CN113092494B - Inspection robot and intelligent detection method for train tunnel structure diseases - Google Patents
Inspection robot and intelligent detection method for train tunnel structure diseases Download PDFInfo
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- CN113092494B CN113092494B CN202110319948.3A CN202110319948A CN113092494B CN 113092494 B CN113092494 B CN 113092494B CN 202110319948 A CN202110319948 A CN 202110319948A CN 113092494 B CN113092494 B CN 113092494B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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Abstract
The invention relates to an inspection robot, which comprises an inspection robot moving platform, wherein robot detection equipment is carried on the inspection robot moving platform; the robot detection equipment comprises a linear array camera component, a laser scanner component and a detection equipment base component, wherein the linear array camera component and the laser scanner component are fixedly arranged on a detection equipment base of the detection equipment base component; the patrol robot moving platform comprises a main body structure, a moving assembly, an energy assembly and a hydraulic braking assembly, wherein the energy assembly and the hydraulic braking assembly are connected with the moving assembly and used for controlling the electric braking or the hydraulic braking of the moving assembly. The invention adopts a modular design, and the inspection robot is arranged by matching the inspection robot moving platform with the robot detection equipment, so as to realize automatic inspection. Meanwhile, the invention also provides a corresponding intelligent detection method for the train tunnel structure diseases, which is used for detecting the tunnel structure diseases.
Description
Technical Field
The invention belongs to the field of rail train inspection devices, and particularly relates to an inspection robot and an intelligent detection method for a train tunnel structure defect.
Background
In the operation process of the tunnel after the construction, due to the influences of the loads of the ground and surrounding buildings, the disturbance of soil, the construction of the engineering around the tunnel, the construction of the engineering structure of the tunnel, the operation vibration of the train and the like, various tunnel structure defects such as cracks, water leakage, peeling, convergence deformation, wrong platforms and the like can be generated, and the driving safety of the train is further influenced, so that the health state of the tunnel structure needs to be checked regularly.
At present, a manual inspection mode is mainly adopted, the use of automatic inspection equipment is still in an exploration stage, the manual inspection causes the operation cost to be extremely high, but the inspection efficiency is low, and the false inspection and missing inspection rate is high; the existing auxiliary detection equipment is low in intelligence, low in single-pass inspection disease identification coverage rate, still stays in a manual processing stage after shooting and collecting structural disease data, and has the problems of slow response, low collection speed, long line occupation time, low identification precision, incapability of realizing accurate positioning of disease positions and the like, and the existing auxiliary detection equipment cannot be effectively applied to complex environments of subway tunnels. Therefore, the invention considers to provide the inspection robot capable of realizing automatic inspection.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the inspection robot and the intelligent detection method for the train tunnel structure diseases.
In order to achieve the purpose, the invention provides an inspection robot, which comprises an inspection robot moving platform, wherein a robot detection device is carried on the inspection robot moving platform;
the robot detection equipment comprises a linear array camera component, a laser scanner component, a data processor and a detection equipment base component, wherein the linear array camera component and the laser scanner component are simultaneously and electrically connected with the data processor and are both fixedly installed on a detection equipment base of the detection equipment base component;
patrol and examine robot moving platform and include major structure, motion subassembly, energy subassembly, hydraulic braking subassembly are arranged in on the chassis framework of major structure, energy subassembly, hydraulic braking subassembly with the motion subassembly is connected, is used for control motion subassembly electric braking or hydraulic braking.
Preferably, the line-scan camera assembly comprises a camera linkage assembly, a camera cover assembly, a line-scan camera mechanism and a light source mechanism, the line-scan camera mechanism and the light source mechanism are distributed in the camera cover assembly, and the camera linkage assembly is connected with the camera cover assembly to drive the camera cover assembly to link.
Preferably, the camera linkage assembly includes:
two output shafts of the double-shaft commutator are fixed on the right-angle commutator through a first coupler, so that the power is converted from the horizontal direction to the vertical direction;
the first driving motor is fixed on the double-shaft commutator through a speed reducer and converts unidirectional power of the first driving motor into bidirectional power output from two ends;
and the first linear module is connected with the right-angle commutator through a second coupler and is linked with the right-angle commutator.
Preferably, the camera cover assembly is fixed on the first linear module through a first camera cover assembly and comprises a buckle, and a camera frame front cover and a camera frame rear cover which are integrated into a whole;
a first opening corresponding to the linear array camera mechanism and the light source mechanism is formed in the side face of the camera cover assembly;
the first camera frame assembly includes:
a first camera frame, one end of which extending to the interior of the camera cover assembly is provided with an annular end;
the first camera frame fixing block is fixedly connected with the first camera frame and used for fixing the first camera frame on the first linear module;
the first camera frame extends to the center of the annular end inside the camera cover assembly, a heat radiation fan is installed at the center of the annular end, and a ventilation opening is correspondingly formed in the front cover of the camera frame.
Preferably, the light source mechanism includes:
the light source frames are uniformly arranged along the annular end of the first camera frame extending to the interior of the camera cover assembly and are provided with round holes and fan-shaped slotted holes;
and the supplementary light source is fixed on each light source frame in a mode that a screw penetrates through the round hole and the fan-shaped slotted hole on the light source frame.
Preferably, the line camera mechanism comprises:
the camera outer seat is provided with a round hole and a fan-shaped slotted hole and is fixed on the first camera frame;
the camera middle base is fixed on the camera outer base in a mode that a screw penetrates through a round hole and a fan-shaped slotted hole in the camera outer base and is provided with a round hole and a fan-shaped slotted hole;
the camera inner seat is fixed on the camera middle seat in a mode that a screw penetrates through a round hole and a fan-shaped slotted hole in the camera middle seat;
the linear array camera is fixed on the camera inner seat.
Preferably, the line camera assembly further comprises a second camera gantry assembly, the second camera gantry assembly comprising:
the second camera frame is connected with the first linear module and is supported and fixed on the detection equipment base;
the second camera frame is provided with a plurality of first module seats, the first module seats are distributed on two sides of the first linear module along the extension direction of the first linear module, each first module seat is provided with a first module positioning block, and each first module positioning block is in contact connection with the first linear module in a concave-convex matching manner;
the I-shaped bracket is fixedly supported on the detection equipment base, and the top of the I-shaped bracket is provided with a cushion block;
the I-shaped bracket is provided with a first lower limit switch, and the second camera frame is correspondingly provided with a first upper limit switch.
Preferably, the laser scanner subassembly includes scanner linkage subassembly, scanner cover subassembly, laser scanner mechanism, the scanner covers the inside distribution of subassembly and is provided with laser scanner mechanism, scanner linkage subassembly with the scanner covers the subassembly and connects, drives the linkage of subassembly is covered to the scanner.
Preferably, the scanner linkage assembly includes:
the second driving motor is fixed on the driving motor upper seat, and the driving motor upper seat is fixed on the driving motor lower seat;
and the second linear module is connected with the output shaft of the second driving motor through a third coupler.
Preferably, the laser scanner assembly further comprises a scanner assembly seat:
the scanner component seats are fixedly supported on the detection equipment base and provided with a plurality of second module seats, and the second module seats are distributed on two sides of the second linear module along the extension direction of the second linear module;
and each second module seat is provided with a second module positioning block, and each second module positioning block is in contact connection with the second linear module by adopting concave-convex matching.
Preferably, the scanner cover assembly is connected with the second linear module, and comprises a front scanner cover and a rear scanner cover which are buckled and integrated, the rear scanner cover is provided with a plurality of laser scanner mechanisms in a surrounding manner, and each laser scanner mechanism is wired through a wire connector;
the upper seat of the driving motor is further provided with a second lower limit switch, the top of the scanner component seat is provided with a second upper limit switch, and the second upper limit switch and the second lower limit switch are used for triggering the scanner front cover to close the second driving motor when the scanner front cover moves up and down.
Preferably, the push rod seat and the guide rail are symmetrically arranged at two sides of the detection equipment base;
the guide rail is provided with a guide rail sliding block, and a door moving mechanism is fixed on the guide rail sliding block;
the push rod seat is fixed with a push rod mechanism, one end of the push rod mechanism is fixed on the push rod seat, the other end of the push rod mechanism is fixed on the door moving mechanism, and the door moving mechanism is driven to move along the guide rail by controlling the extension of the push rod mechanism.
Preferably, the motion assembly comprises:
the third driving motor is provided with a parking brake and a service brake;
the axle penetrates through the third driving motor, a plurality of layers of spacer bushes and flanges are sequentially arranged on output shafts on two sides of the axle in a clearance fit mode, and a brake disc is arranged between the outermost spacer bush of the output shaft on one side and the flange;
the conversion sleeve is arranged at the outer side ends of the output shafts on the two sides of the axle and is provided with an elastic wheel through interference assembly;
the outer sides of the two outer side ends of the axle close to the conversion sleeve are also provided with mounting end parts which are contacted with the elastic wheels and used for limiting the end parts of the elastic wheels;
the bearing seat is arranged at the outer side ends of the output shafts on the two sides of the axle and close to the inner side of the conversion sleeve, a bearing is arranged in the bearing seat, and an inner end cover and an outer end cover are arranged on the two sides of the bearing seat;
the shock absorber is fixed on the bearing seat through a shock absorber seat;
the encoder is arranged at one outer side end of the axle and is fixed on the inner side end cover through an encoder connecting piece.
Preferably, a connecting rod is installed on the third driving motor, a positioning piece is installed on a chassis framework of the main structure, a bearing is installed inside the positioning piece, a positioning pin penetrates through the connecting rod, the positioning piece and the bearing to be fixed, and a split pin is installed at the end of the positioning pin.
Preferably, the energy source assembly comprises:
the battery pack is fixed on the battery fixing frame;
the motor controller is connected with the third driving motor and fixed on the controller fixing frame, a high-pressure box plate is mounted at the upper part of the motor controller, and a high-pressure box is mounted on the high-pressure box plate;
the power conversion module is fixedly arranged on the power conversion module fixing frame and comprises an alternating current frequency converter, a direct current frequency converter and a storage battery;
the battery fixing frame, the controller fixing frame and the power supply conversion module fixing frame are fixed on the chassis framework;
the hydraulic brake assembly comprises a hydraulic controller and a hydraulic system, the hydraulic system is connected with the service brake and the parking brake, and the hydraulic controller controls the service brake and the parking brake to act by controlling the hydraulic system.
Preferably, the inspection robot mobile platform further comprises:
the first box body is fixed on a chassis framework of the main body structure, and a charging port and the hydraulic brake assembly are arranged in the first box body;
the first box body is also covered with a first box cover, and the charging cover plate is fixed on the first box cover through a hinge;
the second box body is fixed on the chassis framework of the main body structure, and a low-pressure box is arranged in the second box body;
the first box body is also covered with a first box cover, and the charging cover plate is fixed on the first box cover through a hinge;
cameras are arranged on the first box body and the second box body.
Preferably, the front end and the rear end of the chassis framework are fixedly provided with bending frames, and the bending frames are provided with cameras, millimeter wave radars and laser radars;
the chassis framework front and back end still installs and shines lamp stand and warning lamp stand, shine and install the light on the lamp stand, install the warning light on the warning lamp stand.
The utility model provides an intelligent detection method for train tunnel structure disease, adopt patrol and examine robot, include:
after the inspection robot is started, a health self-inspection program is executed, and the inspection robot performs self-inspection;
after self-checking is completed, executing an autonomous inspection program according to a set detection route and an inspection interval:
the inspection robot runs along a set detection route, and the position information and the obstacle information of the inspection robot are sent to the robot remote control platform in real time;
after the inspection robot reaches a set inspection interval, the camera component frame and the scanner rear cover drive the first linear module and the second linear module through the first driving motor and the second driving motor to automatically adjust the height according to the tunnel contour information in the inspection interval so as to adapt to the tunnel contour;
and collecting the tunnel structure defect information in the inspection interval, synchronously sending the collected tunnel structure defect information in the inspection interval to a data processor, judging the defect information according to a set corresponding defect identification algorithm, and feeding back the defect information and the position information to the robot remote control platform in real time.
Preferably, the disease acquisition system of the train tunnel structure is formed by a linear array camera of a linear array camera component, a linear laser scanner mechanism of a laser scanner component and a data processor which are arranged on the robot detection equipment, an encoder arranged on a motion component of the inspection robot moving platform, a camera, a millimeter wave radar and a laser radar which are arranged on a chassis framework, and cameras arranged on a first box body and a second box body;
after the inspection robot runs to the end point of an inspection interval, the defect acquisition system stops acquiring the defect information, and the linear array camera assembly and the laser scanner assembly are reset to cruise state positions;
and the inspection robot runs to the set parking position of the inspection task, and the inspection task of the robot is finished.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention provides an inspection robot, which consists of robot detection equipment and an inspection robot moving platform, wherein the robot detection equipment is loaded on the inspection robot moving platform, and the robot is in a modularized and symmetrical design, so that the robot is convenient to install, debug and produce in a standardized way. Wherein: robot check out test set can make and patrol and examine the robot according to patrolling and examining the environment, through control linear array camera subassembly and laser scanner subassembly work, automatically regulated height to the environment requirement is patrolled and examined in the adaptation. Meanwhile, a motion assembly, an energy assembly and a hydraulic brake assembly are arranged on the mobile platform of the inspection robot, the motion assembly adopts a double vibration damping mode of an elastic wheel and an elastic vibration damper, and the energy assembly and the hydraulic brake assembly can control the motion assembly to perform electric braking or hydraulic braking; meanwhile, the mobile platform of the inspection robot is provided with a laser radar, a millimeter wave radar, a camera and the like, so that a robot environment information identification sensing system is constructed, the position of the inspection robot, the position of a structural defect and the position of a barrier can be accurately positioned and calibrated, and environment information is monitored in real time. Simultaneously, the linear array camera of the linear array camera subassembly that robot detection equipment set up, the line laser scanner mechanism of laser scanner subassembly, and data processor, and the encoder of patrolling and examining the motion subassembly setting of robot moving platform, the camera of chassis framework installation, the millimeter wave radar, laser radar, and first box, the camera that sets up on the second box, constitute disease collection system, gather many diseases of train tunnel information in real time, the single is patrolled and examined and can be accomplished the crack disease, the seepage water disease, peel off the disease, the convergence deformation disease, wrong platform disease, the detection of fastener disappearance disease etc.. The inspection robot can realize automatic inspection control, manual control is not needed, the response speed is high, and the identification precision is high.
Drawings
FIG. 1 is an overall structure diagram of the inspection robot of the present invention;
FIG. 2 is an overall structure diagram of the robot inspection apparatus;
FIG. 3 is a block diagram (perspective) of a line camera assembly;
FIG. 4 is a block diagram (front view) of a line camera assembly;
FIG. 5 is an internal block diagram of a line camera assembly;
FIG. 6 is a diagram of a linear array camera mechanism;
FIG. 7 is a view of the laser scanner assembly in perspective;
FIG. 8 is a view of the interior of the scanner hood assembly;
FIG. 9 is a diagram of the construction of the base assembly of the test apparatus;
fig. 10 is a top view of the inspection robot moving platform;
FIG. 11 is an enlarged view of the inspection robot moving platform along the axis and a part thereof;
FIG. 12 is an enlarged view of the entire structure and a portion of the moving element;
fig. 13 is an overall structural view (perspective view) of the energy module;
fig. 14 is an overall structural view (top view) of the energy module;
fig. 15 is an overall structural view (front view) of the energy source module;
fig. 16 is a first casing (perspective view);
FIG. 17 is a first case (top view);
fig. 18 is a second casing (perspective view);
FIG. 19 is a second case (top view);
wherein: the robot inspection apparatus 1, the line camera module 11, the camera linkage assembly 111, the first driving motor 1111, the decelerator 1112, the dual-axis commutator 1113, the dual-axis commutator fixing plate 1114, the dual-axis commutator holder 1115, the first coupler 1116, the right-angle commutator 1117, the right-angle commutator holder 1118, the first linear module 1119, the second coupler 11110, the camera cover assembly 112, the first camera frame assembly 1121, the first camera frame 11211, the first camera frame fixing block 11212, the camera frame front cover 1122, the camera frame rear cover 1123, the first opening 1124, the cooling fan 1125, the vent 1126, the linear array module 113, the camera outer frame 1131, the camera middle frame 1132, the camera inner frame 1133, the camera 1134, the light source mechanism 114, the light source frame 1141, the supplemental light source 1142, the second camera frame assembly 115, the second camera frame 1151, the first module holder 1152, the first module 1153, the i-shaped frame positioning block 4, the positioning block 11541, the first lower limit switch 1155, A first upper limit switch 1156;
the scanner comprises a laser scanner assembly 12, a scanner linkage assembly 121, a second driving motor 1211, a driving motor upper base 1212, a driving motor lower base 1213, a second linear module 1214, a third coupling 1215, a scanner assembly base 1216, a second module base 1217, a second module positioning block 1218, a scanner cover assembly 122, a scanner front cover 1221, a scanner rear cover 1222, a laser scanner mechanism 123, a wire connector 124, a second lower limit switch 125 and a second upper limit switch 126;
the system comprises a data processor 13, a detection device base assembly 14, a detection device base 141, a line camera assembly panel 1411, a laser scanner panel 1412, a push rod base 1413, a guide rail 1414, a guide rail slider 1415, a push rod mechanism 1416, a lifting lug 1417, a touch screen 151, a data transmission interface 152, a routing rod 153 and a routing ring 154;
the inspection robot comprises an inspection robot moving platform 2, a main body structure 21, a chassis framework 211, a positioning part 2111, a bearing 2112 of the positioning part, a positioning pin 2113, a cotter pin 2114, an upper cover plate 212, a lifting lug 213, a lamp holder 214, an illuminating lamp 215, a bending frame 216, a camera 217, a millimeter wave radar 218, a laser radar 219, a warning lamp holder 2110 and a warning lamp 2111;
the motion assembly 22, the third driving motor 221, the axle 222, the spacer 223, the flange 224, the brake disc 225, the parking brake 226, the service brake 227, the conversion sleeve 228, the elastic wheel 229, the mounting end piece 2210, the bearing block 2211, the bearing block 2212, the inner end cover 2213, the outer end cover 2214, the vibration absorber 2215, the vibration absorber seat 2216, the encoder 2217, the encoder connector 2218 and the connecting rod 2219;
the power module 23, the battery pack 231, the motor controller 232, the power conversion module 233, the high-voltage box 234, the battery holder 2311, the controller holder 2321, the power conversion module holder 2331, the ac converter 2332, the dc converter 2333, the battery 2334, the high-voltage box plate 2341, the hydraulic brake module 24, the hydraulic controller 241, the hydraulic system 242, the first box 25, the charging port 251, the first box cover 252, the charging cover 253, the hinge 254, the second box 26, the second box cover 261, the low-voltage box 262, the low-voltage box holder 263, the camera 27, and the camera holder 271.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are partial embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The term "comprising" and any variations thereof in the description and claims of this application and the above-described drawings are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. Furthermore, the terms "first", "second", and "third", etc. are used to distinguish different objects, and are not used to describe a particular order.
The utility model provides an inspection robot, as shown in fig. 1-19, it includes robot check out test set 1 and inspection robot moving platform 2 two parts, and inspection robot moving platform 2 is last to carry out and has robot check out test set 1, wherein:
the robot detection device 1 comprises a line camera component 11, a laser scanner component 12, a data processor 13 and a detection device base component 14, wherein the line camera component 11 and the laser scanner component 12 are simultaneously electrically connected with the data processor 13 and are all fixedly installed on a detection device base 141 of the detection device base component 14.
The inspection robot moving platform 2 comprises a main body structure 21, a moving assembly 22, an energy assembly 23 and a hydraulic brake assembly 24, wherein the moving assembly 22, the energy assembly 23 and the hydraulic brake assembly 24 are arranged on a chassis framework 211 of the main body structure 21, and the energy assembly 23 and the hydraulic brake assembly 24 are connected with the moving assembly 22 and used for controlling electric braking or hydraulic braking of the moving assembly.
Specifically, as shown in fig. 2 to 9, the robot detection device 1 includes a line camera component 11, a laser scanner component 12, a data processor 13, and a detection device base component 14, and the structures of the components are specifically:
referring to fig. 3 to 6, the line camera module 11 includes a camera linkage module 111, a camera housing module 112, a line camera mechanism 113, and a light source mechanism 114, the line camera mechanism 113 and the light source mechanism 114 are disposed inside the camera housing module 112, and the camera linkage module 111 is connected to the camera housing module 112 to drive the camera housing module 112 to link with each other. The method specifically comprises the following steps:
for the camera linkage assembly 111, the first driving motor 1111 is fixed on the double-shaft commutator 1113 through the reducer 1112, the double-shaft commutator 1113 is fixed on the double-shaft commutator fixing plate 1114 through screws, the double-shaft commutator fixing plate 1114 is fixed on the double-shaft commutator seat 1115 through screws, and the double-shaft commutator converts the unidirectional power of the first driving motor into the bidirectional power output from two ends; the two output shafts of the two-shaft commutator 1113 are each fixed to the right-angle commutator 1117 by a first coupling 1116, enabling the power to be converted from horizontal to vertical, while each right-angle commutator 1117 is fixed to the inspection apparatus base 141 by two right-angle commutator segments 1118 by screws. The first linear module 1119 is connected to the right angle commutator 1117 by the second coupling 11110, and is interlocked with the right angle commutator 1117.
The camera housing assembly 112 is fixed on the first linear module 1119 through the first camera housing assembly 1121, and includes a camera housing front cover 1122 and a camera housing rear cover 1123 which are fastened and integrated into a whole, the camera housing front cover 1122 is fixed on the camera housing rear cover 1123 through screws, a first opening 1124 corresponding to the line camera mechanism 113 and the light source mechanism 114 is formed in a side surface of the camera housing assembly 112, and in this embodiment, a first opening 1124 corresponding to the line camera mechanism 113 and the light source mechanism 114 is formed in the camera housing front cover 1122. One end of the first camera frame 11211 of the first camera frame assembly 1121, which extends into the camera housing assembly 112, is configured as an annular end, a heat dissipation fan 1125 is installed at the center of the annular end, and a ventilation opening 1126 is correspondingly formed in the camera frame front housing 1122. The first camera frame 11211 is fixed to the first linear module 1119 by a first camera frame fixing block 11212, the first camera frame 11211 is fixed to the first camera frame fixing block 11212 by screws, and the first camera frame fixing block 11212 is fixed to the first linear module 1119 by screws, so that the first camera frame assembly 1121 drives the camera housing assembly 112 to integrally move along with the first linear module 1119.
The line camera assembly 11 may further comprise a second camera gantry assembly 115, and a second camera gantry 1151 of the second camera gantry assembly 115 is coupled to the first line module 1119 and is supported and fixed to the inspection apparatus base 141 of the inspection apparatus base assembly 14. A plurality of first module seats 1152 are installed on the second camera frame 1151, the first module seats 1152 are symmetrically distributed on two sides of the first linear module 1119 along the extending direction of the first linear module 1119, each first module seat 1152 is fixedly provided with a first module positioning block 1153 through a screw, each first module positioning block 1153 is in contact connection with the first linear module 1119 in a concave-convex matching mode, a protruding portion is arranged on each first module positioning block 1153, the first linear module 1119 is correspondingly provided with a matched groove portion, and due to the direction limiting effect of the first module positioning blocks 1153 arranged on two sides of the first linear module 1119, the first linear module 1119 can only move up and down under the driving of the right-angle reverser 1117 through the second coupler 11110. The i-shaped bracket 1154 is formed by welding a square steel plate and a steel plate, is supported and fixed on the detection device base 141, two rubber cushion blocks 11541 are mounted on the top of the i-shaped bracket 1154 through bolts, a first lower limit switch 1155 is mounted on the i-shaped bracket 1154, and a first upper limit switch 1156 is correspondingly mounted on the top of the second camera frame 1151.
In this embodiment, the first driving motor 1111 acts on the two-axis commutator 1113 through the reducer 1112, the two-axis commutator 1113 changes the power in a single direction into the power in two directions, the power is transmitted to the right-angle commutator 1117 through the first coupling 1116, and then transmitted to the first linear module 1119 through the second coupling 11110, the first linear module 1119 can move up and down along the first module base 1152 with the first camera frame 11211 due to the relative movement of the internal screw-nut mechanism, and when the first camera frame 11211 moves up, the first driving motor 1111 stops moving after the camera frame front cover 1122 contacts the first upper limit switch 1156; when the first camera rig 11211 moves downward, the first drive motor 1111 stops moving when the camera rig front cover 1122 contacts the first lower limit switch 1155, and the drum bracket 1154 and the spacers 11541 provided thereon function to support the entire line camera module by supporting the camera rig front cover 1122 after the first drive motor 1111 stops moving.
As further shown in fig. 5 and 6, for the line camera mechanism 113, the outer camera base 1131 is provided with a circular hole and a fan-shaped slot and is fixed on the first camera frame 11211; the middle camera holder 1132 is fixed on the outer camera holder 1131 in a manner that screws pass through circular holes and fan-shaped slots on the outer camera holder 1131, so that the relative position of the middle camera holder and the outer camera holder can be finely adjusted. Also be provided with round hole and fan-shaped slotted hole on the seat 1132 in the camera, the mode that seat 1133 passes round hole and fan-shaped slotted hole on the seat 1132 in the camera through the screw fixes on seat 1132 in the camera, can realize in the camera, the relative position fine setting of middle seat, be fixed with linear array camera 1134 on the seat 1133 in the camera, because the relative position of camera in, outer seat can finely tune to can realize under the different tunnel detection requirement circumstances, the fine setting of four directions about the upper and lower of shooting direction can be followed to the linear array camera.
For the light source mechanism 114, it is installed on the annular end that the first camera frame 11211 extends to the inside of the camera cover assembly 112, evenly arrange a plurality of light source shelves 1141 along the annular end that the first camera frame 11211 extends to the inside of the camera cover assembly 112, be provided with round hole and fan-shaped slotted hole on each light source shelf 1141, the mode that supplementary light source 1142 passes round hole and fan-shaped slotted hole on the light source shelf 1141 through the screw is fixed on each light source shelf 1141 to realize the fine setting of supplementary light source illumination direction under the different tunnel environment, make the supplementary light source can be covered with whole subway tunnel wall profile that awaits measuring according to the subway tunnel patrol and examine needs.
Referring to fig. 7 and 8, the laser scanner assembly 12 includes a scanner linkage assembly 121, a scanner cover assembly 122, and a laser scanner mechanism 123, the laser scanner mechanism 123 is disposed inside the scanner cover assembly 122, and the scanner linkage assembly 121 is connected to the scanner cover assembly 122 to drive the scanner cover assembly 122 to move in a linkage manner.
Specifically, the second driving motor 1211 of the scanner linkage assembly 121 is fixed to the driving motor upper seat 1212 by a screw, the driving motor upper seat 1212 is fixed to the driving motor lower seat 1213 by a screw, and the second linear module 1214 is connected to the output shaft of the second driving motor 1211 by a third coupling 1215. The scanner assembly seat 1216 of the scanner linkage assembly 121 is supported and fixed on the inspection equipment base 141 of the inspection equipment base assembly 14, a plurality of second module seats 1217 are installed on the scanner assembly seat 1216, and the second module seats 1217 are symmetrically distributed on two sides of the second linear module 1214 along the extending direction of the second linear module 1214. Each second module seat 1217 is fixedly provided with a second module positioning block 1218 by screws, each second module positioning block 1218 is in contact connection with the second linear module 1214 by concave-convex matching, the second module positioning block 1218 is provided with a protruding part, and the second linear module 1214 is correspondingly provided with a matched groove part, so that the second linear module 1214 can only move up and down under the action of the second driving motor 1211 due to the direction limiting effect of the second module positioning blocks 1218 at the two sides of the second linear module 1214.
For scanner cover subassembly 122, it is connected with second straight line module 1214, including detaining with scanner front shroud 1221 and scanner back shroud 1222 as an organic whole, scanner back shroud 1222 passes through the fix with screw on second straight line module 1214, scanner back shroud 1222 is surrounded and is arranged a plurality of laser scanner mechanisms 123, and each laser scanner mechanism 123 is walked through connector 124, patrols and examines the effect that needs realization 360 all-round scanning tunnel profile surface according to the subway tunnel. The upper seat 1212 of the driving motor is further provided with a second lower limit switch 125, the top of the scanner assembly seat 1216 is correspondingly provided with a second upper limit switch 126, and the second upper limit switch 126 and the second lower limit switch 125 are used for triggering the front cover 1221 of the scanner to turn off the second driving motor 1211 when moving up and down.
In this embodiment, the output shaft of the second driving motor 1211 is connected to the second linear module 1214 through the third coupling 1215, power is transmitted to the second linear module 1214 through the third coupling 1215, the second linear module 1214 can drive the scanner front cover 1221 to move up and down along the second module base 1217 due to the relative motion of the internal screw-nut mechanism, and when the scanner front cover 1221 moves up and down, the second driving motor 1211 stops moving after contacting the second upper limit switch 1156; when the scanner front cover 1221 contacts the second lower limit switch 125, the second driving motor 1211 stops moving.
Referring to fig. 2 and 9, for the inspection apparatus base assembly 14 to perform the apparatus carrying and mounting functions, the line camera assembly 11 and the laser scanner assembly 12 respectively fix the second camera frame 115 and the scanner assembly base 1216 to the line camera assembly flat plate 1411 and the laser scanner flat plate 1412 of the inspection apparatus base 141 by screws. The two sides of the detection device base 141 are symmetrically provided with a push rod base 1413 and a guide rail 1414, and are fixed on the detection device base 141 through bolts and nuts. A guide rail sliding block 1415 is mounted on the guide rail 1414, a door moving mechanism is fixed on the guide rail sliding block 1415, a push rod mechanism 1416 is fixed on the push rod seat 1413 through bolts and nuts, one end of the push rod mechanism 1416 is fixed on the push rod seat 1413, the other end of the push rod mechanism 1416 is fixed on the door moving mechanism, and the door moving mechanism is driven to move along the guide rail by controlling the extension and retraction of the push rod mechanism so as to open and close the door moving mechanism.
The detection equipment base 141 is provided with a data processor 13, and four lifting lugs 1417 are arranged at the positions of two sides of the data processor 13 and at the tail part of the detection equipment base and are used for lifting the whole detection equipment assembly. The robot detection device 1 is covered with a touch screen 151 and a data transmission interface 152 on the detection device cover, the touch screen 151 is used for displaying the state of the robot detection device and inputting instructions during debugging, and the data transmission interface 152 is used for transmitting data information of the inspection robot and the external device. Two wiring rods 153 are installed on the detection equipment housing through screws, and a wiring ring 154 is hung on each wiring rod, so that when the linear array camera assembly 11 can move up and down, a cable passes through the wiring ring 154 and is wound on the wiring rods 153, and then is connected to the data processor 13, so that the cable is structured.
As for the inspection robot moving platform 2, referring to fig. 10 to 19, it includes a main body structure 21, a moving assembly 22, an energy assembly 23, and a hydraulic brake assembly 24, and the moving assembly 22, the energy assembly 23, and the hydraulic brake assembly 24 are disposed on a chassis frame 211 of the main body structure 21. Specifically, the method comprises the following steps:
referring to fig. 12, for the motion assemblies 22, two motion assemblies 22 are arranged on the main structure 21 in a central symmetry direction, and the motion of the robot is realized by adopting a dual damping mode of an elastic wheel and an elastic damper and a mode that a permanent magnet synchronous motor directly drives the elastic wheel. Namely: the third driving motor 221 of the motion assembly 22 is a through-hole type, the axle 222 passes through the third driving motor 221, multiple layers of spacers 223 and flanges 224 are sequentially mounted on output shafts on two sides of the axle 222 in a clearance fit manner, and a brake disc 225 is mounted between the outermost spacer 223 of the output shaft on one side and the flanges 224. In this embodiment, a three-layer spacer 223 is disposed on the right output shaft of the third driving motor 221 in a clearance fit manner by adopting an inner and outer three-layer arrangement manner, then a flange 224 is disposed, and the three-layer spacer 223 and the flange 224 are screwed by fixing bolts, so that the right side of the third driving motor 221 on the axle 222 is fixed. Two layers of spacers 223 are arranged on an output shaft on the left side of the third driving motor 221 in a clearance fit mode in an inner layer and an outer layer, then a brake disc 225 and a flange 224 are sequentially installed, the flange 224 is installed on the axle 222 in an interference fit mode and clings to a shaft shoulder of the axle, the spacers 223, the brake disc 225 and the flange 224 are screwed through fixing bolts, and the left side fixing of the third driving motor 221 on the axle 222 is achieved. A parking brake 226 and a service brake 227 are mounted on the third driving motor 221 through screws, so that the power of the third driving motor is transmitted to the axle and the braking force of the brake is transmitted to the axle, the service brake is used for deceleration during driving, and the parking brake is used for braking in parking. The outer ends of the output shafts on both sides of the axle 222 are provided with a conversion sleeve 228 by using splines, the conversion sleeve 228 is provided with an elastic wheel 229 by interference fit, and the two outer ends of the axle 222 close to the outer side of the conversion sleeve 228 are also provided with mounting end parts 2210, and the mounting end parts 2210 are contacted with the elastic wheel 229 and are used for end position limitation of the elastic wheel. Meanwhile, a bearing seat 2211 is arranged at the outer side end of the output shaft at two sides of the axle 222 close to the inner side of the conversion sleeve 228, a bearing 2212 is arranged in the bearing seat 2211, an inner side end cover 2213 and an outer side end cover 2214 are arranged at two sides of the bearing 2212 of the bearing seat, and the two end covers are fixed on the bearing seat 2211 through bolts; two dampers 2215 are mounted on each bearing seat 2211, a damper seat 2216 is fixed on each damper 2215, the dampers 2215, the damper seats 2216 and the bearing seats 2211 are fixed through bolts and nuts, and the main structure 21, the damper seats 2216 and the dampers 2215 are fixed through two sets of bolts and nuts, so that the main structure 21 and the motion assembly 22 are fixedly mounted. An outer end of the axle 222 is mounted with a through hole type encoder 2217, and is fixed to the inner end cap 2213 by an encoder connector 2218.
Meanwhile, in order to prevent the third driving motor from rotating axially when driving the axle, a connecting rod 2219 is installed on the third driving motor 221, a positioning part 2111 is installed on the chassis frame 211 of the main body structure 21, a bearing 2112 is installed inside the positioning part 2111, a positioning pin 2113 passes through the connecting rod 2219, the positioning part 2111 and the bearing 2112 and is fixed by a locking nut, and a cotter pin 2114 is installed at the end part of the positioning pin 2113.
Referring to fig. 13, 14 and 15, the energy source assembly 23 includes a battery pack 231, a motor controller 232 and a power conversion module 233, wherein the battery pack 231 is fixed on a battery holder 2311; the motor controller 232 is electrically connected with the third driving motor 221 to drive and control the third driving motor to work, and the motor controller 232 is fixed on the controller fixing frame 2321; the upper part of the motor controller 232 is provided with a high-pressure box plate 2341 through screws, and the high-pressure box 234 is arranged on the high-pressure box plate 2341. The power conversion module 233 is fixedly mounted on a power conversion module mounting frame 2331, and includes an ac inverter 2332, a dc inverter 2333, and a battery 2334. The battery holder 2311, the controller holder 2321 and the power conversion module holder 2331 are all fixed on the main structure 21 by bolts and nuts and fixed on the chassis frame 211.
Referring to fig. 16 to 19, the inspection robot moving platform 2 is further provided with a first box 25 and a second box 26, and the first box 25 and the second box 26 are fixed on the chassis frame 211 of the main structure 21 by bolts and nuts. The first housing 25 is provided therein with a charging port 251 and a hydraulic brake unit 24. The hydraulic brake module 24 includes a hydraulic controller 241 and a hydraulic system 242, the hydraulic system 242 is connected to the parking brake 226 and the service brake 227, and the hydraulic controller 241 controls the hydraulic system 242 to control the operation of the service brake 227 and the parking brake 226. The first box 25 is further covered with a first box cover 252, the first box cover 252 is fixed on the first box 25, and the charging cover plate 253 is fixed on the first box cover 252 through a hinge 254 and used for shielding in a non-charging state. The second case 26 is further covered with a second case cover 261, the second case cover 261 is fixed to the second case 26, a low pressure case 262 is provided inside the second case 26, and the low pressure case 262 is fixed to the second case 26 by a low pressure case fixing member 263 with screws. The cameras 27 are arranged on the first box 25 and the second box 26, and the cameras 27 are respectively fixed on the first box 25 and the second box 26 through camera fixing members 271 and screws.
The inspection robot in the embodiment has the braking technology of electric braking and hydraulic braking, the deceleration control in the running process is set in an electric braking mode, the parking process is braked by a hydraulic service brake, and the parking process is braked by a hydraulic parking brake.
Regarding the main structure 21, referring to fig. 10-12, the main structure 21 is designed to be symmetrical front-back and left-right, an upper cover plate 212 is installed on the upper portion of the chassis frame 211 through screws, and four lifting lugs 213 are welded at the position of the moving assembly 22 on the chassis frame 211 for transferring and lifting the robot. The front and rear ends of the chassis frame 211 are provided with lamp holders 214 by screws, and each lamp holder 214 is provided with an illuminating lamp 215 by screws for illumination of the robot in the tunnel. Chassis framework 211 front and back end middle part is through a bending frame 216 of fix with screw, utilizes the mounting screw to have camera 217, millimeter wave radar 218, lidar 219 on the bending frame 216, and the camera is used for visual detection and traffic lights discernment during the operation, and the place ahead personnel discernment, lidar are used for discerning hundred meters mark as the location calibration, and millimeter wave radar is used for exploring the barrier. Meanwhile, warning lamp holders 2110 are installed on both sides of the front end and the rear end of the chassis frame 211, and a warning lamp 2111 is installed on the warning lamp holders 2110.
In conclusion, the inspection robot of the invention consists of two parts, namely the robot detection device 1 and the inspection robot moving platform 2, wherein the robot detection device 1 is loaded on the inspection robot moving platform 2, the robot adopts a modularized and symmetrical design, so that the installation, debugging and standardized production are convenient, the robot runs in two directions, and other devices are not needed for assisting in turning around. Wherein: the linear array camera subassembly 11 and the laser scanner subassembly 12 of robot check out test set 1 are connected with data processor 13 electricity simultaneously, can make and patrol and examine the robot according to patrolling and examining the environment, through controlling linear array camera subassembly 11 and the work of laser scanner subassembly 12, the automatically regulated height to the environment requirement is patrolled and examined in the adaptation. Meanwhile, a motion assembly 22, an energy assembly 23 and a hydraulic brake assembly 24 are arranged on the inspection robot moving platform 2, the motion assembly 22 adopts a double vibration damping mode of elastic wheels and elastic vibration dampers, and the energy assembly 23 and the hydraulic brake assembly 24 are connected with the motion assembly 22 to control the motion assembly to be electrically or hydraulically braked; meanwhile, the mobile platform 2 of the inspection robot is provided with a laser radar, a millimeter wave radar, a camera and the like, a robot environment information identification sensing system is constructed, the position of the inspection robot, the position of a structural defect, the position of a barrier and the like can be accurately positioned and calibrated, and the inspection robot has the functions of barrier detection, real-time environment information monitoring, traffic light identification capability, robot running stability monitoring and the like. Meanwhile, a linear array camera of a linear array camera component, a linear laser scanner mechanism of a laser scanner component and a data processor which are arranged on robot detection equipment, an encoder arranged on a moving component of a mobile platform of the inspection robot, a camera arranged on a chassis framework, a millimeter wave radar, a laser radar and cameras arranged on a first box body and a second box body form a fault acquisition system of a train tunnel structure, after the inspection robot reaches an inspection interval, the camera component framework and a scanner rear cover drive a first linear module and a second linear module through a first driving motor and a second driving motor to automatically adjust the height according to tunnel profile information in the inspection interval so as to adapt to the tunnel profile, realize high-precision real-time acquisition of multiple faults of the subway tunnel, seepage faults, peeling faults, convergence deformation faults, inspection faults and the like can be completed in one time, Detecting slab staggering diseases, fastener missing diseases and the like; meanwhile, the detected disease data can be processed in real time, the detection result can be transmitted to the robot remote control platform in real time, the remote monitoring and remote control of the robot are realized, manual reprocessing is not needed, the response speed is high, and the identification precision is high.
Meanwhile, according to the inspection robot provided by the invention, the intelligent detection method for the train tunnel structure diseases is provided, and the intelligent detection method mainly comprises the following steps:
after the inspection robot is started, executing a health self-inspection program, and performing self-inspection by the inspection robot;
after the self-checking is finished, executing an autonomous inspection program according to a set detection route and an inspection interval:
the inspection robot runs along a set detection route, and the position information and the obstacle information of the inspection robot are sent to the robot remote control platform in real time;
after the inspection robot reaches a set inspection interval, the camera component frame and the scanner rear cover drive the first linear module and the second linear module through the first driving motor and the second driving motor to automatically adjust the height according to the tunnel profile information in the inspection interval so as to adapt to the tunnel profile;
collecting the tunnel structure defect information in the inspection interval, synchronously sending the collected tunnel structure defect information in the inspection interval to a data processor, judging the defect information according to a set corresponding defect identification algorithm, and feeding back the defect information and the position information to a robot remote control platform in real time;
after the inspection robot runs to the end point of an inspection interval, the disease acquisition system stops disease information acquisition, and the linear array camera assembly and the laser scanner assembly are reset to cruise state positions;
and the inspection robot runs to the set parking position of the inspection task, and the inspection task of the robot is finished.
Claims (16)
1. An inspection robot is used for intelligently detecting train tunnel structure diseases and is characterized by comprising an inspection robot moving platform, wherein robot detection equipment is loaded on the inspection robot moving platform;
the robot detection equipment comprises a linear array camera component, a laser scanner component, a data processor and a detection equipment base component, wherein the linear array camera component and the laser scanner component are simultaneously and electrically connected with the data processor and are both fixedly installed on a detection equipment base of the detection equipment base component; the linear array camera assembly comprises a camera linkage assembly, a camera cover assembly, a linear array camera mechanism, a light source mechanism and a second camera frame assembly, wherein the linear array camera mechanism and the light source mechanism are distributed in the camera cover assembly, and the camera linkage assembly is connected with the camera cover assembly and drives the camera cover assembly to be linked; wherein the content of the first and second substances,
the camera linkage assembly further comprises:
two output shafts of the double-shaft commutator are fixed on the right-angle commutator through a first coupler, so that the power is converted from the horizontal direction to the vertical direction;
the first driving motor is fixed on the double-shaft commutator through a speed reducer and converts unidirectional power of the first driving motor into bidirectional power output from two ends;
the first straight line module is connected with the right-angle commutator through a second coupler and is linked with the right-angle commutator;
the second camera frame assembly further comprises:
the second camera frame is connected with the first linear module and is supported and fixed on the detection equipment base; the second camera frame is provided with a plurality of first module seats, the first module seats are distributed on two sides of the first linear module along the extension direction of the first linear module, each first module seat is provided with a first module positioning block, and each first module positioning block is in contact connection with the first linear module in a concave-convex matching manner;
the I-shaped bracket is fixedly supported on the detection equipment base, and the top of the I-shaped bracket is provided with a cushion block; a first lower limit switch is installed on the I-shaped bracket, and a first upper limit switch is correspondingly installed on the second camera frame;
patrol and examine robot moving platform and include major structure, motion subassembly, energy subassembly, hydraulic braking subassembly are arranged in on the chassis framework of major structure, energy subassembly, hydraulic braking subassembly with the motion subassembly is connected, is used for control motion subassembly electric braking or hydraulic braking.
2. The inspection robot according to claim 1, wherein the camera cover assembly is fixed on the first linear module through a first camera cover assembly, and comprises a buckle and a camera frame front cover and a camera frame rear cover which are integrated into a whole;
a first opening corresponding to the linear array camera mechanism and the light source mechanism is formed in the side face of the camera cover assembly;
the first camera frame assembly includes:
a first camera frame, one end of which extending to the inside of the camera cover assembly is provided with an annular end;
the first camera frame fixing block is fixedly connected with the first camera frame and used for fixing the first camera frame on the first linear module;
the first camera frame extends to the center of the annular end inside the camera cover assembly, a heat dissipation fan is installed at the center of the annular end, and a ventilation opening is correspondingly formed in the front cover of the camera frame.
3. The inspection robot according to claim 2, wherein the light source mechanism includes:
a plurality of light source frames uniformly arranged along an annular end of the first camera frame extending to the interior of the camera cover assembly and provided with circular holes and sector-shaped slotted holes;
and the supplementary light source is fixed on each light source frame in a mode that a screw penetrates through the round hole and the fan-shaped slotted hole on the light source frame.
4. The inspection robot according to claim 3, wherein the line camera mechanism includes:
the camera outer seat is provided with a round hole and a fan-shaped slotted hole and is fixed on the first camera frame;
the camera middle base is fixed on the camera outer base in a mode that a screw penetrates through a round hole and a fan-shaped slotted hole in the camera outer base and is provided with a round hole and a fan-shaped slotted hole;
the camera inner seat is fixed on the camera middle seat in a mode that a screw penetrates through a round hole and a fan-shaped slotted hole in the camera middle seat;
the linear array camera is fixed on the camera inner seat.
5. The inspection robot according to claim 1, wherein the laser scanner assembly comprises a scanner linkage assembly, a scanner cover assembly and a laser scanner mechanism, the scanner cover assembly is internally provided with the laser scanner mechanism in a distributed mode, and the scanner linkage assembly is connected with the scanner cover assembly and drives the scanner cover assembly to be linked.
6. The inspection robot according to claim 5, wherein the scanner linkage assembly includes:
the second driving motor is fixed on the driving motor upper seat, and the driving motor upper seat is fixed on the driving motor lower seat;
and the second linear module is connected with the output shaft of the second driving motor through a third coupler.
7. The inspection robot according to claim 6, wherein the laser scanner assembly further includes a scanner assembly mount:
the scanner component seat is fixedly supported on the detection equipment base and provided with a plurality of second module seats, and the second module seats are distributed on two sides of the second linear module along the extending direction of the second linear module;
and each second module seat is provided with a second module positioning block, and each second module positioning block is in contact connection with the second linear module by adopting concave-convex matching.
8. The inspection robot according to claim 6, wherein the scanner cover assembly is connected with the second linear module and comprises a buckle and an integrated scanner front cover and a scanner rear cover, the scanner rear cover is provided with a plurality of laser scanner mechanisms in a surrounding manner, and each laser scanner mechanism is wired through a wire connector;
the driving motor upper seat is further provided with a second lower limit switch, the top of the scanner component seat is provided with a second upper limit switch, and the second upper limit switch and the second lower limit switch are used for triggering the scanner front cover to close the second driving motor during up-and-down movement.
9. The inspection robot according to claim 1, wherein the push rod seats and the guide rails are symmetrically arranged at two side positions of the detection equipment base;
the guide rail is provided with a guide rail sliding block, and a door moving mechanism is fixed on the guide rail sliding block;
the push rod seat is fixed with a push rod mechanism, one end of the push rod mechanism is fixed on the push rod seat, the other end of the push rod mechanism is fixed on the door moving mechanism, and the door moving mechanism is driven to move along the guide rail through controlling the extension of the push rod mechanism.
10. The inspection robot according to claim 1, wherein the motion assembly includes:
the third driving motor is provided with a parking brake and a service brake;
the axle penetrates through the third driving motor, a plurality of layers of spacer bushes and flanges are sequentially arranged on output shafts on two sides of the axle in a clearance fit mode, and a brake disc is arranged between the outermost spacer bush of the output shaft on one side and the flange;
the conversion sleeve is arranged at the outer side ends of the output shafts at the two sides of the axle and is provided with an elastic wheel through interference assembly;
the outer sides of the two outer side ends of the axle close to the conversion sleeve are also provided with mounting end parts which are contacted with the elastic wheels and used for limiting the end parts of the elastic wheels;
the outer side ends of the output shafts on the two sides of the axle are close to the inner side of the conversion sleeve, a bearing is arranged in the bearing seat, and an inner side end cover and an outer side end cover are arranged on the two sides of the bearing seat;
the shock absorber is fixed on the bearing seat through a shock absorber seat;
and the encoder is arranged at one outer side end of the axle and is fixed on the inner side end cover through an encoder connecting piece.
11. The inspection robot according to claim 10, wherein a connecting rod is mounted on the third driving motor, a positioning member is mounted on the chassis frame of the main structure, a bearing is mounted inside the positioning member, a positioning pin is fixed after penetrating through the connecting rod, the positioning member and the bearing, and a cotter pin is mounted at the end of the positioning pin.
12. The inspection robot according to claim 10, wherein the energy source assembly includes:
the battery pack is fixed on the battery fixing frame;
the motor controller is connected with the third driving motor and fixed on the controller fixing frame, a high-pressure box plate is mounted at the upper part of the motor controller, and a high-pressure box is mounted on the high-pressure box plate;
the power conversion module is fixedly arranged on the power conversion module fixing frame and comprises an alternating current frequency converter, a direct current frequency converter and a storage battery;
the battery fixing frame, the controller fixing frame and the power supply conversion module fixing frame are fixed on the chassis framework;
the hydraulic brake assembly comprises a hydraulic controller and a hydraulic system, the hydraulic system is connected with the service brake and the parking brake, and the hydraulic controller controls the service brake and the parking brake to act by controlling the hydraulic system.
13. The inspection robot according to claim 10, wherein the inspection robot moving platform further includes:
the first box body is fixed on a chassis framework of the main body structure, and a charging port and the hydraulic brake assembly are arranged in the first box body;
the first box body is also covered with a first box cover, and the charging cover plate is fixed on the first box cover through a hinge;
the second box body is fixed on the chassis framework of the main body structure, and a low-pressure box is arranged in the second box body;
the first box body is also covered with a first box cover, and the charging cover plate is fixed on the first box cover through a hinge;
cameras are arranged on the first box body and the second box body.
14. The inspection robot according to claim 10, wherein bending frames are fixed at the front end and the rear end of the chassis framework, and a camera, a millimeter wave radar and a laser radar are mounted on the bending frames;
the chassis framework front and back end still installs and shines lamp stand and warning lamp stand, shine and install the light on the lamp stand, install the warning light on the warning lamp stand.
15. An intelligent detection method for a train tunnel structure disease, which adopts the inspection robot of any one of claims 1 to 14, and is characterized by comprising the following steps:
after the inspection robot is started, a health self-inspection program is executed, and the inspection robot performs self-inspection;
after self-checking is completed, executing an autonomous inspection program according to a set detection route and an inspection interval:
the inspection robot runs along a set detection route, and the position information and the obstacle information of the inspection robot are sent to the robot remote control platform in real time;
after the inspection robot reaches a set inspection interval, the camera component frame and the scanner rear cover drive the first linear module and the second linear module through the first driving motor and the second driving motor to automatically adjust the height according to the tunnel profile information in the inspection interval so as to adapt to the tunnel profile;
and collecting the tunnel structure defect information in the inspection interval, synchronously sending the collected tunnel structure defect information in the inspection interval to a data processor, judging the defect information according to a set corresponding defect identification algorithm, and feeding back the defect information and the position information to the robot remote control platform in real time.
16. The intelligent detection method for the train tunnel structure diseases according to claim 15, characterized in that a disease collection system of the train tunnel structure is composed of the line scan camera component, the line laser scanner mechanism of the laser scanner component and the data processor which are arranged on the robot detection device, the encoder arranged on the motion component of the inspection robot moving platform, the camera installed on the chassis frame, the millimeter wave radar, the laser radar, and the cameras arranged on the first box body and the second box body;
after the inspection robot runs to the end point of an inspection interval, the disease acquisition system stops disease information acquisition, and the linear array camera assembly and the laser scanner assembly are reset to cruise state positions;
and the inspection robot runs to the set parking position of the inspection task, and the inspection task of the robot is finished.
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| CN113482726B (en) * | 2021-09-08 | 2021-12-28 | 中铁工程服务有限公司 | Three-dimensional positioning method, system and medium used in subway construction site shaft |
| CN114838964A (en) * | 2022-03-29 | 2022-08-02 | 西南交通大学 | Subway bogie inspection robot |
| CN114802342A (en) * | 2022-04-24 | 2022-07-29 | 西南交通大学 | Visual self-walking inspection equipment for railway track machine |
| CN116614696B (en) * | 2023-07-20 | 2023-10-10 | 合肥优尔电子科技有限公司 | Multi-row frame electric power pipe gallery inspection robot |
| CN117607864B (en) * | 2024-01-15 | 2024-03-29 | 江西核工业工程地质勘察院有限公司 | Scanning positioning device for three-dimensional radar comprehensive detection vehicle |
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