CN109262630A - A kind of highway tunnel maintenance robot and its implementation method - Google Patents
A kind of highway tunnel maintenance robot and its implementation method Download PDFInfo
- Publication number
- CN109262630A CN109262630A CN201811342033.9A CN201811342033A CN109262630A CN 109262630 A CN109262630 A CN 109262630A CN 201811342033 A CN201811342033 A CN 201811342033A CN 109262630 A CN109262630 A CN 109262630A
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- China
- Prior art keywords
- robot
- tunnel
- guide rail
- monitoring
- cleaning
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses a kind of highway tunnel maintenance robot and its implementation methods, Daily Round Check, electromechanical facility cleaning, disease long term monitoring for vcehicular tunnel.Provided by the invention includes highway tunnel maintenance robot fixed guide system, electric telecommunication systems and robot system, in particular, the car identifier of robot system is used to detect nearby whether have vehicle, and then control robot could work；The mechanical arm of robot system is a Serial manipulator being made of two revolute pairs, to control end executive device spatial pose；End executive device is equipped with monitoring device, cleaning device and monitoring device, to realize tunnel intelligent maintenance work.
Description
Technical field
The invention belongs to Intelligent traffic auxiliary equipment technical field, in particular to a kind of highway tunnel maintenance robot and its
Implementation method, Daily Round Check, electromechanical facility cleaning, disease long term monitoring for vcehicular tunnel.
Technical background
With the fast development of communication, a large amount of freeway tunnel investment construction and operation management.Cut-off 2017
Bottom, national vcehicular tunnel shares at 16229,1528.51 myriametre of total kilometrage, wherein at super long tunnel 902, total kilometrage 401.32 ten thousand
Rice；At long tunnel 3841,659.93 myriametre of total kilometrage.Therefore, in the following quite a while, China, which will face a large amount of tunnels, to be needed
Want the status of periodic maintenance, maintenance.
In daily operation management, the prevailing state in tunnel mainly passes through manually inspection, vehicle inspection and video monitoring
Taking turn carries out on-site supervision.Due to existing time interval, although taking the inspection mode that various ways combine, still without
Method accomplish it is real-time, accurate, comprehensively tunnel operation conditions is monitored.When tunnel, there are abnormal conditions in operation, still without
Method is accurate at the first time to obtain field condition, this brings many difficulties for tunnel operation and management.
Meanwhile bad environments in tunnel, electromechanical facility is easy to be damaged by oil smoke, flue dust, tail gas, to reduce equipment use
Effect and service life.According to tunnel maintenance demand of technical standard, associated tunnel affiliated facility is required to periodically carry out system
Maintenance, maintenance, maintenance.Tunnel electromechanical facility, which is kept a public place clean, at present needs close traffic, usually completes work of keeping a public place clean by high-altitude operation vehicle
Make.This, cost height low based on artificial clean method working efficiency, risk are big, are unable to satisfy and want keeping a public place clean for highly effective and safe
It asks.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of highway tunnel maintenance robot and its implementations
Method has the function of tunnel Daily Round Check, electromechanical facility cleaning, disease long term monitoring etc., tunnel highway can be greatly reduced
Maintenance time and maintenance cost, thus ensureing Road Tunnel Safety operation, in time discovery tunnel dangerous situation, reduction maintenance cost etc.
Various aspects play irreplaceable role.
Technical solution is as follows:
A kind of highway tunnel maintenance robot, including fixed guide system, electric telecommunication systems and robot system,
In:
Fixed guide system provides guiding role for robot movement, is installed on tunnel-liner surface and along direction of traffic,
It include: walking guide rail, guide rail fixed block, mounting bracket, tunnel-liner surface is fixed in described mounting bracket one end, and the other end is logical
Track fixed block is crossed to connect with walking guide rail；
Electric telecommunication systems be used for for robot system provide electric power and control signal, comprising: charging pile, communication module,
Optical fiber, cable, charging pile are located at tunnel portal and out at holes, connect by cable with tunnel power supply facilities；Communication module peace
Loaded on above walking guide rail, one end is connect by optical fiber with tunnel monitoring system, the other end passes through wireless transmission signal and machine
The connection of device people's system；
Robot system includes: driving wheel, directive wheel, battery, fixed platform, car identifier, mechanical arm, end execution
Device, the driving wheel and directive wheel are moved back and forth for guided robot along walking guide rail；Battery provides for robot motion
Power is its timing charging by charging pile；Car identifier is for detecting nearby whether have vehicle, and then controlling robot can
No work；Mechanical arm is a Serial manipulator being made of two revolute pairs, to control end executive device spatial pose；
End executive device is equipped with monitoring device, cleaning device and monitoring device, to realize tunnel intelligent maintenance work；
Robot initial is located at charging pile, and recharging is completed in charging pile；
With setting speed, along walking guide rail, the back and forth movement in tunnel, vehicle identifier detection are no super nearby for robot
When high vehicle driving, mechanical wall rotation control monitoring, monitoring instrument device space pose complete Daily Round Check, disease monitoring is appointed
Business；When robot electric quantity transfinites, robot autonomous return charging station completes charging, and daily patrol is continued to complete after charging complete
Inspection, disease monitoring task；
After robot receives tunnel monitoring system cleaning instruction, robot prolongs walking guide rail in tunnel with setting speed
Traveling, robot halt after reaching designated position, and vehicle identifier detection does not nearby have Overheight Vehicles when driving, mechanical
Arm rotation control cleaning equipment spatial pose, completes electromechanical facility cleaning；After the completion of cleaning, mechanical arm, which is packed up, holds end
Luggage is placed in outside limit space, and robot, which moves on, completes other electromechanical facility cleanings；When robot electric quantity transfinites
When, robot autonomous return charging station completes charging, and instruction task is continued to complete after charging complete.
In the present invention, the moving track is fixed length track, is seamed connection between moving track, between moving track
It is reserved according to temperature in tunnel that gap is installed.
In the present invention, the car identifier, which detects nearby, has Overheight Vehicles to pass through, and robot system passes through mechanical arm
End executive device is placed in outside tunnel clearance space, guarantees traffic safety.
A kind of implementation method of highway tunnel maintenance robot, comprising the following steps:
1) according to design height and design spacing, height graticule and vertical graticule delimited, determines mounting bracket center；
2) it according to mounting bracket center, determines position of mounting hole, lifts mounting bracket；
3) according to spacing is designed, intert guide rail fixed block in walking guide rail, guide rail fixed block is connect with mounting bracket；
4) bolt between guide rail fixed block and mounting bracket is adjusted, it is ensured that walking guide rail is straight, tightens bolt；
5) below walking guide rail, since tunnel enters hole, according to design spacing, communication module is installed；
6) communication module service cable, charging pile service cable are laid from hole switchgear house through trench, distribution box and gantry
And optical fiber, power supply is provided for communication module and charging pile, realizes the connection of robot and tunnel monitoring system；
7) the mounting robot system in walking guide rail, test fixed guide system, electric telecommunication systems and system of robot
System, joint debugging supervisory control of robot, cleaning and monitoring function；
8) it is issued and is instructed by tunnel monitoring system, control robot realizes monitoring, cleaning and monitoring operation.
The invention has the benefit that
(1) robot of the present invention can automatically clean electromechanical facility, be not necessarily to manual intervention, overcome artificial cleaner
The disadvantages of making low efficiency, spending high and risk big；
(2) robot of the present invention round-the-clock can replace being accomplished manually tunnel patrol, greatly improve the efficiency of inspection, also can
Greatly improve the timeliness and accuracy of tunnel operation monitoring information；
(3) robot of the present invention can find tunnel defect by being monitored for a long time to tunnel defect in time, supervise in real time
Disease development trend is surveyed, is administered in time for tunnel defect and improves scientific basis；
(4) robot of the present invention realizes tunnel Daily Round Check, electromechanical facility cleaning and disease long term monitoring, and dimension is greatly reduced
Time and maintenance cost are protected, is ensureing Road Tunnel Safety operation, the in time various aspects such as discovery tunnel dangerous situation, reduction maintenance cost
Play irreplaceable role.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of highway tunnel maintenance robot provided by the invention.
Fig. 2 is highway tunnel maintenance robot installation method flow chart provided by the invention.
Fig. 3 is highway tunnel maintenance robot provided by the invention work flow diagram.
Description of symbols:
1- fixed guide system, 2- electric telecommunication systems, 3- robotics system, 101- walking guide rail, 102- guide rail are fixed
Block, 103- mounting bracket, 201- communication module, 301- driving wheel, 302- directive wheel, 303- battery, 304- fixed platform, 305-
Car identifier, 306- mechanical arm, the end 307- executive device.
Specific embodiment
To make those skilled in the art more fully understand technical solution of the present invention, below with reference to embodiment to the present invention
A kind of highway tunnel maintenance robot and its implementation method provided is described in detail.
Embodiment one
A kind of highway tunnel maintenance robot, including fixed guide system, electric telecommunication systems and robot system,
In:
Fixed guide system provides guiding role for robot movement, is installed on tunnel-liner surface and along direction of traffic,
It include: walking guide rail, guide rail fixed block, mounting bracket, tunnel-liner surface is fixed in described mounting bracket one end, and the other end is logical
Track fixed block is crossed to connect with walking guide rail；
Electric telecommunication systems be used for for robot system provide electric power and control signal, comprising: charging pile, communication module,
Optical fiber, cable, charging pile are located at tunnel portal and out at holes, connect by cable with tunnel power supply facilities；Communication module peace
Loaded on above walking guide rail, one end is connect by optical fiber with tunnel monitoring system, the other end passes through wireless transmission signal and machine
The connection of device people's system；
Robot system includes: driving wheel, directive wheel, battery, fixed platform, car identifier, mechanical arm, end execution
Device, the driving wheel and directive wheel are moved back and forth for guided robot along walking guide rail；Battery provides for robot motion
Power is its timing charging by charging pile；Car identifier is for detecting nearby whether have vehicle, and then controlling robot can
No work；Mechanical arm is a Serial manipulator being made of two revolute pairs, to control end executive device spatial pose；
End executive device is equipped with monitoring device, cleaning device and monitoring device, to realize tunnel intelligent maintenance work.
In in the present embodiment, the moving track is fixed length track, is seamed connection between moving track, moving track it
Between installation gap it is reserved according to temperature in tunnel.
In the present embodiment, the car identifier, which detects nearby, has Overheight Vehicles to pass through, and robot system passes through machinery
End executive device is placed in outside tunnel clearance space by arm, guarantees traffic safety.
Embodiment two
A kind of implementation method of highway tunnel maintenance robot, comprising the following steps:
1) according to design height and design spacing, height graticule and vertical graticule delimited, determines mounting bracket center；
2) it according to mounting bracket center, determines position of mounting hole, lifts mounting bracket；
3) according to spacing is designed, intert guide rail fixed block in walking guide rail, guide rail fixed block is connect with mounting bracket；
4) bolt between guide rail fixed block and mounting bracket is adjusted, it is ensured that walking guide rail is straight, tightens bolt；
5) below walking guide rail, since tunnel enters hole, according to design spacing, communication module is installed；
6) communication module service cable, charging pile service cable are laid from hole switchgear house through trench, distribution box and gantry
And optical fiber, power supply is provided for communication module and charging pile, realizes the connection of robot and tunnel monitoring system；
7) the mounting robot system in walking guide rail, test fixed guide system, electric telecommunication systems and system of robot
System, joint debugging supervisory control of robot, cleaning and monitoring function；
8) it is issued and is instructed by tunnel monitoring system, control robot realizes monitoring, cleaning and monitoring operation.
Embodiment three
A kind of working method of highway tunnel maintenance robot, comprising the following steps:
1) robot initial is located at charging pile, and recharging is completed in charging pile；
2) with setting speed, along walking guide rail, the back and forth movement in tunnel, vehicle identifier detection do not have nearby for robot
When driving, Daily Round Check, disease monitoring are completed in mechanical wall rotation control monitoring, monitoring instrument device space pose to Overheight Vehicles
Task；When robot electric quantity transfinites, robot autonomous return charging station completes charging, and daily patrol is continued to complete after charging complete
Inspection, disease monitoring task；
3) after robot receives tunnel monitoring system cleaning instruction, robot prolongs walking guide rail in tunnel with setting speed
Interior traveling, robot halt after reaching designated position, and vehicle identifier detection does not nearby have Overheight Vehicles when driving, machine
Tool arm rotation control cleaning equipment spatial pose, completes electromechanical facility cleaning；After the completion of cleaning, mechanical arm is packed up end
Executive device is placed in outside limit space, and robot, which moves on, completes other electromechanical facility cleanings；When robot electric quantity is super
In limited time, robot autonomous return charging station completes charging, and instruction task is continued to complete after charging complete.
Example of the invention is explained in detail above in conjunction with embodiment, but the present invention is not limited to examples detailed above,
All any improvement and modification made for the present invention belong to the protection scope of the claims in the present invention.
Claims (4)
1. a kind of highway tunnel maintenance robot, which is characterized in that including fixed guide system, electric telecommunication systems and robot
System, in which:
Fixed guide system provides guiding role for robot movement, is installed on tunnel-liner surface and along direction of traffic, comprising:
Tunnel-liner surface is fixed in walking guide rail, guide rail fixed block, mounting bracket, described mounting bracket one end, and the other end passes through rail
Road fixed block is connect with walking guide rail；
Electric telecommunication systems be used for for robot system provide electric power and control signal, comprising: charging pile, communication module, optical fiber,
Cable, charging pile are located at tunnel portal and out at holes, connect by cable with tunnel power supply facilities；Communication module is installed on row
It walks above guide rail, one end is connect by optical fiber with tunnel monitoring system, the other end passes through wireless transmission signal and system of robot
System connection；
Robot system includes: that driving wheel, directive wheel, battery, fixed platform, car identifier, mechanical arm, end execute dress
It sets, the driving wheel and directive wheel are moved back and forth for guided robot along walking guide rail；Battery provides dynamic for robot motion
Power is its timing charging by charging pile；Car identifier is for detecting nearby whether have vehicle, and then controlling robot could
Work；Mechanical arm is a Serial manipulator being made of two revolute pairs, to control end executive device spatial pose；End
End executive device is equipped with monitoring device, cleaning device and monitoring device, to realize tunnel intelligent maintenance work；
Robot initial is located at charging pile, and recharging is completed in charging pile；
With setting speed, along walking guide rail, the back and forth movement in tunnel, vehicle identifier detection do not have superelevation vehicle nearby for robot
When driving, mechanical wall rotation control monitoring, monitoring instrument device space pose, complete Daily Round Check, disease monitoring task；When
When robot electric quantity transfinites, robot autonomous return charging station completes charging, and Daily Round Check, disease are continued to complete after charging complete
Monitoring task；
After robot receives tunnel monitoring system cleaning instruction, robot prolongs walking guide rail in tunnel expert with setting speed
It sails, robot halts after reaching designated position, and vehicle identifier detection does not nearby have Overheight Vehicles when driving, mechanical arm
Rotation control cleaning equipment spatial pose, completes electromechanical facility cleaning；After the completion of cleaning, mechanical arm, which is packed up, executes end
Device is placed in outside limit space, and robot, which moves on, completes other electromechanical facility cleanings；When robot electric quantity transfinites,
Robot autonomous return charging station completes charging, and instruction task is continued to complete after charging complete.
2. highway tunnel maintenance robot according to claim 1, which is characterized in that the moving track is fixed length rail
Road is seamed connection between moving track, and the installation gap between moving track is reserved according to temperature in tunnel.
3. highway tunnel maintenance robot according to claim 2, which is characterized in that the car identifier detects attached
Closely there are Overheight Vehicles to pass through, end executive device is placed in outside tunnel clearance space by robot system by mechanical arm, guarantees row
Vehicle safety.
4. a kind of implementation method of highway tunnel maintenance robot, for realizing public affairs described in any one in claims 1 to 3
Road tunnel maintenance robot, which comprises the following steps:
1) according to design height and design spacing, height graticule and vertical graticule delimited, determines mounting bracket center；
2) it according to mounting bracket center, determines position of mounting hole, lifts mounting bracket；
3) according to spacing is designed, intert guide rail fixed block in walking guide rail, guide rail fixed block is connect with mounting bracket；
4) bolt between guide rail fixed block and mounting bracket is adjusted, it is ensured that walking guide rail is straight, tightens bolt；
5) below walking guide rail, since tunnel enters hole, according to design spacing, communication module is installed；
6) from hole switchgear house through trench, distribution box and gantry laying communication module service cable, charging pile service cable and light
Fibre provides power supply for communication module and charging pile, realizes the connection of robot and tunnel monitoring system；
7) the mounting robot system in walking guide rail, test fixed guide system, electric telecommunication systems and robot system, connection
Adjust supervisory control of robot, cleaning and monitoring function；
8) it is issued and is instructed by tunnel monitoring system, control robot realizes monitoring, cleaning and monitoring operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811342033.9A CN109262630A (en) | 2018-11-12 | 2018-11-12 | A kind of highway tunnel maintenance robot and its implementation method |
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| CN201811342033.9A CN109262630A (en) | 2018-11-12 | 2018-11-12 | A kind of highway tunnel maintenance robot and its implementation method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915211A (en) * | 2019-04-10 | 2019-06-21 | 山东省交通规划设计院 | A kind of vcehicular tunnel inspection and dynamic pipe cultivating one robot and its method |
| CN111804633A (en) * | 2020-07-17 | 2020-10-23 | 马庆禄 | Device for cleaning and wiping tunnel illuminating lamp |
| CN112285117A (en) * | 2020-10-19 | 2021-01-29 | 河北工业大学 | Multifunctional tunnel management and maintenance system and use method |
| CN113714997A (en) * | 2021-08-31 | 2021-11-30 | 中铁第四勘察设计院集团有限公司 | Tunnel inspection system based on suspension type inspection robot |
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| CN113714997A (en) * | 2021-08-31 | 2021-11-30 | 中铁第四勘察设计院集团有限公司 | Tunnel inspection system based on suspension type inspection robot |
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