CN115900566A - Tunnel construction quality detection method based on remote control robot - Google Patents
Tunnel construction quality detection method based on remote control robot Download PDFInfo
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- CN115900566A CN115900566A CN202211125528.2A CN202211125528A CN115900566A CN 115900566 A CN115900566 A CN 115900566A CN 202211125528 A CN202211125528 A CN 202211125528A CN 115900566 A CN115900566 A CN 115900566A
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a tunnel construction quality detection method based on a remote-controlled robot, which comprises a tunnel construction quality detection system based on the remote-controlled robot, wherein the tunnel construction quality detection system based on the remote-controlled robot comprises the remote-controlled robot, a mechanical arm, a target disc, a 3D scanner, a target robot and a scanning robot. According to the invention, a technician remotely controls a target robot and a scanning robot to enter the tunnel to complete 3D scanning according to the tunnel construction site condition, not only can the adverse factors of the complex construction environment of the tunnel be overcome, the laying speed of a detection system be improved, but also the manual detection carried out by the technician in person can be avoided, the site workload is reduced, the danger is avoided, a plurality of remote control robots respectively carry 3D scanners and target plates, the monitoring and scanning tasks are completed under the remote control of the technician, and the unmanned and nondestructive detection of the concrete thickness of the tunnel shotcrete support is rapidly and stably realized.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a tunnel construction quality detection method based on a remote control robot.
Background
Tunnel construction belongs to underground engineering construction, and the excavation process can destroy the balanced state of the original rock mass, so that the danger is high, and the quality of the support measures taken during the tunnel construction is of great importance. The support of the tunnel can be divided into: primary support and secondary lining. The primary support is used as the foundation of the secondary lining, and the construction quality of the primary support is very important for the safety of the whole tunnel structure during construction and later operation.
The most important tunnel primary support method at present is a shotcrete support method. Since the shotcrete support method does not use a template, the injection amount of concrete cannot be accurately controlled, and the situation of excessive or insufficient injection of concrete is easily caused. Therefore, the method is particularly key for controlling the tunnel construction quality by detecting the spraying and mixing thickness in real time and guiding the construction in the construction process.
In the existing tunnel construction quality detection technology, a total station is generally used for measurement, but the measurement result of the method is the size of sprayed concrete at a sampling point, and the size precision of the full section of the tunnel cannot be obtained. In recent years, as the 3D laser scanning technology has matured, the 3D scanner is gradually applied to various construction projects. In the current 3D scanning detection technology, a stable target point needs to be set on a detected object, but in the tunnel construction process, on one hand, the generated blasting vibration easily causes the damage or falling of the target, on the other hand, the device and the staff which are relatively dense are arranged in a narrow construction space, the placed target is easily mistakenly touched or even damaged, economic loss and deviation of the detection result can be caused, and meanwhile, the current 3D detection device still needs to be carried by technical staff to enter the site for arrangement, the arrangement procedure is complicated, and the working efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing a safe and efficient tunnel construction quality detection method based on a remote control robot.
In order to solve the technical problems, the invention adopts the following technical scheme: a tunnel construction quality detection system based on a remote control robot comprises the remote control robot, a mechanical arm, a target plate, a 3D scanner, the target robot and a scanning robot;
the target robot comprises the remote control robot, a mechanical arm and a target plate, the mechanical arm is hinged on the remote control robot, and the target plate is installed on the arm end of the mechanical arm;
the scanning robot comprises the remote control robot and a 3D scanner, and the 3D scanner is installed on the remote control robot.
Furthermore, the scanning robots are arranged at a position where a sight line in a tunnel face is not blocked, the number of the target robots is not less than two, the target robots are respectively arranged at a position where equipment in the tunnel face is not interfered, and the target plates on the target robots respectively face the 3D scanner on the scanning robot.
Furthermore, the remote-controlled robot at least comprises a base, a rotary table, a top cover and three mechanical legs, wherein the rotary table is rotatably installed on the base, the top cover is buckled at the top of the rotary table, the mechanical legs are annularly arranged on the base at equal intervals respectively, and sucker feet are installed at the bottoms of the mechanical legs.
Further, a mounting head is centrally fixed on the top of the top cover, and the mechanical arm and the 3D scanner are mounted on each of the remote-controlled robots respectively through hinge matching with the mounting head.
The remote control robot further comprises a plurality of camera modules, the camera modules are annularly arranged on the rotary table at equal intervals, each camera module comprises an installation cylinder, an infrared camera, a first micro motor, a first gear disc and a first inner gear ring, the installation cylinder is of a trapezoidal table structure with a small front part and a large rear part, the rear end of the installation cylinder is inserted into the rotary table and is installed in the rotary table, the front end of the installation cylinder is exposed out of the rotary table, the infrared camera is embedded in the front end of the installation cylinder, the first gear disc is installed on the cylinder wall of the rear end of the installation cylinder, the first micro motor is installed in the rotary table, the output shaft of the first micro motor is fixedly connected to the first gear disc in the middle, the first inner gear ring is installed in the rotary table, and the first gear disc is meshed and matched with the first inner gear ring.
Further, the first gear disc is installed on the left side face or the right side face of the rear end cylinder wall of the installation cylinder, and the first micro motor and the first inner gear ring are installed on the left portion or the right portion in the rotary table.
Further, the first gear disc is installed on the upper side face or the lower side face of the rear end cylinder wall of the installation cylinder, and the first micro motor and the first inner gear ring are installed on the upper portion or the lower portion in the rotary table.
Further, the remote control robot further comprises a driving assembly, the driving assembly comprises a second micro motor, a connecting rod, a second gear wheel disc and a second inner gear ring, the second micro motor is fixed inside the base in the center, an output shaft of the second micro motor is fixedly connected to the middle of the connecting rod, two ends of the connecting rod are fixedly connected to two sides of the inner wall surface of the rotary table respectively, the second inner gear ring is fixed to the inner wall surface of the base, the two second gear wheel discs are installed at the bottom ends of two sides of the connecting rod respectively, and the second gear wheel discs are meshed and matched with the second inner gear ring.
Further, the remote-controlled robot is still including installing sound and light siren on the top cap, and install communication module, data analysis storage module and horizontal control module in the base, electric connection between communication module, data analysis storage module and the horizontal control module, the sound and light siren is connected to via pressure sensor the communication module, infrared camera is connected to the communication module, first micro motor and second micro motor all are connected to remote end smart machine via wireless control module.
A tunnel construction quality detection method based on a remote control robot is characterized by comprising the following steps: the method comprises the following steps:
s1: before the spray anchor support of tunnel construction, preferentially controlling the scanning robot to enter the tunnel face, finding a position with an unobstructed sight line on a construction site according to a video picture transmitted by the camera module on the remote control robot, controlling the scanning robot to move ahead, performing adsorption and fixation through the adsorption plate foot after the position arrives, and controlling the horizontal control module through remote intelligent equipment to further adjust the body levelness of the scanning robot until the scanning requirement is met;
s2: before the spray anchor support of tunnel construction, then controlling the target robot to enter the tunnel face, finding an undisturbed position of equipment near an area to be detected according to a video picture transmitted by the camera module on the remote control robot, controlling the target robot to move forwards, performing adsorption fixing through the sucker foot after the target robot arrives, and unfolding the mechanical arm to enable the target plate to face the direction of the 3D scanner arranged in the S1;
s3: before the spray anchor support of tunnel construction, the 3D scanner completes 360-degree all-directional scanning on the tunnel face, the original point cloud structural data of the tunnel before spray anchor obtained through surveying is stored through the data analysis storage module in the remote control robot, and after the scanning is completed, the scanning robot is controlled to exit the tunnel face;
s4: after primary tunnel spray anchor supporting is finished, repeating the steps S1-S3 again, finishing nondestructive detection of tunnel construction quality after spray anchor, and summarizing, storing and analyzing tunnel original point cloud structure data after spray anchor, which is measured twice by the data analysis and storage module;
s5: and splicing the point cloud data after the two times of scanning by an ICP (inductively coupled plasma) mathematical algorithm, establishing a tunnel model obtained by 3D (three-dimensional) scanning, comparing the model with a design drawing, and carrying out comparative analysis on the tunnel bolting and shotcreting condition.
The invention has the beneficial effects that:
according to the invention, a technician remotely controls a target robot and a scanning robot to enter the tunnel to complete 3D scanning according to the tunnel construction site condition, not only can the adverse factors of the complex construction environment of the tunnel be overcome, the arrangement speed of a detection system be improved, but also the manual detection carried out by the technician in person can be avoided, the site workload is reduced, the danger is avoided, a plurality of remote control robots respectively carry a 3D scanner and a target plate to form the target robot and the scanning robot, the monitoring and scanning tasks are respectively completed under the remote control of the technician, and the unmanned and nondestructive detection of the concrete thickness of the tunnel spray anchor support can be quickly and stably realized.
Drawings
Fig. 1 is a schematic view of a detection state in a construction site according to an embodiment of the present invention.
Fig. 2 is a schematic view of the overall structure of the target robot according to an embodiment of the present invention.
Fig. 3 is a schematic view of the overall structure of the scanning robot according to an embodiment of the present invention.
FIG. 4 is a top view of a drive assembly in accordance with one embodiment of the present invention.
Fig. 5 is a schematic diagram of a camera module according to an embodiment of the invention.
Fig. 6 is a partial schematic view of a camera module according to an embodiment of the invention.
The components in the drawings are labeled as follows: 1. a tunnel face; 2. a target robot; 3. a scanning robot; 4. a remote-controlled robot; 401. a base; 402. a turntable; 403. a top cover; 404. a mounting head; 405. a mechanical leg; 406. a sucker foot; 5. a mechanical arm; 6. a target disc; 7. an audible and visual alarm; 8. a camera module; 801. mounting the cylinder; 802. an infrared camera; 803. a first micro motor; 804. a first gear plate; 805. a first ring gear; 9. a 3D scanner; 10. a drive assembly; 1001. a second micro motor; 1002. a connecting rod; 1003. a second gear wheel disc; 1004. and the second ring gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front, rear, 8230; \8230;) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components in a specific posture (as shown in the figure), the motion situation, etc., and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, "a plurality" means two or more. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
See fig. 1-6.
The invention provides a tunnel construction quality detection system based on a remote control robot, which comprises the remote control robot 4, a mechanical arm 5, a target plate 6, a 3D scanner 9, a target robot 2 and a scanning robot 3, wherein the target robot is connected with the target plate through a connecting rod;
the target robot 2 comprises the remote-controlled robot 4, a mechanical arm 5 and a target plate 6, the mechanical arm 5 is hinged on the remote-controlled robot 4, and the target plate 6 is installed on the arm end of the mechanical arm 5;
the scanning robot 3 includes the remote-controlled robot 4 and a 3D scanner 9, and the 3D scanner 9 is installed on the remote-controlled robot 4.
According to the invention, a technician remotely controls a target robot and a scanning robot to enter the tunnel to complete 3D scanning according to the tunnel construction site condition, so that not only can the adverse factors of the complex construction environment of the tunnel be overcome, the arrangement speed of a detection system be improved, but also the manual detection of the technician can be avoided, the site workload is reduced, and the danger is avoided.
In an embodiment, the scanning robot 3 is disposed at a position where a line of sight in the tunnel face 1 is not blocked, the number of the target robots 2 is not less than two, and the target robots 2 are respectively disposed at a position where a device in the tunnel face 1 is not interfered, and the target discs 6 on the target robots 2 respectively face the 3D scanner 9 on the scanning robot 3. By the design, the remote control robot 4 can stably carry the mechanical arm 5, the target plate 6 and the 3D scanner 9 to enter and exit the tunnel face 1, the mechanical arm 5 can randomly adjust the orientation of the target plate 6 along with the position adjustment of the scanning robot 3, and the scanning effect of the 3D scanner 9 in different complex construction environments is guaranteed.
In one embodiment, said remote controlled robot 4 comprises at least a base 401, a rotary table 402, a top cover 403 and three mechanical legs 405, said rotary table 402 is rotatably mounted on said base 401, said top cover 403 is snap-fitted on the top of said rotary table 402, said mechanical legs 405 are three, respectively, and are uniformly spaced and annularly arranged on said base 401, and the bottom of each said mechanical leg 405 is equipped with a sucker foot 406. By the design, the circuit principle and the structure in the remote-controlled robot 4 adopt the principle and the structure which are used in the current market, the mechanical legs 405 and the sucker feet 406 are similar to the mechanical arm 5, the existing structure and equipment in the current market are adopted, the three mechanical legs 405 can form a triangular support structure to ensure that the remote-controlled robot 4 stably walks, and after the detection position is determined, the sucker feet 406 play a role in fixing the remote-controlled robot 4 to ensure the stable reliability of the scanning result.
In one embodiment, a mounting head 404 is centrally fixed to the top of the top cover 403, and the robot arm 5 and the 3D scanner 9 are mounted on each of the remote-controlled robots 4 via hinge-coupling with the mounting head 404, respectively. By adopting the design, the top cover 403 seals the components and devices arranged inside the base 401 and the rotary table 402, only the top cover 403 needs to be detached when overhauling, dismounting and mounting are carried out, the mounting head 404 has high adaptability, meets the requirement of hinged mounting with different devices, and respectively forms the target robot 2 and the scanning robot 3.
In an embodiment, the remote-controlled robot 4 further includes a plurality of camera modules 8, the camera modules 8 are respectively and uniformly spaced and annularly disposed on the rotating platform 402, each camera module 8 includes a mounting cylinder 801, an infrared camera 802, a first micro motor 803, a first gear plate 804 and a first inner gear ring 805, the mounting cylinder 801 is in a trapezoidal table structure with a small front part and a large rear part, the rear end of the mounting cylinder 801 is inserted into and mounted inside the rotating platform 402, the front end of the mounting cylinder 801 is exposed outside the rotating platform 402, the infrared camera 802 is embedded inside the front end of the mounting cylinder 801, the first gear plate 804 is mounted on the rear end cylinder wall of the mounting cylinder 801, the first micro motor 803 is mounted in the rotating platform 402, the output shaft of the first micro motor 803 is centrally and fixedly connected to the first gear plate 804, the first gear plate 805 is mounted in the rotating platform 402, and the first gear plate 804 is engaged and matched with the first inner gear ring 805. By the design, the target robot 2 and the scanning robot 3 are both provided with the camera module 8, when a technician controls the target robot 2 or the scanning robot 3 enters or exits the tunnel, the camera module 8 not only can play a role in exploring the road condition, but also can play a role in monitoring the construction environment in the tunnel, and transmits a video picture back to the remote intelligent equipment for the technician to check.
In one embodiment, the first gear plate 804 is installed on the left side surface or the right side surface of the rear end wall of the installation cylinder 801, and the first micro motor 803 and the first internal gear 805 are both installed on the left part or the right part inside the turntable 402. Design like this, the technical staff is via wireless control module group remote control first micro motor 803 corotation or reversal, drive first toothed disc 804 clockwise rotation or anticlockwise rotation, thereby under the limiting displacement of first ring gear 805, installation section of thick bamboo 801 realizes the steady rotation of pitching the angle, and then infrared camera 802 accomplishes the monitoring of pitching the angle, infrared camera 802 both has been applicable to the monitoring environment that light is sufficient, is applicable to the monitoring environment that light is darker again.
In another embodiment, the first gear plate 804 is mounted on the upper side or the lower side of the rear end wall of the mounting cylinder 801, and the first micro motor 803 and the first internal gear 805 are both mounted on the upper portion or the lower portion of the rotating table 402. With the design, in the same way as above, the installation cylinder 801 can rotate smoothly at a horizontal angle, and then the infrared camera 802 can complete the monitoring of the horizontal angle, so that the camera module 8 can meet the monitoring of more angles and directions.
In an embodiment, the remote-controlled robot 4 further includes a driving assembly 10, the driving assembly 10 includes a second micro motor 1001, a connecting rod 1002, a second gear wheel disc 1003 and a second ring gear 1004, the second micro motor 1001 is centrally fixed inside the base 401, an output shaft of the second micro motor 1001 is fixedly connected to a middle portion of the connecting rod 1002, two ends of the connecting rod 1002 are respectively and fixedly connected to two sides of an inner wall surface of the turntable 402, the second ring gear 1004 is fixed on the inner wall surface of the base 401, the second gear wheel disc 1003 has two gear wheels 1003, the two gear wheels are respectively mounted at bottom ends of two sides of the connecting rod 1002, and the second gear wheel disc 1003 is meshed with the second ring gear 1004. Due to the design, a technician remotely controls the second micro motor 1001 to rotate forwards or reversely through the wireless control module to drive the connecting rod 1002 to rotate clockwise or anticlockwise, namely, the turntable 402 is driven to rotate clockwise or anticlockwise on the base 401, the flexibility of the remote control robot 4 is improved, the stability of the turntable 402 during rotation is enhanced due to the meshing of the second gear disc 1003 and the second inner gear ring 1004, and the unstable detection caused by shaking is prevented.
In an embodiment, the remote-controlled robot 4 further includes an acousto-optic alarm 7 mounted on the top cover 403, and a communication module, a data analysis storage module and a horizontal control module mounted in the base 401, which are electrically connected to each other, the acousto-optic alarm 7 is connected to the communication module via a pressure sensor, the infrared camera 802 is connected to the communication module, and the first micro motor 803 and the second micro motor 1001 are both connected to a remote-end intelligent device via a wireless control module. By the design, technicians remotely control the target robot and the scanning robot to enter the tunnel to complete 3D scanning according to the tunnel construction site conditions, and unmanned and nondestructive detection of the thickness of the concrete supported by the tunnel shotcrete is quickly and stably realized.
A tunnel construction quality detection method based on a remote control robot is characterized by comprising the following steps: the method comprises the following steps:
s1: before the spray anchor support of tunnel construction, preferentially controlling the scanning robot 3 to enter the tunnel face 1, finding a position with an unobstructed sight line on a construction site according to a video picture transmitted by the camera module 8 on the remote control robot 4, controlling the scanning robot 3 to move ahead, adsorbing and fixing the scanning robot by the sucker feet 406 after the scanning robot reaches the position, controlling the horizontal control module by remote intelligent equipment, and further adjusting the levelness of the scanning robot 3 until the scanning requirement is met;
s2: before the spray anchor support of tunnel construction, then controlling 2-3 target robots 2 to enter the tunnel face 1, finding an undisturbed position of equipment near an area to be detected according to video pictures transmitted by the camera module 8 on the remote control robot 4, controlling the target robots 2 to move forwards, performing adsorption fixing through the sucker feet 406 after the target robots reach, and unfolding the mechanical arm 5 to enable the target disks 6 to face the direction of the 3D scanner 9 arranged in the S1;
s3: before the spray anchor support of tunnel construction, the 3D scanner 9 finishes all-around scanning of 360 degrees in the tunnel face 1, tunnel original point cloud structure data before spray anchor obtained through surveying is stored through the data analysis storage module in the remote control robot 4, and after the scanning is finished, the scanning robot 3 is controlled to exit from the tunnel face 1;
s4: after primary tunnel spray anchor supporting is finished, repeating the steps S1-S3 again, finishing nondestructive detection of tunnel construction quality after spray anchor, and summarizing, storing and analyzing tunnel original point cloud structure data after spray anchor, which is measured twice by the data analysis and storage module;
s5: and splicing the point cloud data after the two times of scanning by an ICP (inductively coupled plasma) mathematical algorithm, establishing a tunnel model obtained by 3D (three-dimensional) scanning, comparing the model with a design drawing, and carrying out comparative analysis on the tunnel bolting and shotcreting condition.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure, as various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this application.
Claims (10)
1. The utility model provides a tunnel construction quality detection system based on remote-controlled robot, includes remote-controlled robot (4), arm (5), mark target dish (6) and 3D scanner (9), its characterized in that: the device also comprises a target robot (2) and a scanning robot (3);
the target robot (2) comprises the remote control robot (4), a mechanical arm (5) and a target plate (6), the mechanical arm (5) is hinged on the remote control robot (4), and the target plate (6) is installed at the arm end of the mechanical arm (5);
the scanning robot (3) comprises the remote-controlled robot (4) and a 3D scanner (9), the 3D scanner (9) is mounted on the remote-controlled robot (4).
2. The telerobot-based tunnel construction quality detection system of claim 1, wherein: scanning robot (3) set up in a position that a sight does not receive the blockking in tunnel face (1), mark target robot (2) are no less than two, set up respectively in a position that the equipment is not disturbed in tunnel face (1), each mark target dish (6) on mark target robot (2) are towards respectively scanning robot (3) last 3D scanner (9).
3. The telerobot-based tunnel construction quality detection system of claim 1, wherein: the remote control robot (4) at least comprises a base (401), a rotary table (402), a top cover (403) and mechanical legs (405), wherein the rotary table (402) is rotatably installed on the base (401), the top cover (403) is installed at the top of the rotary table (402) in a buckling mode, the number of the mechanical legs (405) is three, the mechanical legs are respectively and uniformly arranged on the base (401) in a surrounding mode at intervals, and sucking disc feet (406) are installed at the bottom of each mechanical leg (405).
4. The telerobot-based tunnel construction quality detection system of claim 3, wherein: a mounting head (404) is fixed at the top of the top cover (403) in the center, and the mechanical arm (5) and the 3D scanner (9) are respectively mounted on the remote-controlled robots (4) through the hinged matching of the mounting head (404).
5. The telerobot-based tunnel construction quality detection system of claim 3, wherein: the remote control robot (4) further comprises a plurality of camera modules (8), the camera modules (8) are respectively and uniformly arranged on the rotary table (402) in a surrounding manner at intervals, each camera module (8) comprises an installation cylinder (801), an infrared camera (802), a first micro motor (803), a first gear disc (804) and a first inner gear ring (805), the installation cylinder (801) is of a trapezoidal table structure with a small front part and a large rear part, the rear end of the installation cylinder (801) is inserted into and installed inside the rotary table (402), the front end of the installation cylinder (801) is exposed out of the rotary table (402), the infrared camera (802) is embedded inside the front end of the installation cylinder (801), the first gear disc (804) is installed on the cylinder wall of the rear end of the installation cylinder (801), the first micro motor (803) is installed inside the rotary table (402), an output shaft of the first micro motor (803) is fixedly connected to the first gear disc (804) in the center, the first gear disc (804) is installed inside the inner gear ring (805), and the first inner gear ring (805) is meshed with the rotary table (402).
6. The telerobot-based tunnel construction quality detection system of claim 5, wherein: the first gear disc (804) is mounted on the left side surface or the right side surface of the rear end cylinder wall of the mounting cylinder (801), and the first micro motor (803) and the first inner gear ring (805) are mounted on the left part or the right part in the rotary table (402).
7. The telerobot-based tunnel construction quality detection system of claim 5, wherein: the first gear disc (804) is mounted on the upper side or the lower side of the rear end cylinder wall of the mounting cylinder (801), and the first micro motor (803) and the first inner gear ring (805) are mounted on the upper portion or the lower portion of the rotary table (402).
8. The telerobot-based tunnel construction quality detection system of claim 3, wherein: the remote control robot (4) further comprises a driving assembly (10), wherein the driving assembly (10) comprises a second micro motor (1001), a connecting rod (1002), a second gear wheel disc (1003) and a second inner gear ring (1004), the second micro motor (1001) is fixed inside the base (401) in the center, an output shaft of the second micro motor (1001) is fixedly connected to the middle of the connecting rod (1002), two ends of the connecting rod (1002) are respectively and fixedly connected to two sides of the inner wall surface of the turntable (402), the second inner gear ring (1004) is fixed on the inner wall surface of the base (401), the second gear wheel discs (1003) are respectively installed at the bottom ends of two sides of the connecting rod (1002), and the second gear wheel disc (1003) is meshed and matched with the second inner gear ring (1004).
9. The telerobot-based tunnel construction quality detection system of claim 5 or 8, wherein: telerobot (4) still including installing reputation siren (7) on top cap (403), and install communication module, data analysis storage module and horizontal control module in base (401), electric connection between communication module, data analysis storage module and the horizontal control module, reputation siren (7) are connected to via pressure sensor the communication module, infrared camera (802) are connected to the communication module, first micro motor (803) and second micro motor (1001) all are connected to remote end smart machine via wireless control module.
10. The telerobot-based tunnel construction quality detection method of claims 1-9, wherein: the method comprises the following steps:
s1: before the spray anchor support of tunnel construction, preferentially controlling the scanning robot (3) to enter the tunnel face (1), finding a position with an unobstructed sight line at a construction site according to a video picture transmitted by the camera module (8) on the remote control robot (4), controlling the scanning robot (3) to move ahead, adsorbing and fixing the scanning robot through the sucker feet (406) after the scanning robot reaches the position, controlling the horizontal control module through remote intelligent equipment, and further adjusting the body levelness of the scanning robot (3) until the scanning requirement is met;
s2: before the shotcrete and support of tunnel construction, then controlling 2-3 target robots (2) to enter a tunnel face (1), finding an undisturbed position of equipment near an area to be detected according to a video picture transmitted by a camera module (8) on a remote control robot (4), controlling the target robots (2) to move forwards, performing adsorption fixing through suction disc feet (406) after reaching the position, unfolding a mechanical arm (5), and enabling target discs (6) to face the direction of a 3D scanner (9) arranged in S1;
s3: before spray anchor supporting of tunnel construction, the 3D scanner (9) completes 360-degree all-directional scanning on the tunnel face (1), tunnel original point cloud structure data before spray anchor obtained through surveying is stored through the data analysis storage module in the remote control robot (4), and after the scanning is completed, the scanning robot (3) is controlled to exit from the tunnel face (1);
s4: after primary tunnel spray anchor supporting is finished, repeating the steps S1-S3 again, finishing nondestructive detection of tunnel construction quality after spray anchor, and summarizing, storing and analyzing tunnel original point cloud structure data after spray anchor, which is measured twice by the data analysis and storage module;
s5: and splicing point cloud data after the two times of scanning through an ICP (inductively coupled plasma) mathematical algorithm, establishing a tunnel model obtained through 3D (three-dimensional) scanning, comparing the tunnel model with a design drawing, and carrying out contrastive analysis on the tunnel bolting and shotcrete supporting condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211125528.2A CN115900566A (en) | 2022-09-15 | 2022-09-15 | Tunnel construction quality detection method based on remote control robot |
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| CN202211125528.2A CN115900566A (en) | 2022-09-15 | 2022-09-15 | Tunnel construction quality detection method based on remote control robot |
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| CN115900566A true CN115900566A (en) | 2023-04-04 |
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| CN202211125528.2A Pending CN115900566A (en) | 2022-09-15 | 2022-09-15 | Tunnel construction quality detection method based on remote control robot |
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