CN209070367U - A kind of intelligent inspection system for tunnel - Google Patents
A kind of intelligent inspection system for tunnel Download PDFInfo
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- CN209070367U CN209070367U CN201821473262.XU CN201821473262U CN209070367U CN 209070367 U CN209070367 U CN 209070367U CN 201821473262 U CN201821473262 U CN 201821473262U CN 209070367 U CN209070367 U CN 209070367U
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- 238000007689 inspection Methods 0.000 title claims abstract description 57
- 238000012545 processing Methods 0.000 claims abstract description 71
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims description 27
- 238000003745 diagnosis Methods 0.000 claims description 9
- 208000037656 Respiratory Sounds Diseases 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 241001465754 Metazoa Species 0.000 claims description 4
- 206010037660 Pyrexia Diseases 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 claims description 2
- 230000032696 parturition Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 17
- 238000007726 management method Methods 0.000 description 15
- 239000000203 mixture Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000005641 tunneling Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 238000000465 moulding Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 239000002341 toxic gas Substances 0.000 description 3
- 239000000779 smoke Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004836 empirical method Methods 0.000 description 1
- 230000001535 kindling effect Effects 0.000 description 1
- 238000010338 mechanical breakdown Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a kind of intelligent inspection systems for tunnel system, it include: to be fixed at tunnel (01) inner surface for providing guiding role for the movement of intelligent robot (03), for for and power track (02), it is arranged on track (02) and can be moved back and forth in its extending direction for acquiring the interior real-time status data in tunnel (01) and real-time status data being sent to the intelligent robot (03) of central processing system (04) and for receiving real-time status data and analyzing it and generate the central processing system (04) of processing result and instruction along track (02).A kind of intelligent inspection system for tunnel system disclosed by the utility model is capable of the use state of real-time monitoring tunnel (01) inner base facility and tunnel (01), discovery failure or potential faults in time, the time for saving safety inspection, improve the efficiency of safety inspection.
Description
Technical field
The utility model relates to tunnel safety technical fields, and in particular to a kind of intelligent patrol detection for tunnel safety detection
System.
Background technique
Tunnel is the engineering works being embedded in stratum, is a kind of form of human use's underground space.Tunnel can divide
For traffic tunnel, Hydraulic Tunnel, municipal tunnel, mining tunnel.The tunnel that Organisation for Economic Co-operation and Development in 1970 is held
Meeting combines various factors, to tunnel definition are as follows: acts on any method regulation shape with certain purposes, in subsurface
It is greater than 2 square metres of cavern with the basal area that size is built.According to use environment difference, tunnel can be divided into freeway tunnel,
Seabed tunnel, underground civil defense engineering, subway tunnel, light rail tunnel etc..
Since it is there are the particularity of position, the diversity of fault type causes its detection difficulty larger in tunnel.According to event
The barrier form of expression can be divided into equipment attrition, fracture, crackle；Electric fault, signal can be divided into according to the physical type of failure inducement
Failure, mechanical breakdown and electronic failure.
Existing method for diagnosing faults is mainly following four classes: (1) empirical method: fortune inspection teacher empirically, estimate and patrol
It collects and judges to diagnose failure；(2) part replacement method: use the possible trouble unit of new part replacement, then by run into
Row verifying；(3) it equipment detection method: is tested by special instrument, equipment and carrys out fault point；(4) log searches method:
By comparison, referring to log trouble-shooting problem.Existing diagnostic method requirement fortune inspection teacher is familiar with rail traffic and respectively forms
Partial working principle, various fault messages, great work intensity, low efficiency, the accuracy of fault diagnosis is vulnerable to human factor
Interference.
Summary of the invention
The utility model is to overcome and check that speed is slow, working strength when manually carrying out safety inspection in the prior art
Greatly, the problems such as working efficiency is low provides a kind of intelligent inspection system for tunnel, can in real-time tunnel infrastructure
The operating status of vehicle in state and tunnel finds failure or potential faults in time, saves the time of safety inspection, improves peace
The efficiency of total inspection.
The utility model provides a kind of intelligent inspection system for tunnel, comprising:
Track: being fixed at inner surface of tunnel and length is more than or equal to the length in tunnel, for being intelligent robot edge
The movement of tunnel extending direction provides guiding role, and track can be used for providing power, intelligent machine for intelligent robot simultaneously
Device people, which can be connected by brush with the trolley on track, to carry out taking electricity；
Intelligent robot: setting is in orbit and can move back and forth along track in its extending direction, for acquiring tunnel
Interior real-time status data, for real-time status data to be sent to central processing system, for receiving central processing system transmission
Instruction, for being acted accordingly according to instruction execution, intelligent robot can take electricity by track in real time, can also by from
Band battery takes electricity；
Central processing system: for receiving the real-time status data of intelligent robot transmission, for real-time status data
Analyze and generate instruction based on the analysis results, is sent to intelligent robot for that will instruct；
Function assembling module: it is arranged on intelligent robot, for being acquired data according to the demand of actual environment situation
Each functional module in module, motion-control module and emergency management and rescue module is combined, and by being arranged in function assembly mould
Interface on block is mounted on function assembling module.
Function assembling module can be according to the different by data acquisition module, fortune power control molding of tunnel environment and detection project
Modular product in block and emergency management and rescue module is effectively combined, and can be effectively solved the practical problem；Function
Energy assembling module can be disassembled from intelligent robot, be in advance mounted on each modular product according to the difference of detection project
On function assembling module, the function assembling module being mounted on intelligent robot originally is torn open when intelligent robot needs replacing
Under, changing new function assembling module can be performed new task.Modular product can be physical product such as camera etc.,
It can be control program and such as run control program.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, intelligent robot packet
It includes:
Robot car body: for delivering data acquisition module, motion-control module, data processing module, main control module
With emergency management and rescue module；
Data acquisition module: being fixedly mounted on robot car body, for acquiring tunnel internal real-time status data, is used for
Real-time status data is sent to data processing module；
Motion-control module: being fixedly mounted on robot car body, for detecting motion state and the life of robot car body
At movement state information, for movement state information to be sent to main control module, for receiving the fortune of main control module transmission
Dynamic instruction, for adjusting the motion state of robot car body according to movement instruction；
Data processing module: being fixedly mounted on robot car body, for receiving data the reality of acquisition module transmission
When status data, for comparing and generating comparing result for data in real-time status data and database, for that will compare
As a result it is sent to main control module；
Main control module: being fixedly mounted on robot car body, for receiving data the comparing result of processing module transmission,
It for receiving the movement state information of motion-control module transmission, instructs, is used for emergency for being sent to motion-control module
It rescues module and sends emergency instruction, comparing result and movement state information are sent for central processing system, for receiving center
Movement instruction, the emergency instruction and data more new information of processing system transmission；
Emergency management and rescue module: being fixedly mounted on robot car body, emergency and rescue equipment is stored, for receiving master control molding
The emergency instruction of block transmission, carries out emergency management and rescue for instructing according to emergency.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, data acquisition module
Include:
Laser scanning device: for carrying out three-dimensional modeling to tunnel, for detecting tunnel clearance and deformation, for detecting tunnel
Foreign matter in road, for detecting track deformation；
Scanning camera: for detecting tunnel crackle and wet stain, for detecting foreign matter in tunnel；
Camera: for being monitored to environment in tunnel；
Infrared thermoviewer: for detecting the fever of tunnel inner cable, for detecting the intrusion of staff in tunnel and animal；
Hygrosensor: for detecting the temperature anomaly in tunnel, the heat source in tunnel for identification；
Speed detector: for detecting the speed of object inside tunnels movement.
Laser scanning device is able to carry out three-dimensional visialization of tunnel, foreign body intrusion detection, tunnel body structure and tunnel curvature
Deformation detection, rail geometry detection (track part falls off, gauge deforms etc.)；Scanning camera be able to carry out foreign bodies detection,
The wet stain detection of tunnel wall face crack detection, wall surface；Camera can be to environment real time monitoring live in tunnel；Infrared thermoviewer energy
Loop of power circuit short-circuit detecting etc. enough in progress tunnel inner cable fever detection, personnel or animal intrusion detection, tunnel；Emergency management and rescue
Module can emit emergency management and rescue to abort situation according to emergency instruction, such as emit fire extinguisher bomb to kindling place.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, motion-control module
Include:
3D Inertial Measurement Unit: for detecting the posture and acceleration of robot car body, gyroscope can be selected；
Alignment sensor: for detecting the location information of robot car body；
Motor driver: for providing operation power for robot car body；
Gyroscope: for detecting the azimuth information of robot car body, it can be realized the essence of moving object in conjunction with inertial navigation technique
Determine position；
Contactless obstacle avoidance sensor: for detecting with the presence or absence of obstacles such as foreign matters on track, such as radar etc..
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, intelligent robot is also
Include:
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, data processing module
Include:
Data comparison module: the track stored in the real-time status data and database for collecting data acquisition module
The normal condition data of traffic system infrastructure compare, and comparing result is sent to data judgment module；
Data judgment module: for judging comparing result according to the threshold value set in database, failure letter is generated
Breath or warning information, and fault message is sent to fault diagnosis module, warning information is sent to fault pre-alarming module；
Fault diagnosis module: for fault message to be classified and is graded and is positioned to fault message, and will be former
Barrier classification information, failure rating information and fault location information are sent to a plant control module；
Fault pre-alarming module: for warning information to be classified and is graded and is positioned to warning information, and will be pre-
Alert classification information, early warning rating information and early warning location information are sent to main control module.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, central processing system
Include:
Database module: for storing fault message, warning information and the more new information summarized by central processing system；
Base module: for components each inside storage tunneling and component service life and wear data information；
Reasoner module: for central processing system to be transmitted the fault message come or the classification of warning information summarized results more
New extremely event database module and base module.
The fault message and warning information realization that database module can be transmitted according to data processing module automatically update, and
Determine using updated result as fault message next time or warning information, the foundation of grading, realizes intelligent inspection robot
Intelligent growth.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, database module packet
It includes:
Fault message module: it is commented for the fault message of storage tunneling, failure modes information, fault location information, failure
Grade information and each fault threshold；
Warning information module: it is commented for the warning information of storage tunneling, early warning classification information, early warning location information, early warning
Grade information and each threshold value of warning.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, real-time status data
Including infrastructure real-time status data in tunnel, moving object operating condition real-time status data in tunnel, intelligent robot
Environment real-time status data in real-time status of the operation data and tunnel.
A kind of intelligent inspection system for tunnel system described in the utility model, it is preferred that, instruction includes
The emergency instruction of emergency preplan is carried out for controlling the movement instruction of intelligent robot movement and for controlling intelligent robot.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, data acquisition module
It further include radio frequency reading device, toxic gas detector, smoke detector.Radio frequency reading device being capable of electronics in scanning device
Label, for determining the basic data information and location information of each equipment；Toxic gas detector can identify in tunnel
Toxic gas；Smoke detector can identify the smog in tunnel, quickly identify the emergency situations such as fire.
A kind of intelligent inspection system for tunnel described in the utility model, it is preferred that, it is equipped in tunnel
Multiple tracks, track are arranged at tunnel-side or top.One intelligent inspection robot, multiple intelligence are set on each track
Crusing robot can make up for it detection blind spot, improve the accuracy of detection, improve the safety of tunnel system.
In use, intelligent robot takes electricity supply motor by current collecting equipment to the utility model, and motor is actively
Wheel provides power, drives intelligent robot to move along guide rail direction, data acquisition module real-time collecting Rail Transit System base
The real-time status data of Infrastructure is simultaneously sent to data processing module, and data processing module first passes data acquisition module
The data brought are divided into normal data, fault data and warning data, and wherein normal data is directly saved to database, failure
Data distributing to fault diagnosis module is classified, positioned and is graded and by failure modes information, failure rating information and failure
Location information feeds back to user by display device, and warning information is issued to fault pre-alarming module and is classified, positioned and graded
And early warning classification information, early warning rating information and early warning location information are fed back into user by display device, it can send out in time
Existing failure or potential faults, save the time of safety inspection, improve the efficiency of safety inspection.
The fault message and warning information realization that database can be transmitted according to data processing module simultaneously automatically update, and
Determine using updated result as fault message next time or warning information, the foundation of grading, realizes the intelligence of intelligent robot
It can chemical conversion length.
The utility model, can be real-time in real-time detection tunnel due to being equipped with intelligent robot on tunnel inner wall guide rail
Status data finds failure or potential faults in time, saves the time of safety inspection, improve the efficiency of safety inspection.
Detailed description of the invention
Fig. 1 is a kind of intelligent inspection system composition figure for tunnel；
Fig. 2 is a kind of intelligent inspection system function assembling module schematic diagram for tunnel；
Fig. 3 is a kind of flow chart of intelligent inspection system intelligent robot for tunnel；
Fig. 4 is a kind of composition figure of intelligent inspection system intelligent robot for tunnel；
Fig. 5 is a kind of composition figure of intelligent inspection system data acquisition module for tunnel；
Fig. 6 is a kind of composition figure of intelligent inspection system motion-control module for tunnel；
Fig. 7 is a kind of composition figure of intelligent inspection system data processing module for tunnel；
Fig. 8 is a kind of composition figure of intelligent inspection system central processing system for tunnel；
Fig. 9 is a kind of composition figure of intelligent inspection system database module for tunnel.
Figure number explanation:
01, tunnel；02, track；03, intelligent robot；04, central processing system；041, database module；0411, event
Hinder information module；0412, warning information module；042, base module；043, reasoner module；05, function assembling module；
100, data acquisition module；110, laser scanning device；120, scanning camera；130, camera；140, infrared thermoviewer；
150, hygrosensor；160, speed detector；200, motion-control module；210,3D Inertial Measurement Unit；220, positioning passes
Sensor；230, motor driver；240, gyroscope；250, contactless obstacle avoidance sensor；300, data processing module；310,
Data comparison module；320, data judgment module；330, fault diagnosis module；340, fault pre-alarming module；400, master control molding
Block；500, emergency management and rescue module.
Specific embodiment
The utility model provides a kind of intelligent inspection system for tunnel system, as shown in Figure 1, comprising:
Track 02: being fixed at 01 inner surface of tunnel and length is more than or equal to the length in tunnel 01, for being intelligent machine
Device people 03 provides guiding role along the movement of 01 extending direction of tunnel, for providing power for intelligent robot 03；
Intelligent robot 03: being arranged on track 02 and can move back and forth along track 02 in its extending direction, for adopting
Collect real-time status data in tunnel 01, for real-time status data to be sent to central processing system 04, for receiving centre
The instruction that reason system 04 transmits, for being acted accordingly according to instruction execution；Real-time status data includes infrastructure in tunnel
Real-time status data, moving object operating condition real-time status data in tunnel, intelligent robot real-time status of the operation data and
Environment real-time status data in tunnel；Instruction include for control intelligent robot movement movement instruction and for controlling intelligence
Robot carries out the emergency instruction of emergency preplan；As shown in figs. 34, intelligent robot 03 includes:
Robot car body: for delivering data acquisition module 100, motion-control module 200, data processing module 300, master
Control module 400 and emergency management and rescue module 500；
Data acquisition module 100: being fixedly mounted on robot car body, for acquiring real-time status data in tunnel 01,
For real-time status data to be sent to data processing module 300；As shown in Figure 5, comprising:
Laser scanning device 110: it for carrying out three-dimensional modeling to tunnel 01, for detecting 01 crackle of tunnel and deformation, uses
In foreign matter in detection tunnel 01, deformed for detecting track 02；
Scanning camera 120: for detecting 01 crackle of tunnel and wet stain, for detecting foreign matter in tunnel 01；
Camera 130: for being monitored to environment in tunnel 01；
Infrared thermoviewer 140: for detecting the fever of 01 inner cable of tunnel, for detecting invading for personnel and animal in tunnel 01
Enter；
Temperature collecting device 150: for acquiring the temperature information in tunnel 01, the heat source in tunnel 01 for identification；
Speed acquisition device 160: for acquiring the motion information of mobile object in tunnel 01.
Motion-control module 200: being fixedly mounted on robot car body, for detecting the motion state of robot car body simultaneously
Movement state information is generated, for movement state information to be sent to main control module 400, for receiving main control module 400
The movement instruction of transmission, for adjusting the motion state of robot car body according to movement instruction；As shown in Figure 6, comprising:
3D Inertial Measurement Unit 210: for detecting the posture and acceleration of robot car body；
Alignment sensor 220: for detecting the location information of robot car body；
Motor driver 230: for providing operation power for robot car body；
Gyroscope 240: for judging robot car body location information；
Contactless obstacle avoidance sensor 250: for detecting on track 02 with the presence or absence of obstacles such as foreign matters.
Data processing module 300: in the real-time status data and database module for collecting data acquisition module 100
The normal condition data of the Rail Transit System infrastructure of storage compare and judge, generate fault message or early warning letter
Breath, and fault message or warning information are classified and handled, classification information and processing result are generated, processing result is transmitted
To main control module 400, classification information and processing result are sent to database；As shown in fig. 7, further comprising:
Data comparison module 310: in the real-time status data and database module for collecting data acquisition module 100
The normal condition data of the Rail Transit System infrastructure of storage compare, and comparing result is sent to data judgment module
320；
Data judgment module 320: it for judging comparing result according to the threshold value set in database module, generates
Fault message or warning information, and fault message is sent to fault diagnosis module 330, it is pre- that warning information is sent to failure
Alert module 340；
Fault diagnosis module 330: for fault message to be classified and is graded and is positioned to fault message, and will
Failure modes information, failure rating information and fault location information are sent to main control module 400；
Fault pre-alarming module 340: for warning information to be classified and is graded and is positioned to warning information, and will
Early warning classification information, early warning rating information and early warning location information are sent to main control module 400.
Main control module 400: being fixedly mounted on robot car body, pair that processing module 300 transmits for receiving data
Than as a result, the movement state information sent for receiving motion-control module 200, is transported for sending to motion-control module 200
Dynamic instruction, for sending comparing result and movement state information to central processing system 04, for receiving central processing system 04
The movement instruction of transmission.
Emergency management and rescue module 500: being detachably arranged on robot car body, when needing using emergency management and rescue module 500
When can be assembled in function assembling module use, for storing emergency and rescue equipment, for receive main control module 400 transmit
Emergency instruction, for according to emergency instruct carry out emergency management and rescue.
Function assembling module 05: as shown in Fig. 2, being arranged on intelligent robot, for the need according to actual environment situation
It asks and is combined each functional module in data acquisition module 100, motion-control module 200 and emergency management and rescue module 500,
And the interface 051 by being arranged on function assembling module 05 is mounted on function assembling module 05.
Central processing system 04: for receiving the real-time status data of the transmission of intelligent robot 03, for real-time status
Data analyze and generate instruction based on the analysis results, are sent to intelligent robot 03 for that will instruct.As shown in figure 8, packet
It includes:
Database module 041: for storing fault message, warning information and being summarized more by central processing system 04
New information；As shown in Figure 9, comprising:
Fault message module 0411: for the fault message of storage tunneling 01, failure modes information, fault location information,
Failure rating information and each fault threshold；
Warning information module 0412: for the warning information of storage tunneling 01, early warning classification information, early warning location information,
Early warning rating information and each threshold value of warning；
Base module 042: for each components in the inside of storage tunneling 01 and component service life and abrasion number it is believed that
Breath；
Reasoner module 043: fault message or warning information summarized results for carrying out the transmission of central processing system 04
Classifying, updating to thus database module 041 and base module 042.
Intelligent robot 03 takes electricity supply motor by current collecting equipment 4, and motor drives intelligent robot 03 along track 02
Direction movement, the real-time status data of 100 real-time collecting Rail Transit System infrastructure of data acquisition module are simultaneously transmitted
To data processing module 300, data processing module 300 is divided into the data that data acquisition module 100 is sent normally first
Data, fault data and warning data, wherein normal data is directly saved to database module 041, and fault data is issued to event
Barrier diagnostic module 330 is classified, positioned and is graded and passed failure modes information, failure rating information and fault location information
Central processing system 04 is sent, warning information is issued to fault pre-alarming module 340 and is classified, positioned and graded and early warning is classified
Information, early warning rating information and early warning location information are sent to central processing system 04, can find that failure or failure are hidden in time
Suffer from, saves the time of safety inspection, improve the efficiency of safety inspection.Main control module 400 by the movement state information summarized, therefore
Hinder information, warning information by wired transmission (or Wireless transceiver) to central processing system 04, while database module 041 can
Fault message and the warning information realization transmitted according to main control module 400 automatically updates, and using updated result as under
The foundation that primary fault information or warning information determine, grade realizes the intelligent growth of intelligent robot 03.
Embodiment 1
Inside freeway tunnel, when intelligent robot 03 finds suspicious foreign matter during inspection, scanning camera
The data transmission of acquisition to data processing module 300 analyze and is positioned by alignment sensor 220, data by 120
Processing module 300 feeds back to failure modes information, failure rating information and fault location information transmission central processing system 04
Administrative staff, while failure modes information, failure rating information and fault location information are marched into the arena storage simultaneously by database module 041
Realization automatically updates.
Embodiment 2
Inside freeway tunnel, when intelligent robot 03 finds that suspected fault needs are further true during inspection
Periodically, the fault message that central processing system 04 is sent according to main control module 400 sends movement to main control module 400 and refers to
It enables, movement instruction is sent to motion-control module 200 again, passes through 3D Inertial Measurement Unit 210, motor by main control module 400
Driver 230 and gyroscope 240 adjust the motion state (stop or slow down) of intelligent robot 03, to suspected fault information
Further determined, and will determine that result transmission central processing system 04 feeds back to administrative staff.
Embodiment 3
Inside highway, when intelligent robot 03 finds running velocity exception during inspection, such as vehicle
Travel speed is greatly reduced suddenly, and the fault message that central processing system 04 is sent according to main control module 400 is to main control
Module 400 sends movement instruction, and movement instruction is sent to motion-control module 200 again, passes through 3D inertia by main control module 400
Measuring unit 210, motor driver 230 and gyroscope 240 adjust the motion state (stop or slow down) of intelligent robot 03,
Suspected fault information is further determined, and will determine that result transmission central processing system 04 feeds back to administrative staff.
Embodiment 4
Inside seabed tunnel, when intelligent robot 03 notes abnormalities heat source during inspection, temperature collecting device
The temperature information of heat source is sent to data processing module 300 by 150 analyze and is positioned by alignment sensor 220,
Data processing module 300 is anti-by failure modes information, failure rating information and fault location information transmission central processing system 04
Administrative staff are fed to, while failure modes information, failure rating information and fault location information are marched into the arena and deposited by database module 041
It stores up and realizes and automatically update.
Embodiment 5
Inside seabed tunnel, when needing to carry out emergency processing to abnormal heat source, central processing system 04 is according to master control
The fault message that molding block 400 is sent sends emergency instruction to main control module 400, and motion-control module 200 controls intelligent machine
Device people 03 returns, and the fire extinguisher bomb in emergency management and rescue module 500 is mounted on function assembling module by staff in operating room, then
Failure scene, which is returned, by motion-control module 200 carries out emergency management and rescue.
Embodiment 6
In Rail Transit System tunnel internal, when intelligent robot 03 finds tunnel crackle during inspection, camera shooting
The data transmission of acquisition to data processing module 300 analyze and is positioned by alignment sensor 220, number by first 130
Failure modes information, failure rating information and fault location information transmission central processing system 04 are fed back according to processing module 300
To administrative staff, while database module 041 marches into the arena failure modes information, failure rating information and fault location information storage
And it realizes and automatically updates.
Embodiment 7
When needing to carry out laser scanning to Rail Transit System tunnel, staff is in operating room by laser scanning device
110 are mounted on function assembling module, and central processing system 04 controls motion-control module 200 by movement instruction and drives intelligence
Robot 03 carries out tunnel scanning.
Embodiment 8
When needing replacing the execution task of intelligent robot 03, new functional module is installed by interface 051 in advance
On function assembling module 05, original function assembling module 05 is removed from intelligent robot 03 and by upper new function assembly
Module 05 can execute new task.
It is described above to be merely exemplary for the utility model, and not restrictive, those of ordinary skill in the art
Understand, without departing from the spirit and scope defined by the claims, any modification, the variation or equivalent that can be made,
It falls within the protection scope of the utility model.
Claims (10)
1. a kind of intelligent inspection system for tunnel, it is characterised in that: include:
Track (02): being fixed at the length that tunnel (01) inner surface and length are more than or equal to the tunnel (01), for for
Intelligent robot (03) provides guiding role along the movement of the tunnel (01) extending direction；
Intelligent robot (03): it is arranged on the track (02) and can back and forth be transported along the track (02) in its extending direction
It is dynamic, for acquiring tunnel (01) interior real-time status data, for the real-time status data to be sent to central processing system
(04), for receiving the instruction of the central processing system (04) transmission, for executing corresponding movement according to described instruction；
Central processing system (04): for receiving the real-time status data of the intelligent robot (03) transmission, for described
Real-time status data analyze and generates instruction based on the analysis results, for described instruction to be sent to the intelligent robot
(03)；
Function assembling module (05): being arranged on the intelligent robot (03), for being incited somebody to action according to the demand of actual environment situation
Each functional module in data acquisition module (100), motion-control module (200) and emergency management and rescue module (500) is combined,
And it is mounted on the function assembling module (05) by setting in the interface (051) on the function assembling module (05).
2. a kind of intelligent inspection system for tunnel according to claim 1, it is characterised in that: the intelligent robot
(03) include:
Robot car body: for deliver data acquisition module (100), motion-control module (200), data processing module (300),
Main control module (400) and the emergency management and rescue module (500)；
Data acquisition module (100): being fixedly mounted on the robot car body, for acquiring the tunnel internal real-time status
Data, for the real-time status data to be sent to the data processing module (300)；
Motion-control module (200): being fixedly mounted on the robot car body, for detecting the movement of the robot car body
State simultaneously generates movement state information, for the movement state information to be sent to the main control module (400), for connecing
The movement instruction for receiving the main control module (400) transmission, for adjusting the robot car body according to the movement instruction
Motion state；
Data processing module (300): being fixedly mounted on the robot car body, for receiving the data acquisition module
(100) real-time status data transmitted, for comparing and giving birth to the real-time status data with data in database
In contrast with as a result, for the comparing result to be sent to main control module (400)；
Main control module (400): being fixedly mounted on the robot car body, for receiving the data processing module (300)
Transmission the comparing result, for receive the motion-control module (200) transmission the movement state information, for
The motion-control module (200) sends the movement instruction, for sending emergency instruction to emergency management and rescue module, for described
Central processing system (04) sends the comparing result and the movement state information, for receiving the central processing system
(04) movement instruction, the emergency instruction and data more new information sent；
Emergency management and rescue module (500): being detachably arranged on the robot car body, emergency and rescue equipment is stored, for connecing
The emergency instruction for receiving the main control module (400) transmission, carries out emergency management and rescue for instructing according to the emergency.
3. a kind of intelligent inspection system for tunnel according to claim 2, it is characterised in that: the data acquisition module
Block (100) includes:
Laser scanning device (110): for carrying out three-dimensional modeling to tunnel (01), for detecting tunnel (01) limit and deformation,
For detecting tunnel (01) interior foreign matter, for detecting track (02) deformation；
Scanning camera (120): for detecting tunnel (01) crackle and wet stain, for detecting tunnel (01) interior foreign matter；
Camera (130): for being monitored to tunnel (01) interior environment；
Infrared thermoviewer (140): for detecting the fever of tunnel (01) inner cable, for detecting the interior personnel in tunnel (01) and animal
Intrusion；
Hygrosensor (150): for detecting the temperature anomaly in tunnel (01), the heat source in tunnel (01) for identification；
Speed detector (160): for detecting the speed of tunnel (01) interior object of which movement.
4. a kind of intelligent inspection system for tunnel according to claim 2, it is characterised in that: the motion control mould
Block (200) includes:
3D Inertial Measurement Unit (210): for detecting the posture and acceleration of the robot car body；
Alignment sensor (220): for detecting the location information of the robot car body；
Motor driver (230): for providing operation power for the robot car body；
Gyroscope (240): for detecting the azimuth information of the robot car body；
Contactless obstacle avoidance sensor (250): for detecting on track (02) with the presence or absence of foreign matter.
5. a kind of intelligent inspection system for tunnel according to claim 2, it is characterised in that: the data processing mould
Block (300) includes:
Data comparison module (310): for the real-time status data of collecting the data acquisition module (100) with it is described
The normal condition data of the Rail Transit System infrastructure stored in database compare, and the comparing result is sent to
The data judgment module (320)；
Data judgment module (320): for judging the comparing result according to the threshold value set in database, event is generated
Hinder information or warning information, and the fault message is sent to fault diagnosis module (330), the warning information is sent to
Fault pre-alarming module (340)；
Fault diagnosis module (330): for the fault message to be classified and is graded and is determined the fault message
Position, and the failure modes information, the failure rating information and the fault location information are sent to main control module
(400)；
Fault pre-alarming module (340): for the warning information to be classified and is graded and is determined the warning information
Position, and the early warning classification information, the early warning rating information and the early warning location information are sent to main control module
(400).
6. a kind of intelligent inspection system for tunnel according to claim 1, it is characterised in that: the central processing system
System (04) include:
Database module (041): for storing fault message, warning information and being summarized by the central processing system (04)
More new information；
Base module (042): for storing the internal each components in the tunnel (01) and component service life and abrasion number
It is believed that breath；
Reasoner module (043): fault message or warning information for carrying out the central processing system (04) transmission summarize
As a result classifying, updating to thus the database module (041) and the base module (042).
7. a kind of intelligent inspection system for tunnel according to claim 6, it is characterised in that: the database module
(041) include:
Fault message module (0411): for storing fault message, failure modes information, the fault location letter of the tunnel (01)
Breath, failure rating information and each fault threshold；
Warning information module (0412): warning information, early warning classification information, early warning for storing the tunnel (01) position letter
Breath, early warning rating information and each threshold value of warning.
8. a kind of intelligent inspection system for tunnel according to claim 1, it is characterised in that: the real-time status number
According to include tunnel (01) interior infrastructure real-time status data, tunnel (01) interior moving object operating condition real-time status data,
Intelligent robot (03) real-time status of the operation data and tunnel (01) interior environment real-time status data.
9. a kind of intelligent inspection system for tunnel according to claim 1, it is characterised in that: described instruction includes using
In the movement instruction for controlling the intelligent robot (03) movement and for control the intelligent robot (03) meet an urgent need it is pre-
The emergency of case instructs.
10. a kind of intelligent inspection system for tunnel according to claim 1, it is characterised in that: in the tunnel
(01) multiple tracks (02) are equipped in, the track (02) is arranged at the tunnel (01) side wall or top.
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| CN110307869A (en) * | 2019-07-08 | 2019-10-08 | 中铁第一勘察设计院集团有限公司 | Rail traffic monitors system |
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| CN110454231A (en) * | 2019-09-05 | 2019-11-15 | 中交一公局集团有限公司 | Tunnel safety early warning robot device |
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| CN110307869A (en) * | 2019-07-08 | 2019-10-08 | 中铁第一勘察设计院集团有限公司 | Rail traffic monitors system |
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| CN110656975A (en) * | 2019-09-25 | 2020-01-07 | 西安交通大学 | Tunnel rescue system and method based on virtual reality and ACP parallel intelligence |
| CN110821560A (en) * | 2019-10-18 | 2020-02-21 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Tunnel inspection system |
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| CN110967344A (en) * | 2019-11-28 | 2020-04-07 | 同济大学 | Tunnel lining shallow layer peeling determination method and device based on infrared detection |
| CN110967344B (en) * | 2019-11-28 | 2021-09-03 | 同济大学 | Tunnel lining shallow layer peeling determination method and device based on infrared detection |
| CN111168694A (en) * | 2020-02-05 | 2020-05-19 | 天津大学 | Tunnel structure health intelligent recognition system and method based on robot visual recognition |
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