CN111791214A

CN111791214A - Inspection robot and inspection system for inspecting construction tunnel

Info

Publication number: CN111791214A
Application number: CN202010637184.8A
Authority: CN
Inventors: 武传标
Original assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Current assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2020-10-20

Abstract

The invention discloses an inspection robot and an inspection system for inspecting a construction tunnel, wherein the inspection robot comprises: the traveling device is used for being suspended on a guide rail at the top of the tunnel and can move along the guide rail; the body is connected with the walking device; the holder is arranged on the body; the camera is installed on the holder and can rotate two axes under the driving of the holder. The inspection robot can run along the guide rail at the top of the tunnel, and therefore the inspection robot can collect images along the way through the camera. And meanwhile, the holder can drive the camera to rotate, and the lens of the camera faces different angles, so that all positions below the inspection robot can be inspected through the camera. The inspection robot can reduce the labor intensity of manual inspection and improve the inspection efficiency and accuracy.

Description

Inspection robot and inspection system for inspecting construction tunnel

Technical Field

The present invention relates generally to a robot technology, and more particularly, to an inspection robot for inspecting a construction tunnel.

Background

During tunnel construction, patrol and monitor the construction environment, can reduce the probability of occurence of failure, can also obtain the information of the accident that has taken place the very first time simultaneously to follow-up in time deal with and reduce the loss to the minimum. However, the space in the tunnel is long and narrow, so that more vehicles are transported to and from the tunnel, and the manual inspection difficulty is high.

Taking shield construction as an example, the existing shield construction is widely applied to excavation of underground tunnels, and the construction method has obvious advantages: excavation and lining operation are carried out under shield of the shield, and the construction safety is sufficient; the underground construction does not affect the ground traffic, and the construction under the river bottom does not affect the river navigation; the construction operation is not influenced by the weather conditions; the generated vibration, noise and other environmental hazards are small; the influence on ground buildings and underground pipelines is small. In the forward tunneling process of the shield tunneling machine in the shield construction, the tunnel segment at the back is installed, and meanwhile, the muck conveying trolley can move to and fro to convey the muck out and the segment in. A pedestrian passageway is arranged on one side of the tunnel, so that shield constructors and inspection personnel can walk conveniently.

The tunnel inner space that adopts shield construction is limited, there are slag transport dolly passageway and pedestrian's passageway in the below, the work of patrolling and examining in the shield tunnel mainly adopts the manual work to patrol and examine at present, shield tunnel engineering time is longer, can be up to one or two years usually, and the construction is incessantly gone all night, and the manual work is patrolled and examined and is difficult to patrol and examine in real time, still have a lot of sheltered from the region during the walking of slag transport dolly, the personnel of patrolling and examining are difficult to patrol and examine these sheltered from the region, and the security of the personnel of.

The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

A primary object of the present invention is to overcome at least one of the above-mentioned drawbacks of the prior art, and to provide an inspection robot for inspecting a construction tunnel, comprising:

the traveling device is used for being suspended on a guide rail at the top of the tunnel and can move along the guide rail;

the body is connected with the walking device;

the holder is arranged on the body;

the camera is installed on the holder and can rotate two axes under the driving of the holder.

According to a specific embodiment of the present invention, the walking device comprises:

the base is connected to the body;

the driving wheel set is arranged on the base and comprises a driving wheel and a motor, wherein the driving wheel is used for rolling along the top surface of the guide rail, and the motor is used for driving the driving wheel to roll; and

a lower guide assembly comprising

The lower wheel seat is fixed on the base;

the lower wheel frame is arranged above the lower wheel seat, is in sliding connection with the lower wheel seat and can slide in the vertical direction;

the two ends of the lower elastic piece are respectively abutted against the lower wheel seat and the lower wheel frame;

and the lower guide wheel is arranged on the lower wheel frame and is used for rolling along the bottom surface of the guide rail.

According to a specific embodiment of the present invention, the lower wheel seat is provided with a plurality of vertically extending lower through holes;

the lower guide assembly also comprises a lower sliding rod which vertically extends downwards from the lower wheel frame and penetrates through the lower through hole, and a lower limiting piece which is arranged at the top end of the lower sliding rod;

wherein, the lower elastic piece is sleeved on the lower sliding rod.

According to an embodiment of the present invention, the lower slide bar is provided with a plurality of lower elastic members and a plurality of lower through holes, the number of the lower elastic members and the number of the lower through holes are the same as the number of the lower slide bar, the plurality of lower slide bars are respectively inserted into the plurality of lower through holes, and the plurality of lower elastic members are respectively sleeved on the plurality of lower slide bars.

According to a specific embodiment of the invention, the inspection robot further comprises a driven wheel set mounted on the base, wherein the driven wheel set comprises a driven wheel for rolling along the top surface of the guide rail;

the driven wheel set with the driving wheel set sets up respectively the preceding, the back both ends of base, the direction subassembly is provided with a plurality ofly down, and a plurality of direction subassemblies distribute down the preceding, the back both ends of base.

According to a specific embodiment of the present invention, the top surface of the base is recessed to form a slot extending from the front end of the base to the rear end of the base, the slot being adapted to receive the rail.

According to a specific embodiment of the present invention, the driving wheel set further includes a first mounting seat and a speed reducer mounted on the first mounting seat, the driving wheel is mounted on an output shaft of the speed reducer, and an input shaft of the speed reducer is connected to a main shaft of the motor in a transmission manner;

the driven wheel also comprises a second mounting seat, and the driven wheel is mounted on the second mounting seat;

the driven wheel group with the driving wheel group all sets up two, two first mount pad base respectively is located the top of the both sides of strip groove is stretched out to the one side that deviates from the body, two the second mount pad base respectively is located the top of the both sides of strip groove is stretched out to the one side that deviates from the body.

According to a specific embodiment of the invention, the inspection robot further comprises two groups of lateral guide assemblies respectively arranged at the front end and the rear end of the base,

each set of lateral guidance assemblies includes:

a first side assembly comprising

The first side wheel frame is fixed on the base;

the first side guide wheel is arranged on the first side wheel frame;

a second side component comprising

The side wheel seat is fixed on the base, and the side wheel frame and the first side wheel frame are respectively arranged on two opposite sides of the strip groove;

the second side wheel frame is arranged between the side wheel seat and the first side wheel frame, is connected with the second side wheel seat in a sliding way and can slide in the direction close to and far away from the first side wheel frame;

the two ends of the side elastic piece are respectively abutted against the side wheel seat and the second side wheel frame;

the second side guide wheel is arranged on the second side wheel frame;

the first side guide wheel and the second side guide wheel can roll along two side surfaces of the guide rail respectively.

According to a specific embodiment of the invention, the side wheel seat is provided with a side through hole;

the second side component also comprises a side sliding rod which extends from the side wheel seat to the side through hole and penetrates through the side through hole, and a side limiting piece which is arranged at the top end of the side sliding rod;

wherein the side elastic piece is sleeved on the side sliding rod.

According to a specific embodiment of the invention, the inspection robot further comprises a control unit, an RFID reader and a laser sensor;

the RFID reader is used for reading the electronic code in the electronic tag of the beacon beside the guide rail so that the control unit can obtain the position of the beacon corresponding to the electronic code through the electronic code;

the laser sensor is used for measuring the distance between the beacon and the inspection robot so that the control unit can calculate the position of the inspection robot according to the position of the beacon and the distance.

According to a specific embodiment of the invention, the inspection robot further comprises a detection component, and the detection component comprises a humidity sensor, a temperature sensor, an anemometer and an environment detection module.

According to a specific embodiment of the invention, the inspection robot further comprises a battery and a wireless charging receiving module, wherein the wireless charging receiving module is used for being matched with the wireless charging transmitting module beside the guide rail to charge the battery.

According to a specific embodiment of the invention, the inspection robot further comprises an anti-collision assembly, wherein the anti-collision assembly comprises two flexible anti-collision strips which are respectively arranged at the front end and the rear end of the vehicle body and two pressure sensors which are respectively arranged in the two flexible anti-collision strips;

wherein, pressure sensor is used for detecting whether patrolling and examining the robot and sending the collision.

According to a specific embodiment of the invention, the inspection robot further comprises a display screen, a key switch, an alarm lamp, a lifting handle and a debugging port which are arranged on the body.

The invention also provides an inspection system, which comprises the inspection robot and a guide rail used for being suspended at the top of the tunnel;

wherein, patrol and examine the robot and install on the guide rail and can follow the guide rail walking.

According to a specific embodiment of the invention, the patrol system further comprises a plurality of beacons and a plurality of electronic tags;

a plurality of beacons all set up the guide rail is other and follow the guide rail is arranged in proper order, and beacon and electronic tags one-to-one set up, and electronic tags sets up rather than corresponding beacon, the beacon with electronic tags is used for providing the reference for patrolling and examining the location of robot jointly.

According to the technical scheme, the inspection robot has the advantages and positive effects that:

the inspection robot can run along the guide rail at the top of the tunnel, and therefore the inspection robot can collect images along the way through the camera. And meanwhile, the holder can drive the camera to rotate, and the lens of the camera faces different angles, so that all positions below the inspection robot can be inspected through the camera. The inspection robot can reduce the labor intensity of manual inspection and improve the inspection efficiency and accuracy.

Drawings

Various objects, features and advantages of the present invention will become more apparent from the following detailed description of preferred embodiments of the invention, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary of the invention and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a schematic perspective view of an inspection system according to an exemplary embodiment;

FIG. 2 is a schematic perspective view of an inspection system according to an exemplary embodiment;

FIG. 3 is a schematic perspective view of a walking device according to an exemplary embodiment;

FIG. 4 is a schematic right view of a walking device shown in accordance with an exemplary embodiment;

FIG. 5 is a schematic perspective view of a lower guide assembly according to an exemplary embodiment;

FIG. 6 is a front half-section schematic view of a lower guide assembly shown in accordance with an exemplary embodiment;

FIG. 7 is a front view semi-sectional schematic illustration of a first side assembly shown in accordance with an exemplary embodiment;

FIG. 8 is a front half-section view of a first side assembly shown in accordance with an exemplary embodiment;

FIG. 9 is a schematic front view in half section of a second side assembly shown in accordance with an exemplary embodiment;

FIG. 10 is a schematic front view in half section of a second side assembly shown in accordance with an exemplary embodiment;

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.

Fig. 1 and 2 show the structure of an inspection system in the present embodiment. The inspection system comprises a guide rail 4 and an inspection robot 1 for inspecting a construction tunnel. The construction tunnel is a tunnel in which tunneling construction is performed, and the tunnel can be constructed by adopting a shield method. A guide rail 4 is arranged at the top of the tunnel, which guide rail 4 extends in the length direction of the tunnel. The guide rail 4 comprises a top surface, a bottom surface and two side surfaces, wherein the top surface and the bottom surface are both horizontal planes, the two side surfaces are parallel to each other, and the top surface and the side surfaces are vertical to each other. The guide rail 4 may be a bar-shaped pipe having a rectangular cross section. The inspection robot 1 can run along the guide rail 4. The inspection robot 1 includes a traveling device 10, a body 11, a pan/tilt head 17, and a camera 18. The outer contour of the body 11 may be of substantially right hexahedral configuration. The pan-tilt 17 is mounted at the bottom of the body 11, and the camera 18 is mounted on the pan-tilt 17. The pan/tilt head 17 is a two-axis pan/tilt head 17, and the pan/tilt head 17 can drive the camera 18 to perform two-axis rotation, that is, the camera 18 can be driven to rotate 360 degrees around a vertical axis and can also be driven to tilt around a horizontal axis. The camera 18 includes a visible light camera 182 and an infrared camera 181. The running gear 10 is installed on the top of the body 11, and the running gear 10 is engaged with the guide rail 4 and can move along the guide rail 4.

The inspection robot 1 can run along the guide rail 4 at the top of the tunnel so that the inspection robot 1 can collect images along the way by the camera 18. And because the inspection robot 1 is positioned at the top of the tunnel, the visual angle of the camera 18 overlooks the lower part of the tunnel, so that the inspection robot is not easily blocked, meanwhile, the holder 17 can drive the camera 18 to rotate, the lens of the camera 18 faces different angles, and all positions below the inspection robot 1 can be inspected through the camera 18.

Referring to fig. 3 and 4, the running gear 10 includes a base 12, a plurality of driving wheel sets 13, a plurality of driven wheel sets 14, and a plurality of lower guide assemblies 15. The base 12 includes opposing front and

rear ends

121 and 121. The front end 121 and the rear end are disposed opposite to each other in the traveling direction of the inspection robot 1. The bottom surface of the base 12 is fixedly connected with the top surface of the body 11. The base 12 and the body 11 may be connected together by a connecting member 35.

The driving wheel set 13 and the driven wheel set 14 are fixed on the top surface of the base 12. The driven wheel set 14 is located at the front end 121 of the base 12, and the driving wheel set 13 is located at the rear end of the base 12. The driven wheel set 14 and the driving wheel set 13 may be both provided in two. The two driving wheel sets 13 are separated from each other and the two driven wheel sets 14 are separated from each other.

The driving wheel set 13 includes a first mounting base 134, a speed reducer 132, a motor 133 and a driving wheel 131. The first mounting seat 134 extends from the top surface of the base 12 in a direction away from the body 11. The first mounting seats 134 of the two driving wheel sets 13 respectively extend upward from two edges of the top surface of the base 12. The first mount 134 includes a riser 1341, two stiffener plates 1342, and a base 1343. The bottom plate 1343 is horizontally arranged, the vertical plate 1341 is vertically arranged, and the bottom plate 1343 and the vertical plate 1341 are vertical to each other. One end of the bottom plate 1343 and one end of the vertical plate 1341 are connected to each other. The bottom plate 1343 is fixed on the base 12, and the bottom plate 1343 may be connected to the base 12 by screws. The stiffener plates 1342 are perpendicular to the base plate 1343 and the riser 1341, and the stiffener plates 1342 connect the edge of the base plate 1343 and the edge of the riser 1341, respectively. Two reinforcing rib plates 1342 are respectively arranged on both sides of the bottom plate 1343. Stiffener 1342 serves to reinforce the structural strength of first mount 134. The speed reducer 132 is mounted on a riser 1341 of the first mount 134. A through hole is formed in the vertical plate 1341 of the first mounting seat 134, and an output shaft of the speed reducer 132 passes through the through hole and extends from one side of the vertical plate 1341 to the other side. The driving wheel 131 is sleeved on an output shaft of the speed reducer 132. The housing of the motor 133 is fixedly connected with the housing of the reducer 132. The main shaft of the motor 133 and the input shaft of the speed reducer 132 may be in transmission connection, and the main shaft of the motor 133 and the input shaft of the speed reducer 132 may be in coupling connection or spline connection. The rotation of the main shaft of the motor 133 can drive the input shaft of the speed reducer 132 to rotate, and the speed reducer 132 reduces the speed of the torque input by the main shaft and outputs the torque from the output shaft, thereby driving the driving wheel 131 to roll.

The driven wheel set 14 includes a second mount 142 and a driven wheel 141. The second mounting seat 142 protrudes from the top surface of the base 12 in a direction away from the body 11. The second mounting seats 142 of the two driven wheels 141 of the group 14 respectively extend upward from both edges of the top surface of the base 12. The second mounting seat 142 may be configured as a triangular structure, which is preferably an isosceles triangle. The bottom edge of the second mounting seat 142 abuts against the base 12. A mandrel is arranged on the top corner of the second mounting seat 142. Which is parallel to the axis of the drive wheel 131. The driven wheel 141 is sleeved on the mandrel and can rotate around the mandrel.

Two second mounting seats 142 are respectively provided on two opposite edges of the top surface of the base 12. The mandrels on the two second mounting seats 142 extend towards each other. The two mandrels can be coaxially arranged. The two driven wheels 141 are located between the two second mounting seats 142, the outer peripheral walls of the two driven wheels 141 can be abutted to the top surface of the guide rail 4, and the axis of each driven wheel 141 is perpendicular to the extending direction of the guide rail 4.

Two first mounting seats 134 are provided on two opposite edges of the top surface of the base 12, respectively. The risers 1341 of the two first mounting seats 134 are parallel to each other, and the two speed reducers 132 are respectively mounted on the sides of the two risers 1341 which deviate from each other. The output shafts of the two speed reducers 132 are coaxially arranged. The two driving wheels 131 are located between the two vertical plates 1341, the peripheral walls of the two driving wheels 131 can be abutted against the top surface of the guide rail 4, and the axis of the driving wheel 131 is perpendicular to the extending direction of the guide rail 4.

Thus, the inspection robot 1 is hung on the guide rail 4 through the driven wheels 141 and the driving wheel set 13, and when the plurality of motors 133 respectively drive the plurality of driving wheels 131 to synchronously roll, the driving wheels 131 can drive the whole inspection robot 1 to move along the guide rail 4. It will be appreciated that the same function can be achieved by replacing all of the sets 14 of driven wheels 141 with the sets 13 of driving wheels.

Referring to fig. 5 and 6, the lower guide assembly 15 includes a lower wheel base 154, a lower wheel frame 153, a lower elastic member 156, a lower slide bar 155, and a lower guide wheel 151. The lower wheel mount 154 is mounted on the base 12. The lower wheel base 154 is located below the guide rail 4. The lower wheel base 154 may be constructed in a flat plate structure. The lower wheel seat 154 is provided with a lower through hole extending vertically. The lower wheel frame 153 is located directly above the lower wheel base 154. The lower slide bar 155 extends downward from the lower wheel frame 153 and penetrates the lower through hole. The lower sliding bar 155 can only slide along the lower through hole. The lower wheel base 154 and the lower wheel frame 153 form a sliding connection through the cooperation of the lower sliding rod 155 and the lower through hole. The sliding direction of the lower wheel base 154 is the vertical direction. The lower guide wheels 151 are mounted on a lower wheel base 154. The axis of the lower guide wheel 151 is parallel to the axis of the driving wheel 131. The lower elastic member 156 is disposed between the lower wheel holder 154 and the lower wheel frame 153. The lower elastic member 156 may be a compression spring. The lower elastic member 156 may be sleeved on the lower sliding bar 155. One end of the lower elastic member 156 abuts against the lower wheel seat 154, and the other end abuts against the lower wheel frame 153. The lower spring 156 is in a compressed state. Under the elastic force of the lower elastic member 156, the lower wheel frame 153 has a tendency to move upward, which enables the outer circumferential wall of the lower guide wheel 151 to always abut against the bottom surface of the guide rail 4, and the lower guide wheel 151 can roll along the bottom surface of the guide rail 4.

The lower guide assemblies 15 are provided in a plurality of sets, and the plurality of sets of lower guide assemblies 15 are distributed at the front end 121 and the rear end 122 of the base 12. In the present embodiment, four lower guide assemblies 15 are provided, two lower guide assemblies 15 are provided on the end surface of the front end 121 of the base 12, and the other two lower guide assemblies 15 are provided on the end surface of the rear end 122 of the base 12. In this way, the lower guide wheels 151 and the driven wheels 141 of the two lower guide assemblies 15 located at the front end 121 clamp the guide rail 4 from the upper direction and the lower direction under the elastic force of the lower elastic member 156, and the lower guide wheels 151 and the driving wheels 131 of the two lower guide assemblies 15 located at the rear end 122 clamp the guide rail 4 from the upper direction and the lower direction under the elastic force of the elastic member, so that even if the guide rail 4 is uneven or the guide rail 4 fluctuates, the driving wheels 131, the driven wheels 141 and the lower guide wheels 151 can all cling to the guide rail 4, and the inspection robot 1 can move more stably.

Further, the lower slide bar 155 and the lower elastic member 156 in each lower guide assembly 15 are provided in plural numbers, and the number of the lower slide bars 155 and the number of the lower elastic members 156 are the same. The number of lower through holes of each lower wheel holder 154 is also provided in the same number as the number of lower slide rods 155 of each lower guide assembly 15. The lower sliding rods 155 are inserted into the lower through holes, and the elastic members are sleeved on the lower sliding rods 155.

The lower sliding rods 155 connect the lower wheel base 154 and the lower wheel frame 153 via pulleys, so as to prevent the lower wheel base 154 from rotating around the lower sliding rods 155. Meanwhile, a plurality of lower elastic members 156 are disposed between the lower wheel holder 154 and the lower wheel frame 153, so that the lower wheel frame 153 may receive a greater elastic force.

Further, the lower guide assembly 15 further includes a lower stopper 157. The lower stopper 157 is provided at the top end of the lower slide bar 155. The lower stopper 157 may be constructed in a thin plate structure perpendicular to the lower slider 155. The lower stopper 157 cannot pass through the lower through-hole. The lower stopper 157 prevents the lower slide bar 155 from moving upward and being separated from the lower through hole. Preferably, a lower retainer 157 connects the plurality of lower slide bars 155. Thus, the lower retainer 157 further positions the plurality of lower slide bars 155 such that the plurality of lower slide bars 155 are parallel to each other.

Further, referring to FIG. 4, the top surface of the base 12 is recessed to form a channel 123. The bar groove 123 has a straight bar shape. The slot 123 extends from the end face of the front end 121 of the base 12 to the end face of the rear end 122 of the base 12. The groove 123 is used to accommodate the guide rail 4. After the inspection robot 1 is hung on the guide rail 4, the height of the inspection robot 1 can be further increased, so that the inspection robot 1 can be effectively prevented from interfering and colliding with engineering vehicles below the inspection robot 1.

Further, the running gear 10 also comprises two sets of side guide assemblies. Two sets of side guide assemblies are provided on the end faces of the front end 121 and the rear end 122 of the base 12, respectively. Each lateral guide assembly includes a first side assembly 16a and a second side assembly 16.

Referring to fig. 7 and 8, the first side assembly 16a includes a first side wheel frame 162a and a first side guide wheel 161 a. The first side wheel frame 162a is fixed to the base 12. The first side guide wheel 161a is mounted on the first side wheel frame 162 a. The axis of the first side guide wheel 161a is perpendicular to the axis of the driving wheel 131.

Referring to fig. 9 and 10, the second side assembly 16 includes a side wheel base 160, a second side wheel frame 163, a side elastic member 166, a side sliding rod 165, and a second side guide wheel 161. The side wheel seat 160 is fixed to the base 12. The second side wheel base 160 includes a base plate 164 and a connecting plate 162. The connecting plate 162 and the base plate 164 are both flat plates, and the base plate 164 is perpendicular to the connecting plate 162. The base plate 164 and the connecting plate 162 may be integrally formed, and may be formed by bending the same plate. The connecting plate 162 is fixedly connected with the base 12, and the connecting plate 162 may be connected with the base 12 by screws. The base plate 164 is perpendicular to the axis of the driver 131. The base plate 164 is provided with a side through-hole which is parallel to the axis of the driving wheel 131.

The first side wheel frame 162a and the side wheel base 160 are respectively disposed at both sides of the bar groove 123. The second side wheel frame 163 is disposed between the first side wheel frame 162a and the side wheel base 160. The side slide 165 extends from the second side wheel frame 163 and passes through a side through hole in the base plate 164. The side sliding bars 165 extend in a direction parallel to the axis of the driving wheel 131. After the side sliding rod 165 is inserted into the side through hole, the second side wheel frame 163 and the side wheel base 160 form a sliding connection. The second side wheel frame 163 can slide in a direction approaching and separating from the first side wheel frame 162 a. One end of the side elastic member 166 abuts against the side wheel seat 160, and the other end abuts against the second side wheel frame 163. The side elastic members 166 are in a compressed state. The side elastic member 166 may be a compression spring, which is fitted over the side sliding bar 165. The second side guide wheel 161 is mounted on the second side wheel frame 163, and the axis of the second side guide wheel 161 is perpendicular to the axis of the driving wheel 131.

The outer peripheral wall of the first side guide wheel 161a and the outer peripheral wall of the second side guide wheel 161 can abut against both side surfaces of the guide rail 4, respectively, and both the first side guide wheel 161a and the second side guide wheel 161 can roll along the side surfaces against which they abut. The first side guide wheel 161a and the second side guide wheel 161 clamp the guide rail 4 from the left and right sides of the guide rail 4 under the elastic force of the side elastic member 166, and when the inspection robot 1 reaches the arc-shaped section of the guide rail 4, the first side guide wheel 161a and the second side guide wheel 161 can guide the traveling device 10 to smoothly turn, so that the relative positions of the driven wheel 141 and the driving wheel 131 with respect to the guide rail 4 in the transverse direction are kept unchanged. Two sets of side guide assemblies are respectively arranged at the front end 121 and the rear end 122 of the base 12, so that whether the inspection robot 1 runs forwards or backwards, the side guide assemblies can guide the inspection robot 1 to turn by bending.

Further, a plurality of side sliding bars 165 extend from the second side wheel frame 163, and the side sliding bars 165 are parallel to each other. The side wheel base 160 is provided with a plurality of side through holes, and the axes of the side through holes are parallel to each other. The number of side through-holes is the same as the number of side slide rods 165. The side sliding bars 165 extend into the side through holes in a one-to-one correspondence, and both pass through the side through holes. The number of the side elastic pieces 166 is the same as that of the side sliding rods 165, and the side elastic pieces 166 are sleeved on the side sliding rods 165 one by one.

After the sliding connection between the second side wheel frame 163 and the side wheel base 160 is limited by the plurality of side sliding rods 165, the second side wheel frame 163 and the side wheel base 160 cannot rotate relatively, and the rolling direction of the second side guide wheel 161 is ensured to be always along the extending direction of the guide rail 4. Meanwhile, providing a plurality of side elastic members 166 between the second side wheel frame 163 and the side wheel base 160 enables sufficient elastic force between the second side wheel frame 163 and the side wheel base 160 to cause the first side guide wheel 161a and the second side guide wheel 161 to clamp the guide rail 4.

Further, the second side assembly 16 also includes a side stop 167. Side stops 167 connect the ends of the respective side slide bars 165 together. The side stop 167 may be a flat plate structure perpendicular to the side bar 165.

The side stopper 167 connects the side sliding rods 165 together, so that the relative position between the side sliding rods 165 can be kept unchanged, meanwhile, the side stopper 167 cannot pass through the side through hole, and the side stopper 167 can also prevent the side sliding rods 165 from falling out of the side through hole.

Further, the patrol inspection system further comprises a plurality of beacons and a plurality of electronic tags. A plurality of beacons are each arranged beside the guide rail 4. A plurality of beacons are arranged in sequence along the guide rail 4, one beacon being arranged along the guide rail 4 at each interval. The beacon support is fixed on the top of the tunnel. The beacon may be mounted on a beacon holder for fixation. The beacons and the electronic tags are arranged in a one-to-one correspondence mode, each beacon is provided with the corresponding electronic tag, the electronic tag is stored with a unique electronic code, and each electronic code is an identifier of the corresponding beacon. The beacons may be flat plates perpendicular to the guide rails 4.

Referring to fig. 3, the inspection robot 1 further includes a control unit, an RFID reader 20, and a laser sensor 19. The RFID reader 20 and the laser sensor 19 may be mounted on the base 12. The RFID reader 20 is used to read the electronic code in the electronic tag and send the electronic code to the control unit. The laser sensor 19 is used to measure the distance between the beacon and the inspection robot 1 and transmit the distance to the control unit. The control unit has a location for each beacon pre-stored therein. After the electronic code is obtained, the control unit obtains the position of the beacon corresponding to the electronic code according to the electronic code, and then calculates the accurate position of the inspection robot 1 according to the distance between the beacon and the inspection robot 1 and the position of the beacon. Therefore, the inspection robot 1 can perform positioning and position calibration in sequence every time the inspection robot moves for a certain distance.

Further, referring to fig. 1 and 2, the inspection robot 1 is further provided with two ultrasonic sensors 25, and the ultrasonic sensors 25 may be provided. The two ultrasonic sensors 25 are respectively disposed at the front end 111 of the body 11 and the rear end 112 of the body 11. The two ultrasonic sensors 25 can respectively emit ultrasonic waves to the front and the rear of the inspection robot 1 and receive the ultrasonic waves reflected back after colliding with an object. The ultrasonic sensor 25 can determine the position of the object based on the reflected ultrasonic waves. The ultrasonic sensor 25 is used to detect whether there is an obstacle within a preset range in the advancing direction. If an obstacle is present within a preset range in the forward direction, the ultrasonic sensor 25 sends the warning information to the control unit. And after the control unit receives the early warning information, the running speed of the inspection robot 1 is reduced.

Further, the inspection robot 1 includes a collision avoidance module 26. The bumper assembly 26 includes two flexible bumper strips 261 and a pressure sensor disposed within each flexible bumper strip 261. The flexible bumper strip 261 is flexible and may be made of sponge, rubber, or the like. Two flexible bumper strips 261 are respectively provided on the end surfaces of the front end 111 and the rear end 112 of the body 11. The flexible bumper strip 261 can prevent rigid collision between the inspection robots 1, and avoid the inspection robots 1 from being damaged due to collision. The pressure sensor is used for detecting whether the inspection robot 1 collides or not. Pressure sensor connects in the control unit, and pressure sensor is triggered and takes place to the control unit with collision warning signal when the collision is sent, and the control unit is received and is controlled the robot 1 stop motion that patrols and examines behind the signal of warning.

Further, the inspection robot 1 further includes a detection component. The detection assembly is connected to the control unit. The detection assembly is used for detecting environmental parameters around the inspection robot 1 and sending the environmental parameters to the control unit. The control unit sends out alarm information when one or more received environmental parameters reach a threshold value. The detection components include a humidity sensor, a temperature sensor 31, an anemometer 30, and an environmental detection module 29. The environmental detection module 29 includes a sensor for detecting methane, a sensor for detecting carbon monoxide, and a sensor for detecting PM2.5 data.

Further, still add in the tunnel and be equipped with wireless transmitting module that charges. The wireless transmitting module that charges sets up the one side at the guide rail. The wireless transmitting module that charges can outwards launch the electromagnetic wave. The inspection robot 1 has a battery and a wireless charging reception module 32 electrically connected to the battery provided in the main body 11. The battery is used for supplying power to the inspection robot 1. The wireless charging receiving module 32 may be disposed at one side of the body 11. The wireless charging receiving module 32 is used for receiving electromagnetic waves and converting the electromagnetic waves into electric energy to charge the battery. After the inspection robot 1 reaches the vicinity of the wireless charging transmitting module, the wireless charging receiving module 32 receives the electromagnetic wave transmitted by the wireless charging transmitting module, and converts the electromagnetic wave into electric energy through an electromagnetic induction technology to charge the battery. Consequently, need not to take off inspection robot 1 from the guide rail and charge, it is more convenient to charge.

Further, a debugging port 34 is provided on the housing of the body 11. The technician can connect the instrument to the interface inside the body 11 through the debugging port 34 to perform debugging work without removing the shell, so that debugging is more convenient.

Further, the inspection robot 1 further includes a work indicator lamp 21. The operation indicator lamp 21 is provided on the body 11. The work indicator light 21 may be a light bar. The operation indicator lamp 21 may display different colors. The work indicator lamp 21 expresses the work state of the inspection robot 1 by displaying different colors. For example, the inspection robot 1 lights up a green light when in normal operation, and the inspection robot 1 lights up a yellow light when in standby.

Further, the inspection robot 1 further includes a key switch 22. The key switch 22 is provided on the body 11. The key switch 22 is used to prevent an irrelevant person from operating the inspection robot 1 by mistake.

Further, the inspection robot 1 further comprises a starting button 22, the starting button 22 is arranged on the body 11, and the starting button 22 is used for opening and closing the inspection robot 1.

Further, the inspection robot 1 further includes a display screen 23. The display screen 23 is provided at a side of the body 11. The display 23 can display battery level information, operating status information, and fault information.

Further, the inspection robot 1 further includes a warning lamp 27. The warning lamp 27 is provided on the body 11. The alarm lamp 27 is used for giving an alarm when the inspection robot 1 breaks down, and the alarm lamp 27 can give an alarm by flashing.

Further, the inspection robot 1 further includes a horn 24. The horn 24 is provided on the body 11. The speaker 24 may play an alarm voice. The alarm voice is, for example, "fire, please evacuate" to wait.

Further, the inspection robot 1 includes two handles 36. The two handles 36 are respectively arranged on the body 11. The handles 36 may be disposed on the top of the body 11 and near the front end 111 and the rear end 112, respectively.

The handle 36 provides a hand grip for manually moving the inspection robot 1, so that the inspection robot 1 can be more conveniently and manually installed on the guide rail 4, and the inspection robot 1 can be detached from the guide rail 4.

Further, the inspection robot 1 further includes a housing 38. The housing 38 is secured to the base 12. The housing 38 encloses the motor 133 and the reducer. The shell 38 can be dustproof and waterproof, so that the service life of the inspection robot 1 is prolonged.

Further, the inspection robot 1 further includes an emergency stop button 28. An emergency stop button 28 is provided on the body 11 for emergency stop of the inspection robot 1.

Further, the inspection robot 1 further includes a wireless module 37. The inspection robot 1 can exchange information with the outside through the wireless module 37.

Although the present invention has been disclosed with reference to certain embodiments, numerous variations and modifications may be made to the described embodiments without departing from the scope and ambit of the present invention. It is to be understood, therefore, that this invention is not limited to the particular embodiments disclosed, but it is intended to cover modifications within the scope of the appended claims and their equivalents.

Claims

1. The utility model provides a robot of patrolling and examining for patrolling and examining construction tunnel which characterized in that includes:

the walking device (10) is hung on a guide rail (4) at the top of the tunnel and can move along the guide rail (4);

a body (11) connected to the traveling device (10);

a head (17) mounted on the body (11);

and the camera (18) is arranged on the cloud platform (17) and can rotate two axes under the driving of the cloud platform (17).

2. The inspection robot according to claim 1, wherein the traveling device (10) includes:

a base (12) connected to the body (11);

the driving wheel set (13) is arranged on the base (12) and comprises a driving wheel (131) and a motor (133), wherein the driving wheel (131) is used for rolling along the top surface of the guide rail (4), and the motor is used for driving the driving wheel (131) to roll; and

a lower guide assembly (15) comprising

A lower wheel seat (154) fixed on the base (12);

the lower wheel frame (153) is arranged above the lower wheel seat (154), is connected with the lower wheel seat (154) in a sliding way and can slide in the vertical direction;

a lower elastic member (156) having both ends respectively abutted against the lower wheel seat (154) and the lower wheel frame (153);

and the lower guide wheel (151) is arranged on the lower wheel frame (153) and is used for rolling along the bottom surface of the guide rail (4).

3. The inspection robot according to claim 2, wherein the lower wheel mount (154) is provided with a plurality of vertically extending lower through holes;

the lower guide assembly (15) further comprises a lower sliding rod (155) vertically extending downwards from the lower wheel carrier (153) and penetrating through the lower through hole, and a lower limiting piece (157) arranged at the top end of the lower sliding rod (155);

wherein, the lower elastic piece (156) is sleeved on the lower sliding rod (155).

4. The inspection robot according to claim 3, wherein the number of the lower slide bars (155) is plural, the number of the lower elastic members (156) and the number of the lower through holes are the same as the number of the lower slide bars (155), the plurality of lower slide bars (155) are inserted into the plurality of lower through holes, respectively, and the plurality of lower elastic members (156) are respectively sleeved on the plurality of lower slide bars (155).

5. Inspection robot according to any of the claims 2-4, characterized in that it further comprises a driven wheel set (14) mounted on the base (12), the driven wheel set (14) comprising a driven wheel (141) for rolling along the top surface of the rail (4);

the driven wheel set (14) and the driving wheel set (13) are respectively arranged at the front end and the rear end of the base (12), the lower guide assemblies (15) are arranged in a plurality, and the lower guide assemblies (15) are distributed at the front end and the rear end of the base (12).

6. The inspection robot according to claim 5, wherein the top surface of the base (12) is recessed to form a slot (123), the slot (123) extending from the front end (121) of the base (12) to the rear end (122) of the base (12), the slot (123) being configured to receive the rail (4).

7. The inspection robot according to the claim 6, characterized in that the driving wheel set (13) further comprises a first mounting seat (134) and a speed reducer (132) mounted on the first mounting seat (134), the driving wheel (131) is mounted on an output shaft of the speed reducer (132), and an input shaft of the speed reducer (132) is in transmission connection with a main shaft of the motor (133);

the driven wheel set (14) further comprises a second mounting seat (142), and the driven wheel (141) is mounted on the second mounting seat (142);

driven wheelset (14) with driving wheel group (13) all set up two, two first mount pad (134) base (12) are located respectively the top of the both sides of strip groove (123) is stretched out to the one side that deviates from body (11), two second mount pad (142) base (12) are located respectively the top of the both sides of strip groove (123) is stretched out to the one side that deviates from body (11).

8. The inspection robot according to claim 6, further including two sets of lateral guide assemblies disposed at the front end (121) and the rear end (122) of the base (12), respectively,

each set of lateral guidance assemblies includes:

a first side assembly (16a) comprising

A first side wheel frame (162a) fixed on the base (12);

a first side guide wheel (161a) mounted on the first side wheel carrier (162 a);

a second side assembly (16) comprising

The side wheel seat (160) is fixed on the base (12), and a side wheel frame and a first side wheel frame (162a) are respectively arranged at two opposite sides of the strip groove (123);

a second side wheel frame (163) which is arranged between the side wheel seat (160) and the first side wheel frame (162a), is connected with the second side wheel seat (160) in a sliding way and can slide in the direction approaching to and departing from the first side wheel frame (162 a);

a side elastic member (166) having both ends respectively abutting against the side wheel seat (160) and the second side wheel frame (163);

a second side guide wheel (161) mounted on the second side wheel frame (163);

wherein the first side guide wheel (161a) and the second side guide wheel (161) can roll along two side surfaces of the guide rail (4), respectively.

9. The inspection robot according to claim 8, wherein the side wheel block (160) is provided with side through holes;

the second side component (16) further comprises a side sliding rod (165) extending from the side wheel seat (160) to the side through hole and penetrating through the side through hole, and a side limiting piece (167) arranged at the top end of the side sliding rod (165);

wherein the side elastic piece (166) is sleeved on the side sliding rod (165).

10. The inspection robot according to claim 1, further including a control unit, an RFID reader (20), and a laser sensor (19);

the RFID reader (20) is used for reading the electronic code in the electronic tag of the beacon beside the guide rail so that the control unit can obtain the position of the beacon corresponding to the electronic code through the electronic code;

the laser sensor (19) is used for measuring the distance between the beacon and the inspection robot so that the control unit can calculate the position of the inspection robot according to the position of the beacon and the distance.

11. The inspection robot according to claim 1, further including a detection assembly including a humidity sensor, a temperature sensor (31), an anemometer (30), and an environmental detection module (29).

12. The inspection robot according to claim 1, further comprising a battery and a wireless charging receiving module (32), the wireless charging receiving module (32) being adapted to cooperate with a wireless charging transmitting module located adjacent the rail (4) to charge the battery.

13. The inspection robot according to claim 1, further comprising a collision avoidance module (26), the collision avoidance module (26) including two flexible collision avoidance strips (261) disposed at the front end (111) and the rear end (112) of the body (11), respectively, and two pressure sensors disposed within the two flexible collision avoidance strips (261), respectively;

14. The inspection robot according to claim 1, further comprising a display screen (23), a key switch (22), a warning light (27), a handle (36) and a debugging port (34) provided on the body (11).

15. An inspection system, characterized by comprising an inspection robot (1) according to any one of claims 1-14 and a guide rail (4) for suspension from the top of a tunnel;

wherein, patrol and examine robot (1) and install on guide rail (4) and can follow guide rail (4) walking.

16. The inspection system according to claim 15, further including a plurality of beacons and a plurality of electronic tags;

a plurality of beacons all set up by guide rail (4) and follow guide rail (4) arrange in proper order, and the beacon sets up with electronic tags one-to-one, and electronic tags sets up rather than corresponding beacon, the beacon with electronic tags is used for providing the reference for the location of patrolling and examining robot (1) jointly.