CN115653686A - Modularization integrated tunnel comprehensive inspection robot - Google Patents
Modularization integrated tunnel comprehensive inspection robot Download PDFInfo
- Publication number
- CN115653686A CN115653686A CN202211159015.3A CN202211159015A CN115653686A CN 115653686 A CN115653686 A CN 115653686A CN 202211159015 A CN202211159015 A CN 202211159015A CN 115653686 A CN115653686 A CN 115653686A
- Authority
- CN
- China
- Prior art keywords
- tunnel
- rail
- module
- track
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a modularized integrated tunnel comprehensive inspection robot which comprises an inspection mobile platform, wherein a tunnel surface disease acquisition module and a steel rail and track bed surface disease acquisition module are arranged on the inspection mobile platform, and the tunnel surface disease acquisition module comprises a tunnel 3D scanner supporting rod, a tunnel 3D scanner arranged on the tunnel 3D scanner supporting rod, a plurality of tunnel linear array cameras and backlight light sources which are distributed at intervals along the arc direction of a tunnel; the steel rail and track bed surface disease acquisition module comprises a track 3D line laser scanner, a line scanning light source and a track camera. The invention can simultaneously complete tunnel surface defect detection, tunnel structure defect detection, steel rail and track bed surface defect detection and steel rail all-state parameter detection, and the tunnel surface defect acquisition module and the steel rail and track bed surface defect acquisition module adopt independent modular design and can be rapidly assembled according to the detection professional requirements.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a tunnel comprehensive inspection technology.
Background
At present, the tunnel inspection robot also has the single laser scanner installed on a manual or electric rail trolley to detect the 3D size of the tunnel, or the single-function rail inspection robot. The defect detection diversification requirement of urban rail tunnel facilities cannot be met, the detection capability of multiple projects is insufficient, and the product detection function is single.
Disclosure of Invention
The invention aims to solve the technical problem of providing a modularized integrated tunnel comprehensive inspection robot, which can realize the detection of various state parameters of a tunnel and meet the requirement of disease detection diversity of urban rail tunnel facilities.
In order to solve the technical problems, the invention adopts the following technical scheme:
a modularized integrated tunnel comprehensive inspection robot comprises an inspection mobile platform, wherein a tunnel surface disease acquisition module, a steel rail and track bed surface disease acquisition module are arranged on the inspection mobile platform, the inspection mobile platform comprises a chassis provided with wheels and a motor which is arranged on the chassis and used for driving the wheels, the tunnel surface disease acquisition module comprises a tunnel 3D scanner supporting rod, a tunnel 3D scanner arranged on the tunnel 3D scanner supporting rod, a tunnel camera light source module consisting of a plurality of tunnel linear array cameras and backlight sources which are distributed at intervals along the arc direction of a tunnel, each tunnel linear array camera is exposed by one backlight source, the illumination range of all the backlight sources covers the inner wall range of the tunnel, the imaging areas of two adjacent tunnel linear array cameras are partially overlapped, and the integral imaging angles of all the tunnel linear array cameras cover the inner wall range of the tunnel;
the steel rail and track bed surface disease acquisition module comprises a rail 3D line laser scanner for scanning and detecting the steel rail, a light source for irradiating the whole steel rail and track bed area to form a light band and a track camera light source module consisting of a track camera with a shooting range covering the whole steel rail and track bed area;
patrol and examine moving platform and be equipped with unmanned walking module, unmanned walking module is equipped with laser radar and speed sensor.
Preferably, the tunnel 3D scanner support rod is connected with a fixed block, the tunnel camera light source module is installed on the camera support rod, and the camera support rod is connected with the fixed block.
Preferably, the fixed block is distributed with a fixed rod, the fixed rod is provided with a telescopic adjusting hole, the camera support rod is connected with the corresponding telescopic adjusting hole, the telescopic adjusting hole is in threaded connection with a locking screw rod, the locking screw rod is connected with a knob, and the relative position of the tunnel camera light source module is realized by the camera support rod stretching along the telescopic adjusting hole.
Preferably, the track camera light source module is installed on the track camera support, the track camera support includes a beam and upright posts vertically connected to two ends of the beam, and the upright posts are connected with the base.
Preferably, the track 3D line laser scanners are arranged in pairs and are all mounted at the front end of the chassis; at least a pair of track 3D line laser scanner is a set of and at one of them rail bilateral symmetry arrangement for scan the detection and shoot the angle and cover the rail both sides to same rail.
Preferably, the motor is provided with an encoder, the robot is further provided with a synchronous trigger module, and the synchronous trigger module controls the tunnel surface disease acquisition module and the steel rail and track bed surface disease acquisition module to synchronously trigger according to pulse signals of the encoder.
Preferably, the patrol mobile platform is further provided with a beacon recognizer for acquiring the information of the ground responder of the current area in the patrol process so as to acquire the accurate position coordinate information of the robot.
Preferably, the beacon recognizer is provided with an antenna, and the vertical distance between the lower surface of the antenna and the upper surface of the ground transponder is 5-10 cm.
Preferably, the tunnel surface defect collection module and the steel rail and track bed surface defect collection module are arranged in a split mode and are detachably connected with the inspection mobile platform through the cam shaft locking device.
Preferably, the cam shaft locking device comprises a connecting part provided with a connecting hole, a connecting shaft penetrating through the connecting hole, and a cam handle hinged with the end part of the connecting shaft through a bolt.
By adopting the technical scheme, the invention has the following beneficial effects:
1. the tunnel surface disease acquisition module and the steel rail and track bed surface disease acquisition module are integrated on the inspection mobile platform, and can simultaneously complete tunnel surface disease detection, tunnel structure disease detection, steel rail and track bed surface disease detection and steel rail all-state parameter detection.
2. The tunnel surface defect collection module, the steel rail and the track bed surface defect collection module are all in independent modular design and can be rapidly assembled according to the detection professional requirements.
3. The tunnel cameras are arranged in a corresponding and compact mode along the arc direction of the tunnel, the light sources are arranged corresponding to the tunnel cameras in a compact mode, each camera is exposed by one light source, the shooting area of each camera is partially overlapped, the light source illumination range covers the inner wall of the tunnel, and therefore clear shooting at different visual distances can be achieved.
4. Every two 3D line laser scanners are a set of, the mounted position is reverse symmetrical arrangement, make two 3D line laser scanners ' symmetrical center line fall on the rail, under the operating condition, two 3D line laser scanners scan and detect a rail, the shooting angle can cover the rail both sides, so arrange and to guarantee that every a set of 3D line laser scanner keeps unanimous with the distance on rail surface, need not adjustment parameter at the shooting in-process, the point cloud data of collection can accurately obtain the three-dimensional information of rail, the point cloud data acquisition distance that a set of 3D line laser scanners on a rail gathered is unanimous, can to a great extent reduce the degree of difficulty of point cloud data processing, be convenient for point cloud data's real-time processing, improve rail three-dimensional model's processing ageing nature.
5. Under the operating condition, motor drive wheel gos forward, and simultaneously at the rotatory in-process of wheel, the encoder can produce pulse signal, and synchronous trigger module is used for gathering the pulse signal of encoder, through this pulse signal, can make each camera and the light source synchronous triggering in tunnel surface disease collection module, ground subside detection module, rail and the track bed surface disease collection module, shoot the scanning to patrolling and examining the target.
6. Under operating condition, when the tunnel inspection robot carries a beacon recognizer to inspect a task, the beacon recognizer acquires the information of the transponder in the current area through the corresponding transponder area, and the beacon recognizer can adjust the current position information in real time by combining with relevant components such as inertial navigation and the like, so that the high-precision positioning of the robot is provided, and the accurate position is provided.
The following detailed description and the accompanying drawings are included to provide a further understanding of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
fig. 1 is a schematic diagram of a general architecture of a tunnel comprehensive inspection robot provided by the invention;
FIG. 2 is a structural diagram of a tunnel surface defect acquisition module provided by the invention;
FIG. 3 is a schematic view of a coordinate system of a vision measuring system provided by the present invention;
FIG. 4 is a schematic view of measurement calibration provided by the present invention;
FIG. 5 is a structural diagram of a rail and ballast bed surface defect collection module provided by the present invention;
fig. 6 is a schematic structural view of an inspection mobile platform of the tunnel comprehensive inspection robot provided by the invention;
fig. 7 is a response detection diagram of the tunnel comprehensive inspection robot provided by the invention;
fig. 8 is a schematic diagram of a 5G communication module of the tunnel comprehensive inspection robot provided by the invention;
fig. 9 is a schematic diagram of a robot control module of the tunnel comprehensive inspection robot provided by the invention;
fig. 10 is a first schematic diagram of the tunnel comprehensive inspection robot provided by the invention on a track;
fig. 11 is a schematic diagram two of the tunnel comprehensive inspection robot provided by the invention on a track;
FIG. 12 is a schematic view of a quick mount mounting structure according to the present invention;
11-tunnel 3D scanner support bar; 12-tunnel 3D scanner; 13-a knob; 14-a fixation rod; 15-tunnel camera light source module; 16-radial support bars;
21-orbital 3D line laser scanner; 22-orbital camera mount; 23-a track camera light source module; 24-a base;
31-a wheel; 32-laser radar; 33-inertial navigation; 34-a message detector; 35-a box body; 36-a speed sensor;
4-calibrating the pile;
51-a handle; 52-bolt; 53-a connecting member; 54-a nut; 55-coupling shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, the general architecture diagram of the tunnel comprehensive inspection robot system provided by the invention comprises an unmanned walking platform module, a tunnel surface disease acquisition module, a steel rail and track bed surface disease acquisition module, a foundation settlement detection module, a collected data processing module, a 5G communication module and a robot control module. The tunnel surface disease acquisition module is provided with a linear array camera, a light source and a tunnel 3D scanner; the rail and track bed surface disease acquisition module is provided with a track camera, a light source and a track 3D line laser scanner; the foundation settlement detection module is provided with a linear array camera and a light source; the unmanned walking platform module is provided with an encoder, inertial navigation, a speed sensor, a laser radar and a transponder; the acquisition data processing module is provided with an industrial personal computer and an image acquisition card.
As shown in fig. 2, the tunnel surface defect collecting module includes a tunnel 3D scanner support rod 11, a tunnel 3D scanner 12, a knob 13, a fixing rod 14, a tunnel camera light source module 15, and a radial support rod 16. Wherein, tunnel 3D scanner bracing piece 11 is connected with the fixed block, and the fixed block is located tunnel 3D scanner 12's opposite side, the rear side promptly. The tunnel camera light source module 15 is mounted on the radial support rod 16, and the radial support rod 16 is connected with the fixing block.
The tunnel camera light source modules are distributed at intervals along the arc direction of the tunnel, and each tunnel camera light source module consists of a tunnel linear array camera and a light source. Specifically to this embodiment, tunnel surface disease collection module has adopted 6 tunnel line cameras and 6 tunnel camera light source modules that 6 light sources are constituteed, is the circular arc distribution along the circumference of fixed block through corresponding radial bracing piece. The advantage of the layout is that the light sources and the tunnel cameras are symmetrically and closely arranged, each camera is exposed by one light source, the shooting areas of the cameras are partially overlapped, and the illumination range of the light sources covers the inner wall of the tunnel, so that clear shooting at different visual distances can be completed. Because the fixed positions of the tunnel camera light source modules 15 are arranged according to the circular arc, the tunnel camera light source modules 15 are installed at a certain angle in a working state, and the shooting areas of two adjacent tunnel camera light source modules are partially overlapped, so that the whole shooting angle of the tunnel camera light source modules 15 can cover the range of the inner wall of the tunnel.
The tunnel 3D scanner 12 is installed on the tunnel 3D scanner support bar 11, and is located at the front side. In a working state, the tunnel 3D scanner 12 collects point cloud data of the tunnel inner wall to acquire three-dimensional information of the tunnel inner wall.
At present, the domestic tunnel types can be roughly divided into the following four types:
1) Double-line double-hole horseshoe tunnel
2) Rectangular double-line tunnel
3) Double-line single-hole tunnel
4) Single-line single-hole type circular tunnel
The tunnel internal diameters of the four types of tunnels are different, so that the supporting rod of the tunnel surface disease acquisition module is designed to be of a telescopic structure to meet the relevant inspection requirements. The specific telescopic structure adopts the following design, and the fixed block is gone up and is distributed along the circular arc direction has the dead lever, be equipped with flexible regulation hole on the dead lever, be connected with the flexible regulation hole that corresponds, flexible regulation hole threaded connection has locking screw, locking screw is connected with knob 13. The outside flexible part side of bracing piece has relevant scale mark for show the elongation of bracing piece, the elongation of bracing piece is adjusted to the accessible manual work, under the operating condition, according to patrolling and examining tunnel inner wall radius and stretch out and draw back the regulation, transfers to required length after, makes locking screw fasten the bracing piece through rotatory knob 13, then can begin the follow-up task of patrolling and examining.
The ground settlement detection module and the tunnel surface defect acquisition module share a tunnel camera light source module, so that a linear array camera and a light source do not need to be additionally arranged. The method specifically comprises the steps that a tunnel camera light source module is arranged on each of the left side and the right side of a tunnel surface defect collecting module, and the tunnel camera light source modules are arranged horizontally.
The principle of monocular camera detection is described below. A detection system used by a monocular foundation settlement detection module relates to the conversion of the relation between different coordinate systems, and mainly comprises four types of coordinate systems: the system comprises an image coordinate system, an image physical coordinate system, a camera coordinate system and a world coordinate system, wherein the image physical coordinate system is established on the basis of the image coordinate system. FIG. 3 is a coordinate system of a vision measuring system provided by the present invention;
the coordinate conversion relation of any pixel point of the camera imaging surface in the image coordinate system and the image physical coordinate system is as follows:
in the formula, u and v are horizontal coordinate values and vertical coordinate values of the pixel points in the image coordinate system.
The conversion of any point P in space under the inadvertent coordinate system and the camera coordinate system is as follows:
the monocular linear array camera imaging model is a pinhole imaging model. And a connecting line between the optical center O and any point Q in space is the imaging position of Q at the focal point Q of the camera imaging plane. Assuming that the coordinates of Q in the camera coordinate system are (X, Y, z), and the coordinates of the imaging point in the image physical coordinate system are (X, Y), the transformation relationship is as follows:
expressed using a matrix and homogeneous coordinate system as:
where s is a constant and P is the camera imaging matrix.
The transformation relation between the coordinate of Q in the space under the world coordinate system and the imaging point Q on the imaging surface is as follows:
wherein alpha is x = f/dX and α y = f/dX are scale factors on the u-axis and v-axis of the image coordinate system, respectively; m is a three-dimensional projection matrix; m 1 Is according to alpha x 、α y 、u 0 、v 0 Is determined due to alpha x 、α y 、u 0 、v 0 It is only related to the internal parameters of the camera, so it is defined as camera internal parameters; due to M 1 Is determined by the spatial position of the camera and is therefore defined as a camera argument.
FIG. 4 is a schematic view of measurement calibration provided by the present invention; if the internal and external parameters of the camera are determined, the three-dimensional imaging matrix M can be determined, the linear array camera shoots a calibration area on the calibration pile 4 to obtain a calibration image, and the calibration point position in the image is (u) 0 ,v 0 ) The value of the direction from the calibration pile to the camera can be determined first, and the coordinate system is defined, so that the X in the world coordinate system can be obtained W Coordinate values, Z in world coordinate system can be calculated by the above formula W And Y W The coordinate values Z 'can be seen as rigid bodies in the regions on both sides of the track-following region relative to the track-following region' W The coordinate values may be regarded as fixed, Z being obtained by a comparative calculation W Coordinate value and true Z' W And (4) determining the foundation settlement level of the section according to the coordinate value. Therefore, the foundation settlement detection module can realize dynamic continuous detection of foundation settlement.
As shown in fig. 5, the rail and track bed surface defect collecting module includes a rail 3D line laser scanner 21, a rail camera fixing frame 22, a rail camera light source module 23, and a base 24. The rail and track bed surface defect acquisition module adopts 2 track camera modules and 4 track 3D line laser scanners. The track camera light source module is arranged on the track camera support, the track camera support comprises a cross beam and upright columns which are vertically connected to two ends of the cross beam, the upright columns are connected with the base, and the base is fixed on the chassis. The two track camera light source modules 23 are arranged on the same plane, the shooting range of the track camera light source modules 23 can cover the whole steel rail and track bed area, and the track camera light source modules 23 are respectively exposed by one light source and can form light bands with uniform brightness at the position of a tunnel steel rail and a track bed. 4 platform 3D line laser scanners 21, install in the base front end, wherein, per two 3D line laser scanners 21 are a set of, the mounted position is reverse symmetrical arrangement, make two 3D line laser scanners 21's symmetrical center line fall on the rail, under the operating condition, two 3D line laser scanners 21 scan and detect a rail, the shooting angle can cover the rail both sides, so arrange and to guarantee that every a set of 3D line laser scanner 21 keeps unanimous with the distance on rail surface, need not the adjustment parameter at the shooting in-process, the three-dimensional information of rail can accurately be obtained to the point cloud data of collection on a rail, the point cloud data acquisition distance that a set of 3D line laser scanner 21 on a rail was gathered is unanimous, the degree of difficulty of point cloud data processing has been reduced to a great extent, be convenient for the real-time treatment of point cloud data, the processing timeliness of rail three-dimensional model is improved. It can be understood that the number of 3D line laser scanners can be increased, and the track 3D line laser scanners are arranged in pairs, and at least one pair of track 3D line laser scanners is a group and symmetrically arranged on two sides of one of the steel rails, and is used for scanning and detecting the same steel rail and covering two sides of the steel rail with shooting angles.
In the technical scheme, the tunnel surface disease acquisition module, the steel rail and track bed surface disease acquisition module and the foundation settlement detection module are integrated on the inspection mobile platform, so that the tunnel surface disease detection, the tunnel structure disease detection, the foundation settlement detection, the steel rail and track bed surface disease detection and the steel rail all-state parameter detection can be completed simultaneously.
In addition, the tunnel surface disease acquisition module, the steel rail and ballast surface disease acquisition module and the foundation settlement detection module are in a modular design, and the tunnel surface disease acquisition module and the foundation settlement detection module can be shared. Tunnel 3D scanner bracing piece can adopt multiple mode to be connected with patrolling and examining moving platform among the tunnel surface disease collection module, and on the same hand, base and patrolling and examining moving platform can adopt multiple mode to be connected among rail and the railway roadbed surface disease collection module, consequently, can carry out fast assembly according to detecting professional requirement.
As shown in fig. 6, the inspection mobile platform includes a chassis having wheels 31, and a motor mounted on the chassis for driving the wheels, and the chassis is further mounted with a laser radar 32, an inertial navigation system 33, a message detector 34, a box 35, and a speed sensor 36. 4 modules are assembled on the patrol mobile platform, namely an unmanned walking platform module, a collected data processing module, a 5G communication module and a robot control module.
The unmanned walking module adopts a laser radar, a speed sensor, inertial navigation, an encoder connected with a motor and a message detector, and is installed by depending on a chassis.
The motor is arranged under the chassis, and under the working state, the motor drives the wheels to advance, and meanwhile, in the rotating process of the wheels, the encoder can generate pulse signals. And the synchronous trigger module is used for acquiring pulse signals of the encoder and controlling the tunnel surface disease acquisition module, the foundation settlement detection module and the steel rail and ballast surface disease acquisition module to synchronously start working according to the pulse signals. Specifically, through the pulse signal, cameras in a tunnel surface disease acquisition module, a foundation settlement detection module and a steel rail and track bed surface disease acquisition module can be synchronously triggered with a light source, the triggering modes in the operation process are of various types, and the polling target can be shot and scanned by adopting a mode of synchronously triggering once operation at a certain distance.
The tunnel comprehensive inspection robot supports automatic driving under unmanned control, walks or stops by scanning obstacle detection conditions of an orbit region through a laser radar, positions of the robot in a world coordinate system are carried out through inertial navigation and an encoder, the tunnel comprehensive inspection robot can be accurately positioned and calibrated, disease positions and obstacle positions of the orbit region can be obtained through scanning, self position and posture information can be obtained in real time and can be used as orbit coordinates for high-precision data collection processing, and the high-precision coordinate reference requirement of tunnel collected data is met.
The inertial navigation adopts a gyroscope and an accelerometer, can measure three-axis attitude angles and accelerations of an object, the accelerometer measures three-axis accelerations of the inspection robot in an inspection robot coordinate system, the gyroscope detects angular velocity signals of the inspection robot relative to a world coordinate system, and when the inertial navigation system runs, the three-axis accelerations and the gyroscope angular velocity in the inspection robot coordinate system are calculated to obtain the pose of the inspection robot in the world coordinate system.
The basic mechanical formula of inertial navigation is as follows:
in the formula, a is acceleration, V is velocity, and t is time.
Acceleration, speed, and course relationship:
wherein S is a route.
As shown in fig. 7, the inspection robot has a function of reading a beacon of a rail transit line, and can acquire an existing beacon message of the rail transit line for accurate positioning without adding an additional electronic tag. The beacon recognizer is used as an intermediary for information acquisition and transmission between the transponder and the management platform and carried in the tunnel to comprehensively patrol the robot, the transponder is mounted in the middle of a track according to the requirement of a fixed distance or a line, in the working state, when the tunnel patrol robot carries the beacon recognizer to patrol and examine a task, the beacon recognizer corresponds to the transponder region through the way, acquires the transponder information of the current region, and by combining with related components such as inertial navigation, the current position information can be adjusted in real time, the high-precision positioning is provided for the robot, and the accurate position is provided.
The encoder obtains the number of rotation turns n in the wheel rotation process, the radius of the wheel is known as r, and the length L of the walking vehicle can be calculated by the following formula:
L＝2*π*r*n
the inertial navigation and the encoder acquire relative pose and displacement in the driving process and have accumulated errors, and the beacon acquires a mapped accurate position for error zero clearing.
The beacon recognizer is used for positioning message information in a beacon and consists of a decoder module and an antenna. The beacon recognizer and the antenna are installed on the inspection robot, and the vertical distance between the lower surface of the antenna and the upper surface of the ground transponder is about 5-10 cm. The transmitting power of the antenna of the message detector is not more than 2 watts.
The beacon recognizer antenna is a duplex transceiving antenna and transmits a power carrier wave for activating the ground transponder to the ground, and the carrier frequency is 27.095MHz +/-5 KHz; receiving a data message sent by a ground responder, wherein the center frequency is 4.234MHz +/-200 KHz, the logic 0 (fL) is 3.951MHz, the logic 1 (fH) is 4.516MHz, the FSK modulation mode is adopted, the modulation frequency deviation is 282.24KHz +/-5 percent, and the average data transmission rate is 564.48 +/-2.5 kbps.
The beacon recognizer decoder is a module for processing data of the ground responder, decodes and restores a message of the responder, and transmits the message to the inspection robot computer.
The beacon recognizer can only receive and transmit the transponder message above the transponder due to small transmitting power, and for the transponder with the reduced size, the effective reference area is 200mmX390mm, so that the positioning precision of the message detector is +/-10cm (the transponder is horizontally arranged) or +/-19.5cm (the transponder is vertically arranged).
The robot is in the in-process of patrolling and examining of doing the circuit, usually patrol and examine at night window phase, for the night operation of slowing down, parallel operation such as each professional equipment instrument and machineshop car usually, in order to increase the safety of protection operation personnel, avoid bumping with the machineshop car, the robot is equipped with ZC interaction module, according to the specific transmission protocol of signal system, can interact with ZC, ZC can obtain the position information of robot in real time like this, and according to the position information of robot, carry out removal authorization and safety control to the machineshop car that probably has the circuit or other robots of bringing into ZC management, be convenient for fortune dimension system to look over its operating position, can work with the machineshop car simultaneously. The robot can be virtually linked and the positioning management of the signal equipment can be realized.
Therefore, the inspection robot has a virtual coupling function, can accurately identify the distance of the tracked engineering vehicle according to the 3D laser radar, and keeps running at a constant distance.
In addition, the inspection robot is provided with a rail-crossing line electronic map interface, can acquire electronic map information and compares the driving position with the electronic map. The electronic map is a precisely mapped train running map, and precise line information can be obtained through the electronic map and is used for self-adaptive control of the inspection robot.
The data acquisition module has adopted and has settled 2 industrial computers in the box, and the industrial computer embeds the image acquisition card, and under the operating condition, the data storage of gathering to the image acquisition card to transmit through the communication and store background server in, handle the show with data transmission to the workstation at the industrial computer to image disease data, install two lithium cells in the box in addition, the electric power energy of patrolling and examining the robot is synthesized as the tunnel, drives other module work. The design of the robot body, the standardized layout of the acquisition modules and the interface design enhance the access of each detection module of the compatible robot of the tunnel inspection robot into the main control module of the inspection robot, and the types of the detection modules can be automatically identified and the acquisition and identification programs of the detection modules can be called according to the signal definition of each detection module.
As shown in fig. 8, the 5G communication module adopts a cloud-side-end cooperative manner, and realizes connection between the inspection robot and the cloud brain through the wireless 5G communication network, and meanwhile, the cloud brain can be connected with the mobile terminal, so that an operator can control the robot at a Pad (tablet personal computer) end and display data. Reference may be made to the prior art for specific principles.
As shown in fig. 9, the user can control the robot through the PAD or the control APP of the robot in the mobile phone and the remote control center through the wireless communication modules such as the 5G communication module/wifi/bluetooth. The walking control command and relevant position information of the robot (robot controlled and protocol command), posture and state feedback information of the robot (robot master control) and type and result image information of disease treatment can be returned to a PAD (PAD application program) or a mobile phone terminal of an inspector, and simultaneously, the walking control command and the relevant position information of the robot, the posture and state feedback information of the robot and the type and result image information of the disease treatment can be synchronously transmitted to an intelligent maintenance center of a user.
Therefore, the follow personnel, the platform control personnel and the central service personnel control the robot to perform routing inspection tasks, acquire real-time detection data and facilitate maintenance and processing.
As shown in fig. 10 and 11, the tunnel surface disease acquisition module, the foundation settlement detection module, the steel rail and ballast surface disease acquisition module and the routing inspection mobile platform are assembled according to corresponding positions, the tunnel comprehensive routing inspection robot operates according to a routing inspection plan, the tunnel comprehensive routing inspection robot operates on the standard steel rail shown in fig. 10, and in an operating state, personnel is not required to follow, routing inspection related information results can be remotely acquired, related problems are timely processed, and the safety of tunnel operation is guaranteed.
As shown in fig. 10 and 11, the present invention is suitable for scanning and detecting cylindrical surfaces, for example, for detecting the inner wall of a subway tunnel, a highway tunnel, etc., the surface of a steel rail, a track bed, etc. And in the working state, the tunnel comprehensive inspection robot executes an inspection task according to an inspection plan. The space of the shield tunnel is limited, therefore, the tunnel comprehensive inspection robot must avoid tunnel equipment such as power equipment, the original equipment environment of the tunnel is not changed, the comprehensive related requirements are integrated, the tunnel comprehensive inspection robot is light in weight, miniaturization and structural design of the track traffic tunnel comprehensive inspection robot are carried out according to modularization criteria, compared with the traditional inspection robot, the tunnel comprehensive inspection robot is high in all module integration levels, redundant structures are reduced, each module can be greatly reduced in size, but when the size is reduced, various functions of the tunnel comprehensive inspection robot cannot be influenced, finally, the tunnel comprehensive inspection robot is light in weight, miniaturization and modularization targets are achieved, and the tunnel comprehensive inspection robot can have strong adaptability in the condition environment facing various complex tunnels during actual operation. The robot body design, the standardized layout of the acquisition modules and the interface design enhance the compatibility of the tunnel inspection robot. The robot is designed in a light weight mode, and the main structure of the robot is designed to be an aluminum alloy and titanium alloy light frame, so that the robot is light in weight.
When the tunnel surface defect collection module and the steel rail and ballast surface defect collection module adopt independent module design, quick assembly and disassembly are realized by adopting quick disassembly type structural design. Specifically, tunnel surface defect collection module and rail and railway roadbed surface defect collection module components of a whole that can function independently set up and embrace a locking device through the cam and patrol and examine moving platform and can dismantle and be connected. As shown in fig. 12, the cam shaft locking device includes a cam handle 51, a bolt 52, a connecting part 53, a nut 54, and a coupling shaft 55, where the connecting part is provided with a connecting hole, and a corresponding module is also provided with a connecting part, when mounting, the connecting part is first aligned with the connecting hole, the connecting shaft 55 is inserted into the connecting hole of the connecting part from the lower side, the coupling shaft 55 upwardly penetrates through the connecting hole of the connecting part from the upper side, the upper end of the coupling shaft 55 is provided with a pin hole, the pin hole and the corresponding hole positions on the cam handle 51 and the coupling shaft 55 are inserted with the bolt 52, and the nut 54 is locked, that is, the mounting process of the quick release device is completed, and the rotating part of the cam handle 51 is a cam structure, and due to the difference in the upper and lower radius of the cam, the handle is pulled from one end to the other end, and the locking between the modules can be completed.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (10)
1. A modularized integrated tunnel comprehensive inspection robot comprises an inspection mobile platform, wherein a tunnel surface disease acquisition module, a steel rail and track bed surface disease acquisition module are arranged on the inspection mobile platform, and the inspection mobile platform comprises a chassis provided with wheels and a motor which is arranged on the chassis and used for driving the wheels;
the rail and track bed surface disease acquisition module comprises a rail 3D line laser scanner for scanning and detecting the rail, a light source for irradiating the whole rail and track bed area to form a light band and a track camera light source module consisting of a track camera with a shooting range covering the whole rail and track bed area;
patrol and examine moving platform and be equipped with unmanned walking module, unmanned walking module is equipped with laser radar and speed sensor.
2. The modular integrated tunnel comprehensive inspection robot according to claim 1, wherein a fixing block is connected to the tunnel 3D scanner supporting rod, the tunnel camera light source module is mounted on the camera supporting rod, and the camera supporting rod is connected with the fixing block.
3. The robot is patrolled and examined in synthesis of tunnel of modularization integrated of claim 2, characterized in that, the distribution has the dead lever on the fixed block, be equipped with flexible regulation hole on the dead lever, the camera bracing piece is connected with corresponding flexible regulation hole, flexible regulation hole threaded connection has locking screw, locking screw is connected with the knob, realizes tunnel camera light source module's relative position through the camera bracing piece is flexible along flexible regulation hole.
4. The modular integrated tunnel comprehensive inspection robot according to claim 1, wherein the track camera light source module is mounted on a track camera support, the track camera support comprises a cross beam and upright posts vertically connected to two ends of the cross beam, and the upright posts are connected with the base.
5. The modular integrated tunnel comprehensive inspection robot according to claim 1, wherein the rail 3D line laser scanners are arranged in pairs and are all mounted at the front end of the chassis; at least a pair of track 3D line laser scanner is a set of and at one of them rail bilateral symmetry arrangement for scan the detection and shoot the angle and cover the rail both sides to same rail.
6. The modular integrated tunnel comprehensive inspection robot according to claim 1, wherein the motor is provided with an encoder, the robot is further provided with a synchronous trigger module, and the synchronous trigger module controls the tunnel surface defect acquisition module and the steel rail and track bed surface defect acquisition module to synchronously trigger according to an encoder pulse signal.
7. The modular integrated tunnel comprehensive inspection robot according to claim 1, wherein a beacon reader is further arranged on the inspection mobile platform and used for acquiring information of transponders on the ground in the current area in the inspection process so as to acquire accurate position coordinate information of the robot.
8. The modular integrated tunnel comprehensive inspection robot according to claim 7, wherein the beacon identifier is provided with an antenna, and the vertical distance between the lower surface of the antenna and the upper surface of the ground transponder is 5-10 cm.
9. The modular integrated tunnel comprehensive inspection robot according to claim 1, wherein the tunnel surface defect collection module and the steel rail and ballast surface defect collection module are arranged in a split manner and are detachably connected with the inspection mobile platform through a cam shaft locking device.
10. The modular integrated tunnel comprehensive inspection robot according to claim 9, wherein the cam shaft locking device comprises a connecting part provided with a connecting hole, a connecting shaft penetrating through the connecting hole, and a cam handle hinged with the end part of the connecting shaft through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211159015.3A CN115653686A (en) | 2022-09-22 | 2022-09-22 | Modularization integrated tunnel comprehensive inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211159015.3A CN115653686A (en) | 2022-09-22 | 2022-09-22 | Modularization integrated tunnel comprehensive inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115653686A true CN115653686A (en) | 2023-01-31 |
Family
ID=84985969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211159015.3A Pending CN115653686A (en) | 2022-09-22 | 2022-09-22 | Modularization integrated tunnel comprehensive inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115653686A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593468A (en) * | 2023-04-13 | 2023-08-15 | 重庆切克威科技有限公司 | Vehicle-mounted tunnel detection system |
-
2022
- 2022-09-22 CN CN202211159015.3A patent/CN115653686A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593468A (en) * | 2023-04-13 | 2023-08-15 | 重庆切克威科技有限公司 | Vehicle-mounted tunnel detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN218767910U (en) | Tunnel is synthesized and is patrolled and examined robot | |
| CN115727780A (en) | Tunnel comprehensive inspection robot system | |
| CN109911188B (en) | Bridge detection unmanned aerial vehicle system in non-satellite navigation and positioning environment | |
| CN110001710B (en) | Magnetic suspension track three-dimensional scene rapid reconstruction system, method and application | |
| DE112016002057T5 (en) | THREE-DIMENSIONAL MEASURING DEVICE SOLVIBLY COUPLED WITH A ROBOT ARM ON A MOTORIZED MOBILE PLATFORM | |
| CN111633660A (en) | Intelligent inspection robot | |
| CN111413353A (en) | Tunnel lining disease comprehensive detection vehicle | |
| CN103413313A (en) | Binocular vision navigation system and method based on power robot | |
| CN108263950A (en) | Harbour gantry crane suspender based on machine vision it is automatic case system and method | |
| CN103196434A (en) | Device and method for positioning container in port | |
| CN106774384A (en) | A kind of bridge machinery intelligent barrier avoiding robot | |
| CN214520204U (en) | Port area intelligent inspection robot based on depth camera and laser radar | |
| CN104406521A (en) | Vision measurement technology-based catenary geometric parameter measurement instrument and detection method | |
| CN111398309A (en) | Apparent detection system of tunnel lining disease comprehensive detection vehicle | |
| CN110824497A (en) | Intelligent detection device and detection method for contact network | |
| CN115653686A (en) | Modularization integrated tunnel comprehensive inspection robot | |
| CN114241177A (en) | Airport pavement apparent image detection system based on linear array scanning imaging | |
| CN111547085A (en) | Self-moving type rail transit three-dimensional scanning system | |
| EP4418014A1 (en) | Train active obstacle detection method and apparatus based on positioning technology | |
| CN107798306A (en) | A kind of intelligent driving and remote visualization intelligence loss assessment system and method | |
| CN115343299B (en) | Lightweight highway tunnel integrated detection system and method | |
| CN111398936B (en) | Multi-path side laser radar point cloud registration device and using method thereof | |
| CN113148156A (en) | Many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence | |
| CN109785431A (en) | A kind of road ground three-dimensional feature acquisition method and device based on laser network | |
| CN111398950A (en) | Radar detection evasion system of tunnel defect comprehensive detection vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |