the track (100), and the intelligent total station (300) is arranged on the tunnel inspection robot (200); A plurality of control prism mechanisms, the control prism mechanism includes a mounting seat (500) arranged on the support frame (400), a guide seat (700) arranged on the mounting seat (500), a prism assembly (800) arranged on the guide seat (700) and a distance measuring module (600) arranged on one side of the mounting seat (500), the distance measuring module (600) is used for collecting the distance between the tunnel inspection robot (200) and the prism assembly (800).

2. The high-precision positioning device for tunnel inspection robots according to claim 1, characterized in that, The guide seat (700) includes a guide seat body (701), a sliding bin (704) obliquely arranged on the guide seat body (701), a screw rod (703) rotatably arranged in the sliding bin (704), and a driving motor (702) arranged on the guide seat body (701); The output rod of the driving motor is connected with the end of the screw rod (703) to drive the screw rod (703) to rotate; The prism assembly (800) includes a sliding block nut (801) threadedly connected to the screw rod (703), a limiting seat (802) arranged on the sliding block nut (801), and a prism (803) arranged on the limiting seat (802), the guide seat body (701) is provided with a sliding groove in communication with the sliding bin (704), the upper part of the sliding block nut (801) passes through the sliding groove and is connected with the limiting seat (802), the screw rod (703) rotates to drive the sliding block nut (801) to slide in the sliding bin (704), and then drives the prism (803) to tilt and rise or fall. 3.The high-precision positioning device for tunnel inspection robot according to claim 2, characterized in that, The sliding bin (704) is provided with an inclined surface parallel to the length direction of the sliding bin (704), and the limiting seat (802) is in the form of a plate, and the lower end surface thereof abuts against the inclined surface.

4. The high-precision positioning device for tunnel inspection robots according to claim 3, characterized in that, The prism (803) includes a prism support rod arranged on the limiting seat (802) and two groups of lens components symmetrically arranged on the upper end of the prism support rod, and the prism support rod is in the form of a vertical.

5. The high-precision positioning device for tunnel inspection robots according to claim 3, characterized in that, The inclined surface is provided with a scale plate (706), the length direction of the scale plate (706) is parallel to the sliding direction of the prism assembly (800), and the scale plate (706) is provided with a scale line to read the moving stroke of the prism assembly (800). 6.The high-precision positioning device for tunnel inspection robot according to claim 3, wherein, One end of the sliding bin (704) is provided with a stop groove, and a stop block (705) is arranged in the stop groove, and the stop block (705) abuts against the sliding block nut (801) to stop the prism assembly (800). 7.The high-precision positioning device for tunnel inspection robot according to claim 1, wherein, A support rod (403) is inclinedly arranged between the fixing plate (402) and the main beam (401), and a through mounting hole is provided on the support rod (403); The mounting base (500) includes a vertical plate (501) and a retaining plate (503) disposed opposite to each other, and a horizontal plate (502) disposed on the vertical plate (501) and the retaining plate (503). The main beam (401) has grooves corresponding to the vertical plate (501) and the retaining plate (503), so that the vertical plate (501) and the retaining plate (503) are engaged in the grooves to position the mounting base (500). The upright plate (501) has an upright plate hole corresponding to the mounting hole, and a bolt assembly is inserted through the upright plate hole and the mounting hole to fix the mounting seat (500) on the support frame (400). 8.The high-precision positioning device of a tunnel inspection robot according to claim 7, characterized in that, The ranging module (600) and the electronic control module (601) are provided on one side of the upright plate (501). The electronic control module (601) includes a power supply module, a control module and a communication module. The control module is connected to the ranging module (600), the power supply module, the communication module and the guide seat (700) respectively through a wiring harness. 9.The high-precision positioning device of a tunnel inspection robot according to claim 1, wherein, The fixing plate (402) is generally arc-shaped, corresponding to the shape of the tunnel sidewall.

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