CN110161079A - A kind of tunnel safety detection robot - Google Patents
A kind of tunnel safety detection robot Download PDFInfo
- Publication number
- CN110161079A CN110161079A CN201910516054.6A CN201910516054A CN110161079A CN 110161079 A CN110161079 A CN 110161079A CN 201910516054 A CN201910516054 A CN 201910516054A CN 110161079 A CN110161079 A CN 110161079A
- Authority
- CN
- China
- Prior art keywords
- joint
- module
- robot
- tunnel
- class
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
Abstract
The invention discloses a kind of tunnel safeties to detect robot system, including mobile platform and class SCARA robot architecture；Power supply module, locating module and communication module are provided in mobile platform；Telescoping mechanism, three joints and power distribution module, image processing module, infrared radiation thermometer, light compensating lamp and image capture module up and down are provided on the class SCARA robot architecture；Compact overall structure of the present invention, size is small, can reach tunnel edge elongated zones, substitutes mankind's operation, and equipment and area to be tested distance are close, help to improve accuracy in detection and precision；Various complex job environment are adapted to, and are had no effect to tunnel lane region normal operation etc..
Description
Technical field
The present invention relates to tunnel safeties to detect robot, belongs to specialized robot technical field.
Background technique
With the increasingly increase of constructing tunnel, the Tunnel testing demand faced is more more and more intense, wherein tunnel inner wall is opened
Split, percolating water phenomena such as it is generally existing, become a very important tunnel safety hidden danger, currently, be directed to this outstanding problem,
Main solution is checked, inefficiency, and there are missing inspection situations by manually carrying out screening；Especially in some tunnels
Road specific position, when personnel inspection face engineering cumbersome, inefficiency the problem of very small for the space of inspection.
Summary of the invention
To solve Tunnel testing of the existing technology by manually carrying out screening, check, the defect of inefficiency, originally
Invention provides a kind of tunnel safety detection robot.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of tunnel safety detection robot system, including mobile platform and class SCARA robot architecture；The movement is flat
Platform is used to run robot system along detection zone；Class SCARA robot architecture include upper and lower telescoping mechanism, the first joint,
The bottom of mobile platform is arranged in the bottom in second joint and third joint, upper and lower telescoping mechanism, is used for class SCARA robot
Structure moves up and down；The end of the telescoping mechanism up and down is connect with the first arthrodesis, and second joint passes through bearing and first
Joint connection, the third joint are connect by bearing with second joint；Class SCARA robot architecture is transported by own institutions
It is dynamic, so that robot system end point detection equipment is reached specified region；
Power supply module, locating module and communication module are provided in the mobile platform；The power supply module is used to be machine
Device people's system power supply；The locating module is used for real-time positioning robot's system position in tunnel；The communication module is used for
The real-time communication of device people system and external system and data transmission；
The class SCARA robot architecture is additionally provided with power distribution module, image processing module, infrared radiation thermometer, benefit
Light lamp and image capture module；
The power distribution module is for the electricity of power supply module to be allocated；Described image processing module is used for image
Acquisition module acquired image is handled in real time；
The infrared radiation thermometer is for detecting tunnel inner wall real time temperature；The light compensating lamp is for increasing monitoring section in tunnel
The intensity of illumination in domain obtains data convenient for image capture module；
Further, first joint and the lower part of second joint are provided with the steering engine for driving joint to rotate.Rudder
Machine is for driving relative rotation and second joint and third joint between the first joint and second joint to relatively rotate, the first joint
It is to be fixedly connected between telescoping mechanism.
Further, the top of second joint is arranged in the power distribution module and image processing module；It is described infrared
The top in third joint is arranged in temperature measurer and described image acquisition module；The lower part in third joint is arranged in the light compensating lamp.
Further, the mobile platform is made of aluminum alloy materials, and using two-row roller structure, wheel outer ring is rubber
Material, to increase frictional force between wheel and guide rail, using contact roller outer ring mode.
The beneficial effects obtained by the present invention are as follows being: compact overall structure of the present invention, light quality, size is small, can reach
Tunnel edge elongated zones substitute mankind's operation, and equipment and area to be tested distance are close, help to improve accuracy in detection and essence
Degree；Using image acquisition device, locator, infrared radiation thermometer etc. have built real-time, efficient detection platform, with conventional solution phase
Than improving efficiency and precision；Because robot system dimension is small, various complex job environment are adapted to, and to tunnel lane region
Normal operation etc. has no effect.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is partial structure diagram of the invention.
In figure: 1, robot system motion guide rail；2, mobile platform；3, power supply module；4, upper and lower telescoping mechanism；5, class
SCARA robot architecture；6, steering engine；7, power distribution module；8, image processor；9, infrared radiation thermometer；10, light compensating lamp；11,
Image capture module；12, locating module；13, communication module；14, the first joint；15, second joint；16, third joint.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment
As shown in Figs. 1-2, a kind of tunnel safety detects robot system, including mobile platform 2 and class SCARA robot knot
Structure 5；Mobile platform 2 is used to run robot system along detection zone；Class SCARA robot architecture 5 includes upper and lower telescopic machine
The bottom of mobile platform is arranged in the top in structure 4, the first joint 14, second joint 15 and third joint 16, upper and lower telescoping mechanism 4
Portion, for moving up and down class SCARA robot architecture；
First the phase along tunnel direction, is needing detection zone part to be laid with guide rail 1, guide rail is at I-shaped, shifting before detection
Moving platform 2 uses two-row roller structure, and wheel outer ring is rubber material, increases frictional force between wheel and guide rail, using contact roller
Outer ring mode.Mobile platform is hung on guide rail using wheel mode is compressed, and is moved along the rail.
Mobile platform 2 uses light aluminum alloy material, and interior includes power supply module, robot localization module and robot
Communication module etc..
Tunnel safety detection robot system is fixed on guide rail 1 by its mobile platform 2；Mobile platform 2 is used for machine
Device people system is run along detection zone；Power supply module 3, locating module 12 and communication module 13 are provided in mobile platform；Power supply
Module 3 is used to power for robot system；Locating module 12 is used for real-time positioning robot's system position in tunnel；Communicate mould
Real-time communication and data of the block 13 for device people system and external system are transmitted；
Power distribution module 7, image processing module 8, infrared radiation thermometer are provided on the class SCARA robot architecture 5
9, light compensating lamp 10 and image capture module 11；
Power distribution module 7 is for the electricity of power supply module 3 to be allocated；Described image processing module 8 is used for image
11 acquired image of acquisition module is handled in real time；
Infrared radiation thermometer 9 is for detecting tunnel inner wall real time temperature；The light compensating lamp 10 is for increasing monitoring section in tunnel
The intensity of illumination in domain obtains data convenient for image capture module 11；
The first joint 14 of class SCARA robot architecture 5 is fixedly connected with the bottom of upper and lower telescoping mechanism 4, second joint
15 are connect by bearing with the first joint 14, and the third joint 16 is connect by bearing with second joint 15；First joint 14
The lower part of second joint 15 is provided with the steering engine 6 for driving joint to rotate.Steering engine 6 is for driving the first joint and second to close
Relative rotation and second joint and third joint relatively rotate between section, are to be fixedly connected between the first joint and telescoping mechanism.
To which class SCARA robot architecture is moved by own institutions, robot system end point detection equipment is made to reach specified region；
The top of second joint 15 is arranged in power distribution module 7 and image processing module 8；Infrared radiation thermometer 9 and described
The top in third joint 16 is arranged in image capture module 11；The lower part in third joint 16 is arranged in the light compensating lamp 10.
Mobile platform 2 is made of aluminum alloy materials, and using two-row roller structure, wheel outer ring is rubber material, to increase
Frictional force between wheel and guide rail, using contact roller outer ring mode.
Further, the outer dimension of robot system is 20*30*21cm.
In use, driving robot system to move along the guide rail for being laid on detection zone by mobile platform；Power supply module
For the power supply of entire robot system；The upper and lower position of upper and lower telescoping mechanism adjustable class SCARA robot；Steering engine may be implemented
The rotation in each joint of robot is to carry out electric power distribution by power distribution module；By image processor by Image Acquisition mould
The image that block collects is handled in real time；Tunnel inner wall real time temperature is detected by infrared radiation thermometer；It is negative by light compensating lamp
Duty increases the intensity of illumination that region is monitored in tunnel, obtains data convenient for image capture module；It is carried out by image capture module
Data acquisition to image in tunnel；Pass through position of the locating module positioning robot's system in tunnel；Pass through communication module
Make the real-time communication and data transmission of robot system and external system, the logical detection to complete tunnel internal；It is flexible up and down
The model of mechanism can be XTL900；The model of image processor 8 can be TY-HDMI0404；The model of infrared radiation thermometer 9
It can be RS-WD-HW-I20；The model for the image acquisition device that image capture module uses can be 3D-1MP02-V92；Positioning
The model for the locator that module uses can be LK209；Communication module model can be MODEL1200.Of course, it is possible to according to reality
The replacement and substitution for needing to carry out each device model on border.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of tunnel safety detects robot system, which is characterized in that including mobile platform (2) and class SCARA robot knot
Structure (5)；The mobile platform (2) is used to run robot system along detection zone；It is set on class SCARA robot architecture (5)
It is equipped with telescoping mechanism (4) up and down, the top setting of the telescoping mechanism (4) up and down is used in the bottom of mobile platform (2) by class
SCARA robot architecture (5) moves up and down；The class SCARA robot architecture (5) is moved by own institutions, makes robot
System end detection device reaches specified region；
Power supply module (3) locating module (12) and communication module (13) are provided in the mobile platform；The power supply module (3)
For powering for robot system；The locating module (12) is used for real-time positioning robot's system position in tunnel；It is described
Real-time communication and data of the communication module (13) for device people system and external system are transmitted；
Power distribution module (7), image processing module (8), infrared survey are additionally provided on the class SCARA robot architecture (5)
Wen Yi (9), light compensating lamp (10) and image capture module (11)；The power distribution module (7) is used for the electricity of power supply module (3)
It is allocated；Described image processing module (8) for being handled image capture module (11) acquired image in real time；
The infrared radiation thermometer (9) is for detecting tunnel inner wall real time temperature；The light compensating lamp (10) is supervised for increasing in tunnel
The intensity of illumination in region is surveyed, obtains data convenient for image capture module (11).
2. a kind of tunnel safety according to claim 1 detects robot, which is characterized in that class SCARA robot
Structure (5) is additionally provided with the first joint (14), second joint (15) and third joint (16)；First joint (14) and up and down
The end of telescoping mechanism (4) is fixedly connected, and second joint (15) is connect by bearing with the first joint, the third joint (16)
It is connect by bearing with second joint (15).
3. a kind of tunnel safety according to claim 2 detects robot, which is characterized in that first joint (14),
The lower part of second joint (15) is provided with the steering engine (6) for driving joint to rotate.
4. a kind of tunnel safety according to claim 2 detects robot, which is characterized in that the power distribution module
(7) it is arranged with image processing module (8) on the top of second joint (15)；The infrared radiation thermometer (9) and described image acquisition
Module (11) is arranged on the top of third joint (16)；Lower part of light compensating lamp (10) setting in third joint (16).
5. a kind of tunnel safety according to claim 1 detects robot, which is characterized in that the mobile platform (2) by
Aluminum alloy materials are made, and using two-row roller structure, wheel outer ring is rubber material, to increase frictional force between wheel and guide rail,
Using contact roller outer ring mode.
6. a kind of tunnel safety according to claim 1 detects robot, which is characterized in that the shape ruler of robot system
Very little is 20*30*21cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516054.6A CN110161079A (en) | 2019-06-14 | 2019-06-14 | A kind of tunnel safety detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516054.6A CN110161079A (en) | 2019-06-14 | 2019-06-14 | A kind of tunnel safety detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110161079A true CN110161079A (en) | 2019-08-23 |
Family
ID=67625101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910516054.6A Pending CN110161079A (en) | 2019-06-14 | 2019-06-14 | A kind of tunnel safety detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110161079A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800567A (en) * | 2022-05-10 | 2022-07-29 | 上海工程技术大学 | Track robot for in-tunnel inspection |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN202735798U (en) * | 2012-06-27 | 2013-02-13 | 山东康威通信技术股份有限公司 | Cable channel intelligent inspection robot monitoring application system |
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| CN106425470A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent power distribution cabinet mounting robot |
| CN107765145A (en) * | 2017-09-26 | 2018-03-06 | 山东鲁能智能技术有限公司 | A kind of shelf depreciation automatic detection device, system and method |
| CN108312126A (en) * | 2017-12-28 | 2018-07-24 | 中核四0四有限公司 | A kind of high radiation space source item investigation robot in underground and method |
| CN109281711A (en) * | 2018-09-30 | 2019-01-29 | 中国安全生产科学研究院 | A kind of subterranean tunnel safety patrol inspection robot |
-
2019
- 2019-06-14 CN CN201910516054.6A patent/CN110161079A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN202735798U (en) * | 2012-06-27 | 2013-02-13 | 山东康威通信技术股份有限公司 | Cable channel intelligent inspection robot monitoring application system |
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| CN106425470A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent power distribution cabinet mounting robot |
| CN107765145A (en) * | 2017-09-26 | 2018-03-06 | 山东鲁能智能技术有限公司 | A kind of shelf depreciation automatic detection device, system and method |
| CN108312126A (en) * | 2017-12-28 | 2018-07-24 | 中核四0四有限公司 | A kind of high radiation space source item investigation robot in underground and method |
| CN109281711A (en) * | 2018-09-30 | 2019-01-29 | 中国安全生产科学研究院 | A kind of subterranean tunnel safety patrol inspection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800567A (en) * | 2022-05-10 | 2022-07-29 | 上海工程技术大学 | Track robot for in-tunnel inspection |
| CN114800567B (en) * | 2022-05-10 | 2023-05-02 | 上海工程技术大学 | Track robot for inspection in tunnel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021068846A1 (en) | Multi-arm robot for tunnel lining detection and disease diagnosis in operating period | |
| US11673587B2 (en) | Comprehensive inspection vehicle for subway tunnel | |
| US20210396842A1 (en) | Multi-scale inspection and intelligent diagnosis system and method for tunnel structural defects | |
| CN104655047B (en) | The rapid integrated measuring system in tunnel | |
| CN206378440U (en) | A kind of pipeline non-destructive testing device | |
| CN203199070U (en) | Negative-pressure-suction climbing type robot for detecting bridge crack | |
| US8085296B2 (en) | Method and apparatus for measuring an operating position in a remote inspection | |
| CN105459153A (en) | Railway tunnel lining quality nondestructive detection boom and detection method thereof | |
| CN111300453A (en) | Intelligent inspection robot for comprehensive pipe rack | |
| CN104192216A (en) | Pipeline ditch detecting robot and system thereof | |
| CN204077835U (en) | Pipeline irrigation canals and ditches measuring robots and system thereof | |
| CN107292926B (en) | Crusing robot movement locus verticality measuring method based on more image sequences | |
| CN111608731B (en) | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof | |
| CN108560381A (en) | A kind of Highway Maintenance method | |
| CN110231347A (en) | A kind of bridge bottom surface detection device and method | |
| CN106501260B (en) | Bridge automatic checkout system and detection method | |
| CN110161079A (en) | A kind of tunnel safety detection robot | |
| Wu et al. | An in-pipe internal defects inspection system based on the active stereo omnidirectional vision sensor | |
| CN105783997A (en) | Automatic detection device and method of bridge box girder | |
| CN105480317A (en) | Robot for working on vertical surface of building | |
| CN208059799U (en) | A kind of crack detection system | |
| CN113984288A (en) | Cable tunnel lining water leakage detection device and method | |
| CN106323335B (en) | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof | |
| CN208223418U (en) | A kind of intelligent vision measuring system for aero-engine installation | |
| CN114019950B (en) | Tunnel structure apparent disease intelligent inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |