A combined tunnel environment perception robot

Abstract

The utility model relates to tunnel environment detection technical field especially relates to a combined tunnel environment perception robot, including the chassis, the upper end fixed mounting of chassis has the shell, the both sides of chassis all are provided with a group of main track, the side of each group of main track all are hinged with a group of auxiliary track, the inside fixed mounting of chassis has first motor and double shaft reduction gearbox, the output of first motor is connected with the input of double shaft reduction gearbox, and the two groups of output shafts of double shaft reduction gearbox are fixedly connected with two groups of auxiliary track respectively, the utility model discloses the shell that installs on the chassis is moved stably in the tunnel through main track, satisfies the full face inspection operation demand, and the driving system that constitutes through first motor and double shaft reduction gearbox can realize the independent attitude adjustment of two groups of auxiliary track components relative to main track through accurate torque distribution, and the active posture adjustment of auxiliary track is realized in the process of obstacle crossing, and the fast obstacle crossing action of main track is assisted, and the environmental adaptability of robot to complex terrain is improved significantly.

Description

Technical Field

[0001] This utility model relates to the field of tunnel environment detection technology, and in particular to a combined tunnel environment sensing robot. Background Technology

[0002] As tunnel engineering develops towards longer distances and greater burial depths, the need for safety monitoring during construction and operation is becoming increasingly important. Currently, tunnel environmental perception mainly adopts a combination of pre-embedded fixed sensor networks and regular manual inspections. Although fixed sensor networks can provide continuous monitoring data, they are limited by the density and location of sensor deployment, resulting in a large number of monitoring blind spots. While manual inspections offer high flexibility, they face challenges of low efficiency and high operational risks due to the characteristics of the tunnel environment, such as monotonous textures, insufficient lighting, and complex terrain.

[0003] In recent years, mobile robot technology has been gradually introduced to replace manual inspection. However, most existing tunnel inspection robots adopt wheeled or tracked movement. Wheeled mobile platforms have limitations in adaptability to complex road surfaces, while tracked robots require the pre-laying of special tracks, resulting in high initial costs and limited operational flexibility. Although some tracked inspection robots can adapt to a certain degree of complex terrain, they still have problems such as slow obstacle crossing speed and insufficient adaptability to high terrain obstacles in actual operation.

[0004] Therefore, to address the above issues, a combined tunnel environment perception robot can be designed, employing a combined mobile chassis structure of main track and auxiliary track. The auxiliary track has an independent 360° rotation function. During obstacle crossing, the auxiliary track can actively adjust its posture to assist the main track in achieving rapid obstacle crossing. At the same time, the coordinated movement of the main and auxiliary tracks enhances the overall terrain adaptability, thereby effectively improving the comprehensiveness of tunnel environment perception and operational safety. Utility Model Content

[0005] In order to overcome the problems that traditional tracked inspection robots can adapt to a certain degree of complex terrain, but still have slow obstacle crossing speed and insufficient adaptability to high terrain obstacles in actual operation.

[0006] The technical solution of this utility model is as follows: a combined tunnel environment perception robot, including a chassis, an outer shell fixedly installed on the upper end of the chassis, a set of main tracks on both sides of the chassis, a set of auxiliary tracks hinged to one side of each set of main tracks, a first motor and a dual-axis reduction gearbox fixedly installed inside the chassis, the output end of the first motor is connected to the input end of the dual-axis reduction gearbox, the two sets of output shafts of the dual-axis reduction gearbox are respectively fixedly connected to the two sets of auxiliary tracks, and a positioning mechanism and a vision inspection mechanism are provided on the periphery of the outer shell.

[0007] Preferably, the robot's various working modules are installed and protected by an outer shell. The main track enables the outer shell mounted on the chassis to move stably within the tunnel, meeting the requirements of full-section inspection operations. The drive system, consisting of a first motor and a dual-axis reduction gearbox, allows for independent attitude adjustment of the two sets of auxiliary track components relative to the main track through precise torque distribution. During obstacle crossing, the active attitude adjustment of the auxiliary tracks assists the main track in achieving rapid obstacle crossing, significantly improving the robot's adaptability to unstructured terrain. The positioning mechanism enables the robot to be positioned within the tunnel, and the visual inspection mechanism performs inspection work.

[0008] Preferably, a mobile power supply is fixedly installed inside the chassis, and two sets of second motors are fixedly installed inside the chassis. The output shafts of the two sets of second motors are respectively connected to the two sets of main tracks.

[0009] Preferably, an inspection cover is fixed to one end of the housing by bolts, and the housing integrates a control module, a transmission module, and an attitude detection module.

[0010] As a preferred embodiment, the positioning structure includes a first gimbal fixedly mounted on the upper part of the housing, and a reflecting prism fixedly mounted on the first gimbal.

[0011] Preferably, the positioning mechanism includes four sets of lidar fixedly installed on the periphery of the housing, two of which are installed at an angle.

[0012] Preferably, the visual inspection mechanism includes a second gimbal, an infrared camera, and a depth camera. The second gimbal is located on the top of the housing, the infrared camera is fixedly mounted on the second gimbal, and the depth camera is fixedly mounted on the top of the housing.

[0013] Preferably, the visual inspection mechanism includes multiple sets of mounting brackets that are fixedly installed around the outer perimeter of the housing, and each set of mounting brackets has a supplementary light that can be detachably installed inside.

[0014] The beneficial effects of this utility model are: 1. The main track is driven by the second motor to move normally, thereby driving the shell mounted on the chassis to move stably in the tunnel, meeting the requirements of full-section inspection. When the robot encounters obstacles that need to be crossed during its movement, the drive system consisting of the first motor and the dual-axis reduction gearbox can achieve independent attitude adjustment of the two sets of auxiliary track components relative to the main track through precise torque distribution. During the obstacle crossing process, the active attitude adjustment of the auxiliary track assists the main track to achieve rapid obstacle crossing, significantly improving the robot's environmental adaptability to unstructured terrain. 2. By using a reflecting prism as a positioning target in conjunction with a total station installed outside the tunnel, the robot can be located in an environment where GPS is not available inside the tunnel. The reflecting prism can be leveled according to the chassis posture by installing the first gimbal, ensuring the robot's accurate positioning. Attached Figure Description

[0015] Figure 1 The diagram shown is a first three-dimensional structural schematic of the combined tunnel environment perception robot of this utility model. Figure 2 The diagram shown is a second three-dimensional structural schematic of the combined tunnel environment perception robot of this utility model; Figure 3 The diagram shown is a three-dimensional structural representation of the outer shell of the combined tunnel environment sensing robot of this utility model. Figure 4 The diagram shown is a three-dimensional structural representation of the internal structure of the chassis of the combined tunnel environment perception robot of this utility model. Explanation of reference numerals in the attached drawings: 1. Chassis; 101. Mobile power supply; 102. Second motor; 2. Main track; 3. Secondary track; 301. First motor; 302. Dual-axis reduction gearbox; 4. Outer shell; 401. Inspection cover; 501. First gimbal; 502. Reflecting prism; 503. LiDAR; 601. Second gimbal; 602. Infrared camera; 603. Depth camera; 604. Mounting bracket; 605. Supplemental lighting. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Please see Figure 1 and Figure 3This utility model provides an embodiment: a combined tunnel environment sensing robot, including a chassis 1, a shell 4 fixedly mounted on the upper end of the chassis 1, a set of main tracks 2 on both sides of the chassis 1, and a set of auxiliary tracks 3 hinged to one side of each set of main tracks 2. A first motor 301 and a dual-axis reduction gearbox 302 are fixedly mounted inside the chassis 1. The output end of the first motor 301 is connected to the input end of the dual-axis reduction gearbox 302. The two output shafts of the dual-axis reduction gearbox 302 are respectively fixedly connected to the two sets of auxiliary tracks 3. A positioning mechanism and a vision inspection mechanism are provided around the shell 4. The shell 4 is used to monitor various working modes of the robot. The system is installed and protected. The main track 2 drives the outer shell 4 mounted on the chassis 1 to move stably in the tunnel, meeting the requirements of full-section inspection. The drive system consisting of the first motor 301 and the dual-axis reduction gearbox 302 can achieve independent attitude adjustment of the two sets of auxiliary track 3 components relative to the main track 2 through precise torque distribution. During obstacle crossing, the active attitude adjustment of the auxiliary track 3 assists the main track 2 to achieve rapid obstacle crossing, significantly improving the robot's adaptability to unstructured terrain. The positioning mechanism enables the robot to be positioned in the tunnel, and the visual inspection mechanism enables inspection work.

[0018] Please see Figure 2 and Figure 3 In this embodiment, a mobile power supply 101 is fixedly installed inside the chassis 1, and two sets of second motors 102 are fixedly installed inside the chassis 1. The output shafts of the two sets of second motors 102 are respectively connected to two sets of main tracks 2. The mobile power supply 101 can provide power to the entire device, and the second motors 102 can drive the main tracks 2 to operate normally. A maintenance cover 401 is fixedly installed on one end of the outer shell 4 by bolts. The control module, transmission module and attitude detection module are integrated inside the outer shell 4. The various modules integrated inside the outer shell 4 can be inspected and maintained by setting the detachable maintenance cover 401.

[0019] Please see Figure 1 and Figure 4In this embodiment, the positioning structure includes a first gimbal 501 fixedly mounted on the upper end of the outer shell 4, and a reflecting prism 502 fixedly mounted on the first gimbal 501. By setting the reflecting prism 502 as a positioning target and cooperating with a total station installed outside the tunnel, the robot can be positioned in a GPS-deficient environment inside the tunnel. By setting the first gimbal 501 to install the reflecting prism 502, the reflecting prism 502 can be leveled according to the attitude of the chassis 1. The positioning mechanism includes four sets of lidar 503 fixedly mounted on the periphery of the outer shell 4, two of which are tilted. Through the coordinated work of the lidar 503 array, real-time obstacle avoidance and high-precision 3D environment modeling capabilities are simultaneously achieved, meeting the environmental perception and path planning requirements during tunnel inspection. The visual inspection mechanism includes a second gimbal 601 and an infrared camera 602. The system includes a depth camera 603 and a second gimbal 601 mounted on top of the housing 4. An infrared camera 602 is fixedly mounted on the second gimbal 601, and the depth camera 603 is fixedly mounted on the upper part of the housing 4. The second gimbal 601 mounts the infrared camera 602, enabling multi-angle stable adjustment of the infrared camera 602. The infrared camera 602 can be used to detect potential hazards on the tunnel walls, while the depth camera 603 supplements environmental perception. The visual inspection mechanism includes multiple sets of mounting brackets 604 fixedly mounted around the periphery of the housing 4. Each set of mounting brackets 604 has a detachable supplementary light 605 installed inside. The detachable mounting facilitates the replacement and maintenance of the supplementary light 605, ensuring imaging quality in low-light tunnel environments.

[0020] When working, the mobile power supply 101 can be used to power the entire device, and the second motor 102 can be used to drive the main track 2 to run normally, thereby driving the outer shell 4 installed on the chassis 1 to move stably in the tunnel, meeting the requirements of full-section inspection operation. During the inspection, the second gimbal 601 is used to install the infrared camera 602, thereby enabling multi-angle stable adjustment of the infrared camera 602 to detect hidden dangers on the tunnel wall. The depth camera 603 is used to supplement environmental perception, and the LiDAR 503 array works in conjunction to achieve real-time obstacle avoidance and high-precision 3D environment modeling capabilities, meeting the environmental perception and path planning requirements during tunnel inspection. At the same time, the reflective prism 502 is used as a positioning target in conjunction with the total station installed outside the tunnel to achieve robot positioning in the absence of GPS in the tunnel. When the robot encounters obstacles that need to be overcome during its movement, the drive system consisting of the first motor 301 and the dual-axis reduction gearbox 302 can achieve independent attitude adjustment of the two sets of auxiliary track 3 components relative to the main track 2 through precise torque distribution. During the obstacle crossing process, the active attitude adjustment of the auxiliary track 3 assists the main track 2 to achieve rapid obstacle crossing, which significantly improves the robot's environmental adaptability to unstructured terrain.

[0021] Through the above steps, the main track 2 drives the outer shell 4 mounted on the chassis 1 to move stably in the tunnel, meeting the requirements of full-section inspection. The drive system composed of the first motor 301 and the dual-axis reduction gearbox 302 can achieve independent attitude adjustment of the two sets of auxiliary track 3 components relative to the main track 2 through precise torque distribution. During obstacle crossing, the active attitude adjustment of the auxiliary track 3 assists the main track 2 to achieve rapid obstacle crossing, significantly improving the robot's adaptability to complex terrain. This solves the problem that traditional tracked inspection robots can adapt to a certain degree of complex terrain, but still have slow obstacle crossing speed and insufficient adaptability to high terrain obstacles in actual operation.

[0022] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A combined tunnel environment sensing robot, comprising a chassis (1), a shell (4) fixedly mounted on the upper end of the chassis (1), and a set of main tracks (2) provided on both sides of the chassis (1), characterized in that: Each set of main tracks (2) is hinged to one side with a set of auxiliary tracks (3). The chassis (1) is fixedly installed with a first motor (301) and a dual-axis reduction gearbox (302). The output end of the first motor (301) is connected to the input end of the dual-axis reduction gearbox (302). The two sets of output shafts of the dual-axis reduction gearbox (302) are fixedly connected to the two sets of auxiliary tracks (3). The outer periphery of the outer shell (4) is provided with a positioning mechanism and a vision inspection mechanism.

2. The combined tunnel environment perception robot according to claim 1, characterized in that: A mobile power supply (101) is fixedly installed inside the chassis (1), and two sets of second motors (102) are fixedly installed inside the chassis (1). The output shafts of the two sets of second motors (102) are respectively connected to the two sets of main tracks (2).

3. The combined tunnel environment perception robot according to claim 1, characterized in that: One end of the outer casing (4) is fixed with a maintenance cover plate (401) by bolts. The inner part of the outer casing (4) integrates a control module, a transmission module and an attitude detection module.

4. The combined tunnel environment perception robot according to claim 1, characterized in that: The positioning structure includes a first gimbal (501) fixedly installed on the upper end of the outer shell (4), and a reflective prism (502) is fixedly installed on the first gimbal (501).

5. A combined tunnel environment perception robot according to claim 4, characterized in that: The positioning mechanism includes four sets of lidar (503) fixedly installed on the periphery of the housing (4), two of which are installed at an angle.

6. A combined tunnel environment perception robot according to claim 1, characterized in that: The visual inspection mechanism includes a second gimbal (601), an infrared camera (602), and a depth camera (603). The second gimbal (601) is located above the housing (4), and the infrared camera (602) is fixedly installed on the second gimbal (601). The depth camera (603) is fixedly installed on the upper end of the housing (4).

7. A combined tunnel environment perception robot according to claim 6, characterized in that: The visual inspection mechanism includes multiple sets of mounting brackets (604) that are fixedly installed around the outer shell (4), and each set of mounting brackets (604) has a supplementary light (605) that can be detachably installed inside.

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