The invention discloses a subway tunnel full-section intelligent inspection
robot system. The
system comprises a mobile platform; a
disease detection module; the
data processing unit adopts an embedded industrial mainboard, is internally provided with a filtering
algorithm and a ResNet50
deep learning model, processes the image and the
point cloud in real time, automatically identifies the type, the position and the size of the
disease and generates a three-level report; a
main channel of the communication module is a double 5G industrial module, supports real-time uploading of a
disease result, automatically switches a local cache when 5G is interrupted and supplementarily transmits the disease result afterwards, and is provided with a
Bluetooth unit for on-site short-distance data calling; the power supply module adopts two groups of 12V / 100Ah
lithium iron phosphate batteries which are connected in parallel, the endurance is greater than or equal to 4 hours, a
brake energy recovery device is integrated, the battery is charged back during downhill or deceleration, the endurance is prolonged by about 15%, and one-hour
fast charging is supported; and an auxiliary function module. According to the method, the consistency and reliability of detection data are remarkably improved, and a stable basis is provided for subsequent high-precision disease recognition.