CN109343548B - The cruising inspection system of subway tunnel crusing robot - Google Patents
The cruising inspection system of subway tunnel crusing robot Download PDFInfo
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- CN109343548B CN109343548B CN201811158080.8A CN201811158080A CN109343548B CN 109343548 B CN109343548 B CN 109343548B CN 201811158080 A CN201811158080 A CN 201811158080A CN 109343548 B CN109343548 B CN 109343548B
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- 238000007689 inspection Methods 0.000 title claims abstract description 35
- 239000000523 sample Substances 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims description 21
- 238000005259 measurement Methods 0.000 claims description 17
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- 238000012360 testing method Methods 0.000 description 9
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The embodiment of the present invention provides a kind of cruising inspection system of subway tunnel crusing robot, comprising: robot body, control unit and probe unit, probe unit are set on robot body；Control unit is used to send control instruction respectively to robot body and probe unit；Robot body is used for the track according to control instruction in subway tunnel and advances；Probe unit is used to, when track of the robot body in subway tunnel is advanced, detect the environment in subway tunnel, and the data that detection obtains are sent to control unit according to control instruction.The embodiment of the present invention makes robot body in the rail running in subway tunnel, probe unit can detect the environment in subway tunnel, automatic inspection is carried out to subway tunnel using robot to realize, manual operation in compared with the existing technology, the defect that personnel's routing inspection efficiency is low and the safety of patrol officer is difficult to ensure is avoided, the efficiency and accuracy of inspection are improved.
Description
Technical field
The present embodiments relate to robotic technology fields, more particularly, to a kind of subway tunnel crusing robot
Cruising inspection system.
Background technique
With the rapid development of economy, urbanization process is constantly accelerated, the total amount of Urban traffic demand also in sharp increase,
Urban Transportation contradiction becomes increasingly conspicuous.Compared with traditional traffic above-ground mode, important tool of the subway as urban transportation,
Have many advantages, such as freight volume is big, speed is fast, it is punctual, conveniently, energy conservation and environmental protection, played increasingly in terms of improving urban traffic environment
Big effect is used widely in many cities.In order to carry out inspection to subway tunnel, people is relied primarily in tunnel at present
Work carries out inspection and instrument inspection, i.e., detects by human eye detection and artificial instrument.The advantages of both methods is technology
Mature and reliable, but, by external operating environment big, working experience skill height low to testing staff's routing inspection efficiency is existed simultaneously,
The shortcomings that safety work of testing staff is difficult to ensure.
Summary of the invention
To solve the above-mentioned problems, the embodiment of the present invention provides one kind and overcomes the above problem or at least be partially solved
State the cruising inspection system of the subway tunnel crusing robot of problem.
The embodiment of the present invention provides a kind of cruising inspection system of subway tunnel crusing robot, which includes: robot sheet
Body, control unit and probe unit, probe unit are set on robot body；Control unit is used for robot body and spy
It surveys unit and sends control instruction respectively；Robot body is used for the track according to control instruction in subway tunnel and advances；Detection
Unit is used for according to control instruction, when track of the robot body in subway tunnel is advanced, to the environment in subway tunnel
It is detected, and the data that detection obtains is sent to control unit.
System provided in an embodiment of the present invention sends control to robot body and probe unit by control unit and refers to
Enable so that robot body is in the rail running in subway tunnel, probe unit can to the environment in subway tunnel into
Row detection carries out automatic inspection to subway tunnel using robot to realize, compared with the existing technology in artificial behaviour
Make, avoid and require personnel's routing inspection efficiency low testing staff, working experience skill big by external operating environment it is high and
The defect that the safety of detection patrol officer is difficult to ensure, improves the efficiency and accuracy of inspection.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is the structural schematic diagram of the cruising inspection system of subway tunnel crusing robot provided in an embodiment of the present invention；
Fig. 2 is robot inspection schematic diagram provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of power supply unit provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of power supply unit provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of robot body provided in an embodiment of the present invention；
Fig. 6 is motor servo wheel schematic diagram provided in an embodiment of the present invention；
Fig. 7 is robot probe's cell schematics provided in an embodiment of the present invention；
Fig. 8 is the interface schematic diagram of the positioning system of subway tunnel inner machine people provided in an embodiment of the present invention；
In figure, 101: robot body；102: control unit；103: probe unit；301: wireless communication unit；302: supplying
Electric unit；303: high-tension cable；401: wall；402: lower cover plate；403: upper cover plate；404: fixture nut；405: soft body support；
406: high-tension cable；407: wiring board；701: three-dimensional Inertial Measurement Unit；702: wireless transmission and receiving module；703: machine
People walks balance control system certainly；704: battery；705: image identification system；706: detection module；707: positioning control system；
708: driving servo control system；709: master control system.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Built or in the city built, the construction project of non-subway work is carried out near or over along subway tunnel
It is more and more, these projects exist unload, load, drawing water, operational procedures or the factor such as precipitation or vibration, they may be to subway
Tunnel structure generates certain malformation, inclination, displacement, protuberance or sedimentation etc. influence.And malformation may reduce
The operative performance and efficiency of train；The friction between train wheel and wheel track may be will increase, to accelerate train wheel and wheel
The loss of rail；When subgrade of metro swells or settles 3mm or more, rail need to be adjusted.It seriously can't detect in deformation
In the case where position, or even the train of high-speed cruising can be overturned, cause serious traffic accidents, therefore to subway tunnel safety
Carry out the important process that inspection is metro safety operation.
Subway tunnel structure crack is broadly divided into railway roadbed crack, abutment wall crack and vault crack etc., these structural cracks
Generation, which is that design and construction, operation load, external environment change etc. are multifactor, to be caused, and following 6 class factor can be substantially summarized as:
1) ground relative settlement, subway tunnel structure is unreasonable in construction period such as engineering design plan (EDP), then may cause ground
Base consolidation effect is unobvious, unbalanced, in the case where the later period runs load action, causes ground relative settlement phenomenon occur, works as sedimentation
When degree is far beyond design and engineering structure allowed band, and then there is a large amount of Structural defect crack.
2) tunnel structure periphery soil conjugates, metro operation tunnel perimeter there are when deep pit digging, in base pit dewatering and
Under the collective effect of supporting construction horizontal displacement, it is easy to cause subway tunnel structure periphery soil to generate displacement, so that subway tunnel
Road structure lateral confinement soil pressure is insufficient, and tunnel cross-section horizontal convergence constantly increases, then cause tunnel structure generate vault crack and
The removing crack of railway roadbed and liner structure, while angle chip off-falling phenomenon is collapsed with section of jurisdiction corner part.
3) setting of deformation joint, deformation joint mainly includes two kinds of subsiding crack and expansion joint, and considers the whole of structure of the subway
The vertical dislocation maximum value that body railway roadbed basis can be born is not provided with subsiding crack in addition to particular/special requirement substantially.But soil property more
A limited number of expansion joints are usually arranged to achieve the purpose that increase the longitudinal rigidity of structure in soft area.This also causes to work as
Foundation stabilization effect is bad or when by external environment influence, and the sedimentation degree after construction increases, so that structural stress concentration degree
Increase, easily leads to the appearance of structural cracks.
4) structural strength is insufficient, in subway tunnel design and work progress, if engineering design is problematic or constructs
Backfill compaction deficiency etc. after process mesospore, will lead to structural strength and quality and does not reach relevant design construction requirement,
Equally it is also easy to produce tunnel structure crack.
5) train vibration influences, and subway train departure frequency is higher, so that subway tunnel structure is for a long time by low frequency and continuous
Vibration, this state is it is easier that largely Longitudinal Settlement occurs in flaccid groundsill ground, easily in tunnel structure stress concentration
Section generates crack.For existing crack, prolonged metro operation load easily leads to railway roadbed and vibrates up and down and suck-back occur and show
As suck-back phenomenon makes water ceaselessly latent erosion crack, it is easier that crack growth.
6) leakage problem, percolating water are the more universal diseases of subway tunnel structure another kind, will lead to and accelerate tunnel
It road Structural Lining weathering and degrades, if containing corrosive deposit in percolating water, damage lining concrete can be further corroded, caused
Lining cutting can bearing capacity decline, seriously affect the durability of subway tunnel structure.In general, the position that percolating water occurs is in ring
The positions such as seam, longitudinal joint and section service channel, producing cause essentially consists in structural cracks sustainable development and structurally waterproof layer goes out
Existing problem leads to water-proof system failure etc..
Since artificial or instrument has safety uncertainty to subway tunnel inspection, while artificial detection has biggish master
The property seen, is difficult to ensure the integrality and accuracy of testing result veteran testing staff.With current detection work
The continuous increase that work is measured, this artificial plus instrument mode are increasingly difficult to complete needed for all detections to meet the needs of detection
Time is also increasingly longer, and the safety of testing staff is also unable to get guarantee.And the tunnel trolley occurred in recent years carries out safety
Manually-operated mode, also restricted and peopleware are used when monitoring, special inspection is often carried out in night, morning, working efficiency
It is lower.Based on this, the embodiment of the present invention provides a kind of cruising inspection system of subway tunnel crusing robot, referring to Fig. 1, the system packet
Include: robot body 101, control unit 102 and probe unit 103, probe unit 103 are set on robot body 101；Control
Unit 102 processed is used to send control instruction respectively to robot body 101 and probe unit 102；Robot body is used for basis
Track of the control instruction in subway tunnel is advanced；Probe unit 103 is used for according to control instruction, on 101 edge of robot body
When track in subway tunnel is advanced, the environment in subway tunnel is detected, and the data that detection obtains are sent to control
Unit 102 processed.
Wherein, referring to fig. 2, the track of railcar walking is equipped in subway tunnel, robot body 101 is receiving
It, can be along the track horizontal movement, machinery of the embodiment of the present invention to robot body 101 after the control instruction of control unit 102
Structure and driving method are not construed as limiting.The embodiment of the present invention is not construed as limiting the location of control unit 102, control unit
102 remotely can send control instruction to robot body 101 and probe unit 103 by way of wireless telecommunications, and control is single
Member 102 can also be directly arranged on robot body 101, directly transmit control instruction.Probe unit 103 may be disposed at robot
The outside of ontology 101, to conveniently and effectively be detected to the ambient enviroment of robot body 101.The embodiment of the present invention pair
The concrete type of probe unit 103 is not construed as limiting, and including but not limited to visual sensor, ultrasonic sensor and laser scanning is surveyed
Away from sensor.A certain range of physical environment around robot body 101 can be detected using the sensor,
Obtain corresponding data.Data feedback can be returned control unit 102 by probe unit 103.Control unit 102 can be further to data
It is analyzed and is monitored, to complete to the safety patrol inspection in subway tunnel.
The workflow of the cruising inspection system of subway tunnel crusing robot is illustrated with an example below:
Step 1, when night, subway stop transport, track be in idle condition when, staff can place robot body
In on track；
Step 2, robot body booting carry out the self-test of robot body own system, and after the completion of self-test, work people
Member is set by control unit is arranged the parameters such as time started and end time in region of patrolling and examining, specifically can be by human-computer interaction circle
The setting of face realization above-mentioned parameter；
Step 3 is completed after setting, and control unit sends corresponding instruction to robot body and probe unit, robot
Ontology and the probe unit parameter according to entrained by control instruction carry out corresponding inspection.
System provided in an embodiment of the present invention sends control to robot body and probe unit by control unit and refers to
Enable so that robot body is in the rail running in subway tunnel, probe unit can to the environment in subway tunnel into
Row detection carries out automatic inspection to subway tunnel using robot to realize, compared with the existing technology in artificial behaviour
Make, avoid and require personnel's routing inspection efficiency low testing staff, working experience skill big by external operating environment it is high and
The defect that the safety of detection patrol officer is difficult to ensure, improves the efficiency and accuracy of inspection.
Content based on the above embodiment, as a kind of alternative embodiment, the cruising inspection system of subway tunnel crusing robot
Further include: wireless communication unit, multiple wireless communication units along robot body direction of travel on the side wall of subway tunnel
Interval setting；Unit to robot body and probe unit sends control instruction, probe unit to control unit by wireless communication
The data that detection obtains are sent to control unit by unit by wireless communication.
Specifically, since subway tunnel is longer, and in order to enable control unit to robot body and probe unit
Control instruction is sent, and enables probe unit in real time by the data feedback of detection acquisition to control unit, it is therefore desirable to
Wireless communication unit is set in tunnel.Can specifically be arranged according to set distance interval between wireless communication unit (such as every
50 meter amperes fill one), to enable control unit and probe unit and robot body, unit is counted by wireless communication
According to the transmission with instruction.Wireless communication unit is specifically as follows Wifi module, tool of the embodiment of the present invention to wireless communication unit
Body type is not construed as limiting.In addition, wireless communication unit can also have sleep mode, i.e., do not marched in robot body attached
It is in close state when close, is just opened when robot body marches to nearby, so as to save electric energy and working time, drop
Low product long-term work fever causes unstable, works long hours and the service life to reach.
Content based on the above embodiment, as a kind of alternative embodiment, the cruising inspection system of subway tunnel crusing robot
Further include: power supply unit；Power supply unit is used for the induction from along the high-tension cable that subway tunnel is laid with and obtains alternating voltage；To friendship
Time variant voltage is handled, and DC voltage is obtained, and is wireless communication unit power supply by DC voltage.
Specifically, it since wireless communication unit needs to power, needs to be configured independent power supply in tunnel, using this
The wireless module of invention avoids the secondary construction to subway tunnel, damages to reduce to the structure of subway tunnel, this
Inventive embodiments provide a kind of power supply unit.Referring to Fig. 3, which can take electricity from main high-tension cable 303, i.e.,
Incude from main high-tension cable using current transformer and obtain alternating voltage, and passes through processing (such as rectification circuit and power supply
Switched circuit is handled), it can finally export steady dc voltage.The DC voltage can be supplied wireless communication unit
301, to realize the long haul communication in subway tunnel.
Content based on the above embodiment, as a kind of alternative embodiment, referring to fig. 4, power supply unit includes: upper cover plate
403, lower cover plate 402, wiring board 407 and fixture nut 404；Upper cover plate 403 and lower cover plate 402 are fixed to by fixture nut 404
The side wall of subway tunnel forms accommodation space between upper cover plate 403 and lower cover plate 402, accommodation space is for accommodating high-tension cable
406；Wiring board 407 is set between high-tension cable 406 and lower cover plate 402, and wiring board 407 is for receiving alternating voltage.
Specifically, upper cover plate 403 and lower cover plate 402 are all " Ω " type structure, thus 402 phase of upper cover plate 403 and lower cover plate
Pair middle part formed accommodation space.Two fixture nuts 404 are each passed through two edge of upper cover plate 403 and lower cover plate 402, from
And run through upper cover plate 403 and lower cover plate 402, the side wall or wall 401 upper cover plate 403 and lower cover plate 402 being fixed in tunnel
On.Wherein, upper cover plate 403 is relative to lower cover plate 402 far from wall 401.And it is arranged between lower cover plate 402 and high-tension cable 406
There is the wiring board 407 for taking electricity, the mutual inducing current or alternating voltage of mutual inductance generation can be received.Therefore, power supply unit uses
Power supply unit can be easily installed vertically on wall 401 by above structure form.
A kind of content based on the above embodiment, as alternative embodiment, power supply unit further include: soft body support 405；It is soft
Body support 405 is set between upper cover plate 403 and high-tension cable 406 and between lower cover plate 402 and high-tension cable 406.Wherein,
Be arranged soft body support 405 can increase frictional strength between upper cover plate 403 and high-tension cable 406 and high-tension cable 406 with
Frictional strength between wiring board 407 stablizes the structure type of power supply unit, improves power supply unit from high-tension cable 406
Take the stability in electric process.
Content based on the above embodiment, as a kind of alternative embodiment, the cruising inspection system of subway tunnel crusing robot
Further include: three-dimensional Inertial Measurement Unit 701；Single track of the robot body in subway tunnel is advanced, three-dimensional Inertial Measurement Unit
701 are set to robot body；Three-dimensional Inertial Measurement Unit 701 is used for three-dimensional appearance of robot measurement ontology during traveling
State information；Control unit is also used to be adjusted according to walking posture of the 3 d pose information to robot body, makes robot
Ontology remains operational balance and detects the precision of tunnel deformation.
Referring to Fig. 7,701 be three-dimensional Inertial Measurement Unit；702 be wireless transmission and receiving module；703 walk certainly for robot
Balance control system；704 be battery；705 be image identification system；706 be detection module；707 be positioning control system；
708 be driving servo control system；709 be master control system.Specifically, robot body provided in an embodiment of the present invention can
Single track in subway tunnel is advanced, and can be reduced the volume and weight of robot body, is easy to implement the inspection function of robot
Energy.But when robot is advanced using single track, robot body is different with double rail type robot or hanger rail type robot.Due to
The supporting point of robot body is only single track, therefore imbalance may be generated during traveling, so needing to consider machine
Balance of the human body when single track moves.Therefore, three-dimensional Inertial Measurement Unit 701 can be set on robot body, utilized
Three-dimensional Inertial Measurement Unit 701 being capable of 3 d pose information of robot measurement ontology during traveling.Pass through 3 d pose
Information, control unit can judge whether robot body is able to maintain the balance of robot when advancing, and in imbalance
It is adjusted by posture of the corresponding means to robot body, to make robot body can during entire inspection
Balance is kept, ensure that the accuracy for the data that probe unit detection obtains.
Content based on the above embodiment, as a kind of alternative embodiment, three-dimensional Inertial Measurement Unit include accelerometer,
Gyroscope and magnetometer.Wherein, accelerometer is used to detect the acceleration signal of robot body, and gyroscope is for detecting machine
Angular velocity signal of the human body relative to navigational coordinate system, magnetometer is for detecting boat of the robot body relative to navigation coordinate
To signal.By robot measurement ontology angular speed in three dimensions, the signal of three aspects of acceleration and course angle, then
The 3 d pose information of robot body can be calculated.
Referring to Fig. 5, content based on the above embodiment, as a kind of alternative embodiment, the bottom of robot body is arranged
There is two pairs of front and back motor servo wheel, robot body is advanced by single track of two pairs of motor servo wheels in subway tunnel；Accordingly
Ground, control unit are also used to when robot body is turned, if knowing the weight of robot body according to the judgement of 3 d pose information
The heart deviates single track supporting point, then improves the speed for two motor servo wheels being located on the outside of bend.
Wherein, since the supporting point of robot body is only single track, imbalance may be generated during traveling,
When especially robot body does movement in a curve along single track, by centrifugal forces affect, robot body can neither be such as double track machine
People realizes stabilization to the constraint of wheel by track, constraint can not be realized by lateral force such as hanger rail type robot.
Specifically, due to being mainly shown as the frictional force of pressure and direction along ng a path between robot body and single track.In turning, electricity
Torque is too small between machine slave wheel and single track, it is difficult to centrifugal force is overcome, therefore, for the stability for realizing robot body, control
Unit can be monitored 3 d pose information, once the center of discovery robot body deflects, i.e. deviation single track support
Point can then promote the speed of the motor servo wheel on the outside of bend, such as the speed of 3,4 wheels in Fig. 6, to utilize 3,4
Speed difference between wheel and 1,2 wheels, single track will be formed robot body and centrifugal force opposite effect power.Therefore, by right
The continuous regulation of the real time monitoring and motor servo wheel speed of 3 d pose information realizes what robot body was run on single track
Stability.
Content based on the above embodiment, as a kind of alternative embodiment, the cruising inspection system of subway tunnel crusing robot
Further include: laser range finder, laser range finder are respectively arranged at the left and right sides of robot body；Laser range finder is for measuring
Robot body is respectively the distance between with the left and right two side walls of subway tunnel；If control unit is also used to according to laser ranging
The Distance Judgment that instrument measurement obtains knows that drift angle occurs for robot body, then adjusts the height of motor servo wheel so that robot sheet
Body keeps horizontality.Specifically, in order to improve the accuracy that probe unit detects the data obtained, using laser range finder
To demarcate the left-right position of robot.If the distance obtained according to measurement and range deviation when normal advance are larger, can be true
Recognize robot body and drift angle has occurred, is i.e. robot body deviates to its left or right side.Due to the motor servo of two sides at this time
Wheel is inevitable inconsistent in height, therefore can make machine by the level height of the motor servo wheel on the left of adjusting and/or right side
Device human body saves horizontality operation, improves the accuracy for the data that detection obtains.Content based on the above embodiment, as
A kind of alternative embodiment, the data that probe unit detection obtains include: water stain detection data and/or the fracture detection of subway tunnel
Data.Wherein, water stain detection data is used to determine in tunnel with the presence or absence of ponding, and fracture detection data are used to determine tunnel
It is horizontal with the presence or absence of column on the wall in road, to confirm to whether there is safety problem in tunnel.
Specifically, water stain detection data can specifically obtain in the following manner: using infrared thermal imagery and laser radar to whole
Segment pipe is detected, and when there is the location point of percolating water, the temperature difference that infrared thermal imaging is reflected back is anisotropic to judge leak for the first time
Point, using the multiecho principle of laser radar, the three-dimensional laser cloud point number when the infrared waves of laser radar are scanned to leakage point
Secondary judgement is intensively carried out according to abnormal, generates the image size of the leakage point.
In addition, being the interface schematic diagram of the positioning system of subway tunnel inner machine people, capable of being regarded to visible light referring to Fig. 8
Frequently, parameter or picture detected by infrared video, gyroscope and radar are shown.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (4)
1. a kind of cruising inspection system of subway tunnel crusing robot characterized by comprising robot body, control unit and
Probe unit, the probe unit are set on the robot body；
Described control unit is used to send control instruction respectively to the robot body and the probe unit；
The robot body is used for the track according to the control instruction in subway tunnel and advances；
The probe unit is used for according to the control instruction, in track row of the robot body in the subway tunnel
Into when, the environment in the subway tunnel is detected, and by detection obtain data be sent to described control unit；
Wherein, further includes: wireless communication unit, multiple wireless communication units exist along the direction of travel of the robot body
Setting is spaced on the side wall of the subway tunnel；
Described control unit sends the control to the robot body and the probe unit by the wireless communication unit
System instruction；
The data that the detection obtains are sent to described control unit by the wireless communication unit by the probe unit；
Wherein, further includes: power supply unit；
Said supply unit is used for the induction from along the high-tension cable that the subway tunnel is laid with and obtains alternating voltage；To the friendship
Time variant voltage is handled, and DC voltage is obtained, and is wireless communication unit power supply by the DC voltage；Wherein, nothing
Line communication unit has sleep mode, is in close state when robot body does not march to nearby, works as robot body
It is just opened when marching to nearby；
Wherein, said supply unit includes: upper cover plate, lower cover plate, wiring board and fixture nut；
The upper cover plate and the lower cover plate are all omega type structure, and two fixture nuts are each passed through upper cover plate under
Two edge of cover board, run through upper cover plate and lower cover plate, and the upper cover plate and the lower cover plate are fixed to by the fixture nut
The side wall of the subway tunnel forms accommodation space between the upper cover plate and the lower cover plate, the accommodation space is for holding
Receive the high-tension cable；The wiring board is set between the high-tension cable and the lower cover plate, and the wiring board is for connecing
Receive the alternating voltage；
Wherein, said supply unit further include: soft body support；The soft body support is set to the upper cover plate and the high-voltage electricity
Between cable and between the wiring board and the high-tension cable；
The bottom of the robot body is provided with two pairs of front and back motor servo wheel, and the robot body passes through two pairs of electricity
Single track of the machine slave wheel in the subway tunnel is advanced；
Correspondingly, described control unit is also used to when the robot body is turned, if being obtained according to the judgement of 3 d pose information
Know the deviation of gravity center single track supporting point of the robot body, then promotes two motor servo wheels for being located at curve inner side
Speed；
The data that the probe unit detection obtains include: the water stain detection data and fracture detection data of the subway tunnel；
The water stain detection data obtains in the following manner: being visited using infrared thermal imagery and laser radar to whole segment pipe
It surveys, when there is the position of percolating water, the temperature difference that infrared thermal imaging is reflected back is anisotropic to judge leakage point for the first time, utilizes laser radar
Multiecho principle, when the infrared waves of laser radar are scanned to leakage point, three-dimensional laser cloud point data exception intensively carries out two
Secondary judgement generates the image size of the leakage point.
2. system according to claim 1, which is characterized in that further include: three-dimensional Inertial Measurement Unit；The robot sheet
Single track of the body in the subway tunnel is advanced, and the three-dimensional Inertial Measurement Unit is set to the robot body；
The three-dimensional Inertial Measurement Unit is for measuring 3 d pose information of robot body during traveling；
Described control unit is also used to that the walking posture of the robot body is adjusted according to the 3 d pose information,
So that the robot body keeps walking balance.
3. system according to claim 2, which is characterized in that the three-dimensional Inertial Measurement Unit includes accelerometer, top
Spiral shell instrument and magnetometer.
4. system according to claim 2, which is characterized in that further include: laser range finder, the laser range finder difference
It is set to the left and right sides of the robot body；
The laser range finder is used to measure the robot body respectively between the left and right two side walls of the subway tunnel
Distance；
If described control unit, which is also used to measure the Distance Judgment obtained according to the laser range finder, knows the robot sheet
Horizontal-shift occurs for body, then adjusts the height of the motor servo wheel so that the robot body keeps horizontality.
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| CN113126621A (en) * | 2020-10-14 | 2021-07-16 | 中国安全生产科学研究院 | Automatic navigation method of subway carriage disinfection robot |
| CN112630229B (en) * | 2021-03-09 | 2021-06-18 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN113110501B (en) * | 2021-05-11 | 2023-09-01 | 北京京东乾石科技有限公司 | System and method for testing unmanned equipment |
| CN113220009B (en) * | 2021-07-08 | 2021-09-21 | 中国铁路设计集团有限公司 | Positive pressure type wall climbing robot for tunnel lining detection and control method thereof |
| CN115844269A (en) * | 2021-09-27 | 2023-03-28 | 汤恩智能科技(上海)有限公司 | Cleaning method, readable medium and electronic device |
| CN114544456A (en) * | 2022-01-10 | 2022-05-27 | 河海大学 | Non-contact space-time continuous monitoring and early warning method and system for leakage of earth-rock dam |
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