CN112015189A - Intelligent device for tunnel exploration and application method thereof - Google Patents
Intelligent device for tunnel exploration and application method thereof Download PDFInfo
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- CN112015189A CN112015189A CN202011148823.0A CN202011148823A CN112015189A CN 112015189 A CN112015189 A CN 112015189A CN 202011148823 A CN202011148823 A CN 202011148823A CN 112015189 A CN112015189 A CN 112015189A
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- 230000035939 shock Effects 0.000 claims description 9
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention relates to the technical field of detection machines, and aims to provide intelligent equipment for tunnel exploration and an application method thereof, wherein the intelligent equipment comprises a mobile chassis and a main control console, the top of the movable chassis is provided with a protective cylinder, a power module, an illumination module, a camera module, a control module and a stepping module are also arranged in the protective cylinder, the control module is connected with the main control console through a cable, the control module is respectively connected with the stepping module, the camera module, the lighting module and the power module, the moving chassis is provided with a crawler belt and a motor, an output shaft of the motor drives the crawler belt through a gear, the stepping module comprises a counter and a speed controller, the output end of the speed controller is connected with the motor, the output end of the counter is connected with the motor, and the camera module comprises a camera and a scanner, so that the integrity and the definition of the acquired information are guaranteed.
Description
Technical Field
The invention relates to the field of exploration robots, in particular to intelligent equipment for tunnel exploration and an application method thereof.
Background
The crawler-type robot comprises a reconnaissance robot, a patrol robot, an explosion handling robot, an infantry support robot, a search and rescue robot in a complex environment and the like, and is used for replacing the situation that people enter a dangerous environment to complete some work such as investigation, data collection, rescue and the like, so that the danger coefficient of work of people is reduced, and the crawler-type robot plays a very important role in future life and work. The civil crawler-type robot is widely applied to various service fields such as industrial production and the like, has the advantages of large traction force, difficulty in slipping, good cross-country performance and the like in various aspects such as production line transmission, cleaning, blind guiding, data under complex search and rescue environments and the like, can be carried with equipment such as a camera, a detector and the like to replace human beings to carry out certain dangerous work (such as explosion elimination, chemical detection and the like), and reduces unnecessary casualties.
The sound wave obstacle avoidance behavior can monitor the long-distance ultrasonic sensor in real time, and a wide path is searched for the robot. When the robot has a certain distance from the barrier, the ultrasonic sensor can detect the related information and control the robot to leave according to the related information, the cost is low, and in order to enable the exploration result of the robot to be more accurate, the robot can carry out all-dimensional scanning by steering and advancing in a small amplitude.
Disclosure of Invention
The invention aims to provide intelligent equipment for tunnel exploration and an application method thereof.
The technical scheme adopted by the invention is as follows: an intelligent device for tunnel exploration comprises a mobile chassis and a main control console, wherein a protective barrel is arranged at the top of the mobile chassis, a power module, a lighting module, a camera module, a control module and a stepping module are further arranged in the protective barrel, the control module is connected with the main control console through a cable, the control module is respectively connected with the stepping module, the camera module, the lighting module and the power module, a track and a motor are arranged on the mobile chassis, an output shaft of the motor drives the track through a gear, the stepping module comprises a counter and a speed controller, an output end of the speed controller is connected with the motor, an output end of the counter is connected with the motor, the camera module comprises a camera and a scanner, a support rod is further arranged in the protective barrel, and the scanner is abutted against the inner wall of the protective barrel through the support rod, the sound wave identification module is arranged on the mobile chassis and comprises a distance identification circuit, an oscillating circuit, a time-base circuit, a power amplification circuit, a sound wave generation end, a sound wave receiving end and a signal amplification circuit, the sound wave identification module passes through the distance identification circuit and the control module is connected, the output end of the distance identification circuit is connected with the oscillating circuit, the output end of the oscillating circuit is connected with the input end of the time-base circuit, the time-base circuit is connected with the sound wave generation end through the power amplification circuit, the output end of the time-base circuit is connected with the distance identification circuit, and the distance identification circuit passes through the signal amplification circuit and the sound wave receiving end.
Preferably, one end of the support rod, which is far away from the scanner, is provided with a shock pad, the support rod is abutted against the inner wall of the protection cylinder through the shock pad, and the shock pad is arranged between the protection cylinder and the movable chassis.
Preferably, a sealing cover and a rotating motor are arranged at the top of the protection barrel, an output shaft of the rotating motor is fixedly connected with one end of the sealing cover, the diameter of the sealing cover is larger than that of the protection barrel, and a transparent plate is arranged on the protection barrel.
Preferably, the cable protection device further comprises a cable box, the cable box is used for collecting cables, and the protection cylinder is further provided with a hoisting guide rail.
In another aspect, a method for using a smart device for tunnel exploration, including an underground tunnel robot as described above, includes the following steps:
s1: placing a detection robot in a tunnel to be detected, starting the robot to work through a main control console, wherein pictures acquired by a camera are displayed on a display screen on the main control console;
s2: the mobile chassis moves through a prestored sound wave obstacle avoidance model, acquires geological information in a tunnel through the scanner and transmits the geological information back to the main control console through a cable, and the geological information is stored on a storage module in the main control console;
s3: and the cloud acquires the geological information on the storage unit of the main console and forms a geological map of the tunnel to be detected.
Preferably, the identification process of the acoustic wave obstacle avoidance model includes the following steps,
s21: the distance identification circuit drives the sound wave generating end to send sound waves, when an obstacle appears at the front side, the rebounded sound waves are received by the sound wave receiving end, and S22 is executed;
s22: the sound wave receiving end is processed by the signal amplification circuit and then sent to the distance identification circuit, the distance identification circuit sends a steering instruction to the stepping module and records the steering instruction as a steering point, the motor drives the crawler to steer for 30 degrees, the mobile chassis continues to move straight after steering for 30 degrees, a time threshold is set on the distance identification circuit, and when the steering point is 5 within the time threshold of the mobile chassis, S23 is executed, and when the steering point is 10, S24 is executed;
s23: the distance identification circuit sends a steering instruction to the stepping module, and the motor drives the crawler to steer for 60 degrees to execute S22;
s24: the distance identification circuit sends a return signal to the master console through the control module, and S25 is executed;
s25: the main console sends a primary return driving signal to the stepping module through the control module, and the cable box starts a collection cable.
Preferably, a communication module is arranged in the main console, and the main console sends the geological information in the storage unit to the cloud end through the communication module.
Preferably, in S22, the time threshold is set to 20 seconds.
Compared with the prior art, the invention has the beneficial effects that:
1. the ultra-long cable supporting robot travels farther, the stability is improved by arranging the supporting rods, and the robot is provided with a waterproof outer cover and is suitable for various exploration environments;
2. the obstacle avoidance is carried out through the sound wave identification module, and the steering is rapid and accurate.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent device for tunnel exploration according to the present invention;
FIG. 2 is a schematic diagram of an application method of the intelligent device for tunnel exploration of the present invention;
FIG. 3 is a schematic diagram of robot steering in a method of using the intelligent apparatus for tunnel exploration of the present invention;
FIG. 4 is a schematic diagram of a distance recognition circuit in the application method of the intelligent device for tunnel exploration of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 4 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any inventive work fall within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.
Example 1:
referring to fig. 1 and 4, the intelligent device for tunnel exploration includes a mobile chassis 1 and a main control console, a protection barrel 3 is disposed on the top of the mobile chassis 1, a power module, a lighting module, a camera module, a control module and a stepping module are further disposed in the protection barrel 3, the control module is connected to the main control console through a cable, the control module is respectively connected to the stepping module, the camera module, the lighting module and the power module, a track and a motor are disposed on the mobile chassis 1, an output shaft of the motor drives the track through a gear, the stepping module includes a counter and a speed controller, an output end of the speed controller is connected to the motor, an output end of the counter is connected to the motor, the camera module includes a camera 2 and a scanner, a support rod is further disposed in the protection barrel 3, the scanner passes through the bracing piece with the inner wall butt of a protection section of thick bamboo 3, be provided with sound wave identification module on the removal chassis 1, sound wave identification module is including apart from identification circuit, oscillating circuit, time base circuit, power amplification circuit, sound wave generation end, sound wave receiving terminal and signal amplification circuit, sound wave identification module passes through apart from identification circuit with control module connects, apart from identification circuit's output with oscillating circuit connects, oscillating circuit's output with the time base circuit input is connected, time base circuit passes through power amplification circuit and is connected with the sound wave generation end, time base circuit's output with apart from identification circuit connects, apart from identification circuit passes through signal amplification circuit with the sound wave receiving terminal is connected.
It is worth to say that, the end of the support rod far away from the scanner is provided with a shock pad, the support rod is abutted against the inner wall of the protection cylinder 3 through the shock pad, and the shock pad is arranged between the protection cylinder 3 and the movable chassis 1.
It is worth to say that a sealing cover 4 and a rotating motor 5 are arranged at the top of the protection barrel 3, an output shaft of the rotating motor 5 is fixedly connected with one end of the sealing cover 4, the diameter of the sealing cover 4 is larger than that of the protection barrel 3, and a transparent plate is arranged on the protection barrel 3, so that each device inside the protection barrel can be observed conveniently.
It is worth to say, still including the cable case, the cable case is used for collecting the cable, still be provided with the hoist and mount guide rail on the protection cylinder 3, be convenient for accomodate the cable.
It should be noted that, referring to fig. 4 again, the sound wave generating end is used to emit a probe sound wave T1, the probe sound wave T1 is reflected to generate a reflected sound wave R1 after hitting the surface of the object to be detected during the process of linear emission, and the sound wave receiving end acquires the reflected sound wave R1, processes the reflected sound wave by the signal amplifying circuit, and transmits the processed sound wave to the distance identifying circuit.
Example 2:
referring to fig. 2 and 3, an application method of an intelligent device for tunnel exploration, including the underground tunnel robot, includes the following steps:
s1: placing a detection robot in a tunnel to be detected, starting the robot to work through a main control console, wherein pictures acquired by a camera are displayed on a display screen on the main control console;
s2: the mobile chassis moves through a prestored sound wave obstacle avoidance model, acquires geological information in a tunnel through the scanner and transmits the geological information back to the main control console through a cable, and the geological information is stored on a storage module in the main control console;
s3: and the cloud acquires the geological information on the storage unit of the main console and forms a geological map of the tunnel to be detected.
It is worth mentioning that the identification process of the acoustic wave obstacle avoidance model includes the following steps,
s21: the distance identification circuit drives the sound wave generating end to send sound waves, when an obstacle appears at the front side, the rebounded sound waves are received by the sound wave receiving end, and S22 is executed;
s22: the sound wave receiving end is processed by the signal amplification circuit and then sent to the distance identification circuit, the distance identification circuit sends a steering instruction to the stepping module and records the steering instruction as a steering point, the motor drives the track to steer for 30 degrees, the mobile chassis 1 continues to move straight after steering for 30 degrees, a time threshold is set on the distance identification circuit, S23 is executed when the steering point is 5 within the time threshold of the mobile chassis 1, and S24 is executed when the steering point is 10;
s23: the distance identification circuit sends a steering instruction to the stepping module, and the motor drives the crawler to steer for 60 degrees to execute S22;
s24: the distance identification circuit sends a return signal to the master console through the control module, and S25 is executed;
s25: the main console sends a primary return driving signal to the stepping module through the control module, and the cable box starts a collection cable.
It is worth to say that a communication module is arranged in the main console, and the main console sends geological information in the storage unit to the cloud end through the communication module.
In S22, the time threshold is set to 20 seconds.
It is worth to be noted that the hoisting equipment is a detachable small crane which can horizontally rotate 360 degrees and has a rated hoisting weight of 400 kg. The whole equipment of the pre-hoisting robot is 70kg in total weight, 200kg of steel wire rope is borne and pulled, the diameter of the steel wire rope can be reduced by half at present, the weight can be reduced, the pre-hoisting robot is convenient to lengthen and unhook, the hoisting equipment is movably connected with a wire coil buckle and is convenient to unhook, the steel wire rope and the cable are bound by an adhesive tape or a binding tape at an interval of 5 meters, a hoisting machine motor is a variable-speed winch, a wire rope guide pulley is added, meanwhile, a 'well' shaped anti-collision protection PVC rod is additionally arranged on the upper portion of a robot chassis, a base is widened by adopting 2 steel pipes with the diameter of 2m and 1 steel pipe with the.
In summary, the implementation principle of the invention is as follows: the device comprises a main control console, a stepping module, a support rod, a control module, a stepping module, a scanner, front and rear cameras, a support rod, a cable and a control module.
Claims (8)
1. The intelligent equipment for tunnel exploration is characterized by comprising a movable chassis (1) and a main control console, wherein a protective barrel (3) is arranged at the top of the movable chassis (1), a power module, an illuminating module, a camera module, a control module and a stepping module are further arranged in the protective barrel (3), the control module is connected with the main control console through a cable, the control module is respectively connected with the stepping module, the camera module, the illuminating module and the power module, a crawler belt and a motor are arranged on the movable chassis (1), an output shaft of the motor drives the crawler belt through a gear, the stepping module comprises a counter and a speed controller, an output end of the speed controller is connected with the motor, an output end of the counter is connected with the motor, the camera module comprises a camera (2) and a scanner, a support rod is further arranged in the protective barrel (3), the scanner passes through the bracing piece with the inner wall butt of a protection section of thick bamboo (3), be provided with the sound wave identification module on the removal chassis (1), the sound wave identification module is including apart from identification circuit, oscillating circuit, time base circuit, power amplifier circuit, sound wave generation end, sound wave receiving terminal and signal amplification circuit, the sound wave identification module passes through apart from identification circuit with control module connects, apart from identification circuit's output with oscillating circuit connects, oscillating circuit's output with time base circuit input is connected, time base circuit passes through power amplifier circuit and is connected with sound wave generation end, time base circuit's output with apart from identification circuit connects, apart from identification circuit passes through signal amplification circuit with the sound wave receiving terminal is connected.
2. The intelligent device for tunnel exploration according to claim 1, wherein a shock pad is arranged on one end of the support rod, which is far away from the scanner, the support rod is abutted to the inner wall of the protection cylinder (3) through the shock pad, and the shock pad is arranged between the protection cylinder (3) and the movable chassis (1).
3. The intelligent equipment for tunnel exploration according to claim 2, wherein a sealing cover (4) and a rotating motor (5) are arranged at the top of the protection cylinder (3), an output shaft of the rotating motor (5) is fixedly connected with one end of the sealing cover (4), the diameter of the sealing cover (4) is larger than that of the protection cylinder (3), and a transparent plate is arranged on the protection cylinder (3).
4. The intelligent device for tunnel exploration according to claim 3, characterized by further comprising a cable box for collecting cables, wherein the protective cylinder (3) is further provided with a hoisting guide rail (6).
5. Method for application of a smart device for tunnel exploration, comprising a smart device for tunnel exploration according to claim 4, characterized in that it comprises the following steps:
s1: placing a detection robot in a tunnel to be detected, starting the robot to work through a main control console, wherein pictures acquired by a camera are displayed on a display screen on the main control console;
s2: the mobile chassis (1) moves through a prestored sound wave obstacle avoidance model, acquires geological information in a tunnel through the scanner and transmits the geological information back to the main control console through a cable, and the geological information is stored on a storage module in the main control console;
s3: and the cloud acquires the geological information on the storage unit of the main console and forms a geological map of the tunnel to be detected.
6. The intelligent device application method for tunnel exploration according to claim 5, wherein the identification process of the acoustic wave obstacle avoidance model comprises the following steps,
s21: the distance identification circuit drives the sound wave generating end to send sound waves, when an obstacle appears at the front side, the rebounded sound waves are received by the sound wave receiving end, and S22 is executed;
s22: the sound wave receiving end is processed by the signal amplification circuit and then sent to the distance identification circuit, the distance identification circuit sends a steering instruction to the stepping module and records the steering instruction as a steering point, the motor drives the crawler to steer for 30 degrees, the mobile chassis (1) continues to move straight after turning for 30 degrees, a time threshold is set on the distance identification circuit, when the mobile chassis (1) is within the time threshold, S23 is executed when the steering point is 5, and when the steering point is 10, S24 is executed;
s23: the distance identification circuit sends a steering instruction to the stepping module, and the motor drives the crawler to steer for 60 degrees to execute S22;
s24: the distance identification circuit sends a return signal to the master console through the control module, and S25 is executed;
s25: the main console sends a primary return driving signal to the stepping module through the control module, and the cable box starts a collection cable.
7. The intelligent device application method for tunnel exploration according to claim 6, wherein a communication module is arranged in the main console, and the main console sends geological information in the storage unit to a cloud end through the communication module.
8. The smart device application method for tunnel exploration according to claim 6, wherein in S22, the time threshold is set to 20 seconds.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011148823.0A CN112015189B (en) | 2020-10-23 | 2020-10-23 | Intelligent device for tunnel exploration and application method thereof |
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| CN202011148823.0A CN112015189B (en) | 2020-10-23 | 2020-10-23 | Intelligent device for tunnel exploration and application method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112809706A (en) * | 2021-03-01 | 2021-05-18 | 云南华昆水电水利科学研究有限公司 | Diversion tunnel overhaul robot |
| CN113325478A (en) * | 2021-05-11 | 2021-08-31 | 中煤(天津)地下工程智能研究院有限公司 | Intelligent detection device for advancing direction of driving face |
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| US5341344A (en) * | 1992-10-14 | 1994-08-23 | Optical Detective Systems, Inc. | Obstacle-detection system |
| KR20120000826A (en) * | 2010-06-28 | 2012-01-04 | 현대모비스 주식회사 | Parking assistant system and method for sensing an obstacle using the system |
| CN103822625A (en) * | 2013-12-01 | 2014-05-28 | 兰州大学 | Line-tracking navigation method and device for intelligent robot |
| CN211132021U (en) * | 2019-08-12 | 2020-07-31 | 广州大学 | Blind guiding device |
-
2020
- 2020-10-23 CN CN202011148823.0A patent/CN112015189B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5341344A (en) * | 1992-10-14 | 1994-08-23 | Optical Detective Systems, Inc. | Obstacle-detection system |
| KR20120000826A (en) * | 2010-06-28 | 2012-01-04 | 현대모비스 주식회사 | Parking assistant system and method for sensing an obstacle using the system |
| CN103822625A (en) * | 2013-12-01 | 2014-05-28 | 兰州大学 | Line-tracking navigation method and device for intelligent robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112809706A (en) * | 2021-03-01 | 2021-05-18 | 云南华昆水电水利科学研究有限公司 | Diversion tunnel overhaul robot |
| CN113325478A (en) * | 2021-05-11 | 2021-08-31 | 中煤(天津)地下工程智能研究院有限公司 | Intelligent detection device for advancing direction of driving face |
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