CN112060054A - Tunnel rail-mounted safety inspection robot and system thereof - Google Patents

Tunnel rail-mounted safety inspection robot and system thereof Download PDF

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Publication number
CN112060054A
CN112060054A CN202011037851.5A CN202011037851A CN112060054A CN 112060054 A CN112060054 A CN 112060054A CN 202011037851 A CN202011037851 A CN 202011037851A CN 112060054 A CN112060054 A CN 112060054A
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China
Prior art keywords
track
module
inspection robot
wheels
tunnel
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CN202011037851.5A
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Chinese (zh)
Inventor
戴彬
陈彬
陈飞
何喆卿
熊诚
胡海斌
段创峰
滕丽
陈楠
钱锦
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Shanghai Urban Construction Information Technology Co ltd
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Shanghai Urban Construction Information Technology Co ltd
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Priority to CN202011037851.5A priority Critical patent/CN112060054A/en
Publication of CN112060054A publication Critical patent/CN112060054A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
    • B61C13/08—Locomotives or motor railcars characterised by their application to special systems or purposes for saddle or like balanced type railways
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A30/00—Adapting or protecting infrastructure or their operation
    • Y02A30/60—Planning or developing urban green infrastructure

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • General Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a tunnel rail-mounted type safety inspection robot and a system thereof, wherein the tunnel rail-mounted type safety inspection robot comprises: support, the track of installing on the support, a plurality of patrolling and examining robot that moves on the track, the track that the track was assembled for a plurality of track modules includes for patrolling and examining the robot: the invention relates to a tunnel construction/operation and maintenance structure safety management and maintenance application scene based on a linear engineering tunnel structure of urban infrastructure, which is suitable for the construction/operation and maintenance structure safety management and maintenance application scene of the tunnel construction/operation and maintenance environment, equipment state, moving targets and personnel moving positions and realizes the centralized monitoring, emergency response and command and scheduling of tunnel construction/operation and maintenance environment, emergency situations.

Description

Tunnel rail-mounted safety inspection robot and system thereof
Technical Field
The invention belongs to the field of tunnel engineering construction, and particularly relates to a tunnel rail-mounted safety inspection robot and a system thereof.
Background
Along with the development of cities, in order to improve the quality of life of citizens, various large cities are planned and constructed in the municipal aspect, and the safety problem of the large municipal works in the construction process relates to the life safety of people. In order to avoid safety problems during construction, construction projects need to be monitored.
Construction monitoring of engineering projects is an important link of engineering project management, and a traditional monitoring means is only video monitoring. With the development of the technology, a rail-mounted inspection robot appears, but the existing inspection robots are all the control requirements of application scenes around power, machine rooms, mines and other aspects, and the rail-mounted inspection robot completely aiming at the construction/operation and maintenance structure safety control application scene based on the urban infrastructure linear engineering tunnel structure does not exist.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a tunnel rail-mounted safety inspection robot and a system thereof, which can perform safety monitoring for a tunnel.
The invention provides a tunnel rail-mounted safety inspection robot, which is characterized by comprising the following components: a support;
a rail mounted on the bracket, comprising: a plurality of track modules, wherein the track modules are assembled into a track; and
a plurality of robots of patrolling and examining, it is a plurality of the robot of patrolling and examining all sets up can be followed on the track removes, every the robot of patrolling and examining includes: a shell provided with a groove, an AI intelligent unit, a driving control unit, a charging control module, a battery, a motor control module, a motor, a moving component, an obstacle avoidance module, a position sensing module, a camera, a voice recognition module, a sound box, a sound pick-up, a data transmission module, a multiple environment sensor and a multiple gas sensor which are arranged on the shell,
wherein, the AI intelligent unit, the driving control unit and the data transmission module are all connected with a server, the AI intelligent unit is connected with the driving control unit, the charging control module is connected with the driving control unit, the battery is connected with the charging control module, the motor control module is connected with the driving control unit, the motor is connected with the motor control module, the moving member is connected with the motor drive, the moving member is positioned in the groove of the shell, the moving member is arranged on the track and can move along the track, the obstacle avoidance module is connected with the driving control unit, the position perception module is connected with the driving control unit, the camera is connected with the AI intelligent unit, and the voice recognition module is connected with the AI intelligent unit, the audio amplifier with the camera is connected, the adapter with the camera with voice recognition module connects, multiple environmental sensor with data transmission module connects, multiple gas sensor with data transmission module connects.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: wherein the groove is disposed in the middle of one side of the housing.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: the cross section of the track module is I-shaped.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: wherein, the moving component comprises two driving wheels, at least a pair of bearing wheels and at least a pair of guide wheels, the driving wheels are connected with the motor in a driving way, the track is clamped between the two driving wheels, the rotating shaft of the driving wheels is parallel to the H-shaped vertical surface of the track, the bearing wheels are rotatably arranged on the shell, the two bearing wheels of each pair are positioned at the two sides of the track, the rotating shaft of the bearing wheels is vertical to the H-shaped vertical surface of the track, the guide wheels are rotatably arranged on the shell, the two guide wheels of each pair are positioned at the two sides of the track, the rotating shaft of the guide wheels is parallel to the H-shaped vertical surface of the track, the motor drives the driving wheels to rotate, the driving wheels can move along the H-shaped vertical surface of the track, and the bearing wheels roll along the H-shaped lower bottom surface of the track, the guide wheels roll along the I-shaped vertical surface of the track.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: the groove is provided with a groove, the groove is provided with a moving direction, the groove is provided with two pairs of bearing wheels, the guide wheels are arranged in the middle of the groove along the moving direction, the two pairs of bearing wheels are respectively arranged on two sides of the drive wheels, and the two pairs of guide wheels are respectively arranged on two sides of the drive wheels.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: the obstacle avoidance module comprises 4 obstacle avoidance radars, and two obstacle avoidance radars are arranged on two sides of the shell in the moving direction respectively.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: wherein, multiple environmental sensor includes temperature and humidity sensor, noise sensor, dust concentration sensor.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: wherein, it still includes wireless charging module to patrol and examine the robot, wireless charging module with the battery is connected, makes the battery can carry out wireless charging.
Further, in the tunnel rail-mounted safety inspection robot provided by the present invention, the tunnel rail-mounted safety inspection robot may further have the following features: wherein, set up one at interval 1km patrol and examine the robot.
The invention also provides a tunnel rail-mounted safety inspection robot system, which is characterized by comprising the following components: the tunnel rail-mounted safety inspection robot;
the cloud platform is in communication connection with an AI intelligent unit, a driving control unit and a data transmission module of the tunnel rail-mounted safety inspection robot; and
and the user side is in communication connection with the cloud platform.
The invention has the following advantages:
1. the method is suitable for the construction/operation and maintenance structure safety management and maintenance application scene based on the urban infrastructure linear engineering tunnel structure. The method is suitable for most infrastructure linear engineering structures, and is particularly suitable for tunnel construction site scenes.
2. The centralized monitoring of the tunnel construction/operation and maintenance environment, the equipment state, the moving target and the personnel moving position, emergency response and command scheduling of the emergency situation are realized.
3. The method is designed aiming at the application scene of the construction/operation and maintenance tunnel, the dead zone of tunnel safety supervision is broken, the automation of tunnel safety supervision management is realized, and the working efficiency is improved.
4. The assembled track structure can realize plug-and-play and quick recovery and reuse of track deployment.
5. The real-time transmission of the monitoring data of the construction site, the real-time inquiry of the user side and the reliable communication of the emergency are realized.
6. The method has the advantages of having stronger real-time performance, reliability and safety, reducing the patrol operation of personnel and reducing the implementation cost and the maintenance cost.
Drawings
Fig. 1 is a front view of an inspection robot according to the present invention;
FIG. 2 is a top view of the inspection robot of the present invention;
FIG. 3 is a cross-sectional view of a track module of the present invention;
fig. 4 is a block diagram showing the construction of the tunnel rail-mounted safety inspection robot system according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the following embodiments specifically describe the tunnel rail-mounted safety inspection robot and the system thereof with reference to the accompanying drawings.
The tunnel rail-mounted safety inspection robot comprises: a support (not shown), a rail (not shown), and a plurality of inspection robots 100. The support is fixed in the tunnel, and the track is installed on the support, and every robot 100 that patrols and examines all installs on the track, can move along the track. The track is deployed according to the needs of the field.
The track comprises a plurality of track modules, and the track is assembled by the plurality of track modules. As shown in fig. 3, the cross section of the track module is "i" shaped. In this embodiment, the track modules are custom-made standardized fabricated tracks. The method is used for realizing plug-and-play and quick recovery multiplexing of track deployment.
As shown in fig. 4, the inspection robot 100 includes: the mobile communication device comprises a shell 115, an AI intelligent unit 101, a driving control unit 102, a charging control module 103, a battery (not shown in the figure), a motor control module 104, a motor (not shown in the figure), a moving component, an obstacle avoidance module 106, a position sensing module 107, a camera 108, a voice recognition module 109, a sound box 110, a sound pickup 111, a data transmission module 112, a multiple environment sensor 113 and a multiple gas sensor 114.
A groove 1151 is provided in the middle of one side of the housing 115. The AI intelligence unit 101, the driving control unit 102, the charging control module 103, the battery, the motor control module 104, the motor (not shown), the moving member, the obstacle avoidance module 106, the position sensing module 107, the camera 108, the voice recognition module 109, the speaker 110, the sound pickup 111, the data transmission module 112, the multiple environment sensor 113, and the multiple gas sensor 114 are all mounted on the housing 115.
The traveling control unit 102 is connected to the AI intelligence unit 101. The AI intelligence unit 101 sends a control instruction to the traveling control unit 102. The AI intelligent unit 101 and the driving control unit 102 are both in communication connection with the server. The AI intelligent unit 101 is controlled by an instruction sent by the server, and the driving control unit 102 may be controlled by the AI intelligent unit 101 or may be directly controlled by an instruction sent by the server. The driving control unit 102 and the AI intelligent unit 101 are both commercially available motherboards.
The motor control module 104 is connected to the vehicle control unit 102. The motor is connected to a motor control module 104.
The moving member is mounted in a groove 1151 of the housing 115, and the moving member is mounted on a rail along which the moving member can move by being driven by a motor.
In this embodiment, as shown in fig. 1 and 2, the moving member includes two driving wheels 1051, at least one pair of bearing wheels 1052 and at least one pair of guide wheels 1053. The driving wheel 1051 is in driving connection with a motor, and the motor can drive the driving wheel 1051 to rotate. The track is clamped between two driving wheels 1051, and the rotating shaft of the driving wheels 1051 is parallel to the I-shaped vertical surface of the track. The bearing wheels 1052 are rotatably mounted on the housing 115, the two bearing wheels 1052 of each pair are respectively located on both sides of the i-shaped track, and the rotating shaft of the bearing wheels 1052 is perpendicular to the i-shaped vertical surface of the track. The guide wheels 1053 are rotatably mounted on the housing 115, the two guide wheels 1053 of each pair are respectively positioned on both sides of the rail, and the rotating shafts of the guide wheels 1053 are parallel to the h-shaped vertical surface of the rail. The motor drives the driving wheel 1051 to rotate, the driving wheel 1051 can move along the H-shaped vertical surface of the track, the bearing wheel 1052 rolls along the H-shaped lower bottom surface of the track, and the guide wheel 1053 rolls along the H-shaped vertical surface of the track.
Specifically, two pairs of load-bearing wheels 1052 and two pairs of guide wheels 1053 are provided, the two drive wheels 1051 are located in the middle of the groove 1151 along the moving direction, the two pairs of load-bearing wheels 1052 are respectively located at two sides of the drive wheels 1051, and the two pairs of guide wheels 1053 are respectively located at two sides of the drive wheels 1051.
The obstacle avoidance module 106 is connected with the driving control unit 102. In this embodiment, the obstacle avoidance module 106 includes 4 obstacle avoidance radars, and the setting positions of the four obstacle avoidance radars 106 are: two obstacle avoidance radars 106 are provided along both sides of the moving direction of the housing 115, respectively. Wherein, patrol and examine in two obstacle avoidance radars that robot 100 set up in the direction of advancing and retreating, all be: one obstacle avoidance radar carries out obstacle avoidance, and the other radar carries out cliff judgment. And (4) carrying out walking protection on the inspection robot 100 based on obstacle avoidance and cliff judgment of the obstacle avoidance radar 106.
The position sensing module 107 is connected to the driving control unit 102. The position sensing module 107 is used for realizing the positioning of the inspection robot 100. The optimal selected location awareness module enables mm-level positioning.
The camera 108 is connected with the AI intelligent unit 101, and the camera 108 is used for performing video monitoring on the tunnel environment. The voice recognition module 109 is connected to the AI intelligent unit 101, the speaker 110 is connected to the camera 108, and the sound pickup 111 is connected to the camera 108 and the voice recognition module 109. The microphone 111 is used to collect live ambient sound. The sound pickup 111 and the sound box 110 are arranged to realize voice talkback in an emergency scene. The voice recognition module 109 employs a voice recognition module capable of recognizing a deep unspecified human voice, thereby enabling voice control driving based on natural semantics. In this embodiment, the camera 108 is a pan-tilt-zoom camera.
The data transmission module 112 is connected with an external server, the multiple environmental sensors 113 and the multiple gas sensors 114 are connected with the data transmission module 112, and the data transmission module 112 collects environmental data measured by the multiple environmental sensors 113 and gas data measured by the multiple gas sensors 114 and uploads the environmental data and the gas data to the external server. The multiple environmental sensor 113 includes: the device comprises a temperature and humidity sensor, a noise sensor, a dust concentration sensor and the like, wherein the measured environmental data comprise environmental data such as temperature and humidity, noise, dust concentration and the like. Multiple gas sensors 114 selectively capable of detecting CO, H2S、O2A multi-gas detection sensor for the combustible gas Ex, or one gas sensor capable of detecting only one or two gases, two or more different gas sensors are required so that CO and H can be detected2S、O2And combustible gas Ex.
The charging control module 103 is connected to the vehicle control unit 102, and the charging control module 103 is connected to the battery. The battery provides electric energy for the AI intelligent unit 101, the driving control unit 102, the motor control module 104, the obstacle avoidance module 106, the location sensing module 107, the camera 108, the voice recognition module 109, the sound box 110, the sound pickup 111, the data transmission module 112, the multiple environment sensor 113 and the multiple gas sensor 114.
In this embodiment, it is still set up by wireless charging module to patrol and examine the robot, and wireless charging module is connected with the battery for the battery can carry out wireless charging. Specifically, the wireless charging module may be a wireless charging receiving terminal.
In the present embodiment, one inspection robot 100 is provided at an interval of 1 km.
As shown in fig. 4, the tunnel rail-mounted safety inspection robot system includes the tunnel rail-mounted safety inspection robot described above, a cloud platform 200, and a user terminal 300.
The AI intelligent unit 101, the driving control unit 102 and the data transmission module 112 of the tunnel rail-mounted safety inspection robot are in communication connection with the cloud platform 200. The cloud platform 200 is in communication connection with the user terminal 300.
The cloud platform is used for robot management, control, monitoring and checking, talkback command and data checking. The user side is used for issuing driving instructions and checking data.
An operator can send a control instruction through the cloud platform or the user side to control the inspection robot 100 to execute all operation functions such as an inspection task.
In this embodiment, the user terminal 300 is a PC terminal or an intelligent mobile terminal. The cloud platform 200 is a cloud platform server.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.

Claims (10)

1. The utility model provides a robot is patrolled and examined to tunnel rail-mounted formula safety which characterized in that includes:
a support;
a rail mounted on the bracket, comprising: a plurality of track modules, wherein the track modules are assembled into a track; and
a plurality of robots of patrolling and examining, it is a plurality of the robot of patrolling and examining all sets up can be followed on the track removes, every the robot of patrolling and examining includes: a shell provided with a groove, an AI intelligent unit, a driving control unit, a charging control module, a battery, a motor control module, a motor, a moving component, an obstacle avoidance module, a position sensing module, a camera, a voice recognition module, a sound box, a sound pick-up, a data transmission module, a multiple environment sensor and a multiple gas sensor which are arranged on the shell,
wherein, the AI intelligent unit, the driving control unit and the data transmission module are all connected with a server, the AI intelligent unit is connected with the driving control unit, the charging control module is connected with the driving control unit, the battery is connected with the charging control module, the motor control module is connected with the driving control unit, the motor is connected with the motor control module, the moving member is connected with the motor drive, the moving member is positioned in the groove of the shell, the moving member is arranged on the track and can move along the track, the obstacle avoidance module is connected with the driving control unit, the position perception module is connected with the driving control unit, the camera is connected with the AI intelligent unit, and the voice recognition module is connected with the AI intelligent unit, the audio amplifier with the camera is connected, the adapter with the camera with voice recognition module connects, multiple environmental sensor with data transmission module connects, multiple gas sensor with data transmission module connects.
2. The tunnel rail-mounted safety inspection robot according to claim 1, wherein:
the groove is arranged in the middle of one side of the shell.
3. The tunnel rail-mounted safety inspection robot according to claim 1, wherein:
the cross section of the track module is I-shaped.
4. The tunnel-tracked safety inspection robot according to claim 3, wherein:
the movable component comprises two driving wheels, at least one pair of bearing wheels and at least one pair of guide wheels, the driving wheels are in driving connection with the motor, the track is clamped between the two driving wheels, a rotating shaft of the driving wheels is parallel to an I-shaped vertical surface of the track, the bearing wheels are rotatably installed on the shell, the two bearing wheels of each pair are positioned on two sides of the track, a rotating shaft of the bearing wheels is perpendicular to the I-shaped vertical surface of the track, the guide wheels are rotatably installed on the shell, the two guide wheels of each pair are positioned on two sides of the track, a rotating shaft of the guide wheels is parallel to the I-shaped vertical surface of the track, the motor drives the driving wheels to rotate, the driving wheels can move along the I-shaped vertical surface of the track, and the bearing wheels roll along the lower bottom surface of the I-shaped track, the guide wheels roll along the I-shaped vertical surface of the track.
5. The tunnel-tracked safety inspection robot according to claim 4, wherein:
the bearing wheels are two pairs, the guide wheels are two pairs, the two driving wheels are positioned in the middle of the groove along the moving direction, the two bearing wheels are respectively positioned on two sides of the driving wheels, and the two guide wheels are respectively positioned on two sides of the driving wheels.
6. The tunnel rail-mounted safety inspection robot according to claim 1, wherein:
keep away the barrier module and include 4 and keep away the barrier radar, follow shell moving direction's both sides set up two respectively keep away the barrier radar.
7. The tunnel rail-mounted safety inspection robot according to claim 1, wherein:
the multiple environment sensors comprise a temperature and humidity sensor, a noise sensor and a dust concentration sensor.
8. The tunnel rail-mounted safety inspection robot according to claim 1, wherein:
the inspection robot further comprises a wireless charging module, and the wireless charging module is connected with the battery, so that the battery can be wirelessly charged.
9. The tunnel rail-mounted safety inspection robot according to claim 1, wherein:
and arranging one inspection robot at an interval of 1 km.
10. The utility model provides a robot system is patrolled and examined to tunnel rail-mounted formula safety which characterized in that includes:
the tunnel rail-mounted safety inspection robot of any one of claims 1-9;
the cloud platform is in communication connection with an AI intelligent unit, a driving control unit and a data transmission module of the tunnel rail-mounted safety inspection robot; and
and the user side is in communication connection with the cloud platform.
CN202011037851.5A 2020-09-28 2020-09-28 Tunnel rail-mounted safety inspection robot and system thereof Pending CN112060054A (en)

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