CN112743559A - Suspension type tunnel inspection robot, system and method - Google Patents
Suspension type tunnel inspection robot, system and method Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a suspension type tunnel inspection robot, a system and a method, wherein the suspension type tunnel inspection robot is arranged on a suspension track in a suspension manner to work, and the robot comprises: the walking mechanism and the inspection assembly; the travelling mechanism comprises a suspended vehicle body, a travelling assembly, a cleaning assembly and a positioning assembly, wherein the travelling assembly is used for driving the suspended vehicle body to move along the suspended track, the cleaning assembly is used for cleaning the suspended track in the travelling process, and the positioning assembly is used for positioning the suspended vehicle body and the position of a tunnel defect; the inspection assembly comprises a laser module, a camera module and an infrared module, wherein the laser module is used for measuring the profile of the cross section of the tunnel and detecting the deformation condition of the tunnel, the camera module is used for shooting the image of the tunnel and identifying the defect points of the image, and the infrared module is used for collecting the thermal image of the tunnel and identifying the defect points of the image. The invention not only improves the stability of tunnel routing inspection, but also realizes multi-level comprehensive tunnel disease detection, and greatly improves the accuracy and comprehensiveness of disease routing inspection.
Description
Technical Field
The invention belongs to the field of tunnel disease detection, and particularly relates to a suspension type tunnel inspection robot, a system and a method.
Background
When the railway tunnel is built, construction defects such as cavities at the back of an arch wall, insufficient lining thickness and the like exist in part of sections, and other various diseases such as lining water leakage, cracking, block falling, tunnel bottom cracking and the like are easily caused under the action of train load in the operation period. The defects deteriorate the service performance of the railway tunnel, reduce the safety reliability and stability of the tunnel structure and threaten the driving safety of the line. The causes of railway tunnel diseases relate to a plurality of aspects such as environment, design, construction, operation and maintenance, and railway tunnel detection and monitoring become important tasks after railway construction. The traditional manual road patrol operation mode has the defects of low operation efficiency, different detection results from person to person, skylight occupation time, annual increase of labor cost and the like. Therefore, the tunnel detection industry has increasingly stringent requirements for efficient, automatic and intelligent tunnel rail robots.
The existing tunnel inspection robot mostly adopts a wheeled or tracked robot walking on a tunnel ground path and a ground track robot walking on a tunnel track, the tunnel inspection speed of the former is very low, and the tunnel inspection is greatly influenced due to the narrow tunnel, the long distance and the poor working environment, so that the detection effect is very poor, the stability is also very poor, the latter conflicts with equipment normally running on a rail in the tunnel inspection, the time beyond the blank window period cannot work, the working time and the working efficiency need strict requirements, the design requirement of the equipment is high, the cost is high, and the tunnel inspection is operated in the blank window period so that certain potential safety hazards are provided for workers in the tunnel.
In addition, the existing track inspection robot is unstable and poor in detection effect due to the fact that a tunnel is narrow, the distance is long and the working environment is poor, and is quite inconvenient to maintain in daily life.
Disclosure of Invention
The invention provides a suspension type tunnel inspection robot, a system and a method for solving the technical problems.
In order to solve the problems, the technical scheme of the invention is as follows:
the utility model provides a robot is patrolled and examined in suspension type tunnel hangs and installs and carry out work on hanging the track, includes: the walking mechanism and the routing inspection assembly are arranged on the walking mechanism;
the travelling mechanism comprises a suspended vehicle body, a travelling assembly, a cleaning assembly and a positioning assembly, wherein the travelling assembly is arranged on the suspended vehicle body and used for driving the suspended vehicle body to move along a suspended track;
the inspection assembly is fixed on the suspended vehicle body and comprises a laser module, a camera module and an infrared module, wherein the laser module is used for measuring the cross section outline of the tunnel and detecting the deformation condition of the tunnel, the camera module is used for shooting the image of the tunnel and identifying the damage point of the image, and the infrared module is used for collecting the thermal image of the tunnel and identifying the damage point of the image.
In one embodiment, the traveling assembly comprises a motor, a gear set, a differential and a wheel set, wherein the motor is in driving connection with the wheel set through the differential and the gear set and is used for driving the wheel set to drive the suspension vehicle body to move along the suspension track.
In one embodiment, the wheel surface of the wheel set is a concave curved surface matched with the circular track.
In one embodiment, the wheel set comprises a driving wheel, a driven wheel, a clamping wheel and a guide wheel, wherein,
the clamping wheel is contacted with the bottom of the hanging rail, is respectively matched with the driving wheel and the driven wheel to clamp the hanging rail and is used for limiting the relative positions of the driving wheel, the driven wheel and the hanging rail;
the guide wheel is provided with an elastic part, and the guide wheel is contacted with the side wall of the suspension track under the elastic action of the elastic part and is used for limiting the relative positions of the driving wheel, the driven wheel and the suspension track.
In one embodiment, the cleaning assembly comprises a rolling brush, an air gun and an air compressor for driving the air gun, the rolling brush and the air gun are located above the suspension rail, and the rolling brush is located between the air gun and the suspension vehicle body.
In one embodiment, the air lance sets its purge direction in the inboard to outboard direction of the hanger rail.
In one of them embodiment, patrol and examine the subassembly and still include the cloud platform, and the cloud platform includes horizontal rotating member, vertical rotation spare, and the laser module is located and is hung on the automobile body, and infrared module locates on the cloud platform, and the camera module is single camera or camera array, and wherein, single camera is located on the cloud platform, and the camera array is located and is hung on the automobile body.
In one embodiment, the inspection assembly further comprises a camera module, and the camera module is arranged on the holder and used for monitoring the tunnel inspection process, checking the working state of equipment in the tunnel and monitoring the operation process of tunnel personnel.
In one embodiment, the positioning component comprises an encoder, an RFID card reader and a plurality of RFID labels, wherein the encoder is used for carrying out real-time positioning based on the travel distance of the travelling mechanism, the RFID labels are respectively arranged at different positions of the tunnel, and the RFID card reader is used for calibrating the real-time positioning based on the position information in the labels.
The utility model provides a suspension type tunnel system of patrolling and examining, includes that two at least suspension type tunnels as above-mentioned arbitrary one patrol and examine the robot, sets up respectively on the suspension track of tunnel both sides lateral wall, and the cooperation is used for carrying out the full angle to the tunnel and patrols and examines.
In one embodiment, the system further comprises an automatic charging station, a data analysis platform and a communication base station;
the data analysis platform is communicated with the suspended tunnel inspection robot through the communication base station and is used for sending a control command to the suspended tunnel inspection robot, receiving the running state and inspection data of the suspended tunnel inspection robot, processing and analyzing the running state and the inspection data;
the automatic charging station is arranged on the suspension track and used for automatically charging the suspension type tunnel inspection robot.
A suspended tunnel inspection method is applied to any suspended tunnel inspection system to perform tunnel inspection, and comprises the following steps:
in response to an automatic starting instruction or an external starting instruction, the suspension type tunnel inspection system starts the suspension type tunnel inspection robot to perform tunnel inspection:
according to the automatic starting instruction, the suspension type tunnel inspection robot automatically moves along the suspension track and executes tunnel defect detection;
according to an external starting instruction, the suspension type tunnel inspection robot moves along the suspension track under external control and executes tunnel defect detection.
In one embodiment, the external start instruction at least comprises a manual remote control instruction and a fixed point inspection instruction, and according to the external start instruction, the suspended tunnel inspection robot moves along the suspended track under external control and inspects the tunnel further comprises:
according to the manual remote control instruction, the suspension type tunnel inspection robot moves along the suspension track under the external remote control and executes tunnel defect detection;
according to the fixed point inspection instruction, the suspension type tunnel inspection robot automatically moves to a set position along the suspension track and executes tunnel defect detection.
In one embodiment, the automatic starting instruction at least comprises a timing patrol instruction, a fixed interval patrol instruction and a continuous cycle patrol instruction, wherein the timing patrol instruction is a patrol instruction triggered at a timing, the fixed interval patrol instruction is a patrol instruction triggered at a fixed interval, and the continuous cycle patrol instruction is a patrol instruction triggered continuously in multiple cycles.
In one embodiment, before the suspended tunnel inspection system starts the suspended tunnel inspection robot to perform tunnel inspection, the method further comprises the following steps:
the electric quantity of robot is patrolled and examined in inspection suspension type tunnel, if the electric quantity is less than the threshold value, then the suspension type tunnel is patrolled and examined that the robot is automatic and is carried out automatic charging to automatic charging station along hanging the track motion.
Compared with the prior art, the invention has the following advantages and positive effects:
1) the invention adopts the design of the self-cleaning suspension type tunnel inspection robot, can realize the cleaning of the track while working, ensures the long-term operation stability of the inspection robot, avoids the inspection abnormity caused by foreign matters falling on the suspension track, ensures the long-term operation stability of the inspection robot, and simultaneously adopts the suspension type design, so that the suspended gravity center is lower than the gravity center of the robot placed above the track, thereby being beneficial to more stable walking of the inspection robot and preventing the robot from toppling over;
2) the inspection assembly adopts a combined detection mode of the laser module, the camera module and the infrared module, so that the multi-level comprehensive detection of tunnel diseases can be realized, wherein the laser module can scan the tunnel outline to detect whether the cross section of the tunnel has a deformation condition, the camera module can shoot pictures and identify the tunnel diseases in the process, such as wet traces, water seepage, water drip, silt leakage, unfilled corners, chipping, slab staggering, cracks, the falling capacity of pipelines in the tunnel and the like, the infrared module can assist the camera module to identify the disease points of the tunnel through thermal images, and the three are matched to realize the overall detection from the whole to the local, so that the comprehensiveness of the tunnel inspection is improved, the multi-level detection of single disease points is realized, and the accuracy of the tunnel inspection is improved;
3) the wheel set of the walking assembly realizes bidirectional limiting, wherein the clamping wheels are respectively used for clamping the suspension track between the driving wheel and the driven wheel, are used for limiting the upper position and the lower position of the robot, are in contact with the side wall of the suspension track, and are used for limiting the left position and the right position of the robot, so that the relative position between the robot and the suspension track is basically kept stable, and a certain rolling friction force is always kept between the driving wheel and the driven wheel and the suspension track, so that the robot can perform tunnel inspection more stably, the phenomenon of running jolt is avoided, and meanwhile, when the guide wheels are seriously extruded by the tracks, the guide wheels can have a certain retraction allowance, thereby avoiding the condition of jamming between the inspection robot and the guide tracks, and further improving the running stability of the robot;
4) the cleaning assembly specifically adopts a combination form of the rolling brush and the air gun, wherein the rolling brush is positioned between the air gun and the suspension vehicle body, so that most of rail foreign matters can be removed through purging in the advancing process, and then the rail can be thoroughly cleaned through the rolling brush, so that the cleaning effect is ensured, the advancing stability of the robot is ensured, the service life of the rolling brush is prolonged, the maintenance period is prolonged greatly, and the workload of later maintenance is reduced greatly;
5) the positioning assembly is based on the encoder and the RFID, the encoder performs position positioning by calculating the number of rotation circles of the wheel set, the position can be calibrated based on the position information in the label of the RFID in combination, and more accurate positioning is realized;
6) the suspension type tunnel inspection system has the advantages that the suspension tracks are arranged on the side walls of the two sides of the tunnel, particularly can be arranged on the side walls far away from the light source, and are not directly provided with the light source such as a lighting lamp, and the height of the side walls is kept to be a certain height from the ground, so that the walking of normal workers is not influenced, the running area of the tunnel is avoided, the high-pressure dangerous area of the tunnel is also avoided, and meanwhile, at least two suspension type tunnel inspection robots are respectively arranged on the suspension tracks on the two sides and are matched left and right to realize the all-angle inspection of the tunnel under the condition that the;
7) the suspension type tunnel inspection system is also provided with an automatic charging station, a data analysis platform and a communication base station, wherein the automatic charging station can be arranged at any position of the tunnel, preferably can be arranged at an entrance and an exit and is combined with the suspension track, so that when the power supply of the suspension type tunnel inspection robot is insufficient, the suspension type tunnel inspection robot automatically operates to the automatic charging station for charging, and the optimal charging mode can adopt wireless charging modes such as an electromagnetic coil and the like, thereby not only reducing the precision requirement of connection alignment, ensuring the success of charging, but also greatly improving the safety of the system;
8) the suspension type tunnel inspection method of the invention can realize various working modes, not only can carry out daily automatic inspection, but also can receive external control to carry out specific tunnel inspection, wherein the daily automatic inspection also has various modes, the timing inspection can self-define a time point to trigger the system to carry out automatic inspection, the regular interval inspection can self-define a time interval to trigger the system to carry out automatic inspection at intervals, the continuous cycle inspection can continuously trigger the system to keep continuous automatic inspection work for a plurality of cycles, the specific tunnel inspection also has various modes, manual remote control can be controlled by the outside to carry out manual inspection by manpower, the fixed point inspection can automatically complete quick inspection of a fixed point position by the system according to the external inspection position setting, and the combination of the various modes realizes an intelligent solution of the suspension type tunnel inspection, the working efficiency of tunnel inspection is greatly improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic three-dimensional structure diagram of a suspension type tunnel inspection robot according to the present invention;
FIG. 2 is a block diagram of a suspended tunnel inspection robot according to the present invention;
FIG. 3 is a schematic side view of a suspended tunnel inspection robot according to the present invention;
FIG. 4 is a front schematic view of a suspended tunnel inspection robot according to the present invention;
FIG. 5 is a schematic top view of a suspended tunnel inspection robot according to the present invention;
FIG. 6 is a schematic view of the mounting of the suspended track of a suspended tunnel inspection system of the present invention;
fig. 7 is a working process diagram of a suspended tunnel inspection method of the invention.
Description of reference numerals:
1-hanging a rail; 2-air gun; 3-rolling and brushing; 4-driving wheel; 5-driven wheel; 6-horizontal rotation piece; 7-vertical rotation; 8-a camera module; 9-stroboscopic light source; 10-an infrared module; 11-a camera module; 12-a clamping wheel; 13-a guide wheel; 14-a laser module; 15-gear set; 16-a differential; 17-an RFID card reader; 18-a motor; 19-a communication module; 20-a storage battery; 21-air compressor.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
The following describes a suspension type tunnel inspection robot, a system and a method according to the present invention in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
Referring to fig. 1 and 2, the present application provides a robot is patrolled and examined in suspension type tunnel, hangs and installs and carry out work on hanging track 1, includes: the walking mechanism and the routing inspection assembly are arranged on the walking mechanism;
the travelling mechanism comprises a suspended vehicle body, a travelling assembly, a cleaning assembly and a positioning assembly, wherein the travelling assembly is arranged on the suspended vehicle body and used for driving the suspended vehicle body to move along a suspended track 1, the cleaning assembly is used for cleaning the suspended track 1 in the travelling process, and the positioning assembly is used for positioning the suspended vehicle body and the position of a tunnel defect;
patrol and examine the subassembly and be fixed in on hanging the automobile body, including laser module 14, camera module 11, infrared module 10, the cooperation is used for the multi-level comprehensive detection of tunnel disease, and wherein, laser module 14 is used for measuring tunnel cross section profile, detects the tunnel deformation condition, and camera module 11 is used for shooting the image in tunnel and discerns its disease point, and infrared module 10 is used for gathering the thermal image in tunnel and discerning its disease point.
The present embodiment will now be described in detail, but is not limited thereto.
The suspension type tunnel inspection robot of this embodiment can follow fixed suspension track 1 and remove, and the subassembly of patrolling and examining on it can gather, analysis processes and record the tunnel disease, if discovery equipment tunnel disease then reports to the police and uploads, and wherein, the suspension type tunnel inspection robot can not influence the current and tunnel train operation of below passageway personnel, has improved detection efficiency.
The tunnel inspection robot of this embodiment uses the mode of hanging, and this gravity center that can guarantee to hang is compared in the robot and is placed the gravity center low above the track to it is stable to do benefit to the assurance to patrol and examine the walking of robot, prevents to take place the condition that the robot emptys. And the suspension rail 1 uses parallel double rails with a certain distance between them, the running gear is arranged outside the robot: 1. the mounting points of the robot on the track are at least four points; 2. the gravity center position of the robot is positioned between the hanging points, and the gravity center state is beneficial to keeping the stability of the robot. Preferably, on the premise of ensuring that the overall size of the robot and the track is within the limit range of the tunnel, the parallel double rails and the walking mechanism are placed outside the robot, so that the robot can walk stably.
This embodiment adopts the suspension type tunnel of automatically cleaning to patrol and examine the robot design, can realize orbital cleaning in the work, the stability of patrolling and examining the permanent function of robot has been guaranteed, the foreign matter that has avoided falling on hanging track 1 causes patrols and examines unusually, the stability of patrolling and examining the permanent function of robot has been guaranteed, adopt the design of suspension type simultaneously, can be so that the focus of hanging is lower than the focus that the robot placed above the track, the walking that is favorable to patrolling and examining the robot is more stable, the condition that the robot emptys prevents to take place.
Referring to fig. 2, the suspension type tunnel inspection robot of the embodiment mainly comprises a suspension track 1, a suspension vehicle body, a walking assembly, an energy supply module, a communication module 19, a cleaning assembly, an inspection assembly and a positioning assembly.
Referring to fig. 1, the suspended vehicle body of the embodiment is a force bearing structure of the main body of the inspection robot, is responsible for the connection and space position fixation among all modules, and is internally provided with an installation space of components such as an energy supply module, a walking assembly, a communication module 19 and the like; the side wall is used for mounting the parts of the walking component and the positioning component; the lower part is used for mounting the components of the inspection module.
Referring to fig. 3 to 5, the traveling assembly of the present embodiment is matched with the parallel double-tube suspension rail 1, and is assisted by sufficient limit protection measures to ensure the traveling stability, wherein the traveling assembly includes a motor 18, a gear set 15, a differential 16, and a wheel set, the motor 18 disposed inside the suspension vehicle body is in driving connection with the wheel set disposed outside the suspension vehicle body through the differential 16 and the gear set 15, the wheel set includes a driving wheel 4, a driven wheel 5, a clamping wheel 12, and a guide wheel 13, and the driving wheel 4 and the driven wheel 5 are disposed at four corners of the robot to play roles of stabilizing the suspension and supporting the robot.
Specifically, the motor 18 of the embodiment is fixed on a bottom plate inside a suspended vehicle body structure, the motor 18 outputs torque, the torque redistributes the rotating speed through the differential 16, and the torque is transmitted to the two driving wheels 4 through the output shaft of the differential 16 and the gear set 15 to provide forward power. The gear set 15 is composed of the gear set 15 and plays a role in power transmission, and the gear transmission has the advantages of compact structure, small occupied space, high transmission efficiency, stable transmission and the like. Likewise, a belt transmission or the like may be used instead of the gear set 15. The differential mechanism 16 is a differential transmission mechanism, which ensures the power transmission of the driving wheel 4 under various motion conditions, so that the left and right driving wheels 4 can move according to different rotating speeds, thereby avoiding the skidding between tires and contact surfaces and realizing smoother turning of the inspection robot.
Specifically, in this embodiment, the driving wheel 4 is suspended on the rail, so that the weight of the whole set of equipment provides pressure for the contact between the driving wheel 4 and the rail, and the rolling friction force of the rail on the driving wheel 4 is ensured, the rolling friction force of the rail on the driving wheel 4 is the power for the robot to walk, so that the robot walks on the circular rail, the driven wheel 5 is also in contact with the top of the circular rail, the rolling friction is formed between the driven wheel 5 and the rail, and the driven wheel rotates passively along with the walking of the robot. The guide wheel 13 and the clamping wheel 12 are used for limiting the driving wheel 4 and the driven wheel 5 on the track, the guide wheel 13 is in contact with the side wall of the circular track, the guide track can smoothly pass through the guide track and can limit the relative position of the inspection robot and the guide track, a spring is arranged on the elastic guide wheel 13, the guide wheel 13 can have a certain retraction allowance when the guide wheel 13 is seriously extruded by the guide track, the condition that the inspection robot and the guide track are stuck is avoided, the clamping wheel 12 is in contact with the bottom of the circular track and clamps the track together with the driving wheel 4 or the driven wheel 5, enough pressure is guaranteed between the driving wheel 4 and the track, enough friction force is guaranteed to enable the driving wheel 4 to roll and move forward, the rolling wheel is prevented from sliding, and the clamping wheel 12 has the other function. Preferably, the wheel surface of the wheel set is a concave curved surface matched with the circular track, so that the contact area with the track is increased, and sufficient contact friction force is ensured.
The wheelset of the walking assembly of this embodiment has realized two-way spacing, wherein, pinch roller 12 respectively with action wheel 4, press from both sides tight suspension track 1 between follow driving wheel 5, be used for the spacing of robot upper and lower position, leading wheel 13 and the contact of suspension track 1 lateral wall, be used for the spacing of position about the robot, guaranteed that the relative position between robot and the suspension track 1 remains stable basically, also guarantee action wheel 4, from keeping certain rolling friction power between driving wheel 5 respectively and the suspension track 1 all the time, make the robot can carry out the tunnel inspection more steadily, the phenomenon of jolting in operation can not appear, leading wheel 13 can make leading wheel 13 have certain withdrawal allowance when receiving the serious extrusion of track simultaneously, avoid patrolling and examining the dead situation of card between robot and the guide rail, the stability of robot operation has further been improved
Referring to fig. 1, the cleaning assembly of this embodiment includes rolling brush 3, air gun 2 and air compressor 21 of drive air gun 2, and air gun 2 and rolling brush 3 arrange on the track top, move together with the robot body, clear away foreign matter such as the dust that the track top accumulated, guarantee the reliable cooperation of robot for a long time between track and the stable walking of robot. The air compressor 21 is arranged at the bottom of the suspended vehicle body structure and provides power for the air gun 2. The air gun 2 and the rolling brush 3 are arranged in front of the walking module, namely, the dust on the rail is cleaned firstly, and then the walking module passes through the rail. The air gun 2 is arranged in front of the rolling brush 3, namely the air gun 2 blows air flow firstly to blow away dust on the track, and the first step of cleaning the track is realized; then the rolling brush 3 rolls on the rail and the brush is used to clean the rail in the second step. Preferably, the air gun 2 sets the blowing direction of the air gun along the inner side to the outer side of the suspension rail 1 so as to blow dust and other foreign matters away from the working area of the inspection robot better, but the blowing direction does not need to be from inside to outside, and the blowing direction can be optimized according to the overall structure of specific equipment so as to achieve a better blowing effect.
The clearance subassembly of this embodiment specifically adopts the combination form of round brush 3 and air gun 2, wherein, the position of round brush 3 is located air gun 2 and hangs between the automobile body, so, can get rid of most track foreign matter through sweeping earlier at the in-process of advancing, rethread round brush 3 can thoroughly clean up the track, the effect of clearance has not only been guaranteed, the stability that the robot marchd has been guaranteed, and the life of round brush 3, the maintenance cycle is prolonged greatly, the work load of later maintenance has been alleviateed greatly.
Referring to fig. 2, the inspection component of the embodiment is composed of a pan-tilt, a laser module 14, a camera module 11, a camera module 8 and an infrared module 10, so that tunnel defects can be comprehensively and comprehensively detected, and for a single defect which is focused, a plurality of detection modules can be combined to detect, so that comprehensive and multi-level tunnel inspection is realized. Specifically, the laser module 14 is fixed alone and placed, and the cradle head is not needed, and only the placing position is needed to ensure that the contour line of the cross section of the tunnel can be measured. The camera module 11 has two setting modes: a single camera is adopted and needs to be matched with a holder to realize rotation; the array is formed by a plurality of cameras, and the cameras can be used at fixed positions without being matched with a holder. The infrared module 10 and the camera module 8 are both detected by rotational matching of the holder.
Referring to fig. 3, the pan-tilt of the present embodiment is a driving device for controlling the rotation angle of the detection device, and is provided with a horizontal rotation member 6 and a vertical rotation member 7, the horizontal pan-tilt of the robot ensures that the detection device can rotate horizontally, and the vertical pan-tilt ensures that the detection device can rotate vertically.
Referring to fig. 3, the laser module 14 of this embodiment operates on the principle of emitting a laser beam to a target, comparing a received target echo reflected from the target with a transmitted signal, and after appropriate processing, obtaining information about the target, specifically using a laser radar as a measurement input, driving an inspection robot in a continuous walking manner, measuring a contour line of a cross section of a tunnel, comparing the contour line with a standard boundary file, and making shapes of the boundaries equal everywhere in the cross section of a track. And comparing the data with historical data to obtain the deformation condition of the tunnel wall. And subsequently, an algorithm is adopted to realize the accurate establishment of the tunnel three-dimensional model.
Referring to fig. 3, the camera module 11 of this embodiment is composed of an industrial area-array camera and a stroboscopic light source 9, the area-array camera and the stroboscopic light source 9 are synchronously triggered, a trigger signal is provided by a positioning component, the trigger frequency of the area-array camera is determined by the range of the advancing direction of the tunnel wall which can be shot by the shot pictures, that is, after the camera shoots a picture of the tunnel wall, the robot travels a certain distance, the camera will shoot the picture again, and the background program splices the two pictures to obtain a complete picture of the tunnel wall in the advancing direction. In another embodiment, a single industrial camera can be adopted, but the annular range of the tunnel wall which can be shot is limited, so that in order to obtain the annular picture of the complete tunnel wall, the single camera is provided with a holder, one angle picture is shot in a single stroke, the shooting angle of the camera is adjusted through the holder in the next stroke, another angle picture is shot, all angle pictures are obtained through multiple strokes, and then the complete annular picture is spliced with all angle pictures. And a plurality of cameras are used for forming, pictures at various angles can be shot simultaneously in a single stroke, and then the pictures are spliced into a complete circle picture. The high resolution of the camera module 11 ensures the image shooting precision, and ensures the water leakage, including wet trace, water seepage, water drop leakage, and sediment leakage, corner defect, block falling, slab staggering, crack and pipeline falling capability in the tunnel of the identifiable lining.
Referring to fig. 3, the infrared module 10 of the present embodiment employs a thermal infrared imager, and can acquire temperature data and images in a continuous and non-contact manner; based on the difference of the infrared radiation temperature of the leaked water and the concrete, the information of the leaked water area and the state of the leaked water can be judged from the thermal image so as to assist the camera module 11 to use, and the state of the leaked water is detected by two detection means, so that the multi-level tunnel disease detection is realized.
Referring to fig. 3, the camera module 8 of the present embodiment provides a video monitoring function, and can complete video image acquisition of a field environment and equipment through a camera, and based on image data, can monitor operation conditions of workers and equipment in a tunnel.
The subassembly of patrolling and examining of this embodiment adopts laser module 14, camera module 11, infrared module 10's combination formula detection mode, can realize the multi-level comprehensive detection of tunnel disease, wherein, laser module 14 can scan the tunnel profile, it has the deformation condition to detect out tunnel cross section, camera module 11 accessible is shot the tunnel disease in picture and the discernment, for example, wet trace, the infiltration, the water clock, and leak silt, the unfilled corner, fall the piece, the wrong platform, the crackle, and tunnel interior pipeline shedding ability etc. infrared module 10 then passes through the supplementary camera module 11 of thermal image and discerns the disease point in tunnel, the three cooperation has realized from whole to local comprehensive detection, the comprehensiveness that the tunnel was patrolled and examined has been improved, and realized the multi-level detection to single disease point, the accuracy that the tunnel was patrolled and examined is improved.
Referring to fig. 1 and 5, the positioning assembly of the present embodiment is composed of an encoder and an RFID, the encoder performs positioning by calculating the number of rotation turns of the wheel, the RFID positioning system is composed of an RFID card reader 17 and an electronic tag, the RFID positioning system performs non-contact bidirectional data communication by a radio frequency method, and reads and writes the electronic tag by the radio frequency method, so as to achieve the purpose of identifying an object and exchanging data. By using the encoder for mileage positioning, errors occur in the calculated mileage of the encoder due to wheel slipping or wheel abrasion and the like, the errors can be accumulated, the deviation occurs in the site search of disease positions, RFID positioning calibration is added, the mileage information in the electronic tag is read at a certain distance, the accumulated error problem is eliminated through mileage information correction, and the accuracy of the mileage is improved.
Preferably, referring to fig. 1 and 5, the power supply of the suspension type tunnel inspection robot of the present embodiment adopts the storage battery 20, the power supply of the storage battery 20 ensures the power utilization safety in the tunnel dusty environment, specifically, the robot is equipped with a high performance battery inside, and meanwhile, the charging station is arranged at the tunnel entrance for charging the storage battery 20 of the robot body, and in combination with the power management strategy of automatic charging, the robot is ensured not to affect the smooth operation due to insufficient electric quantity in the inspection operation process. The basic automatic charging control may be as follows: when the electric quantity of the robot is sufficient, the inspection task can be completed according to a plan, and the robot automatically goes to a charging station to charge after the task is completed, so that the battery is kept in a full-electric-quantity state; when the electric quantity of the robot reaches the protection limit value set by the system, the robot can interrupt the task and automatically go to a charging station for charging. Preferably, the charging mode adopts non-contact charging, the principle of the non-contact charging is that energy is transmitted by using the electromagnetic induction principle, the non-contact charging has low requirement on the precision of a contact position, and the charging success rate and the charging safety are obviously higher than those of the contact charging.
The locating component of this embodiment is based on encoder and RFID, the encoder carries out position location through the rotatory number of turns of calculating the wheelset, combine RFID can carry out the calibration of position based on positional information in its label, realize fixing a position more accurately, simultaneously, RFID not only can provide the positional information of calibration usefulness, and can take notes some other information moreover, for example will detect the tunnel disease and record to the RFID label in, so, make things convenient for later stage disease point's reinspection and trace back, whole work efficiency has been improved.
Example 2
The application also provides a suspension type tunnel system of patrolling and examining, including two at least if the suspension type tunnel based on embodiment 1 patrols and examines the robot, set up respectively on the suspension track of tunnel both sides lateral wall, the cooperation is used for carrying out the full angle to the tunnel and patrols and examines.
The present embodiment will now be described in detail, but is not limited thereto.
Referring to fig. 6, what this embodiment was used for the installation to hang the track that hangs that tunnel inspection robot adopted is the pipe track, it has the cost of manufacture low, purchase cheaply, simple structure, total weight is lighter than the track in other structures, it is little to occupy the place, characteristics such as simple to operate, circular track surface is the convex surface simultaneously, make the difficult deposition of track, ponding, in the moist service environment of many dusts in the tunnel, make the robot can not take place to skid in the process of walking, the deashing demand of track reduces, the later stage is to orbital clearance maintenance demand reduction.
In particular, the track form of the present embodiment is that parallel double circular tracks are fixed at the tunnel side wall, and the fixed position is at the tunnel side wall. The tunnel top has been avoided to the orbital overall arrangement of this embodiment, and the tunnel top has generally been arranged high-pressure contact net, arranges the track at the top, and possible structure interferes with the contact net and contact net high-voltage apparatus influences the security, specifically can install on the tunnel lateral wall, but notes that the detection equipment of the inspection robot of this embodiment has the sensitivity to light, and the best detection environment is the environment that the luminance is the same, so preferentially, the track is arranged on the lamp to this embodiment, reduces the inside light source in tunnel to the influence of detection equipment. Meanwhile, the arrangement position of the inspection robot does not interfere with pedestrians and electric vehicles in the same traveling. The inspection robots are placed on the side walls of the two sides of the tunnel to form cross inspection, the whole tunnel wall can be completely detected, and enough space is available for adjusting the height of the installation position, so that the detection angle of the detection equipment can be adjusted conveniently. The specific track is provided with two modes: lateral wall support and hoisting support, preferably, this scheme uses is lateral wall support mounting rail, the installation more easily.
The suspension type tunnel inspection system of the embodiment arranges the suspension tracks on the side walls at two sides of the tunnel, particularly can be arranged at the positions of the side walls far away from the light sources, and does not have light sources such as a direct lighting lamp, and keeps a certain height from the ground, so that the traveling area of the tunnel and the high-pressure dangerous area of the tunnel are avoided, and simultaneously at least two suspension type tunnel inspection robots are respectively arranged on the suspension tracks at two sides and are matched left and right to realize the all-angle inspection of the tunnel under the condition of not influencing the normal operation of the tunnel;
the system of the embodiment also comprises an automatic charging station, a data analysis platform and a communication base station, wherein the automatic charging station can be arranged at any position of the tunnel, preferably can be arranged at the entrance and the exit and combined with the suspension track, so that when the power supply of the suspension type tunnel inspection robot is insufficient, the inspection robot can realize charging connection only by automatically moving to a specified position along the track, preferably, the charging mode can adopt a wireless charging mode such as an electromagnetic coil and the like, thereby not only reducing the precision requirement of connection alignment and ensuring the success of charging, but also greatly improving the safety of the system, in another embodiment, the contact type charging connection mode can also realize charging connection, the charging connection contact is arranged at the specified position of the suspension track, when the inspection trolley moves to the specified position, the butt joint with the charging connection contact is realized, in order to carry out automatic charging, preferably, the contact that charges under this condition can adopt the arm to control butt joint work, or can design into the spout that charges, when patrolling and examining the dolly and sliding to the assigned position, the spout that charges is drawn into automatically to the interface that charges, establishes the connection that charges, etc..
The data analysis platform of this embodiment is as the backstage of entire system, patrols and examines robot communication with each tunnel based on communication base station, and it can play a series of long-range backstage functions such as data storage, equipment running state control, tunnel patrol and examine result real-time analysis and control, unusual warning, long-range manual intervention control, remote equipment configuration. Preferably, in addition to the data analysis platform, the present embodiment may further include an external access server, so that the client of the mobile terminal can access the external access server through a network.
Example 3
Referring to fig. 7, the present application further provides a suspension type tunnel inspection system method, which applies the suspension type tunnel inspection system based on the above embodiment 2 to perform tunnel inspection, and includes the following steps:
in response to an automatic starting instruction or an external starting instruction, the suspension type tunnel inspection system starts the suspension type tunnel inspection robot to perform tunnel inspection:
according to the automatic starting instruction, the suspension type tunnel inspection robot automatically moves along the suspension track and executes tunnel defect detection;
according to an external starting instruction, the suspension type tunnel inspection robot moves along the suspension track under external control and executes tunnel defect detection.
The present embodiment will now be described in detail, but is not limited thereto.
The suspension type tunnel inspection system method of the embodiment can be basically divided into two categories: the intelligent automatic inspection and external control inspection system comprises an intelligent automatic inspection and external control inspection system, wherein an automatic starting instruction of the intelligent automatic inspection at least comprises a timing inspection instruction, a regular interval inspection instruction and a continuous cycle inspection instruction, wherein the timing inspection instruction is an inspection instruction triggered at a timing, the regular interval inspection instruction is an inspection instruction triggered at a regular interval, the continuous cycle inspection instruction is an inspection instruction triggered at a multi-cycle continuously, and the external starting instruction of the external control inspection at least comprises a manual remote control instruction and a fixed point inspection instruction.
Specifically, in order to meet different requirements of daily routing inspection, the system can automatically inspect at a fixed speed at regular time according to a track route, multiple modes are set for the daily automatic routing inspection, the timing inspection can automatically inspect by triggering the system at a self-defined time point, the regular interval inspection can automatically inspect at a self-defined time interval, the system is triggered to automatically inspect at intervals, and the continuous periodic routing inspection can continuously trigger the system for keeping continuous automatic routing inspection in multiple periods. And for satisfying the different demands that special patrol and examine, make the system can carry out specific patrol and examine according to controlling of staff, specific tunnel is patrolled and examined and is designed multiple mode also, manual remote control can be controlled by the outside and is patrolled and examined manually by the manual work, the operation personnel carry out through backstage manual control robot and patrol and examine the task, the fixed point is patrolled and examined and can be patrolled and examined the position setting by the outside and accomplished the quick of fixed point position by the system is patrolled and examined automatically, the intelligent solution that the suspension type tunnel was patrolled and examined has been realized in the combination of above-mentioned multiple mode has improved.
Wherein, in the implementation process of the daily automatic inspection of the tunnel, the positions of the laser module, the camera module and the four detection modules of the infrared module on the robot are fixed, namely, a holder is not used for rotating the detection equipment, the camera module and the infrared module detect the partial area of the tunnel, the undetected area in the tunnel is inspected for the second time after the first inspection is finished, namely, after a period of inspection is finished, the camera module and the infrared module are aligned to the undetected area by rotating the holder for periodic inspection. The above-mentioned condition for the operation of single robot is patrolled and examined, in another kind of embodiment, can many robots of patrolling and examining cooperate the execution tunnel task of patrolling and examining to accomplish the omnidirectional detection of tunnel full angle, in order to improve holistic detection efficiency.
In the execution process of manual remote control, the laser module and the camera module are not generally used in remote control inspection, the detection of the laser module and the camera module is generally to perform automatic continuous detection on the whole travel distance, the remote control inspection and the fixed point inspection are generally used for video monitoring, and preferably, an operator controls the walking position of the robot and adjusts the detection positions of the camera module and the infrared module to monitor the area in which the operator is interested. In the execution process of fixed-point inspection, operators set several places to be inspected, and the inspection robot automatically walks to the inspection places to perform inspection tasks such as photographing and video monitoring.
Preferably, referring to fig. 7, before the suspended tunnel inspection system starts the suspended tunnel inspection robot to perform tunnel inspection, the method further comprises the following steps: the electric quantity of robot is patrolled and examined in inspection suspension type tunnel, if the electric quantity is less than the threshold value, then the suspension type tunnel is patrolled and examined that the robot is automatic and is carried out automatic charging to automatic charging station along hanging the track motion.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (15)
1. The utility model provides a robot is patrolled and examined in suspension type tunnel which characterized in that hangs and installs and carry out work on hanging the track, includes: the inspection device comprises a travelling mechanism and an inspection assembly arranged on the travelling mechanism;
the travelling mechanism comprises a suspended vehicle body, a travelling assembly, a cleaning assembly and a positioning assembly, wherein the travelling assembly is arranged on the suspended vehicle body and used for driving the suspended vehicle body to move along a suspended track;
patrol and examine the subassembly and be fixed in hang on the automobile body, including laser module, camera module, infrared module, the cooperation is used for the multi-level comprehensive detection of tunnel disease, wherein, the laser module is used for measuring tunnel cross section profile, detects the tunnel deformation condition, camera module is used for shooting the image in tunnel and discerns its disease point, infrared module is used for gathering the thermal image in tunnel and discerning its disease point.
2. The robot is patrolled and examined in suspension type tunnel of claim 1, characterized in that, running gear spare includes motor, gear train, differential mechanism, wheelset, the motor warp differential mechanism the gear train with the wheelset drive is connected, is used for the drive the wheelset drives hang the automobile body and follow and hang orbital motion.
3. The suspended tunnel inspection robot according to claim 2, wherein the wheel surfaces of the wheel sets are concave curved surfaces matched with the circular tracks.
4. The overhead tunnel inspection robot according to claim 2, wherein the wheel sets include a drive wheel, a driven wheel, a pinch wheel, a guide wheel, wherein,
the clamping wheel is contacted with the bottom of the hanging rail, is respectively matched with the driving wheel and the driven wheel to clamp the hanging rail, and is used for limiting the relative positions of the driving wheel, the driven wheel and the hanging rail;
the guide wheel is provided with an elastic part, and the guide wheel is contacted with the side wall of the suspension rail under the elastic action of the elastic part and is used for limiting the relative positions of the driving wheel, the driven wheel and the suspension rail.
5. The suspended tunnel inspection robot according to claim 1, wherein the cleaning assembly comprises a rolling brush, an air gun and an air compressor for driving the air gun, the rolling brush and the air gun are located above the suspension rail, and the rolling brush is located between the air gun and the suspension vehicle body.
6. The overhead tunnel inspection robot according to claim 5, wherein the air lance sets its purge direction in an inboard-to-outboard direction of the overhead rail.
7. The robot is patrolled and examined in suspension type tunnel of claim 1, characterized in that, it still includes the cloud platform to patrol and examine the subassembly, the cloud platform includes horizontal rotation piece, vertical rotation piece, the laser module is located hang on the automobile body, infrared module locates on the cloud platform, the camera module is single camera or camera array, wherein, single camera locates on the cloud platform, the camera array is located hang on the automobile body.
8. The suspended tunnel inspection robot according to claim 7, wherein the inspection assembly further comprises a camera module, and the camera module is arranged on the holder and is used for monitoring the tunnel inspection process, inspecting the working state of equipment in the tunnel, and monitoring the tunnel personnel operation process.
9. The suspended tunnel inspection robot according to claim 1, wherein the positioning assembly comprises an encoder, an RFID card reader and a plurality of RFID tags, the encoder is used for performing real-time positioning based on the traveling distance of the traveling mechanism, the RFID tags are respectively arranged at different positions of the tunnel, and the RFID card reader is used for calibrating the real-time positioning based on position information in the tags.
10. A suspension type tunnel inspection system is characterized by comprising at least two suspension type tunnel inspection robots according to any one of claims 1 to 9, wherein the suspension type tunnel inspection robots are respectively arranged on suspension tracks on side walls of two sides of a tunnel and are matched with the suspension tracks to carry out all-angle inspection on the tunnel.
11. The suspended tunnel inspection system according to claim 10, further comprising an automatic charging station, a data analysis platform, a communication base station;
the data analysis platform is communicated with the suspended tunnel inspection robot through the communication base station and is used for sending a control instruction to the suspended tunnel inspection robot, receiving the running state and inspection data of the suspended tunnel inspection robot, processing and analyzing the running state and the inspection data;
the automatic charging station is arranged on the suspension track and used for automatically charging the suspension type tunnel inspection robot.
12. A method for inspecting a suspended tunnel, which is characterized in that the suspended tunnel inspection system according to claim 10 or 11 is used for inspecting the tunnel, and comprises the following steps:
responding to an automatic starting instruction or an external starting instruction, starting the suspended tunnel inspection system to inspect the suspended tunnel inspection robot for tunnel inspection:
according to the automatic starting instruction, the suspension type tunnel inspection robot automatically moves along the suspension track and performs tunnel defect detection;
and according to the external starting instruction, the suspension type tunnel inspection robot moves along the suspension track under external control and executes tunnel disease detection.
13. The inspection method according to claim 12, wherein the external start instructions include at least a manual remote control instruction and a fixed point inspection instruction, and the inspection robot controlled by the external to move along the suspension track and inspect the tunnel according to the external start instructions further comprises:
according to the manual remote control instruction, the suspension type tunnel inspection robot moves along the suspension track under the action of external remote control and executes tunnel defect detection;
according to the fixed point inspection instruction, the suspension type tunnel inspection robot automatically moves to a set position along the suspension track and executes tunnel defect detection.
14. The suspended tunnel inspection method according to claim 12, wherein the automatic start instructions include at least a timed inspection instruction, a fixed interval inspection instruction and a continuous cycle inspection instruction, wherein the timed inspection instruction is a timed triggered inspection instruction, the fixed interval inspection instruction is a fixed interval triggered inspection instruction, and the continuous cycle inspection instruction is a multi-cycle continuous triggered inspection instruction.
15. The hanging tunnel inspection method according to claim 12, wherein before the hanging tunnel inspection system initiates the hanging tunnel inspection robot to perform tunnel inspection, the method further comprises the steps of:
and inspecting the electric quantity of the suspension type tunnel inspection robot, and if the electric quantity is lower than a threshold value, automatically charging the suspension type tunnel inspection robot to an automatic charging station along the suspension track.
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| CN114023022B (en) * | 2021-11-03 | 2023-04-07 | 浙江交通职业技术学院 | Tunnel overhead patrol equipment for monitoring traffic abnormal events |
| CN114274150A (en) * | 2021-12-14 | 2022-04-05 | 江苏齐物信息科技有限公司 | Intelligent inspection robot for expressway tunnel and control system of intelligent inspection robot |
| CN114170703A (en) * | 2021-12-15 | 2022-03-11 | 鞍钢集团自动化有限公司 | Corridor inspection system and laser scanning detection method |
| CN114800567A (en) * | 2022-05-10 | 2022-07-29 | 上海工程技术大学 | Track robot for in-tunnel inspection |
| CN114800567B (en) * | 2022-05-10 | 2023-05-02 | 上海工程技术大学 | Track robot for inspection in tunnel |
| CN114919944A (en) * | 2022-05-31 | 2022-08-19 | 华电重工股份有限公司 | Inspection system and material conveying system |
| CN115793656A (en) * | 2022-12-09 | 2023-03-14 | 武汉大学 | Track inspection robot positioning method, device and system based on line signs |
| CN115793656B (en) * | 2022-12-09 | 2023-08-25 | 武汉大学 | Track inspection robot positioning method, device and system based on line mark |
| CN115601719A (en) * | 2022-12-13 | 2023-01-13 | 中铁十二局集团有限公司（Cn） | Climbing robot and method for detecting invasion of foreign objects in subway tunnel |
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