CN113442138A - Routing planning method for inspection path of climbing robot in tunnel - Google Patents
Routing planning method for inspection path of climbing robot in tunnel Download PDFInfo
- Publication number
- CN113442138A CN113442138A CN202110718693.8A CN202110718693A CN113442138A CN 113442138 A CN113442138 A CN 113442138A CN 202110718693 A CN202110718693 A CN 202110718693A CN 113442138 A CN113442138 A CN 113442138A
- Authority
- CN
- China
- Prior art keywords
- robot
- tunnel
- arch
- sensor
- climbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000005484 gravity Effects 0.000 claims description 37
- 238000010586 diagram Methods 0.000 description 7
- 239000000306 component Substances 0.000 description 6
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention belongs to the technical field of tunnel detection, and particularly relates to a routing planning method for a climbing robot in a tunnel, which comprises the following steps: s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards; s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top; and S3, repeating the step S1 and the step S2 until the detection of all the vaults is completed. The invention has the advantages of scientific and reasonable path coverage, simple and feasible advancing strategy, high routing inspection path precision and the like.
Description
Technical Field
The invention relates to the technical field of tunnel detection, in particular to a routing planning method for a patrol inspection path of a climbing robot in a tunnel.
Background
The detection of the lining quality in the conventional tunnel requires that a worker holds professional equipment such as a detection radar and the like, and the detection can be carried out by matching with auxiliary equipment such as a special detection vehicle and a scaffold to operate together so as to detect and obtain lining and disease information behind the lining. The method has the advantages of high equipment investment cost in the early stage, large amount of workers with professional skills for work, large human interference factors and poor stability of detection precision. In addition, the detection equipment is slow in propelling speed, complex in detection process, low in overall efficiency, small in detection range in the skylight period and difficult to meet the detection requirement of the busy line tunnel. The existing tunnel lining disease detection has a plurality of problems and belongs to the technical pain point of the industry.
Tunnel inner wall climbing inspection robot provides a fine solution, and it relies on self to climb the function and pastes and lean on at the tunnel inner wall, removes along the tunnel inner wall through running gear, utilizes the check out test set discernment lining cutting disease of loading. The tunnel inner wall is the cylindric of extension, if adopt random robot to patrol and examine the route, detection blind area can appear certainly, takes place the robot simultaneously and repeats the condition that comes and goes the detection in the same place easily, is difficult to ensure the normal clear of detection achievement.
The tunnel vault surface inspection method has the advantages that the tunnel vault is not planar but has an obviously curved cambered surface, the requirement on the path precision is stricter, and a path calibration link needs to be added. Therefore, a method for planning the routing of the climbing robot in the tunnel is needed, so that the detection range is ensured to cover the whole area to be detected, repeated detection is avoided, and the detection efficiency is improved.
Disclosure of Invention
The invention aims to realize that when a climbing robot clings to the inner wall in a tunnel to carry out lining disease detection work, the climbing robot can follow a comprehensive and efficient detection path, judge the advancing direction of the robot through environmental conditions, calibrate the path, and provide a climbing robot routing inspection path planning method which can advance orderly, cover comprehensively and avoid obstacles effectively.
In order to solve the technical problems, the invention adopts the technical scheme that: a routing planning method for inspection of a climbing robot in a tunnel comprises the following steps:
s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards;
s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top;
and S3, repeating the step S1 and the step S2 until the detection of all the vaults is completed.
In step S2, the robot determines whether the robot reaches the bottom of the opposite arch by touching the sensor; the touch sensor comprises a hemispherical touch head, a pressure sensor and a spring, wherein the hemispherical touch head is arranged on the robot through the spring, the pressure sensor is arranged between the hemispherical touch head and the robot, and the touch sensor is distributed around the robot.
The hemispherical collision head is arranged on the robot through a plurality of springs, and the pressure sensor is positioned between the springs.
In the steps S1 and S2, the robot performs route calibration by a gravity direction sensor fixed to the robot, the gravity direction sensor includes a spherical housing, a mark sensor, and a gravity ball, the gravity ball is freely disposed in the spherical housing, the mark sensor is disposed on a cross section of a center of sphere parallel to a longitudinal section of the robot on an inner surface of the spherical housing, and the robot determines whether a path of the robot is accurate by determining whether the gravity ball is on the mark sensor.
The mark sensor is a pressure sensor.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a routing inspection path planning method for a climbing robot in a tunnel, which has the advantages of scientific and reasonable path coverage, simple and feasible traveling strategy, high routing inspection path precision and the like.
Drawings
Fig. 1 is a flowchart of a routing method for routing inspection by a climbing robot in a tunnel according to the present invention;
FIG. 2 is a 3D model of a tunnel vault and floor;
FIG. 3 is a front view of a routing inspection path of the climbing robot;
FIG. 4 is a plan view of a routing inspection path of the climbing robot;
FIG. 5 is a schematic structural diagram of a gravity direction sensor;
FIG. 6 is a schematic view of the robot's direction of travel and the direction of the tangential component of gravity;
fig. 7 is a schematic diagram showing the relationship between the robot advancing direction and the gravity component.
Fig. 8 is a schematic structural diagram of the touch sensor.
FIG. 9 is a schematic diagram of a robot reaching the ground to trigger steering;
in the figure: 1-climbing robot, 2-lining, 3-gravity direction, 4-advance direction, 5-tunnel cross section tangent, 6-gravity tangential component, 7-gravity ball, 8-shell, 9-pressure layer, 10-marking sensor, 11-tunnel floor, 12-touch sensor, 13-pressure sensor, 14-hemispherical collision head, and 15-spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but 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 invention.
As shown in fig. 1, the invention provides a routing planning method for a climbing robot in a tunnel, which comprises the following steps:
s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards;
s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top;
and S3, repeating the step S1 and the step S2 until the detection of all the vaults is completed.
In this embodiment, the robot has a specific route of travel, and lining detection is performed along the route. As shown in fig. 2 to 4, in the present embodiment, the route planning is designed according to the geometric characteristics of the vault with the circular cross section of the tunnel, covers all positions of the vault, and has no repeated detection part.
Specifically, in steps S1 and S2, the robot performs route calibration by using a gravity direction sensor fixed on the robot, as shown in fig. 5, the gravity direction sensor includes a spherical housing 8, a mark sensor 10, and a gravity ball 7, the gravity ball 7 is freely disposed in the spherical housing 8, the mark sensor 10 is disposed on a cross-section of a center of gravity parallel to a longitudinal section of the robot on an inner surface of the spherical housing 8, and the robot determines whether the robot path is accurate by determining whether there is a gravity ball on the mark sensor 10. As shown in fig. 6-7, the diagrams are schematic diagrams of the stress of the robot walking along the tunnel wall.
Specifically, in step S2, the robot determines whether the robot reaches the opposite arch bottom by touching the sensor; as shown in fig. 8, the touch sensor includes a hemispherical touch head 14, a pressure sensor 13 and a spring 15, the hemispherical touch head 14 is disposed on the robot through the spring 15, the pressure sensor 13 is disposed between the hemispherical touch head 14 and the robot, and the touch sensors are distributed around the robot. Specifically, the mark sensor 10 is a pressure sensor. Fig. 9 is a schematic diagram of the principle of touch sensor triggered steering. The hemispherical collision head 14 is provided on the robot by 2 springs 15, and the pressure sensor 13 is provided between the springs.
In this embodiment, the robot has a steering trigger function, and a steering trigger signal is formed by the touch sensor. The touch sensor comprises a hemispherical touch head, a pressure sensor and a spring, and the touch sensor is distributed around the robot. When the robot reaches the end of the path, the collision head is extruded by the tunnel floor, the spring is contracted, and the pressure sensor is pressed to send a steering signal.
In addition, in the present embodiment, the robot has a travel route calibration function, and the vertical direction is calibrated by the gravity direction sensor. The gravity direction sensor comprises a shell, a pressure sensor and a gravity ball, the gravity direction sensor is fixed on the robot, and the pressure sensor which is coplanar with the longitudinal section of the robot in the section passing through the center of the ball is a marking sensor. The gravity ball rolls freely in the spherical shell, and the position of the gravity ball changes along with the change of the posture of the robot. When the gravity ball presses on the mark sensor, the robot path is accurate, otherwise the path deviates.
Conventional path within the tunnel: the main body of the inspection path of the robot in the tunnel is a zigzag spiral advancing path. The method starts from the junction of the arc surface of the side wall of the vault at one side and the floor, the main direction of the junction is consistent with the cross section of the tunnel, and the side wall arc surface, the ceiling arc surface, the opposite side wall arc surface and the junction of the opposite side wall arc surface and the floor are arranged along the way of the vault. The robot then turns 90 deg., traveling a distance of the width of the detection range in the direction of tunnel extension. The robot again turns 90 ° to the same side and moves in the opposite direction of the main direction to the start side. The robot turns 90 to the other side, and turns 90 again after traveling a distance of the detection range width. Repeating the above processes to realize the reciprocating arch-shaped moving of the robot at the arch top of the tunnel.
After the climbing robot is attached to the inner wall of the tunnel, the position and the posture of the climbing robot are judged through an environment sensing system, and the advancing direction is adjusted to be consistent with the tangential direction of the curved top of the cross section of the tunnel. The robot moves on the arch crown surface in the cross section direction of the tunnel through the walking mechanism. And in the moving process, the route and the posture are continuously adjusted through the environment sensing system, and the movement in the cross section direction of the tunnel is kept.
Specifically, in the present embodiment, the climbing robot tracking method: the climbing robot traveling strategy is divided into a tunnel cross section direction traveling strategy, a steering strategy and a tunnel extending direction traveling strategy according to typical path conditions.
The walking strategy in the cross section direction of the tunnel is as follows: whether the climbing robot walks along the cross section direction of the tunnel or not is calibrated by a gravity direction sensor. When the advancing direction of the climbing robot is consistent with the cross section direction of the tunnel, the advancing direction and the component of the gravity direction of the robot in the tangential direction of the cross section of the tunnel are in the same straight line, otherwise, an included angle is formed between the advancing direction and the component. The basic structure and principle of the gravity direction sensor are shown in fig. 5, the pressure sensor is arranged on the inner surface of the cavity of the spherical shell, the gravity ball is arranged in the cavity, the gravity ball can freely roll in the cavity of the shell, the gravity ball presses the pressure sensor of the cavity to send out an electric signal under the action of gravity, and the straight line of the center of the shell and the response pressure sensor indicates the real-time gravity direction. The gravity direction sensor is fixed on the robot, and the pressure sensor which is coplanar with the longitudinal section direction of the robot (namely a plane parallel to the walking direction of the robot) through the sphere center is marked in the sensor shell. When the body posture of the robot changes in a three-dimensional space, the shell changes along with the body, and the gravity ball rolls. When the gravity ball presses the marked pressure sensor, the advancing direction of the robot is consistent with the plan, otherwise, the robot deviates from the track.
And (3) steering strategy: the climbing robot adopts a bilateral speed difference method for steering, when the climbing robot steers to the left side, the left wheel of the climbing robot decelerates to form path steering, and when the climbing robot steers to the right side, otherwise. Even one-sided wheel stall or reverse may be employed when a small turning radius is required. As shown in fig. 8, a plurality of touch sensors are arranged around the climbing robot, the core component of the touch sensors is a pressure sensor, and an additional hemispherical collision head and a telescopic component are jointly arranged. As shown in fig. 9, the robot is triggered by a touch sensor when turning, and when the robot travels to the end along the cross section direction on the tunnel arch top and touches the junction between the arch top and the tunnel floor, the robot is triggered to turn, and the rotation angle is 90 °.
The walking strategy in the extending direction of the tunnel is as follows: whether the climbing robot walks along the tunnel extending direction is calibrated by touching the sensor. According to the routing of patrolling and examining, after the robot finishes the detection of a cross section, the robot needs to turn 90 degrees at the junction of the vault and the floor of the tunnel and move a distance of detecting width along the extending direction of the tunnel by being close to the floor. And the touch sensor is always kept in contact with the tunnel floor in the advancing process, so that the advancing direction of the robot is controlled. The travel distance is controlled by the real-time speed and running time of the robot, and the inertial navigation device is used for calibration.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A method for planning routing inspection paths of climbing robots in tunnels is characterized by comprising the following steps:
s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards;
s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top;
and S3, repeating the step S1 and the step S2 until the detection of all the vaults is completed.
2. The routing method for the inspection tour of the climbing robot in the tunnel according to claim 1, wherein in the step S2, the robot judges whether the robot reaches the bottom of the opposite side arch through a touch sensor; touch sensor includes hemisphere collision head (14), pressure sensor (13) and spring (15), hemisphere collision head (14) pass through spring (15) and set up on the robot, pressure sensor (13) set up between hemisphere collision head (14) and robot, touch sensor and distribute around the robot.
3. The routing method for the inspection tour of the climbing robot in the tunnel according to claim 2, wherein the hemispherical impact head (14) is arranged on the robot through a plurality of springs (15), and the pressure sensor (13) is located among the plurality of springs.
4. The routing method for the inspection path of the climbing robot in the tunnel according to claim 1, wherein in the steps S1 and S2, the robot performs route calibration through a gravity direction sensor fixed on the robot, the gravity direction sensor comprises a spherical shell (8), a mark sensor (10) and a gravity ball (7), the gravity ball (7) is freely arranged in the spherical shell (8), the mark sensor (10) is arranged on a cross-spherical center section parallel to a longitudinal section of the robot on the inner surface of the spherical shell (8), and the robot judges whether the path of the robot is accurate or not through whether the mark sensor (10) has the gravity ball.
5. The method for planning the routing inspection path of the climbing robot in the tunnel according to claim 4, wherein the marking sensor (10) is a pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110718693.8A CN113442138B (en) | 2021-06-28 | 2021-06-28 | Routing inspection path planning method for climbing robot in tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110718693.8A CN113442138B (en) | 2021-06-28 | 2021-06-28 | Routing inspection path planning method for climbing robot in tunnel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113442138A true CN113442138A (en) | 2021-09-28 |
| CN113442138B CN113442138B (en) | 2022-08-23 |
Family
ID=77813300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110718693.8A Active CN113442138B (en) | 2021-06-28 | 2021-06-28 | Routing inspection path planning method for climbing robot in tunnel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113442138B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211512A (en) * | 2022-02-23 | 2022-03-22 | 中铁十二局集团山西建筑构件有限公司 | Whole-face loop inspection method for tunnel lining detection climbing robot |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060290673A1 (en) * | 2005-06-20 | 2006-12-28 | Yankee Technology Co., Ltd. | Bi-directional induction mouse component part |
| DE102010048574A1 (en) * | 2010-10-18 | 2012-04-19 | Rayonex Schwingungstechnik Gmbh | Method and system for determining the position of a device |
| CN103995534A (en) * | 2014-05-13 | 2014-08-20 | 北京艾科尔明国际科技发展有限公司 | Mobile path control system and control method for patrolling robot |
| CN104266591A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Displacement detection method for moving device in tunnel |
| DE102014004060A1 (en) * | 2014-03-10 | 2015-09-10 | Northrop Grumman Litef Gmbh | METHOD AND DEVICE FOR DETERMINING NAVIGATION DATA |
| CN204854725U (en) * | 2015-07-03 | 2015-12-09 | 陈廷 | Horizontal detection device and use device's nuclear -powered submarine |
| US20160138938A1 (en) * | 2013-03-08 | 2016-05-19 | Suzhou Ecovacs Commercial Robot Co., Ltd. | Plumb-bob calibration apparatus and glass-wiping robot having the plumb-bob calibration apparatus |
| CN108387109A (en) * | 2018-02-01 | 2018-08-10 | 中冶长天国际工程有限责任公司 | A kind of dynamic monitor and monitoring method of the peeling of ceramic roller kiln furnace lining |
| CN108663063A (en) * | 2018-05-09 | 2018-10-16 | 宁波拓邦智能控制有限公司 | Overlay path planing method, device, equipment, computer installation and storage medium |
| CN109073377A (en) * | 2016-04-26 | 2018-12-21 | 兴仁Enc株式会社 | Utilize the behavior determination and maintenance method of multi-axial sensor |
| CN109760837A (en) * | 2019-02-21 | 2019-05-17 | 西京学院 | A kind of cable duct and the patrol unmanned machine system in tunnel |
| CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
| CN110325825A (en) * | 2017-03-27 | 2019-10-11 | 赫尔实验室有限公司 | Adaptive underground Inertial Measurement Unit calibration method and device for being drilled from main borehole |
| CN111290388A (en) * | 2020-02-25 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
| WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
-
2021
- 2021-06-28 CN CN202110718693.8A patent/CN113442138B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060290673A1 (en) * | 2005-06-20 | 2006-12-28 | Yankee Technology Co., Ltd. | Bi-directional induction mouse component part |
| DE102010048574A1 (en) * | 2010-10-18 | 2012-04-19 | Rayonex Schwingungstechnik Gmbh | Method and system for determining the position of a device |
| US20160138938A1 (en) * | 2013-03-08 | 2016-05-19 | Suzhou Ecovacs Commercial Robot Co., Ltd. | Plumb-bob calibration apparatus and glass-wiping robot having the plumb-bob calibration apparatus |
| DE102014004060A1 (en) * | 2014-03-10 | 2015-09-10 | Northrop Grumman Litef Gmbh | METHOD AND DEVICE FOR DETERMINING NAVIGATION DATA |
| CN103995534A (en) * | 2014-05-13 | 2014-08-20 | 北京艾科尔明国际科技发展有限公司 | Mobile path control system and control method for patrolling robot |
| CN104266591A (en) * | 2014-09-29 | 2015-01-07 | 樊晓莉 | Displacement detection method for moving device in tunnel |
| CN204854725U (en) * | 2015-07-03 | 2015-12-09 | 陈廷 | Horizontal detection device and use device's nuclear -powered submarine |
| CN109073377A (en) * | 2016-04-26 | 2018-12-21 | 兴仁Enc株式会社 | Utilize the behavior determination and maintenance method of multi-axial sensor |
| CN110325825A (en) * | 2017-03-27 | 2019-10-11 | 赫尔实验室有限公司 | Adaptive underground Inertial Measurement Unit calibration method and device for being drilled from main borehole |
| CN108387109A (en) * | 2018-02-01 | 2018-08-10 | 中冶长天国际工程有限责任公司 | A kind of dynamic monitor and monitoring method of the peeling of ceramic roller kiln furnace lining |
| CN108663063A (en) * | 2018-05-09 | 2018-10-16 | 宁波拓邦智能控制有限公司 | Overlay path planing method, device, equipment, computer installation and storage medium |
| CN109760837A (en) * | 2019-02-21 | 2019-05-17 | 西京学院 | A kind of cable duct and the patrol unmanned machine system in tunnel |
| CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
| WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
| CN111290388A (en) * | 2020-02-25 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 李佰国: "对电缆隧道运行中巡检机器人技术的研究", 《中国新通信》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211512A (en) * | 2022-02-23 | 2022-03-22 | 中铁十二局集团山西建筑构件有限公司 | Whole-face loop inspection method for tunnel lining detection climbing robot |
| CN114211512B (en) * | 2022-02-23 | 2022-05-13 | 中铁十二局集团山西建筑构件有限公司 | Whole-face loop inspection method for tunnel lining detection climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113442138B (en) | 2022-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109018851B (en) | Real-time monitoring method for three-dimensional space operation attitude position of scraper conveyor | |
| WO2021068846A1 (en) | Multi-arm robot for tunnel lining detection and disease diagnosis in operating period | |
| CN107976192B (en) | Attitude solving and predicting method for fully mechanized coal mining face mining and transporting equipment | |
| EP0661614B1 (en) | System for detecting position of mobile robot and controlling the same | |
| CN104990549B (en) | A kind of method and device of coal-winning machine hydraulic support relative positioning | |
| CN105496317B (en) | Clean robot from stair to halfpace to stair continuity transition method | |
| US8651206B2 (en) | Roof inspection systems and methods of use | |
| CN104460666A (en) | Robot autonomous obstacle avoidance moving control method based on distance vectors | |
| CN110244743A (en) | A kind of mobile robot merging multi-sensor information is independently got rid of poverty method | |
| CN113442138B (en) | Routing inspection path planning method for climbing robot in tunnel | |
| CN104881027A (en) | Autonomic barrier-crossing system for wheel-track transformer station inspection robot and control method thereof | |
| CN106274981A (en) | A kind of track detection device and detection method | |
| CN108873900A (en) | Method, system and the robot to clear the jumps when a kind of robot ambulation | |
| JP2017159879A (en) | Vehicle position recognition system | |
| CN104195930A (en) | System and method for detecting pavement evenness based on multiple sensors | |
| CN110847905A (en) | Autonomous navigation system and method for coal mining machine | |
| CN204557216U (en) | Wheel-track combined Intelligent Mobile Robot active obstacle system | |
| CN109531595A (en) | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction | |
| CN111487964A (en) | Robot trolley and autonomous obstacle avoidance method and device thereof | |
| CN113465728A (en) | Terrain perception method, terrain perception system, storage medium and computer equipment | |
| CN113405458B (en) | Cutting head accurate coordinate detection system and detection method | |
| CN114211512B (en) | Whole-face loop inspection method for tunnel lining detection climbing robot | |
| CN108827220B (en) | Coal mine fully-mechanized coal mining face straightness detection method based on strapdown inertial navigation | |
| JP6744789B2 (en) | Passenger boarding bridge | |
| CN206155468U (en) | Track inspection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220519 Address after: 030024 No. 130 West Mining street, Shanxi, Taiyuan Applicant after: CHINA RAILWAY 12TH BUREAU GROUP Co.,Ltd. Applicant after: CHINA RAILWAY 12TH BUREAU GROUP SHANXI BUILDING COMPONENT Co.,Ltd. Applicant after: THE 2ND ENGINEERING CO.,LTD. OF CHINA RAILWAY 12TH BUREAU GROUP Address before: 030024 No. 130 West Mining street, Shanxi, Taiyuan Applicant before: CHINA RAILWAY 12TH BUREAU GROUP Co.,Ltd. Applicant before: THE 2ND ENGINEERING CO.,LTD. OF CHINA RAILWAY 12TH BUREAU GROUP |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210928 Assignee: Yitong Engineering Testing Co.,Ltd. Shenzhen Branch Assignor: CHINA RAILWAY 12TH BUREAU GROUP SHANXI BUILDING COMPONENT Co.,Ltd. Contract record no.: X2024140000009 Denomination of invention: A Path Planning Method for Inspection of Climbing Robots in Tunnels Granted publication date: 20220823 License type: Common License Record date: 20240311 |
|
| EE01 | Entry into force of recordation of patent licensing contract |