CN210977603U - Tunnel safety early warning robot device - Google Patents
Tunnel safety early warning robot device Download PDFInfo
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- CN210977603U CN210977603U CN201921473020.5U CN201921473020U CN210977603U CN 210977603 U CN210977603 U CN 210977603U CN 201921473020 U CN201921473020 U CN 201921473020U CN 210977603 U CN210977603 U CN 210977603U
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Abstract
The utility model discloses a tunnel safety early warning robot device, which comprises a camera supporting seat, a laser radar, a radar bracket, a camera base, a camera, a three-dimensional laser scanner, an antenna support, an audible and visual alarm, a robot shell, a connecting rod, a water detection antenna and a walking crawler; the driving system is powered by a lithium battery, has large discharge current and provides a power supply for each vehicle-mounted device; the laser radar is used for realizing the positioning of the robot in the tunnel. The three-dimensional laser scanner is used for monitoring and measuring the tunnel surrounding rock. The audible and visual alarm gives an alarm in time for potential safety hazards. The water detection antenna is used for realizing advanced water detection in the tunnel. The robot reaches a preset position as required and starts a vehicle-mounted detection instrument to position the personnel in the hole; and (4) grouping each vehicle-mounted detection instrument into a control system, and carrying out data acquisition, analysis, early warning and alarming according to design and specification requirements.
Description
Technical Field
The utility model relates to a tunnel safety precaution robot device, this robot device mainly used tunnel excavation work progress is patrolled and examined and safety precaution to tunnel safety ring border's automation.
Background
In recent years, tunnels and underground engineering in China are rapidly developed with attention of the world, and the tunnels in China are the countries with the largest quantity, the largest construction scale and the fastest development speed in the world. The design lengths of the traffic tunnel and the hydraulic tunnel are obviously increased, and even some projects reach the top of the world. Meanwhile, the design section of the tunnel is also getting larger and larger, and a four-lane road tunnel and thousands of square meters of underground plants appear. The survey design means, the geological prediction level and the construction mechanization degree of the tunnel and the underground engineering are also greatly improved. More expensively, the enhancement of the environmental protection consciousness of the engineering and the increase of the safety guarantee measures, and the reliable engineering guarantee measures are used for benefiting the mankind and realizing the sustainable development of the society
In the process of tunnel construction, disasters such as collapse (including large deformation) and gushing (mud gushing and water gushing) are the most common engineering accidents, and account for 90% of the occurrence probability of various major geological disasters. However, once accidents such as collapse occur, on one hand, serious consequences such as construction period delay, equipment damage and investment increase are caused; on the other hand, the life safety of field construction personnel is threatened greatly. With the vigorous development of tunnel construction, the accidents of collapse, gushing and the like in construction are more and more, and the treatment cost invested each year tends to increase year by year. Therefore, in addition to a great deal of research on the occurrence mechanism and prevention and control problems of collapse, inrush and the like, the tunnel engineering and academia hope to realize the prediction, forecast and evaluation of tunnel risk events through safety inspection and management and control the risk level in tunnel construction in an acceptable range.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a robot has autonomous navigation, location, keeps away the barrier, snatchs the sample thing and accomplishes the intelligent system that tunnel construction safety patrolled and examined and the early warning according to predetermined work flow.
The technical scheme adopted by the utility model is a tunnel safety early warning robot device, which comprises a camera supporting seat 1, a laser radar 2, a radar bracket 3, a camera base 4, a camera 5, a three-dimensional laser scanner 6, an antenna support 7, an audible and visual alarm 8, a robot shell 9, a connecting rod 10, a water detection antenna 11 and a walking track 12;
two sides of the bottom of the robot shell 9 are provided with walking tracks 12, a driving system and a control unit are arranged in the robot shell 9, and the driving system drives the walking tracks 12 to further realize the movement of the robot shell 9; the top of the robot shell 9 is provided with a camera supporting seat 1, a radar bracket 3, a three-dimensional laser scanner 6, an antenna supporting seat 7, an audible and visual alarm 8 and a connecting rod 10; the laser radar 2 is arranged inside the radar support 3, the camera base 4 is arranged at the top of the radar support 3, and the camera 5 is arranged at the top of the camera base 4; the connecting rod 10 is a foldable rod, one end of the connecting rod 10 is fixed on one side of the robot shell 9, and the other end of the connecting rod 10 is provided with a water detection antenna 11. Laser radar 2, camera 5, three-dimensional laser scanner 6, audible-visual annunciator 8 and spy water antenna 11 all are connected with the control unit.
The connecting rod 10 comprises a vertical supporting rod and a horizontal adjusting rod, the vertical supporting rod is fixed on the robot shell 9, the middle of the horizontal adjusting rod is hinged with the top pin shaft of the vertical supporting rod, one side of the horizontal adjusting rod is an adjusting rod, and the height of a water detection antenna 11 arranged on the other side of the horizontal adjusting rod is adjusted through the adjusting rod and the pin shaft.
The robot shell 9 is made of light plastic steel section;
the driving system is powered by a lithium battery, has large discharge current and provides a power supply for each vehicle-mounted device;
the laser radar 2 is used for realizing the positioning of the robot in the tunnel.
The three-dimensional laser scanner 6 is used for monitoring and measuring in the tunnel.
The audible and visual alarm 8 gives an alarm in time for potential safety hazards.
The water exploring antenna 11 is used for realizing advanced water exploration in the tunnel.
The main working flow is as follows:
s1, remote starting is conducted, self-checking of the robot system and the vehicle-mounted detecting instrument is automatically completed, and if the system and the vehicle-mounted detecting instrument are intact, the robot system and the vehicle-mounted detecting instrument are started to a tunnel face.
And S2, opening the tunnel face to start the vehicle-mounted detection instrument to perform geological prediction, water exploration and harmful gas detection (20 minutes), and performing prediction once every 100 m.
And S3, moving from the tunnel face to the secondary lining, stopping at the specified monitoring section, controlling a vehicle-mounted detection instrument to acquire section data in the tunnel and internal force monitoring data of primary support after self stabilization, (10 minutes for each monitoring section), and carrying out frequency 2 times/day.
And S4, returning the inspection robot to the two lining completion sections, starting a vehicle-mounted detection instrument to position the personnel in the tunnel, and simultaneously monitoring the construction step pitch. (time 10 minutes). The frequency is 1 time/day.
And S5, the vehicle-mounted control unit processes various detection data transmitted by the vehicle-mounted detection instrument in real time, compares the result with the set early warning values of three levels of red, orange and yellow, starts the vehicle-mounted alarm bell after reaching the early warning index, and automatically transmits the related information of the alarm data to related units and ground manager terminals.
And S6, the time from starting to finishing one-time monitoring of the inspection robot is not more than 1 hour (excluding forward geological forecast).
Compared with the prior art, the utility model discloses following technological effect has.
1. The robot starts a vehicle-mounted detection instrument to forecast the geology within a range of 100m before reaching the tunnel according to the requirement;
2. the robot starts a vehicle-mounted detection instrument to perform water detection when reaching the range of 100m in front of the tunnel as required;
3. the robot reaches the preset section of the tunnel as required and starts a vehicle-mounted detection instrument to monitor the section (deformation and displacement);
4. the robot sends real-time positioning information according to requirements to determine construction steps;
5. the robot reaches a preset position as required and starts a vehicle-mounted detection instrument to monitor the stress (stress and strain) of the supporting structure;
6. the robot reaches a preset position as required and starts a vehicle-mounted detection instrument to monitor harmful gas;
7. the robot reaches a preset position as required and starts a vehicle-mounted detection instrument to position the personnel in the hole;
8. and (4) system integration, wherein each vehicle-mounted detection instrument is integrated into a control system, and data acquisition, analysis, early warning and alarming are carried out according to design and specification requirements.
Drawings
Fig. 1 is a schematic structural view of the present robot apparatus.
Detailed Description
As shown in fig. 1, the tunnel safety early warning robot device comprises a camera supporting seat 1, a laser radar 2, a radar support 3, a camera base 4, a camera 5, a three-dimensional laser scanner 6, an antenna support 7, an audible and visual alarm 8, a robot shell 9, a connecting rod 10, a water detection antenna 11 and a walking crawler 12;
two sides of the bottom of the robot shell 9 are provided with walking tracks 12, a driving system and a control unit are arranged in the robot shell 9, and the driving system drives the walking tracks 12 to further realize the movement of the robot shell 9; the top of the robot shell 9 is provided with a camera supporting seat 1, a radar bracket 3, a three-dimensional laser scanner 6, an antenna supporting seat 7, an audible and visual alarm 8 and a connecting rod 10; the laser radar 2 is arranged inside the radar support 3, the camera base 4 is arranged at the top of the radar support 3, and the camera 5 is arranged at the top of the camera base 4; the connecting rod 10 is a foldable rod, one end of the connecting rod 10 is fixed on one side of the robot shell 9, and the other end of the connecting rod 10 is provided with a water detection antenna 11. Laser radar 2, camera 5, three-dimensional laser scanner 6, audible-visual annunciator 8 and spy water antenna 11 all are connected with the control unit.
The connecting rod 10 comprises a vertical supporting rod and a horizontal adjusting rod, the vertical supporting rod is fixed on the robot shell 9, the middle of the horizontal adjusting rod is hinged with the top pin shaft of the vertical supporting rod, one side of the horizontal adjusting rod is an adjusting rod, and the height of a water detection antenna 11 arranged on the other side of the horizontal adjusting rod is adjusted through the adjusting rod and the pin shaft.
The robot shell 9 is made of light plastic steel section;
the driving system is powered by a lithium battery, has large discharge current and provides a power supply for each vehicle-mounted device;
the power of the driving system adopts a 2000W direct current brushless motor, and a parking brake is configured, so that the power performance and the parking performance of the whole vehicle are ensured; the speed reducer of the driving system adopts a worm gear speed reducer, so that the bearing capacity is strong and the efficiency is high;
the water detection antenna 11 is used for automatic adjustment system automatic opening and closing ceiling autonomous navigation, obstacle avoidance and positioning.
The suspension system adopts a Cleistany wheel group, and the damping effect is good;
the upper part of the equipment is of a plane structure, so that the equipment is convenient to arrange.
Examples
The main technical parameters of the robot are as follows:
(1) designing the size: 1020 by 750 by 405 mm;
(2) self weight of the chassis: 95 kg;
(3) load weight: 50 kg;
(4) the height of the chassis is as follows: 115 mm;
(5) maximum obstacle crossing: 150 mm;
(6) protection grade: IP 67;
(7) the running speed is as follows: 0 to 10km/h
(8) Maximum climbing: 35 degrees.
Note: IP67 is protection grade, 6 is dustproof grade (completely preventing dust from entering), and 7 is waterproof grade (can resist water immersion within a short time (15 cm-1 m, within half an hour)).
The crawler-type robot mobile platform is provided with an independent motion control and power system, and is operated and controlled by an autonomous navigation, obstacle avoidance and positioning system through a special interface.
The system is provided with an antenna folding structure, and the antenna is folded after the measurement is finished so as to avoid the damage of the antenna;
the control mode adopts an independent controller and an open-loop coordinate control scheme; and the antenna adjusting system controller executes the instruction of the integrated controller to complete the specified operation task.
The main structural part adopts a light plastic steel section, so that the self weight is reduced on the premise of ensuring enough rigidity, and the influence of a metal object on the electromagnetic effect of the water detection antenna on the measurement precision is avoided.
The automatic opening and closing ceiling is required to have a certain dustproof and waterproof function so as to protect the vehicle-mounted equipment and the vehicle-mounted auxiliary device, the opening and closing of the automatic opening and closing ceiling are driven by a motor, and the automatic opening and closing ceiling is automatically controlled by a robot integrated control system according to a working process.
The robot autonomous navigation, obstacle avoidance and positioning system comprises:
the hardware of the autonomous navigation, obstacle avoidance and positioning system of the robot mainly comprises a laser radar (a domestic radar meeting functional requirements), a multi-axis gyroscope, a laser sensor group, a machine vision component, a navigation module, an embedded controller and the like, and the autonomous navigation, obstacle avoidance, drawing construction, positioning, environmental learning and other functions of the robot in the strange environment in a construction tunnel are realized.
The system is provided with a special interface with a robot moving platform to realize the operation control of the platform. The system executes the control instruction of the integrated control system and feeds back the platform motion information.
The system adopts multi-sensing information fusion technology and deep learning technology such as a laser radar, a multi-axis gyroscope, a machine vision component and a laser sensor group, realizes the functions of drawing construction, positioning, obstacle avoidance and the like, provides related data for a navigation module, and realizes autonomous navigation of the robot in unknown or complex environment.
Integrated control system of robot:
the robot integrated control system is a core controller of the robot and realizes the coordination control and the function scheduling of each part of the robot. And meanwhile, the coordination task of unmanned starting, stopping and integrated control of the vehicle-mounted detection instrument is completed.
The main functions of the tunnel construction safety inspection robot are described as follows:
1. in the tunneling process, the robot takes a given starting point as a base point, automatically identifies scenes and paths, finds feasible channels, automatically constructs and constructs a map, and sends positioning information to a server through a wireless network as required;
2. controlling the vehicle-mounted detection equipment to complete a measurement task according to the inspection requirement, and collecting related data to send to a server through a wireless network;
3. controlling a manipulator to complete necessary auxiliary operation according to the process requirements of the vehicle-mounted detection equipment;
4. for the tunnel part which finishes tunneling, the robot automatically performs routing inspection according to a preset period according to a built map;
5. when the electric quantity of the system is insufficient, the robot can automatically return to a charging station, and the power is plugged manually or by a vehicle-mounted manipulator. After charging is completed, the robot continues to complete the preset task;
6. the robot has certain self-diagnosis function and can realize necessary alarm and control functions.
Claims (4)
1. The utility model provides a tunnel safety precaution robot device which characterized in that: the device comprises a camera supporting seat (1), a laser radar (2), a radar support (3), a camera base (4), a camera (5), a three-dimensional laser scanner (6), an antenna support (7), an audible and visual alarm (8), a robot shell (9), a connecting rod (10), a water detection antenna (11) and a walking crawler (12);
walking crawler belts (12) are installed on two sides of the bottom of the robot shell (9), a driving system and a control unit are installed inside the robot shell (9), and the driving system drives the walking crawler belts (12) to further realize the movement of the robot shell (9); the top of the robot shell (9) is provided with a camera supporting seat (1), a radar bracket (3), a three-dimensional laser scanner (6), an antenna supporting seat (7), an audible and visual alarm (8) and a connecting rod (10); the laser radar (2) is arranged inside the radar support (3), the camera base (4) is arranged at the top of the radar support (3), and the camera (5) is arranged at the top of the camera base (4); the connecting rod (10) is a foldable rod, one end of the connecting rod (10) is fixed on one side of the robot shell (9), and the other end of the connecting rod (10) is provided with a water detecting antenna (11); laser radar (2), camera (5), three-dimensional laser scanner (6), audible-visual annunciator (8) and spy water antenna (11) all are connected with the control unit.
2. The tunnel safety pre-warning robot device according to claim 1, wherein: the connecting rod (10) comprises a vertical supporting rod and a horizontal adjusting rod, the vertical supporting rod is fixed on a robot shell (9), the middle of the horizontal adjusting rod is hinged with a top pin shaft of the vertical supporting rod, one side of the horizontal adjusting rod is an adjusting rod, and the height of a water detection antenna (11) installed on the other side of the horizontal adjusting rod is adjusted through the adjusting rod and the pin shaft.
3. The tunnel safety pre-warning robot device according to claim 1, wherein: the robot shell (9) is made of light plastic steel sectional materials.
4. The tunnel safety pre-warning robot device according to claim 1, wherein: the driving system is powered by a lithium battery.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921473020.5U CN210977603U (en) | 2019-09-05 | 2019-09-05 | Tunnel safety early warning robot device |
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| CN201921473020.5U CN210977603U (en) | 2019-09-05 | 2019-09-05 | Tunnel safety early warning robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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