CN109281711B - A kind of subterranean tunnel safety patrol inspection robot - Google Patents
A kind of subterranean tunnel safety patrol inspection robot Download PDFInfo
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- CN109281711B CN109281711B CN201811158110.5A CN201811158110A CN109281711B CN 109281711 B CN109281711 B CN 109281711B CN 201811158110 A CN201811158110 A CN 201811158110A CN 109281711 B CN109281711 B CN 109281711B
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- 238000007689 inspection Methods 0.000 title claims abstract description 91
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- 238000001514 detection method Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 15
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- 230000008859 change Effects 0.000 description 3
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- 206010048669 Terminal state Diseases 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The embodiment of the present invention provides a kind of subterranean tunnel safety patrol inspection robot, including inspection track, and is mounted on the inspection track and can be along the robot that inspection track moves；Master control system is equipped in the robot body, the master control system includes self-balancing control module, motor control module, locating module and picture recognition module；The self-balancing control module, for obtaining the posture information of robot body according to the three-dimensional Inertial Measurement Unit of robot body, and when drift angle occurs for robot body, the height of each electrical servo wheel, makes robot body be in horizontality in adjust automatically electrical servo push rod；The motor control module, for controlling the revolving speed and height of each electrical servo wheel in electrical servo push rod；The locating module, for obtaining the location information of the robot in real time；Described image identification module identifies water stain information, the crack information in tunnel image for detecting to the image acquired in robot kinematics.
Description
Technical field
The present embodiments relate to safety patrol inspection technical fields, more particularly, to a kind of subterranean tunnel safety patrol inspection machine
Device people.
Background technique
In recent years, with the fast development of Chinese society economy, urbanization process is constantly accelerated, Urban traffic demand it is total
Also in sharp increase, Urban Transportation contradiction becomes increasingly conspicuous amount.Compared with traditional traffic above-ground mode, subway is as city
The important tool of traffic, have many advantages, such as freight volume is big, speed is fast, it is punctual, conveniently, energy conservation and environmental protection, improving urban traffic environment
Aspect plays increasing effect, is used widely in many cities.
It is built or in the city built in China, carry out the construction of non-subway work near or over along subway tunnel
Project is more and more, these projects exist unload, load, drawing water, operational procedures or the factor such as precipitation or vibration, they may be right
Subway tunnel structure generates certain malformation, inclination, displacement, protuberance or sedimentation etc. influence.And malformation may
Reduce the operative performance and efficiency of train；The friction between train wheel and wheel track may be will increase, to accelerate train wheel
With the loss of wheel track；When subgrade of metro swells or settles 3mm or more, rail need to be adjusted.Subway tunnel structure crack
Be broadly divided into railway roadbed crack, abutment wall crack and vault crack etc., the generation of these structural cracks be design and construction, operation load,
External environment change etc. is multifactor to be caused, and following factor is generally comprised:
(1) ground relative settlement
Subway tunnel structure is unreasonable in construction period such as engineering design plan (EDP), then it is unknown to may cause foundation stabilization effect
It is aobvious, unbalanced, in the case where the later period runs load action, ground is caused relative settlement phenomenon occur, when sedimentation degree is far beyond design
When with engineering structure allowed band, and then there is a large amount of Structural defect crack.
(2) tunnel structure periphery soil conjugates
Metro operation tunnel perimeter is there are when deep pit digging, in base pit dewatering and the common work of supporting construction horizontal displacement
Under, subway tunnel structure periphery soil is easy to cause to generate displacement, so that subway tunnel structure lateral confinement soil pressure is insufficient, tunnel
Section horizontal convergence constantly increases, and tunnel structure is then caused to generate the removing crack of vault crack and railway roadbed and liner structure,
Angle chip off-falling phenomenon is collapsed with section of jurisdiction corner part simultaneously.
(3) setting of deformation joint
Deformation joint mainly includes two kinds of subsiding crack and expansion joint, and in view of the solid concrete roabed basis of structure of the subway can be born
Vertical dislocation maximum value be not provided with subsiding crack substantially in addition to particular/special requirement.But the area more soft in soil property, for up to
To the purpose for the longitudinal rigidity for increasing structure, a limited number of expansion joints are usually set.This also causes to work as ground consolidation effect not
When well or by external environment influence, the sedimentation degree after construction increases, so that structural stress concentration degree increases, easily leads to structure
The appearance in crack.
(4) structural strength is insufficient
In subway tunnel design and work progress, if backfill after engineering design is problematic or work progress mesospore
Compaction's deficiency etc. will lead to structural strength and quality and not reach relevant design construction requirement, is equally also easy to produce tunnel knot
Structure crack.
(5) train vibration influences
Subway train departure frequency is higher, so that subway tunnel structure is vibrated by low frequency and continuous for a long time, this state is easy
So that largely Longitudinal Settlement occurs in flaccid groundsill ground, easily in tunnel structure stress concentration region, section generates crack.It is right
In existing crack, prolonged metro operation load easily leads to railway roadbed and vibrates up and down and suck-back phenomenon occur, and suck-back phenomenon makes
Water, which is ceaselessly dived, loses crack, it is easier that crack growth.
(6) leakage problem
Percolating water is the more universal disease of subway tunnel structure another kind, will lead to and accelerates tunnel structure lining cutting weathering
With degrade, if containing corrosive deposit in percolating water, damage lining concrete can be further corroded, cause lining cutting can be under bearing capacity
Drop, seriously affects the durability of subway tunnel structure.In general, the position that percolating water occurs joins in circumferential weld, longitudinal joint and section
The positions such as network channel, producing cause, which essentially consists in structural cracks sustainable development, and structurally waterproof layer goes wrong leads to waterproof
System failure etc..
It is serious in deformation and in the case where can't detect position, or even the train of high-speed cruising can be overturned, cause serious friendship
Logical safety accident, therefore the important process that inspection is metro safety operation is carried out to subway tunnel safety.At present in tunnel
Artificial progress inspection is inside relied primarily on, i.e., is detected by human eye detection and artificial instrument, detection more demanding to testing staff
The shortcomings that safety work of personnel is difficult to ensure, there are safe uncertainties, while artificial detection has biggish subjectivity, i.e.,
Veteran testing staff is set also to be difficult to ensure the integrality and accuracy of testing result.
Summary of the invention
The present invention provides a kind of a kind of subterranean tunnel peace for overcoming the above problem or at least being partially solved the above problem
Full crusing robot.
The embodiment of the present invention provides a kind of subterranean tunnel safety patrol inspection robot, including inspection track, and is mounted on institute
It states on inspection track and can be along the robot that inspection track moves；
The robot includes electrical servo wheel group, robot body, and the robot body passes through the electrical servo
Wheel group is slidably connected with the inspection track；
Master control system is equipped in the robot body, the master control system includes self-balancing control module, motor control
Module, locating module and picture recognition module；
The self-balancing control module, for obtaining robot body according to the three-dimensional Inertial Measurement Unit of robot body
Posture information, and when drift angle occurs for robot body, the height of each electrical servo wheel in adjust automatically electrical servo wheel group,
Robot body is set to be in horizontality；The accident in subway comprehensive pipeline is effectively reduced, cost of human resources is greatly reduced
And complicated personnel coordinate and link up cost, reduce the risk of fire incident generation
The motor control module, for controlling the revolving speed and height of each electrical servo wheel in electrical servo wheel group；
The locating module, for obtaining the location information of the robot in real time；
Described image identification module identifies in image for detecting to the image acquired in robot kinematics
Water stain information, crack information.
The embodiment of the present invention proposes a kind of subterranean tunnel safety patrol inspection robot, is patrolled using the single track of existing track
Inspection, at night, when track is in idle condition, robot body can be placed on subway by staff, be not necessarily to secondary construction,
Water stain monitoring and the detection such as tunnel slot in tunnel are carried out, in inspection, robot is by picture, the location information to safety problem
And the time is stored, and inspection log is produced, it will be to security risk region weight during each inspection after finding the problem
Point monitoring, especially tunnel wall crack carry out long-term observation, establish independent database, for user's later maintenance processing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is subterranean tunnel safety patrol inspection robot architecture's schematic diagram according to the embodiment of the present invention；
Fig. 2 is the subterranean tunnel safety patrol inspection robot inspection process schematic according to the embodiment of the present invention；
Fig. 3 is the master control system schematic diagram according to the embodiment of the present invention；
Fig. 4 is the communication module way to take power schematic diagram according to the embodiment of the present invention；
Fig. 5 is the attitude regulation schematic diagram according to the embodiment of the present invention.
Appended drawing reference:
Inspection track 1, robot body 2, track concrete substrate 3, reflection plaster 4, electrical servo wheel 5, camera system 6,
Ultrasonic radar 7, laser range finder 8, laser identifier 9, antenna 10, electric pushrod 11, face wheel 12, plane bearing 13, the
One locking nut 14, support shaft 15, the axis of rolling 16, ball bearing 17, the second locking nut 18, fixture nut 19, pitching motor
20, shell 21, housing 22, turning motor 23, the main driving gear 24 of revolution, revolution pinion 25, master control system 26, elastic rubber
Sheath 27, self-balancing control module 261, motor control module 262, locating module 263, picture recognition module 264, detection module
265, communication module 266, battery 267, three-dimensional Inertial Measurement Unit 268.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The construction project for carrying out non-subway work near or over along subway tunnel is more and more, these projects exist
It unloads, load, drawing water, operational procedures or the factor such as precipitation or vibration, they may generate certain knot to subway tunnel structure
Structure deformation, inclination, displacement, protuberance or sedimentation etc. influence.Subway tunnel structure crack is broadly divided into railway roadbed crack, abutment wall crack
With vault crack etc., the generation of these structural cracks be design and construction, operation load, external environment change etc. it is multifactor cause,
It is serious in deformation and in the case where can't detect position, or even the train of high-speed cruising can be overturned, cause serious traffic safety thing
Therefore therefore the important process that inspection is metro safety operation is carried out to subway tunnel safety.
Artificial progress inspection and instrument inspection are relied primarily in tunnel at present, that is, relies on human eye detection and artificial instrument
The advantages of detection, both methods is that technology maturation is reliable, but exists simultaneously, the peace of testing staff more demanding to testing staff
The shortcomings that full operation is difficult to ensure, there are safe uncertainties, while artificial detection has biggish subjectivity, even if experience is rich
Rich testing staff is also difficult to ensure the integrality and accuracy of testing result.With the continuous increase of current detection workload,
This artificial plus instrument mode is increasingly difficult to meet the needs of detection, also increasingly longer the time required to completing all detections,
The safety of testing staff is also unable to get guarantee.And the tunnel trolley occurred in recent years carries out using artificial behaviour when safety monitoring
The mode of work, also restricted and peopleware, special inspection are often carried out in night, morning, and working efficiency is lower.
Various embodiments of the present invention propose a kind of subterranean tunnel safety patrol inspection robot, carry out using the single track of existing track
Inspection, at night, when track is in idle condition, robot body 2 can be placed on subway by staff, be patrolled automatically
Inspection is not necessarily to secondary construction.Expansion explanation and introduction will be carried out by multiple embodiments below.
As shown in Figure 1, the embodiment of the invention provides a kind of subterranean tunnel safety patrol inspection robots, which is characterized in that packet
Inspection track 11 is included, and is mounted on the robot that can be moved on the inspection track 11 and along inspection track 11；
The robot includes electrical servo wheel group, robot body 2, and the robot body 2 electronic is watched by described
Wheel group is taken to be slidably connected with the inspection track 11；
Master control system is equipped in the robot body, as shown in figure 3, the master control system includes self-balancing control module
261, motor control module 262, locating module 263 and picture recognition module 264, in which:
The self-balancing control module 261 obtains robot sheet according to the three-dimensional Inertial Measurement Unit 268 of robot body
The posture information of body, and when drift angle occurs for robot body, the height of each electrical servo wheel in adjust automatically electrical servo wheel group
Degree, makes robot body be in horizontality；
The motor control module 262 controls the revolving speed and height of each electrical servo wheel in electrical servo wheel group；
The locating module 263 obtains the location information of the robot in real time；
Described image identification module 264 detects the image acquired in robot kinematics, identifies in image
Water stain information, crack information.
It further include detection module 265, the detection module 265 includes camera system 6, ultrasonic radar 7, laser ranging
Instrument 8 and laser identifier 9.
Specifically, in the present embodiment, camera system 6 includes the function of binocular identification, target identification can be carried out, is swashed
Optar 8 includes laser, infrared tags (reflection plaster) and odometer, and ultrasonic radar 7 includes ultrasonic wave module and photoelectricity
Collision prevention module further includes environmental sensor for carrying out obstacle detection, for detecting the environmental information in polling path.
The automation that the comprehensive subway tunnel structure disaster for realizing cable tunnel, fire prevention, monitoring harmful gases work, changes
It is manually entered the behindhand type of cable tunnel inspection in the past, reduces labor intensity and work risk；Effectively reduce subway
Accident in cable tunnel, the personnel for greatly reducing cost of human resources and complexity coordinate and link up cost, reduce fire thing
Therefore the risk occurred promotes the safety in subway tunnel to pole early detection accident potential.Solve the peace in subway tunnel
The robot automatic detecting of hidden danger, non-contact detection etc. entirely improve the working efficiency and reliability of cable tunnel upkeep operation,
And it effectively reduces cost.
In the present embodiment, battery 267 is additionally provided in master control system.
It further include communication module 266 on the basis of the various embodiments described above, the communication module 266 passes through self-induction coil
High-voltage line side senses alternating voltage out of subterranean tunnel, and obtains direct current by rectification circuit and power converting circuit
Pressure.
WIFI system needs to carry out secondary construction due to needing to power in tunnel.To avoid the problem, the present embodiment
Communication module 266 takes electricity, self-induction coil structure and way to take power such as Fig. 4 using self-induction coil subway power supply leader cable out of tunnel
Shown, the power supply of communication module 266 uses high-voltage line automatic electricity getting power supply, first current transformer from high-voltage line side in subterranean tunnel
Directly induction obtains a certain size alternating voltage, then by corresponding rectification circuit and power converting circuit at it
Reason, finally exporting steady dc voltage supply load and using is that locating module 263 and communication module 266 provide abundance in tunnel
The energy, the power supply of output is connected by conducting wire realizes long range communication in tunnel after wireless WIFI module.
In order to meet the needs of robot communication: such as transmitting high speed data (up to 2-3Mbit/s), transmission of video is infrared
Transmission, transmission of location information etc..In the present embodiment, adaptive transmission method is originally proposed, utilizes channel shape in transmitting terminal
State information changes the size of transmitting data volume, transmits the law of sign, encoding law, transmission power level, antenna weights pass through WIFI
Mode is used in combination in+long wave mixing communication Adaptive Transmission mode, is asked for using high-voltage line and supplies electricity to WIFI and long-wave communication module
266 are powered in real time, and when robot detection, communication module 266 activates automatically, and system is closed automatically when robot does not work
It closes, without being managed to module, realizes unmanned management.
On the basis of the various embodiments described above, the locating module 263 includes laser and reflection plaster, and the reflection plaster is equal
Even interval is set to inspection track two sides.
Specifically, in the present embodiment, locating module 263 is (reflective every 100 meters of settings 1 by laser tag module
Patch) label every hundred meters of signals add by motor speed monitoring feedback short distance information.In view of motor loses step or idler wheel
Situations such as skidding, carries out the calibration of each position with each laser tag.The laser tag module (reflection plaster), there is installation
Infrared laser light source and infrared snowslide pipe composition on robot body；The reflection plaster passes through the tune to light and shade striped
It is whole, it is divided into two classes, one kind is single reflection item, and one kind is bireflectance item, and bireflectance reflected light can form dipulse.According to positioning
Required precision also rises to the compiling that four reflection bars etc. realize address code.
On the basis of the various embodiments described above, the self-balancing control module 261 includes navigation elements, individual axis acceleration
Meter, single axis gyroscope and uniaxial magnetometer, in which:
The navigation elements establish the navigational coordinate system of robot, and according to inspection circuit setting robot in the navigation
Navigation coordinate in coordinate system；
The single-axis accelerometer detects the acceleration signal of the robot；
Angular velocity signal of the single axis gyroscope detection robot relative to navigational coordinate system；
The single shaft magnetometer, for detecting course signal of the robot relative to pre-set navigational coordinate.
Specifically, in the present embodiment, moved using the single track for having track in tunnel, it can effective less machine
Device human body product, is easy to implement daily robot manipulation.Robot is moved using the single track of existing track, is different from double track
Formula robot and hanger rail type robot need moving the balance for considering robot in carrier in single track movement when, especially
When Robot track does movement in a curve, by centrifugal forces affect, robot can neither rely on double track robot and pass through track pair
The constraint of wheel can not rely on hanger rail type robot and realize constraint by lateral force to realize stabilization.
Therefore, in the present embodiment, as shown in figure 5, in the present embodiment, electrical servo wheel group includes four electrical servos
Wheel (in figure 1 wheel, 2 wheel, 3 wheel, 4 wheel), it is each in inspection track two sides there are two, mainly showed between robot and inspection track
For pressure and along the frictional force of inspection orbital direction.Torque is too small between wheel and inspection track, it is difficult to overcome centrifugal force.Therefore
For the stability for realizing robot, robot is by gyroscope real-time monitoring robot pose, once robot emphasis occurs
Deflection, offset track supporting point then promote the speed of 2,4 wheels, and using speed difference, track will be formed to movement carrier and centrifugal force
Opposite effect power.By the real time monitoring to posture, it is steady to realize that robot is run on single track for continuous regulation with speed
It is qualitative.
Specifically, in the present embodiment, including the uniaxial earth magnetism of three single-axis accelerometers, three single axis gyroscopes and three
Instrument, single-axis accelerometer, single axis gyroscope and uniaxial magnetometer form three-dimensional Inertial Measurement Unit 268, wherein individual axis acceleration
Meter meter is used for acceleration signal, the single axis gyroscope that detection object is united in carrier coordinate system and sits for detecting carrier relative to navigation
Mark the angular velocity signal of system, uniaxial magnetometer is used to detect the opposite course signal with navigation coordinate of carrier.By measuring object
The signal of three angular speed, acceleration and course angle aspects in three dimensions, then can calculate the posture information of object.
In order to improve detection accuracy and reliability, robot left-right position is demarcated using laser range finder, when drift angle occurs for robot
When, adjust automatically is left after robot system obtains relevant information when test position difference is larger in the distance and system of both sides measurement
The highly automated matching horizontality of right wheel.
In the present embodiment, it is also two-orbit that the inspection track 11, which can be monorail, can use existing track
Inspection is carried out, and environmental parameter is carried out by camera system 6, ultrasonic radar 7, laser range finder 8 and laser identifier 9 and is adopted
Collection, the automation that the comprehensive subway tunnel structure disaster for realizing cable tunnel, fire prevention, monitoring harmful gases work change previous
It is manually entered the behindhand type of cable tunnel inspection, reduces labor intensity and work risk；It is hidden to pole early detection accident
Suffer from, promotes the safety in subway tunnel.The robot automatic detecting of security risk in solution subway tunnel, contactless inspection
Survey etc., the working efficiency and reliability of cable tunnel upkeep operation are improved, and O&M cost is effectively reduced.
On the basis of the various embodiments described above, track concrete substrate 3, the inspection rail are equipped with below the inspection track 11
Road 11 is fixed on the track concrete substrate 3.
On the basis of the various embodiments described above, the robot body 2 is slidably connected the inspection rail by face wheel 12
The top planes in road 11；
Fixed there are two fixing axle below the robot body 2, two fixed between centers are fixed with an axis of rolling 16,
The plane bearing 13 of the axis of rolling 16 and the face wheel 12, which rolls, to be connected, so that the face wheel 12 is along the axis of rolling 16
It rotates, the top planes of inspection track 11 described in the outside face contact of the face wheel 12.
In the present embodiment, in order to reduce frictional resistance of the robot body 2 on inspection track 11, by robot
At the support of ontology 2 and inspection track 11, face wheel 12 is set, robot body 2 can be supported on and be patrolled by face wheel 12
It examines on track 11, and can reduce frictional resistance when robot body 2 moves with 11 contact surface of inspection track, make robot sheet
Body 2 is easier to drive traveling, specifically, in the present embodiment, by the first locking nut 14 by the axis of rolling 16 of face wheel 12
It is fixed on robot body 2, can wherein be relatively rotated between face wheel 12 and the axis of rolling 16, the axis of rolling 16 passes through first locking sieve
It is close to be fixed between two support shafts 15, two support shafts, 15 stationary machines human body 2, and lead between the axis of rolling 16 and face wheel 12
Cross plane bearing 13 and roll connection, with realize between the axis of rolling 16 and face wheel 12 can relative rolling, the lateral surface of face wheel 12
The top planes for contacting the inspection track 11, can play the purpose of support robot body 2, and can make robot body 2
It can be rolled in the top planes of inspection track 11.
On the basis of the above embodiments, the cross section of the inspection track 11 is in " work " type, including top planes and two
The concave surface of side.
In the present embodiment, electrical servo wheel group, face wheel 12 connect cooperation by the inspection track 11 of " work " type, this knot
Structure is suitble to general underground rail structure, therefore, in some underground inspections for having track, using the list of existing track
Rail carries out inspection, and at night, when track is in idle condition, robot body 2 can be placed on subway by staff, carries out
Automatic detecting is not necessarily to secondary construction.
On the basis of the above embodiments, as shown in Fig. 2, the electrical servo wheel group includes four electric pushrods 11 and four
The output of a electrical servo wheel 5, each electric pushrod 11 is pivotally connected to the ball bearing 17 of an electrical servo wheel 5；Two
The foreign steamer of a electrical servo wheel 5 contacts the concave surface of 1 side of inspection track, the foreign steamer of two electrical servo wheels 5
Contact the concave surface of 1 other side of inspection track.
In the present embodiment, cooperate electrical servo wheel 5 by four electric pushrods 11, realize the drive to robot body 2
Dynamic, structure is simple, and easy for installation.Four electrical servo wheels 5 are installed before and after inspection track 1, drive entire robot body 2
Advance along inspection track 1,5 center of electrical servo wheel is equipped with electric pushrod 11, and electric pushrod 11 is inserted into electrical servo wheel 5
In, 5 inside of electrical servo wheel is equipped with ball bearing 17, so that electric pushrod 11 is without rotation, electricity when electrical servo wheel 5 rotates
Dynamic 11 shaft end of push rod is equipped with threaded hole and the second locking nut 18 is made to lock entire driving mechanism.
On the basis of the above embodiments, elastic rubber sheath 27 is set on the output shaft of the electric pushrod 11.
In the present embodiment, by being arranged elastic rubber sheath 27 on the pole of the naked leakage of electric pushrod 11, ash is prevented
Dirt, water stain etc. destroy.
On the basis of the above embodiments, the robot body includes shell 21 and the housing on the shell 21
22；Shell 21 is fixedly connected with housing 22 by fixture nut 19.
Master control system 26 is equipped with inside the shell 21, the electric pushrod 11 is set to inside the shell 21, described super
Sound radar 7, the laser range finder 8 and the laser identifier 9 are set to 21 outside of shell, and the electric pushrod
11, servo motor wheel, the ultrasonic radar 7, the laser range finder 8 and the laser identifier 9 are electrically connected the master control
System 26；
Rotating mechanism is equipped in the housing 22, the camera system 6 is set to described in 22 top of housing and connection
Rotating mechanism.
In the present embodiment, master control system 26 carries out inspection, acquisition number by preset condition with the entire robot body 2 of control
According to, including control robot body 2 and travelled by pre-set velocity, pass through the traveling that control servo motor wheel adjusts robot body 2
State, and control servo motor wheel, the ultrasonic radar 7, the laser range finder 8 and the laser identifier 9 carry out
The acquisition of environmental parameter.Row distance of going forward side by side identification, positioning, communication, automatic electricity getting.
On the basis of the above embodiments, the camera system 6 includes camera and rotating mechanism；The rotating mechanism
Including pitching motor 20 and turning motor 23, revolution driving gear is fixed on the output shaft of the turning motor 23, it is described to bow
It faces upward and is fixed with revolution pinion 25 on the output shaft of motor 20, and camera system described in the output axis connection of the turning motor 23
System 6, the main driving gear 24 of revolution are engaged with the revolution pinion 25.
In the present embodiment, by turning motor 23 and pitching motor 20,6 multi-angle of camera system, more may be implemented
The camera shooting of height prevents having careless mistake during inspection, ensure that the safety of inspection so that the data of acquisition are more comprehensively.
On the basis of the above embodiments, the camera system 6 includes binocular depth camera and colour imagery shot.
In conclusion the embodiment of the invention provides a kind of subterranean tunnel safety patrol inspection robots, using existing track
Single track carry out inspection, at night, when track is in idle condition, robot body can be placed on subway by staff,
Without secondary construction, the detection such as water stain monitoring and tunnel slot in tunnel is carried out, in inspection, robot will be to disaster problem
Picture, location information and time are stored, and inspection log is produced, will be to peace during each inspection after finding the problem
Full hidden danger region emphasis monitoring, especially tunnel wall crack carry out long-term observation, independent database are established, for user's later period
Maintenance processing.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (7)
1. a kind of subterranean tunnel safety patrol inspection robot, which is characterized in that including inspection track, and be mounted on the inspection rail
And it can be along the robot that inspection track moves on road；
The robot includes electrical servo wheel group, robot body, and the robot body passes through the electrical servo wheel group
It is slidably connected with the inspection track；
The cross section of the inspection track includes the concave surface of top planes and two sides；The electrical servo wheel group includes four electronic
Push rod and four electrical servo wheels, the output of each electric pushrod are pivotally connected to the ball bearing of an electrical servo wheel；
The foreign steamer of two electrical servo wheels contacts the concave surface of inspection track side, and the foreign steamer of two electrical servo wheels connects
The concave surface of the inspection track other side is touched, elastic rubber sheath is set on the output shaft of the electric pushrod；
Be equipped with master control system in the robot body, the master control system include self-balancing control module, motor control module,
Locating module and picture recognition module；
The self-balancing control module, for obtaining the appearance of robot body according to the three-dimensional Inertial Measurement Unit of robot body
State information, and when drift angle occurs for robot body, the height of each electrical servo wheel, makes machine in adjust automatically electrical servo wheel group
Device human body is in horizontality；The motor control module, for controlling turn of each electrical servo wheel in electrical servo wheel group
Speed and height；
The locating module, for obtaining the location information of the robot in real time；The locating module includes laser and anti-
Light patch, the reflection plaster uniform intervals are set to inspection track two sides；
Described image identification module identifies the water in image for detecting to the image acquired in robot kinematics
Stain information, crack information；
It further include communication module, by self-induction coil, the high-voltage line side out of subterranean tunnel senses alternation electricity to the communication module
Pressure, and DC voltage is obtained by rectification circuit and power converting circuit.
2. subterranean tunnel safety patrol inspection according to claim 1 robot, which is characterized in that it further include detection module, institute
Stating detection module includes camera system, ultrasonic radar, laser range finder and laser identifier.
3. subterranean tunnel safety patrol inspection according to claim 1 robot, which is characterized in that the robot body passes through
Face wheel is slidably connected the top planes of the inspection track；Fixing axle there are two being fixed below the robot body, two
The fixed between centers is fixed with an axis of rolling, and the plane bearing rolling of the axis of rolling and the face wheel connects, so that described
Face wheel is rotated along the axis of rolling, the top planes of inspection track described in the outside face contact of the face wheel.
4. subterranean tunnel safety patrol inspection according to claim 1 robot, which is characterized in that the robot body includes
Shell and the housing on the shell；
The master control system is disposed in the housing, and the shell is slidably connected the inspection rail by the electrical servo wheel group
Road.
5. subterranean tunnel safety patrol inspection according to claim 2 robot, which is characterized in that the camera system includes
Camera and rotating mechanism；The rotating mechanism includes pitching motor and turning motor, is consolidated on the output shaft of the turning motor
Surely there is revolution driving gear, revolution pinion, and the output of the turning motor are fixed on the output shaft of the pitching motor
Camera described in axis connection, the revolution driving gear are engaged with the revolution pinion.
6. subterranean tunnel safety patrol inspection according to claim 5 robot, which is characterized in that the camera includes binocular
Depth camera and colour imagery shot.
7. subterranean tunnel safety patrol inspection according to claim 1 robot, which is characterized in that the self-balancing control module
Including navigation elements, single-axis accelerometer, single axis gyroscope and uniaxial magnetometer；
The navigation elements are led for establishing the navigational coordinate system of robot, and according to inspection circuit setting robot described
Navigation coordinate in boat coordinate system；
The single-axis accelerometer, for detecting the acceleration signal of the robot；
The single axis gyroscope, for detecting angular velocity signal of the robot relative to navigational coordinate system；
The single shaft magnetometer, for detecting course signal of the robot relative to pre-set navigational coordinate.
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| CN201811158110.5A CN109281711B (en) | 2018-09-30 | 2018-09-30 | A kind of subterranean tunnel safety patrol inspection robot |
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| CN109828572A (en) * | 2019-02-20 | 2019-05-31 | 广州供电局有限公司 | Cable tunnel inspection robot and its positioning system based on mark location |
| CN110161079A (en) * | 2019-06-14 | 2019-08-23 | 江苏集萃智能制造技术研究所有限公司 | A kind of tunnel safety detection robot |
| CN111195896A (en) * | 2020-01-07 | 2020-05-26 | 华通科技有限公司 | Stabilizing system of high-speed rail platform limit single-rail distance measuring robot |
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| CN111927465A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield tunnel inspection robot track and mounting device |
| CN112051792A (en) * | 2020-09-17 | 2020-12-08 | 南京艺术学院 | Data center inspection device |
| CN113074694B (en) * | 2021-03-31 | 2022-11-04 | 中煤科工集团重庆研究院有限公司 | Automatic monitoring device for tunnel section deformation |
| CN113281401B (en) * | 2021-04-29 | 2022-08-19 | 同济大学 | Detection method, system and device for hidden diseases of ballastless track |
| CN114233395B (en) * | 2021-12-10 | 2023-11-17 | 太原理工大学 | Mine accident robot rescue detecting system that permeates water |
| CN114979473A (en) * | 2022-05-16 | 2022-08-30 | 遥相科技发展(北京)有限公司 | Industrial robot control method |
| CN116142245B (en) * | 2022-09-09 | 2023-09-01 | 山东大学 | Small multifunctional integrated subway intelligent inspection vehicle and method |
| CN117644499A (en) * | 2024-01-29 | 2024-03-05 | 山西科达自控股份有限公司 | Mutual inductance type track inspection robot |
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