CN210850282U - Highway tunnel inspection robot - Google Patents
Highway tunnel inspection robot Download PDFInfo
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- CN210850282U CN210850282U CN201921241748.5U CN201921241748U CN210850282U CN 210850282 U CN210850282 U CN 210850282U CN 201921241748 U CN201921241748 U CN 201921241748U CN 210850282 U CN210850282 U CN 210850282U
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Abstract
The utility model discloses a robot for inspecting highway tunnel, relating to the technical field of tunnel inspection; the intelligent control system comprises a machine body, a driving part, a driving wheel, a holder, a high-definition camera, an infrared induction thermal imaging camera, an LED indicator and a track; two driving wheels are respectively arranged on two sides of the track; the two driving parts are internally provided with motors which are respectively connected with the driving wheels; the lower end of the driving part is connected with the machine body, the bottom of the machine body is provided with a holder, and two sides of the holder are respectively provided with a high-definition camera and an infrared induction thermal imaging camera; in case tunnel collapse, car accident appear, even arouse when situations such as conflagration, the backstage can in time formulate emergent scheme according to relevant data of gathering, reduces the loss to minimum, has solved the artifical inefficiency that patrols and examines and bring, the timeliness of obtaining data, reliability poor, the scheduling problem that wastes time and energy.
Description
Technical Field
The utility model relates to a technical field is patrolled and examined in the tunnel, concretely relates to robot is patrolled and examined in highway tunnel.
Background
By the end of 2018, the scale of the national highway network reaches 484.65 kilometers, wherein the highway mileage reaches 14.26 kilometers, and the highway is the first to live in the world. With the continuous development of the expressway in China, the safety factors of various facilities in the expressway are improved, and the risk reduction is a great urgency for the development of the expressway at present. The highway tunnel is long, mostly located in remote areas, the inspection of the highway tunnel usually adopts a manual mode, the tunnel is regularly checked to realize problem identification, or detection and evaluation are carried out when special conditions occur, and at the moment, tunnel equipment has large damage, the manual detection not only needs a large amount of manpower and material resources, but also needs special training to regularly collect and count information in the tunnel by a specially-assigned person, and then the information is fed back to a background, so that the operation efficiency of tunnel management and the timeliness and reliability of data acquisition are seriously influenced; if accidents such as traffic accidents and collapse cannot be timely acquired, great potential safety hazards can be brought to driving.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems in the prior art, the utility model provides a highway tunnel inspection robot, which can walk on a track at the top of a highway tunnel, acquire image data of a road surface, a travelling crane and related facilities in the tunnel through a camera, send the image data to a background for image processing to acquire the running state in the tunnel, and detect the concentration of gases such as carbon monoxide, hydrogen sulfide, methane and the like in the tunnel through an electrochemical gas sensor; in case tunnel collapse, car accident appear, even arouse when situations such as conflagration, the backstage can in time formulate emergent scheme according to relevant data of gathering, reduces the loss to minimum, has solved the artifical inefficiency that patrols and examines and bring, the timeliness of obtaining data, reliability poor, the scheduling problem that wastes time and energy.
For realizing the purpose of the utility model, the utility model adopts the following technical scheme:
a highway tunnel inspection robot comprises a robot body, a driving part, driving wheels, a holder, a high-definition camera, an infrared induction thermal imaging camera, an LED (light-emitting diode) indicating board and a track; two driving wheels are respectively arranged on two sides of the track; the two driving parts are internally provided with motors which are respectively connected with the driving wheels; the lower end of the driving part is connected with the machine body, the bottom of the machine body is provided with a holder, and two sides of the holder are respectively provided with a high-definition camera and an infrared induction thermal imaging camera;
preferably, the machine body is internally provided with a central controller, a data processing module, a dynamic video monitoring module, a communication module, a walking driving module, a sensor module, an accurate navigation control module, a traffic marking module and an emergency alarm module; the central controller is respectively connected with the data processing module, the dynamic video monitoring module, the communication module, the walking driving module, the sensor module, the accurate navigation control module, the traffic marking module and the emergency alarm module.
Preferably, the inspection robot is further provided with an interphone, and the interphone establishes a voice intercom system with the ground intercom.
Preferably, the communication module further comprises a wireless access point, an optical fiber network, a wireless controller, a central management platform and a client end, which are arranged in the tunnel; the wireless access points are uniformly distributed in the tunnel, the wireless access points are connected with the optical fiber network, the wireless controller controls the inspection robot to access different wireless accesses through the optical fiber network and sends data to the central management platform, and the central management platform is connected with the client and sends the data to the client.
Preferably, the inspection robot is also provided with an emergency rescue package capable of being delivered at a fixed point.
Preferably, the inspection robot is further provided with a microwave radar monitoring device.
Compared with the prior art, the utility model, following beneficial effect has:
1) can run in all weather, is suitable for severe environment and does not generate fatigue.
2) Because the robot is adopted for inspection, the robot replaces manpower, can carry out three-dimensional monitoring on a monitored area in all directions without dead angles, can improve the inspection frequency and reduce the omission of disasters.
3) And various sensors are introduced for data acquisition, so that the data acquisition is more reliable and the analysis result is more credible.
4) The inspection and maintenance contents are comprehensive, and the maintenance requirements of the latest version of technical Specification for road tunnel maintenance (JTG-H12-2015) are met.
5) When an accident occurs, rescue workers arrive before the accident, the traffic tunnel robot can conduct rescue work on site, and even if danger occurs in the operation and maintenance rescue process, personal injury accidents do not need to be worried about.
6) The method comprises the following steps of taking pictures or video pictures of a traffic accident scene to keep evidences and uploading the evidences according to needs; and the system can be communicated with related departments to carry out remote voice or video conversation, is used for accident accountability, damage assessment and insurance assessment of traffic accidents, reduces disputes and skin tearing, efficiently and quickly processes the traffic accidents, and is favorable for quickly recovering normal use of accident occurrence sections.
Drawings
Fig. 1 is a schematic structural view of a driving part of the highway tunnel inspection robot of the utility model;
fig. 2 is a schematic diagram of the highway tunnel inspection robot of the utility model;
fig. 3 is a schematic view of a communication embodiment of the highway tunnel inspection robot of the present invention;
in the figure: the system comprises a machine body 1, a central controller 101, a data processing module 102, a dynamic video monitoring module 103, a communication module 104, a walking driving module 105, a sensor module 106, an accurate navigation control module 107, a traffic sign module 108, an emergency alarm module, a driving part 2, a driving wheel 3, an interphone 4, a cradle head 5, a high-definition camera 6, an infrared induction thermal imaging camera 7, an LED indicator 8, a track 9, an inspection robot 10, a wireless access point 11, an optical fiber network 12, a wireless controller 13, a central management platform 14 and a client 15.
Detailed Description
The drawings in the embodiments of the present invention will be combined; the technical scheme in the embodiment of the utility model is clearly and completely described;
the specific embodiment of the highway tunnel inspection robot of the utility model is shown in fig. 1, and the highway tunnel inspection robot comprises a machine body 1, a driving part 2, a driving wheel 3, a holder 5, a high-definition camera 6, an infrared induction thermal imaging camera 7, an LED indicator 8 and a track 9; two driving wheels 3 are respectively arranged on two sides of the track 9; the two driving parts 2 are internally provided with motors which are respectively connected with the driving wheels 3; the lower end of the driving part 2 is connected with the machine body 1, the bottom of the machine body 1 is provided with a cloud deck 5, and the two sides of the cloud deck 5 are respectively provided with a high-definition camera 6 and an infrared induction thermal imaging camera 7; in specific implementation, the high-definition camera 6 is mainly used for carrying out simple appearance inspection on facilities in the tunnel, inspecting a fire alarm device, a fire hydrant and a light water foam fire extinguishing device and inspecting whether tunnel ventilation and smoke exhaust equipment is normally opened or not; checking whether the light facilities in the tunnel are normal; checking the road surface condition in the tunnel; checking whether the inner wall of the tunnel is complete or whether the inner wall of the tunnel falls off or not; simultaneously carrying out image snapshot, video recording and remote transmission; an infrared induction thermal imaging camera 7 has a night vision function and a temperature detection function and is additionally arranged on the dynamic tripod head 5, so that 360-degree dead-angle-free tracking shooting is realized; the LED indicating board 8 is arranged on the tripod head 5 and can rotate along with the tripod head 5, when the method is implemented, the color of the LED indicating board 8 is red and green and can be switched, the minimum brightness of the surface of the LED indicating board is not less than 50 cd/square meter, the maximum brightness of the LED indicating board is not more than 300 cd/square meter, the LED indicating board is arranged on the body of the robot to display various traffic indicating lamps and evacuation indicating marks, and the LED indicating board is matched with a dynamic video monitoring system to process traffic accidents or evacuate guide work.
As shown in fig. 2, a central controller 101, a data processing module 102, a dynamic video monitoring module 103, a communication module 104, a walking driving module 105, a sensor module 106, a precise navigation control module 107, a traffic marking module 108, and an emergency alarm module 109 are arranged in the machine body 1; the central controller 101 is respectively connected with a data processing module 102, a dynamic video monitoring module 103, a communication module 104, a walking driving module 105, a sensor module 106, an accurate navigation control module 107, a traffic marking module 108 and an emergency alarm module 109.
In the specific implementation process, the first-stage reactor,
the travel driving module 105: the driving circuit is mainly a driving circuit of a motor in the driving part 2 and is a circuit constructed by an L298N chip;
the communication module 104: the wireless information interaction between the central processing unit 101 and the remote terminal is realized based on an internet system, the wireless information interaction is used for feeding back self operation data, functional data and monitoring comparison data, a 5G networking communication mode is adopted, and the wireless information interaction is connected to a tunnel management station in real time, so that an instant data sharing function is achieved.
Dynamic video monitoring module 103 provides high definition digtal camera 6, infrared induction thermal imaging camera 7's connection interface, and 360 degrees rotation monitoring of camera can be guaranteed in 5 rotations of control cloud platform simultaneously, can the vehicle violating the regulations by automatic tracking, can take the accident condition the very first time when taking place the traffic accident to keep the evidence.
The central controller 101: is the brain of the robot and is the control pivot of the robot. The main functions are information integration, cooperative regulation and control, and complex actions and functions required by people are achieved by allocating cooperative work of different modules;
the sensor module 106 detects and carries out data contrast including the condition such as noise, abnormal light, temperature, humidity, the amount of wind to judge whether normal, simultaneously at the inlet port in organism 1 rear, internally mounted has an electrochemical gas sensor, mainly is used for detecting the concentration of gas such as carbon monoxide, hydrogen sulfide, methane, once the condition such as harmful gas exceeds standard appears in the tunnel, the robot will automatic alarm, reminds the fortune dimension personnel in the monitor room to handle.
The data processing module 102: the data detected by various sensors is collected through the sensor module 106 and compared with the standard data of the tunnel, the effective error range of the collected data is set, alarm reminding is carried out when the data exceeds the range, and the data is transmitted to a tunnel management station through the communication module; and comparing the vehicle running data acquired by the dynamic video monitoring module 103 with the tunnel road running data so as to judge whether the traffic violation occurs.
The traffic sign module 108: the state of the LED sign 8 is mainly controlled, the existing traffic indication mark projected through the indicating lamp is realized, and when a traffic accident happens, the LED sign 8 can be controlled to carry out road section evacuation indication in advance, so that the occurrence of a secondary accident is prevented.
The precise navigation control module 107: monitoring the routing of the robot through a handheld terminal; and when a traffic accident or a fire accident occurs in the tunnel, the navigation system can accurately rescue the trapped people by controlling the robot to accurately arrive and matching with an emergency rescue system.
Emergency alert module 109: when the data processing module 102 processes various monitoring data to be out of standard or abnormal, audible and visual alarm reminding is given to the tunnel management station; when monitoring video, monitoring that an accident occurs in the tunnel, the emergency alarm device is started; when the robot receives an alarm help-seeking signal in the tunnel, the emergency alarm device can also give an alarm to remind, the alarm reminding can be closed by a tunnel management bureau at the terminal equipment after the alarm condition is known, and secondary key inspection is carried out after the problem is eliminated.
In specific implementation, the model LinkPi-ENC5 can be adopted, the HI3531DV100 is adopted as a main chip, and a 5-path 4k HDMI video interface can be used for connecting the high-definition camera 6 and the infrared induction thermal imaging camera 7; meanwhile, an STM32 singlechip is expanded, and GPIO can be provided and connected with the walking driving module 105, the emergency alarm module 109 and the traffic sign module 108 through a motor driving chip; the UART, I2C, SPI interface provided may be due to the connection of the various sensors in the sensor module 106 and the precision navigation control module 107; the communication module 104 is connected with a network interface:
preferably, the inspection robot 10 is further provided with an interphone 4, a voice intercom system is established with a ground intercom mechanism, and staff can shout through voice in a monitoring room when a traffic accident happens, so that staff and vehicles are dredged; when an emergency happens, no signal exists in the tunnel, and the help can be directly asked for by the voice system to the tunnel management.
Preferably, the communication module 104 further includes a wireless access point 11, an optical fiber network 12, a wireless controller 13, a central management platform 14, and a client 15, which are arranged in the tunnel; wireless access point 11 have a plurality ofly, evenly distributed is in the tunnel, wireless access point 11 be connected with optical network 12, wireless controller 13 through optical network 12 control patrol and examine robot 10 communication network access different wireless access 11 to with data transmission to central management platform 14, central management platform 14 finally with data transmission to customer end 15, can monitor video data and sensor data in the tunnel in real time through customer end 15.
Preferably, the inspection robot 10 further carries an emergency rescue bag, which includes a fire blanket, a gas mask, a gauze bandage and a hemostatic agent. The robot can carry out scene lighting for 90min when a safety accident occurs in the tunnel, so that people can be safely evacuated out of the tunnel, the bottom of the robot is provided with a mounting hook, and mounting rescue facilities enter or rescue personnel and wounded persons come in and go out.
Preferably, the inspection robot 10 is further provided with a microwave radar monitoring device: the microwave radar probe on the microwave radar monitoring device monitors the running speed and the running track of a passing vehicle, accurately detects the traffic flow, the speed and the position of the vehicle, and ensures that the vehicle runs at a safe and legal speed.
Claims (6)
1. A highway tunnel inspection robot comprises a robot body, a driving part, driving wheels, a holder, a high-definition camera, an infrared induction thermal imaging camera, an LED (light-emitting diode) indicating plate and a track; the method is characterized in that: two driving wheels are respectively arranged on two sides of the track; the two driving parts are internally provided with motors which are respectively connected with the driving wheels; the lower end of the driving part is connected with the machine body, the cradle head is installed at the bottom of the machine body, and the high-definition camera and the infrared induction thermal imaging camera are installed on two sides of the cradle head respectively.
2. The robot for inspecting the highway tunnel according to claim 1, wherein: the intelligent traffic monitoring and warning device is characterized in that a central controller, a data processing module, a dynamic video monitoring module, a communication module, a walking driving module, a sensor module, a precise navigation control module, a traffic marking module and an emergency warning module are arranged in the machine body; the central controller is respectively connected with the data processing module, the dynamic video monitoring module, the communication module, the walking driving module, the sensor module, the accurate navigation control module, the traffic marking module and the emergency alarm module.
3. The robot for inspecting the highway tunnel according to claim 1, wherein: the inspection robot is further provided with an interphone, and a voice intercom system is established with the ground intercom.
4. The robot for inspecting the highway tunnel according to claim 2, wherein: the communication module also comprises a wireless access point, an optical fiber network, a wireless controller, a central management platform and a client end which are arranged in the tunnel; the wireless access points are uniformly distributed in the tunnel, the wireless access points are connected with the optical fiber network, the wireless controller controls the inspection robot to access different wireless accesses through the optical fiber network and sends data to the central management platform, and the central management platform is connected with the client and sends the data to the client.
5. The robot for inspecting the highway tunnel according to claim 1, wherein: the inspection robot is also provided with an emergency rescue package capable of being delivered at a fixed point.
6. The robot for inspecting the highway tunnel according to claim 1, wherein: the inspection robot is also provided with a microwave radar monitoring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921241748.5U CN210850282U (en) | 2019-08-02 | 2019-08-02 | Highway tunnel inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921241748.5U CN210850282U (en) | 2019-08-02 | 2019-08-02 | Highway tunnel inspection robot |
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| CN210850282U true CN210850282U (en) | 2020-06-26 |
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| CN201921241748.5U Expired - Fee Related CN210850282U (en) | 2019-08-02 | 2019-08-02 | Highway tunnel inspection robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111951559A (en) * | 2020-08-21 | 2020-11-17 | 诠航科技有限公司 | Running gear and traffic inspection machine based on iron horse |
| CN112333355A (en) * | 2020-09-09 | 2021-02-05 | 北京潞电电气设备有限公司 | Tunnel inspection system |
| CN112330930A (en) * | 2020-09-09 | 2021-02-05 | 北京潞电电气设备有限公司 | Urban tunnel traffic monitoring method, system and platform |
| CN112650101A (en) * | 2020-11-30 | 2021-04-13 | 广东省交通规划设计研究院股份有限公司 | Intelligent road tunnel inspection robot system based on multi-dimensional sensing |
| CN112734967A (en) * | 2020-11-30 | 2021-04-30 | 国网北京市电力公司 | Cable tunnel's inspection device |
| CN113888859A (en) * | 2020-07-01 | 2022-01-04 | 胡武文 | Unmanned patrol police system for expressway |
| CN114877218A (en) * | 2022-03-24 | 2022-08-09 | 中铁十九局集团第二工程有限公司 | Automatic tunnel inspection device and using method thereof |
| CN114973694A (en) * | 2022-05-19 | 2022-08-30 | 杭州中威电子股份有限公司 | Tunnel traffic flow monitoring system and method based on inspection robot |
-
2019
- 2019-08-02 CN CN201921241748.5U patent/CN210850282U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113888859A (en) * | 2020-07-01 | 2022-01-04 | 胡武文 | Unmanned patrol police system for expressway |
| CN111951559A (en) * | 2020-08-21 | 2020-11-17 | 诠航科技有限公司 | Running gear and traffic inspection machine based on iron horse |
| CN112333355A (en) * | 2020-09-09 | 2021-02-05 | 北京潞电电气设备有限公司 | Tunnel inspection system |
| CN112330930A (en) * | 2020-09-09 | 2021-02-05 | 北京潞电电气设备有限公司 | Urban tunnel traffic monitoring method, system and platform |
| CN112650101A (en) * | 2020-11-30 | 2021-04-13 | 广东省交通规划设计研究院股份有限公司 | Intelligent road tunnel inspection robot system based on multi-dimensional sensing |
| CN112734967A (en) * | 2020-11-30 | 2021-04-30 | 国网北京市电力公司 | Cable tunnel's inspection device |
| CN114877218A (en) * | 2022-03-24 | 2022-08-09 | 中铁十九局集团第二工程有限公司 | Automatic tunnel inspection device and using method thereof |
| CN114973694A (en) * | 2022-05-19 | 2022-08-30 | 杭州中威电子股份有限公司 | Tunnel traffic flow monitoring system and method based on inspection robot |
| CN114973694B (en) * | 2022-05-19 | 2024-05-24 | 杭州中威电子股份有限公司 | Tunnel traffic flow monitoring system and method based on inspection robot |
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Granted publication date: 20200626 |