CN105082180A - Tunnel detection robot and detection method - Google Patents
Tunnel detection robot and detection method Download PDFInfo
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- CN105082180A CN105082180A CN201510471627.XA CN201510471627A CN105082180A CN 105082180 A CN105082180 A CN 105082180A CN 201510471627 A CN201510471627 A CN 201510471627A CN 105082180 A CN105082180 A CN 105082180A
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Abstract
The invention discloses a tunnel detection robot and a detection method. A moving platform on the tunnel detection robot is provided with a supporting mechanism. A moving mechanism is arranged on the supporting mechanism and provided with a rotating mechanism. The rotating mechanism is provided with a base. A drive arm is arranged on the base. A rotating mechanical arm is arranged on the base. The rotating mechanical arm is provided with a jacking mechanism. The detection method of the tunnel detection robot comprises the following steps of (a) establishing a tunnel information work station, (b) measuring tunnel portal data, (c) lifting the tunnel detection robot, (d) locating the initial position of the tunnel detection robot, (e) obtaining tunnel detection information, (f) removing barriers in tunnel detection, (g) managing power in tunnel detection and (h) collecting and analyzing tunnel information. The tunnel detection robot has quite high obstacle climbing capacity and environment adaptive capacity and can obtain information data in the whole tunnel through one-time detection; and detection is rapid and simple, and detection precision is high.
Description
Technical field
The invention belongs to Tunnel testing technical field, be specifically related to a kind of Tunnel testing robot and detection method.
Background technology
Tunnel is the engineering works be embedded in stratum, it is a kind of form of human use's underground space, the structure in tunnel comprises main building thing and auxiliary device two parts, main building thing is made up of barrel and hole, auxiliary device comprises refuge chamber, fire fighting device, emergency communication and guarded drainage facility, and some tunnel is also provided with special ventilation equipment and lighting apparatus.
At present in some tunnel constructions, often occur the phenomenon of tunnel self structure distortion or auxiliary device breakage, it is very necessary for making to do safety detection to tunnel.In safety detection process, the information data in tunnel understands a very important job in tunnel self-condition.Information data in tunnel generally comprises internal environment situation (ponding situation, air quality etc.) in the barrel internal structure in tunnel and tunnel.Current tunnel safety testing takes manual operation substantially, not only intelligence degree is low, accuracy of detection is poor, occur leaking and clap phenomenon, have to carry out second time detect, detection efficiency is low, and tunnel internal bad environments, there is the situation such as ponding, air quality difference, the health of serious harm operating personnel.
Summary of the invention
The invention provides a kind of Tunnel testing robot and detection method, Tunnel testing robot has very strong obstacle climbing ability and adaptive capacity to environment, it can carry out omnidistance testing according to detection route in tunnel, one-time detection can obtain the information data in tunnel whole process, testing is simple, quick, and accuracy of detection is high, cost is low, efficiency is high.
The present invention adopts following technical scheme:
A kind of Tunnel testing robot, is characterized in that: the housing comprising mobile platform and arrange on a mobile platform, and the bottom of mobile platform is provided with charging device, is provided with sensor and illuminating lamp in housing; The left and right sides of mobile platform is equipped with caterpillar driving device, and caterpillar driving device comprises driving wheel, BOGEY WHEEL and directive wheel, and driving wheel, BOGEY WHEEL and directive wheel are connected with crawler belt; Mobile platform is provided with supporting mechanism, and supporting mechanism is provided with track, and track is provided with travel mechanism, and travel mechanism is provided with position-limit mechanism, and position-limit mechanism is provided with braking roll, and braking roll is located on supporting mechanism; Travel mechanism is provided with rotation groove, rotates in groove and is provided with slew gear; Slew gear is provided with pedestal, and pedestal is provided with motor driver, and pedestal is provided with actuating arm, and actuating arm connects motor driver, and pedestal is provided with rotating machine mechanical arm, and rotating machine mechanical arm connects actuating arm, and rotating machine mechanical arm is provided with jacking mechanism; The front end of supporting mechanism, left side and right side are provided with camera.
Further, sensor comprises sonac, infrared sensor, multi-parameter gas sensor, temperature sensor and infrared thermography, and sensor is used for carrying out Context awareness and intelligent motion control.
Further, jacking mechanism comprises two machine leaders, and machine leader is provided with through hole, the setting of through hole, is convenient to Tunnel testing robot to be lifted into tunnel bottom.
Further, supporting mechanism is provided with chute, slidably connects slide bar in chute, and slide bar is provided with camera, and sliding bar is connected in chute, the adjustment position of camera on supporting mechanism, makes camera obtain tunnel internal image quality clearly.
Further, the pitching scope of camera is ± 30 °, and the scope that swings of camera is ± 15 °, increases the coverage of camera, obtains more tunnel internal information.
Further, illuminating lamp adopts two LED, and the power of LED is 35W, by semiconductor die package in the epoxy, LED adopts chemiluminescence technology to LED, and two LED provide light source for tunnel internal, facilitate camera to take, LED has energy-saving effect simultaneously.
A kind of Tunnel testing robot detection method, is characterized in that comprising the steps:
A () sets up tunnel information work station: after roadbed and various transition section structure thing have all been constructed, information work station is set up in the middle part of detection tunnel scope, information work station comprises control module, control module is for controlling Tunnel testing robot, again according to the concrete distribution situation in whole tunnel, mark off detection segment, then by the data of Tunnel testing section stored in information work station, in information work station, demonstrate the expection of Tunnel testing robot in each detection segment detect route;
B () measures tunnel portal data: utilize total powerstation to position measurement, first determine horizontal reference point, generally with the roadbed after construction for datum mark, then measure the width of tunnel portal, datum mark to the degree of depth of tunnel top position and datum mark to the degree of depth of tunnel bottom;
(c) lifting Tunnel testing robot: according to the data of the measurement of tunnel portal, draw-gear built by roadbed, set the setting angle of fixed pulley, then the rope on draw-gear is connected in the through hole of the machine leader in Tunnel testing robot, adjust the angle that Tunnel testing robot hangs in tunnel portal, Tunnel testing robot, along fixed pulley, is lifted into the bottom of Tunnel testing section by rope from tunnel portal;
D () Tunnel testing robot initial position is located: according to the detection route of detection segment, sonac in Tunnel testing robot, infrared sensor detection is from the range information of initial position, and distance information transmission to information work station, pass through multiple sensor information amalgamation method, calculate the wheel speed of both sides in Tunnel testing robot, then this information is input in the drive and control of electric machine module of Tunnel testing robot both sides, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control the motion of Tunnel testing robot, by Tunnel testing robot localization to the initial position detecting route, so that Tunnel testing robot is to the testing of whole section of detection segment,
Acquisition of information in (e) Tunnel testing: Tunnel testing robot is from initial position, advance according to the detection route of detection segment, carry out the testing of detection segment, illuminating lamp in Tunnel testing robot provides light source for testing, multi-parameter gas sensor obtains carbon monoxide in tunnel, carbon dioxide, the information of methane toxic gas, temperature sensor obtains the information of temperature in tunnel, camera obtains left tunnel respectively, information in the tunnel in right both sides and front, Tunnel testing robot is by radio communication and control module opening relationships, the information detected is uploaded to control module, staff charges to information, for analyzing the ambient conditions of each section of detection segment,
F in () Tunnel testing, barrier is got rid of: Tunnel testing robot is while obtaining information, control module process information, issue an order to Tunnel testing robot through radio communication in information work station, when running into barrier, Tunnel testing robot by adaptive weight fusion estimated algorithm and t-s fuzzy neural grid combine method identification and catch obstacle information, information is sent to information work station, control module process obstacle information, information is input in the drive and control of electric machine module of Tunnel testing robot both sides through radio communication by information work station, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control the motion of Tunnel testing robot, simultaneously according to the position of barrier, control the position of travel mechanism on supporting mechanism in Tunnel testing robot, control slew gear to rotate in travel mechanism, forward nearest touch points direction to, then motor driver controls actuating arm rotation, actuating arm drives and drives rotating machine mechanical arm to rotate, jacking mechanism top in rotating machine mechanical arm is to touch points place, control the motion of Tunnel testing robot, Tunnel testing robot remove barriers thing interference, be returned to the detection route of specifying to advance, continue to carry out acquisition of information to each section of detection segment,
Power management in (g) Tunnel testing: install high-capacity lithium battery in Tunnel testing robot interior, sufficient electric energy is provided, select embedded scm as main control chip, matching battery electricity supervisory circuit plate realizes the collection to electric power output voltage and electric current, calculate dump energy, when receiving host computer order, dump energy data are sent to information work station, when voltage lower than 20% time report to the police to central processing unit, information is input in the drive and control of electric machine module of Tunnel testing robot both sides through radio communication by information work station, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control Tunnel testing robot returns juice point and charges, control Tunnel testing robot after being full of electricity and be returned to the detection route advance of specifying, continue to carry out acquisition of information to each section of detection segment,
(h) tunnel information collection analysis.
The present invention, owing to have employed technique scheme, has following beneficial effect:
In the present invention, Tunnel testing robot is when running into barrier, by controlling the rotation speed change of both sides caterpillar driving device, change the traffic direction of Tunnel testing robot, simultaneously according to the position of barrier, control the position of travel mechanism on supporting mechanism in Tunnel testing robot, control slew gear to rotate in travel mechanism, forward nearest touch points direction to, then motor driver controls actuating arm rotation, actuating arm drives rotating machine mechanical arm to rotate, jacking mechanism top in rotating machine mechanical arm is to touch points place, change the motor behavior of Tunnel testing robot, make Tunnel testing robot remove barriers thing interference, Tunnel testing robot run into voltage lower than 20% time, control Tunnel testing robot and return juice point, jacking mechanism jack-up mobile platform, charging device ejects, charge, Tunnel testing robot has very strong obstacle climbing ability and adaptive capacity to environment, simultaneously structure simple, be easy to carry, practical.Tunnel testing robot is in testing process, can precise positioning to initial position, according to detection route, obtain the gas information in omnidistance tunnel, temperature information and tunnel internal information, one-time detection can complete, testing is simple, quick, and accuracy of detection is high, cost is low, efficiency is high.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is the structural representation of a kind of Tunnel testing robot of the present invention;
Fig. 2 is the structural representation in a kind of Tunnel testing robot of the present invention on supporting mechanism;
Fig. 3 is the front view of Fig. 2;
Fig. 4 is the left view of Fig. 2;
Structural representation when Fig. 5 is rotating machine mechanical arm jack-up in a kind of Tunnel testing robot of the present invention;
Structural representation when Fig. 6 is a kind of Tunnel testing robot of the present invention obstacle detouring;
Fig. 7 is the structural representation of a kind of Tunnel testing robot of the present invention when detecting.
Detailed description of the invention
As shown in Figures 1 to 6, be a kind of Tunnel testing robot of the present invention, the housing 2 comprising mobile platform 1 and be arranged on mobile platform 1, housing 2 adopts aluminum alloy outer frame.The bottom of mobile platform 1 is provided with charging device 3, and charging device 3 is subject to charging contact and controls, and charging contact is subject to contact relieving mechanism and controls, and central processing unit controls contact relieving mechanism and ejects, and charging device 3 just can carry out charging work.Sensor (not shown) and illuminating lamp 4 is provided with in housing 2.Sensor comprises sonac, infrared sensor, multi-parameter gas sensor, temperature sensor and infrared thermography, and sensor is used for carrying out Context awareness and intelligent motion control: sonac, infrared sensor are used for the distance relation of detecting location; Multi-parameter gas sensor is for detecting the information state of the toxic gases such as carbon monoxide in tunnel, carbon dioxide, methane; Temperature sensor is for detecting the information state of temperature in tunnel; Infrared sensor is for detecting the situation of environment in tunnel.Illuminating lamp 4 adopts two LED, and the power of LED is 35W, and by semiconductor die package in the epoxy, LED adopts chemiluminescence technology to LED, and two LED provide light source for tunnel internal, and LED has energy-saving effect.Although wheeled robot structure is simple, turn to flexibly, mobility strong, for road surface complicated in tunnel, the obstacle climbing ability of robot requires to improve, and just needs to adopt caterpillar type robot.The left and right sides of mobile platform 1 is equipped with caterpillar driving device, and caterpillar driving device comprises driving wheel 5, BOGEY WHEEL 6 and directive wheel 7, and one-sided driving wheel 5, BOGEY WHEEL 6 and directive wheel 7 are connected with crawler belt 8.Driving wheel 5 is subject to drive and control of electric machine module and controls; BOGEY WHEEL 6 bears the weight of robot, does not arrange any BOGEY WHEEL between BOGEY WHEEL 6, to simplify structure, and weight reduction.Mobile platform 1 is provided with supporting mechanism 9, supporting mechanism 9 is provided with chute 22, slide bar 23 is slidably connected in chute 22, slide bar 23 is provided with camera 21, the adjustment position of slide bar 23 in chute 22, the adjustment position of camera 21 on supporting mechanism 9, makes camera 21 obtain tunnel internal image quality clearly.The pitching scope of camera 21 is ± 30 °, and the scope that swings of camera 21 is ± 15 °, can increase the coverage of camera 21 like this, obtains more tunnel internal information.Supporting mechanism 9 is provided with track 10, and track 10 is provided with travel mechanism 11, and travel mechanism 11 is provided with position-limit mechanism 12, and position-limit mechanism 12 is provided with braking roll 13, and braking roll 13 is located on supporting mechanism 9; Travel mechanism 11 is provided with and rotates groove 14, rotates in groove 14 and is provided with slew gear 15.Slew gear 15 is provided with pedestal 16, pedestal 16 is provided with motor driver 17, pedestal 16 is provided with actuating arm 18, and actuating arm 18 connects motor driver 17, and pedestal 16 is provided with rotating machine mechanical arm 19, rotating machine mechanical arm 19 connects actuating arm 18, rotating machine mechanical arm 19 is provided with jacking mechanism 20, and jacking mechanism 20 comprises two machine leaders 201, and machine leader 201 is provided with through hole 202, the setting of through hole 202, is convenient to Tunnel testing robot to be lifted into tunnel bottom.The front end of supporting mechanism 9, left side and right side are provided with camera 21, are convenient to the inside practical structures of taking whole tunnel.Whole Tunnel testing robot Weight control is at about 35kg, load capacity must be possessed, it is when running into barrier, by controlling the rotation speed change of both sides caterpillar driving device, change the traffic direction of Tunnel testing robot, simultaneously according to the position of barrier, control the position of travel mechanism on supporting mechanism in Tunnel testing robot, control slew gear to rotate in travel mechanism, forward nearest touch points direction to, then motor driver controls actuating arm rotation, actuating arm drives rotating machine mechanical arm to rotate, jacking mechanism top in rotating machine mechanical arm is to touch points place, change the motor behavior of Tunnel testing robot, make Tunnel testing robot remove barriers thing interference, Tunnel testing robot run into voltage lower than 20% time, control Tunnel testing robot and return juice point, jacking mechanism jack-up mobile platform, charging device ejects, charge, Tunnel testing robot has very strong obstacle climbing ability and adaptive capacity to environment, simultaneously structure simple, be easy to carry, practical.
As shown in Figure 7, be a kind of Tunnel testing robot detection method of the present invention, it comprises the steps:
A () sets up tunnel information work station: after roadbed and various transition section structure thing have all been constructed, information work station is set up in the middle part of detection tunnel scope, just need to solve the communication between Tunnel testing robot and information work station, the process detected and information result can upload in information work station by such Tunnel testing robot, and information work station needs to be issued an order to robot by communication system simultaneously.
Information work station comprises control module, and control module is for controlling Tunnel testing robot.Robot Content of communciation is in the detection divided into two parts, and a part is control information, and robot needs to receive information the work order of work station, and provides corresponding feedback information by control module; Another part is video information, Tunnel testing robot needs to continue the tunnel internal fact photographed by camera to send back information work station, and this two-part maximum difference is, the transmission of control information, acceptance, only just occur when there being control command, and be both-way communication; And just continue after video information Ze Shi Tunnel testing robot startup optimization, and only have robot to upload to direction, one, information work station, be one-way communication. always
To this, two cover wireless telecommunications are used in Tunnel testing Robot Communication System, wherein a set of control information for drawing Tunnel testing robot in, have chosen 415Mhz as its carrier wave frequency range, the another set of video information for sending Tunnel testing robot, its startup along with Tunnel testing robot and omnidistance to open, and have chosen 2.4Ghz as its carrier wave frequency range.Like this, form LAN by external communication and long distance control system, adopt tcpip/rtp agreement to carry out data communication; Internal communication between master central processor and other functional nodes adopts can bus communication mode, such central processing unit is by being directly connected or being controlled by the functional module of mode to Tunnel testing robot of signal translation interface, simultaneously also by signal translation interface and control information communication module, complete the conversion of data with information work station, complete information communication process.
After perfect information work station, according to the concrete distribution situation in whole tunnel, mark off detection segment, then by the data of Tunnel testing section stored in information work station, in information work station, demonstrate the expection of Tunnel testing robot in each detection segment detect route.
B () measures tunnel portal data: in Tunnel, the scope of operation is narrow and small, and air quality is poor, and the reflected signal of infrared rays survey instrument is weak, often cannot carry out surveying work.Therefore total powerstation is adopted to position measurement, first determine horizontal reference point, generally with the roadbed after construction for datum mark, then the width of tunnel portal, datum mark is measured to the degree of depth of tunnel top position and datum mark to the degree of depth of tunnel bottom, calculated the height in tunnel to the degree of depth of tunnel top position and datum mark to the depth gauge of tunnel bottom by datum mark, then utilize these data on CAD, draw tunnel sectional view, be convenient to the lifting work of later stage to Tunnel testing robot like this.
(c) lifting Tunnel testing robot: according to the data of the measurement of tunnel portal, draw-gear built by roadbed, set the setting angle of fixed pulley, then the rope on draw-gear is connected in the through hole of the machine leader in Tunnel testing robot, adjust the angle that Tunnel testing robot hangs in tunnel portal, Tunnel testing robot, along fixed pulley, is lifted into the bottom of Tunnel testing section by rope from tunnel portal.
D () Tunnel testing robot initial position is located: location, position uses general radio RF recognition technology, is made up of reader, responder and antenna.Responder is also known as electronic tag, and itself does not have power supply, and when reader sends read signal, responder obtains energy from the induced-current received, and then the information stored in advance is sent by antenna, is accepted by reader.
Based on radio RF recognition technology, Tunnel testing robot, when detecting, needs the initial position detecting route from expection, so just can complete the testing in whole tunnel.According to the detection route of detection segment, sonac in Tunnel testing robot, infrared sensor detection is from the range information of initial position, and distance information transmission to information work station, pass through multiple sensor information amalgamation method, calculate the wheel speed of both sides in Tunnel testing robot, then this information is input in the drive and control of electric machine module of Tunnel testing robot both sides, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control the motion of Tunnel testing robot, by Tunnel testing robot localization to the initial position detecting route, so that Tunnel testing robot is to the testing of whole section of detection segment.
Acquisition of information in (e) Tunnel testing: Tunnel testing robot is from initial position, advance according to the detection route of detection segment, carry out the testing of detection segment, illuminating lamp in Tunnel testing robot provides light source for testing, multi-parameter gas sensor obtains carbon monoxide in tunnel, carbon dioxide, the information of the toxic gases such as methane, temperature sensor obtains the information of temperature in tunnel, camera obtains left tunnel respectively, information in the tunnel in right both sides and front, Tunnel testing robot is by radio communication and control module opening relationships, the information detected is uploaded to control module, staff charges to information, for analyzing the ambient conditions of each section of detection segment.
F in () Tunnel testing, barrier is got rid of: Tunnel testing robot is while obtaining information, control module process information, issue an order to Tunnel testing robot through radio communication in information work station, when running into barrier, Tunnel testing robot by adaptive weight fusion estimated algorithm and t-s fuzzy neural grid combine method identification and catch obstacle information, information is sent to information work station, control module process obstacle information, information is input in the drive and control of electric machine module of Tunnel testing robot both sides through radio communication by information work station, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control the motion of Tunnel testing robot, simultaneously according to the position of barrier, control the position of travel mechanism on supporting mechanism in Tunnel testing robot, control slew gear to rotate in travel mechanism, forward nearest touch points direction to, then motor driver controls actuating arm rotation, actuating arm drives and drives rotating machine mechanical arm to rotate, jacking mechanism top in rotating machine mechanical arm is to touch points place, control the motor behavior of Tunnel testing robot, Tunnel testing robot remove barriers thing interference, be returned to the detection route of specifying to advance, continue to carry out acquisition of information to each section of detection segment.In testing process, information work station all the time all have recorded Tunnel testing robot deviation detection route spacing from, can observe tunnel robot obstacle detouring situation, Tunnel testing robot deviation detection route normalized distance is from being generally≤30mm.Choose wherein 60s to the obstacle detouring situation analysis of Tunnel testing robot, as table 1:
| The master control time period | Tunnel testing robot deviation detection route distance average (mm) | Drift condition |
| 1—5 | 19.1 | Normally |
| 6—10 | 22.4 | Normally |
| 11—15 | 24.6 | Normally |
| 16—20 | 48.1 | Obstacle detouring |
| 21—25 | 62.1 | Obstacle detouring |
| 26—30 | 81.3 | Obstacle detouring |
| 31—35 | 61.2 | Obstacle detouring |
| 36—40 | 47.1 | Obstacle detouring |
| 41—45 | 22.9 | Normally |
| 46—50 | 10.9 | Normally |
| 51—55 | 11.1 | Normally |
| 56—60 | 10.7 | Normally |
Table 1 Tunnel testing robot obstacle detouring situation
As can be seen from Table 1, Tunnel testing robot can successful obstacle detouring after running into obstacle, and Tunnel testing robot has very strong obstacle climbing ability.
G power management in () Tunnel testing: Tunnel testing robot completes Detection task by each function, needs the support of power supply.The ferric phosphate lithium cell of 24V is installed in Tunnel testing robot interior, for servomotor provides sufficient electric energy, and by voltage-stablizer, is respectively video camera and sensor power.Select embedded scm as main control chip, matching battery electricity supervisory circuit plate realizes the collection to electric power output voltage and electric current, calculate dump energy, when receiving host computer order, dump energy data are sent to information work station, when voltage lower than 20% time report to the police to central processing unit, charging signals is input in the drive and control of electric machine module of Tunnel testing robot both sides through radio communication by information work station, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control Tunnel testing robot returns juice point and charges, now jacking mechanism jack-up mobile platform, central processing unit controls contact relieving mechanism and ejects, charging device is subject to charging contact and controls, make charge circuit conducting, carry out charging work.
In charging judges, three comparator stage are coupled to " charged bypass ", the electric current flowing through charged bypass is compared with the electric current flowing through charging electrode negative electrode, when current differential is zero, prove that charge circuit is zero, charging terminates, now comparator exports positive level, central processing unit obtains battery and to charge complete information, and control module controls Tunnel testing robot and is returned to the detection route of specifying and advances, and continues to carry out acquisition of information to each section of detection segment.
H () tunnel information collection analysis: after completing whole Tunnel testing work, carries out internal environment situation in analysis tunnel trunk internal structure and tunnel.Table 2 is the concrete concentration of toxic gas in tunnel:
| Sequence number | Toxic gas title | Concentration of toxic gases |
| 1 | Carbon dioxide (CO 2) | 1.81％ |
| 2 | Methane (CH 4) | 1.02％ |
| 3 | Nitrogen dioxide (NO 2) | 0.0025％ |
| 4 | Sulfur dioxide (SO 2) | 0.0005％ |
| 5 | Ammonia (NH 3) | 0.0004％ |
| 6 | Hydrogen sulfide (H 2S) | 0.0003％ |
| 7 | Dust | In every cubic metres of air, containing more than 10% free silicon dioxide |
| Dust is 1.84mg |
Concentration of toxic gases in table 2 tunnel
As seen from Table 2, containing toxic gases such as carbon dioxide, methane, nitrogen dioxide, sulfur dioxide, ammonia, hydrogen sulfide, dust in tunnel, operating personnel need to take safeguard measure to carry out tunneling.
In detection method in the present invention, Tunnel testing robot has very strong obstacle climbing ability and adaptive capacity to environment, it can carry out omnidistance testing according to detection route in tunnel, one-time detection can obtain the information data in tunnel whole process, testing is simple, quick, and accuracy of detection is high, cost is low, efficiency is high.
These are only specific embodiments of the invention, but technical characteristic of the present invention is not limited thereto.Any based on the present invention, for solving substantially identical technical problem, realize substantially identical technique effect, done ground simple change, equivalent replacement or modification etc., be all covered by among protection scope of the present invention.
Claims (7)
1. a Tunnel testing robot, is characterized in that: comprise mobile platform and be arranged on the housing on described mobile platform, the bottom of described mobile platform is provided with charging device, is provided with sensor and illuminating lamp in described housing; The left and right sides of described mobile platform is equipped with caterpillar driving device, and described caterpillar driving device comprises driving wheel, BOGEY WHEEL and directive wheel, and described driving wheel, described BOGEY WHEEL and described directive wheel are connected with crawler belt; Described mobile platform is provided with supporting mechanism, and described supporting mechanism is provided with track, and described track is provided with travel mechanism, and described travel mechanism is provided with position-limit mechanism, and described position-limit mechanism is provided with braking roll, and described braking roll is located on described supporting mechanism; Described travel mechanism is provided with rotation groove, is provided with slew gear in described rotation groove; Described slew gear is provided with pedestal, described pedestal is provided with motor driver, described pedestal is provided with actuating arm, described actuating arm connects described motor driver, described pedestal is provided with rotating machine mechanical arm, described rotating machine mechanical arm connects described actuating arm, and described rotating machine mechanical arm is provided with jacking mechanism; The front end of described supporting mechanism, left side and right side are provided with camera.
2. a kind of Tunnel testing robot according to claim 1, it is characterized in that: described sensor comprises sonac, infrared sensor, multi-parameter gas sensor, temperature sensor and infrared thermography, described sensor is used for carrying out Context awareness and intelligent motion control.
3. a kind of Tunnel testing robot according to claim 1, is characterized in that: described jacking mechanism comprises two machine leaders, and described machine leader is provided with through hole.
4. a kind of Tunnel testing robot according to claim 1, is characterized in that: described supporting mechanism is provided with chute, and slidably connect slide bar in described chute, described slide bar is provided with described camera.
5. a kind of Tunnel testing robot according to claim 1, is characterized in that: the pitching scope of described camera is ± 30 °, and the scope that swings of described camera is ± 15 °.
6. a kind of Tunnel testing robot according to claim 1, it is characterized in that: described illuminating lamp adopts two LED, the power of described LED is 35W, and by semiconductor die package in the epoxy, described LED adopts chemiluminescence technology to described LED.
7. a Tunnel testing robot detection method, is characterized in that comprising the steps:
A () sets up tunnel information work station: after roadbed and various transition section structure thing have all been constructed, information work station is set up in the middle part of detection tunnel scope, information work station comprises control module, control module is for controlling Tunnel testing robot, again according to the concrete distribution situation in whole tunnel, mark off detection segment, then by the data of Tunnel testing section stored in information work station, in information work station, demonstrate the expection of Tunnel testing robot in each detection segment detect route;
B () measures tunnel portal data: utilize total powerstation to position measurement, first determine horizontal reference point, generally with the roadbed after construction for datum mark, then measure the width of tunnel portal, datum mark to the degree of depth of tunnel top position and datum mark to the degree of depth of tunnel bottom;
(c) lifting Tunnel testing robot: according to the data of the measurement of tunnel portal, draw-gear built by roadbed, set the setting angle of fixed pulley, then the rope on draw-gear is connected in the through hole of the machine leader in Tunnel testing robot, adjust the angle that Tunnel testing robot hangs in tunnel portal, Tunnel testing robot, along fixed pulley, is lifted into the bottom of Tunnel testing section by rope from tunnel portal;
D () Tunnel testing robot initial position is located: according to the detection route of detection segment, sonac in Tunnel testing robot, infrared sensor detection is from the range information of initial position, and distance information transmission to information work station, pass through multiple sensor information amalgamation method, calculate the wheel speed of both sides in Tunnel testing robot, then this information is input in the drive and control of electric machine module of Tunnel testing robot both sides, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control the motion of Tunnel testing robot, by Tunnel testing robot localization to the initial position detecting route, so that Tunnel testing robot is to the testing of whole section of detection segment,
Acquisition of information in (e) Tunnel testing: Tunnel testing robot is from initial position, advance according to the detection route of detection segment, carry out the testing of detection segment, illuminating lamp in Tunnel testing robot provides light source for testing, multi-parameter gas sensor obtains carbon monoxide in tunnel, carbon dioxide, the information of methane toxic gas, temperature sensor obtains the information of temperature in tunnel, camera obtains left tunnel respectively, information in the tunnel in right both sides and front, Tunnel testing robot is by radio communication and control module opening relationships, the information detected is uploaded to control module, staff's recorded information, for analyzing the ambient conditions of each section of detection segment,
F in () Tunnel testing, barrier is got rid of: Tunnel testing robot is while obtaining information, control module process information, issue an order to Tunnel testing robot through radio communication in information work station, when running into barrier, Tunnel testing robot by adaptive weight fusion estimated algorithm and t-s fuzzy neural grid combine method identification and catch obstacle information, information is sent to information work station, control module process obstacle information, information is input in the drive and control of electric machine module of Tunnel testing robot both sides through radio communication by information work station, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control the motion of Tunnel testing robot, simultaneously according to the position of barrier, control the position of travel mechanism on supporting mechanism in Tunnel testing robot, control slew gear to rotate in travel mechanism, forward nearest touch points direction to, then motor driver controls actuating arm rotation, actuating arm drives and drives rotating machine mechanical arm to rotate, jacking mechanism top in rotating machine mechanical arm is to touch points place, change the motor behavior of Tunnel testing robot, Tunnel testing robot remove barriers thing interference, be returned to the detection route of specifying to advance, continue to carry out acquisition of information to each section of detection segment,
Power management in (g) Tunnel testing: install high-capacity lithium battery in Tunnel testing robot interior, sufficient electric energy is provided, select embedded scm as main control chip, matching battery electricity supervisory circuit plate realizes the collection to electric power output voltage and electric current, calculate dump energy, when receiving host computer order, dump energy data are sent to information work station, when voltage lower than 20% time report to the police to central processing unit, information is input in the drive and control of electric machine module of Tunnel testing robot both sides through radio communication by information work station, the drive and control of electric machine module of both sides controls the rotating speed of the caterpillar driving device of Tunnel testing robot both sides, by the change of rotating speed, control Tunnel testing robot returns juice point and charges, control Tunnel testing robot after being full of electricity and be returned to the detection route advance of specifying, continue to carry out acquisition of information to each section of detection segment,
(h) tunnel information collection analysis.
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