CN116912959A - Tunnel inspection system and method - Google Patents

Abstract

The application provides a tunnel inspection system and a method, which belong to the technical field of tunnel inspection, the tunnel inspection method can be realized based on the tunnel inspection system, and the tunnel inspection system comprises the following steps: unmanned plane; the remote system is used for controlling the unmanned aerial vehicle to carry out tunnel inspection operation; the photoelectric switch is used for monitoring whether a water outlet in the tunnel is blocked or not and is in wireless connection with the unmanned aerial vehicle; one of the sewer ports at least corresponds to one photoelectric switch, one photoelectric switch is used as a patrol point, and based on each patrol point in the tunnel, the remote system controls the unmanned aerial vehicle to communicate with each photoelectric switch so as to acquire the monitoring result of the photoelectric switch through the unmanned aerial vehicle. The application does not need manual inspection, overcomes the defects caused by manual inspection, reduces the influence of subjective factors on inspection results, reduces inspection cost to a certain extent, improves inspection efficiency, and can discover whether the drain opening of the tunnel is blocked in advance or timely.

Description

Tunnel inspection system and method

Technical Field

The application relates to the technical field of tunnel inspection, in particular to a tunnel inspection system and a tunnel inspection method.

Background

At present, the inspection work of the expressway tunnel is mainly carried out manually, but the manual inspection has the following problems: 1. the manual inspection has higher labor cost and lower efficiency; 2. the manual inspection result is greatly influenced by human factors (subjective factors), so that the inspection result is inaccurate and the reliability is low; 3. the manual inspection is difficult to discover problems in advance or in time, such as blockage of a water outlet of a tunnel, failure in advance or in time discovery, accumulated water can occur on a tunnel pavement when the tunnel is rained, vehicles can not pass easily, if a tunnel with a sidewalk exists, the accumulated water can submerge the sidewalk, and pedestrians can not pass easily.

Disclosure of Invention

The application provides a tunnel inspection system and a tunnel inspection method, wherein inspection points are arranged at drain ports, and each drain port in a tunnel is inspected one by an unmanned aerial vehicle according to the inspection points so as to solve the problems.

In order to achieve the above purpose, the application adopts the following technical scheme:

the embodiment of the specification discloses a tunnel inspection system, including:

unmanned plane;

the remote system is used for controlling the unmanned aerial vehicle to carry out tunnel inspection operation;

the photoelectric switch is used for monitoring whether a water outlet in the tunnel is blocked or not and is in wireless connection with the unmanned aerial vehicle;

one of the water draining ports at least corresponds to one photoelectric switch, one photoelectric switch is used as a routing inspection point, and based on each routing inspection point in a tunnel, the remote system controls the unmanned aerial vehicle to communicate with each photoelectric switch so as to acquire a monitoring result of the photoelectric switch through the unmanned aerial vehicle.

In an embodiment of the present disclosure, the unmanned aerial vehicle is equipped with a camera, and when the unmanned aerial vehicle communicates with the photoelectric switch, the camera performs image acquisition on a water outlet corresponding to the photoelectric switch in communication with the unmanned aerial vehicle, and transmits the acquired image to the remote system.

In an embodiment of the present disclosure, the water outlet includes a first water outlet that is horizontally opened and a second water outlet that is vertically opened, the first water outlet is slidably provided with a first filter screen, the first filter screen is connected with a first telescoping device, the second water outlet is slidably provided with a second filter screen, and the second filter screen is connected with a second telescoping device.

In an embodiment of the present disclosure, the first drain opening is provided with a first manipulator, and the first manipulator is configured to push a blockage into the drain opening or push the blockage out of the drain opening when the drain opening is blocked.

In an embodiment of the present disclosure, the first manipulator includes:

the first support is used for being arranged beside the first water outlet;

the first motor is arranged on the first support;

the first bracket is rotatably arranged on the first support and is connected with the first motor;

the second bracket is rotationally connected with the first bracket;

the second motor is arranged on the second bracket and is connected with the first bracket;

the third bracket is rotationally connected with the second bracket;

the third motor is arranged on the third bracket and is connected with the second bracket;

the second support is arranged at one end of the third support far away from the second support;

the fourth motor is arranged on the second support;

the fourth bracket is rotatably arranged on the second support and is connected with the fourth motor;

the fifth bracket is rotationally connected with the fourth bracket;

the fifth motor is arranged on the fifth bracket and is connected with the fourth bracket;

the sixth bracket is rotationally connected with the fifth bracket;

the sixth motor is arranged on the sixth bracket and is connected with the fifth bracket;

the third telescopic device is arranged at one end of the sixth bracket far away from the fifth bracket;

and the first push plate is connected with the telescopic end of the third telescopic device.

In an embodiment of the present disclosure, the second drain opening is provided with a second manipulator, and the second manipulator is configured to push a blockage into the drain opening or push the blockage out of the drain opening when the drain opening is blocked.

In an embodiment of the present disclosure, the second manipulator includes:

the third support is used for being arranged beside the second water outlet;

the seventh motor is arranged on the third support;

the seventh bracket is rotatably arranged on the third support and is connected with the seventh motor;

the eighth bracket is rotationally connected with the seventh bracket;

the eighth motor is arranged on the eighth bracket and is connected with the seventh bracket;

a ninth bracket rotationally connected with the eighth bracket;

the ninth motor is arranged on the ninth bracket and is connected with the eighth bracket;

the fourth telescopic device is arranged at one end of the ninth bracket far away from the eighth bracket;

and the second push plate is connected with the telescopic end of the fourth telescopic device.

In an embodiment of the disclosure, the photoelectric switch is disposed on two symmetrical sides of the first drain opening and above the first filter screen, so as to monitor whether the first drain opening has a blockage.

In an embodiment of the disclosure, the photoelectric switch is disposed on two symmetrical sides of the second drain opening and is located at an outer side of the second filter screen, so as to monitor whether the second drain opening has a blockage.

The embodiment of the specification also discloses a tunnel inspection method, which comprises the following steps:

s1, monitoring whether each water outlet in a tunnel is blocked by adopting a photoelectric switch;

s2, controlling the unmanned aerial vehicle to communicate with the photoelectric switch corresponding to each water outlet in the tunnel through a remote system so as to obtain a monitoring result of the photoelectric switch.

In summary, the embodiment of the present disclosure has at least the following advantages:

the application adopts the photoelectric switch to monitor whether each water outlet in the tunnel is blocked or not, and the remote system controls the unmanned plane to communicate with the photoelectric switch corresponding to each water outlet in the tunnel so as to acquire the monitoring result of the photoelectric switch; the defect caused by manual inspection is overcome, the influence of subjective factors on inspection results is reduced, the inspection cost is reduced to a certain extent, the inspection efficiency is improved, and whether the sewer mouth of the tunnel is blocked can be found in advance or timely.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a tunnel inspection system according to the present application.

Fig. 2 is a schematic view of a drain port according to the present application.

Fig. 3 is a schematic view of a first telescopic device according to the present application.

Fig. 4 is a schematic view of a second telescopic device according to the present application.

Fig. 5 is a schematic view of a first manipulator according to the present application.

Fig. 6 is a schematic view of a second manipulator according to the present application.

1. A first drain port; 11. a first filter screen; 12. a first telescopic device;

2. a second drain port; 21. a second filter screen; 22. a second telescopic device;

3. a first manipulator; 31. a first support; 311. a first motor; 32. a first bracket; 33. a second bracket; 331. a second motor; 34. a third bracket; 341. a third motor; 35. a second support; 351. a fourth motor; 36. a fourth bracket; 37. a fifth bracket; 371. a fifth motor; 38. a sixth bracket; 381. a sixth motor; 39. a third telescoping device; 391. a first push plate;

4. a second manipulator; 41. a third support; 411. a seventh motor; 42. a seventh bracket; 43. an eighth bracket; 431. an eighth motor; 44. a ninth bracket; 441. a ninth motor; 45. a fourth telescoping device; 451. a second push plate;

5. an optoelectronic switch;

6. a filter basket.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in numerous different ways without departing from the spirit or scope of the embodiments of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

The following disclosure provides many different implementations, or examples, for implementing different configurations of embodiments of the application. In order to simplify the disclosure of embodiments of the present application, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit embodiments of the present application. Furthermore, embodiments of the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1 and 2, an embodiment of the present disclosure discloses a tunnel inspection system, including:

unmanned plane;

the remote system is used for controlling the unmanned aerial vehicle to carry out tunnel inspection operation;

the photoelectric switch 5 is used for monitoring whether a water outlet in the tunnel is blocked or not and is in wireless connection with the unmanned aerial vehicle;

one of the sewer ports at least corresponds to one of the photoelectric switches 5, one of the photoelectric switches 5 serves as a routing inspection point, and based on each routing inspection point in the tunnel, the remote system controls the unmanned aerial vehicle to communicate with each of the photoelectric switches 5 so as to acquire monitoring results of the photoelectric switches 5 through the unmanned aerial vehicle.

It should be understood that, the photoelectric switch 5 is configured to monitor whether the drain opening in the tunnel has a blockage, when the blockage exists, the photoelectric switch 5 acts, when the remote system controls the unmanned aerial vehicle to fly to the vicinity of the photoelectric switch 5 and communicate with the unmanned aerial vehicle, the action signal of the photoelectric switch 5 is transmitted to the remote system through the unmanned aerial vehicle, so that the remote system can know that the blockage exists in the drain opening corresponding to the photoelectric switch 5, and the blockage can be solved by adopting corresponding measures (such as the first manipulator 3 and the second manipulator 4 in the following embodiments), so as to prevent water accumulation during raining. This inspection mode convenient and fast, it is efficient, effectual, need not the manual work and patrols and examine, need set up interim stop plate (stop bar etc.) on the road surface in the tunnel when having avoided the manual work to patrol and examine, probably can lead to the problem of traffic jam.

Clearly, photoelectric switch 5 and the remote system of control unmanned aerial vehicle flight operation are prior art, only need with down the mouth of a river as unmanned aerial vehicle flight's navigation point can, when unmanned aerial vehicle flies near the mouth of a river, unmanned aerial vehicle can adopt wireless communication's mode to acquire photoelectric switch 5's monitoring result. In practice, the controller can also control the unmanned aerial vehicle in a short range to carry out tunnel inspection operation.

In some embodiments, the drone is equipped with a camera that performs image acquisition of a drain port corresponding to the optoelectronic switch 5 in communication with the drone and transmits the acquired image to a remote system when the drone communicates with the optoelectronic switch 5.

In the embodiment, through collecting the image of the sewer mouth, whether the sewer mouth has a blocking object or not can be directly observed through the image, and whether the sewer mouth is blocked or not is judged; through the image and the photoelectric switch 5, the accuracy of judging whether the sewer is blocked is effectively improved.

In some embodiments, the drain port includes a first drain port 1 that is horizontally opened and a second drain port 2 that is vertically opened, the first drain port 1 is slidably provided with a first filter screen 11, the first filter screen 11 is connected with a first telescopic device 12, the second drain port 2 is slidably provided with a second filter screen 21, and the second filter screen 21 is connected with a second telescopic device 22.

In this embodiment, by setting the first filter screen 11 and the second filter screen 21, larger sundries can be intercepted, and prevented from entering a sewer pipe or a drainage channel connected with a sewer port, so that the sewer pipe or the drainage channel is prevented from being blocked as much as possible; when sundries are blocked on the first filter screen 11 or the second filter screen 21 to influence drainage through the first telescopic device 12 and the second telescopic device 22, the first telescopic device 12 can drive the first filter screen 11 to slide and open, the second telescopic device 22 can drive the second filter screen 21 to slide and open, so that the sundries can directly enter a sewer mouth, the sundries are collected through the filter screen basket 6 below the sewer mouth, and then the filter screen basket 6 can be manually taken away to clean the sundries, or corresponding conveying devices (such as a conveying belt, a guide rail device and the like) are preset to convey the filter screen basket 6 out of a sewer for centralized treatment; meanwhile, the filter screen basket 6 can be matched with the first filter screen 11 and the second filter screen 21 to form a double-layer filter screen structure, so that the sewer is further prevented from being blocked; preferably, a monitoring device (such as a photoelectric switch 5) for monitoring whether the filter basket 6 is full of sundries or not can be arranged at the upper part of the filter basket 6, so that sundries in the filter basket 6 can be cleaned out in time.

The first filter screen 11, the second filter screen 21, the first telescopic device 12, the second telescopic device 22 and the filter screen basket 6 can be arranged as shown in fig. 2, 3 and 4, and only the functions described above can be realized; the first telescopic device 12 and the second telescopic device 22 can be electric telescopic rods, hydraulic cylinders or air cylinders, etc.; fig. 3 and fig. 4 show different opening modes, fig. 3 is an extension closing mode and a retraction opening mode, fig. 4 is an extension opening mode and a retraction closing mode, and in practice, the first filter screen 11, the second filter screen 21, the first telescopic device 12 and the second telescopic device 22 can be arranged in different opening modes according to practical situations.

In some embodiments, the first drain opening 1 is provided with a first manipulator 3, the first manipulator 3 being adapted to push a blockage into or out of the drain opening when the drain opening is blocked.

In this embodiment, as shown in fig. 2, the first manipulator 3 is disposed beside the first drain opening 1, and can be fixed on the inner sidewall of the sewer, when the first filter screen 11 is blocked by sundries (i.e. plugs), the first filter screen 11 is driven to open by the first telescopic device 12, and the sundries can be pushed out or pushed into the drain opening by the first manipulator 3, so that the sundries are prevented from being blocked in the first drain opening 1 even after the first filter screen 11 is opened.

As shown in fig. 5, in some embodiments, the first robot 3 includes:

a first support 31 for being disposed beside the first drain opening 1;

the first motor 311 is arranged on the first support 31;

the first bracket 32 is rotatably arranged on the first support 31 and is connected with the first motor 311;

a second bracket 33 rotatably connected to the first bracket 32;

the second motor 331 is arranged on the second bracket 33 and is connected with the first bracket 32;

a third bracket 34 rotatably connected to the second bracket 33;

the third motor 341 is arranged on the third bracket 34 and is connected with the second bracket 33;

the second support 35 is arranged at one end of the third support 34 away from the second support 33;

a fourth motor 351 provided on the second support 35;

a fourth bracket 36 rotatably provided on the second support 35 and connected to a fourth motor 351;

a fifth bracket 37 rotatably connected to the fourth bracket 36;

a fifth motor 371 provided on the fifth bracket 37 and connected to the fourth bracket 36;

a sixth bracket 38 rotatably connected to the fifth bracket 37;

a sixth motor 381 disposed on the sixth bracket 38 and connected to the fifth bracket 37;

a third telescopic device 39, which is arranged at one end of the sixth bracket 38 away from the fifth bracket 37;

the first push plate 391 is connected to the telescopic end of the third telescopic device 39.

In this embodiment, the first support 31 may be fixed to the inner sidewall of the sewage; through the above arrangement, the first motor 311 drives the first bracket 32 to rotate, the second motor 331 drives the second bracket 33 to rotate, the third motor 341 drives the third bracket 34 to rotate, the third bracket 34 drives the second support 35, the fourth motor 351 drives the fourth bracket 36 to rotate, the fifth motor 371 drives the fifth bracket 37 to rotate, the sixth motor 381 drives the sixth bracket 38 to rotate, the sixth bracket 38 drives the third telescopic device 39, and the third telescopic device 39 drives the first push plate 391 to push sundries out of the first water outlet 1 or into the first water outlet 1.

In some embodiments, the second drain opening 2 is provided with a second robot 4, the second robot 4 being adapted to push a blockage into or out of the drain opening when the drain opening is blocked.

In this embodiment, as shown in fig. 2, the second manipulator 4 is disposed beside the second drain opening 2, and can be fixed on the inner sidewall of the sewer, when the second filter screen 21 is blocked by sundries (i.e. plugs), the second filter screen 21 is driven to open by the second telescopic device 22, and the sundries can be pushed out or pushed into the drain opening by the second manipulator 4, so that the sundries are prevented from being blocked in the second drain opening 2 even if the second filter screen 21 is opened.

In summary, the first manipulator 3 may push out or push in the debris blocked on the second filter screen 21 to the drain, and the second manipulator 4 may push out or push in the debris blocked on the first filter screen 11 to the drain.

As shown in fig. 6, in some embodiments, the second robot 4 includes:

a third support 41 for being disposed beside the second drain opening 2;

a seventh motor 411 provided on the third support 41;

a seventh bracket 42 rotatably provided on the third support 41 and connected to a seventh motor 411;

an eighth bracket 43 rotatably connected to the seventh bracket 42;

an eighth motor 431 provided on the eighth bracket 43 and connected to the seventh bracket 42;

a ninth bracket 44 rotatably connected to the eighth bracket 43;

a ninth motor 441 provided on the ninth bracket 44 and connected to the eighth bracket 43;

a fourth telescopic device 45 arranged at one end of the ninth bracket 44 far away from the eighth bracket 43;

the second pushing plate 451 is connected to the telescopic end of the fourth telescopic device 45.

In this embodiment, the third support 41 may be fixed to the inner sidewall of the sewage; through the arrangement, the seventh motor 411 drives the seventh bracket 42 to rotate, the eighth motor 431 drives the eighth bracket 43 to rotate, the ninth motor 441 drives the ninth bracket 44 to rotate, and the ninth bracket 44 drives the fourth telescopic device 45, so that the second push plate 451 can be driven by the fourth telescopic device 45 to push sundries out of the second water outlet 2 or push sundries into the second water outlet 2.

In some embodiments, the photoelectric switches 5 are disposed on two symmetrical sides of the first drain opening 1 and above the first filter screen 11 to monitor whether the first drain opening 1 is clogged.

In some embodiments, the photoelectric switches 5 are disposed on both symmetrical sides of the second drain opening 2 and outside the second filter 21 to monitor whether the second drain opening 2 is clogged.

The embodiment of the specification also discloses a tunnel inspection method, which comprises the following steps:

s1, monitoring whether each water outlet in a tunnel is blocked by adopting a photoelectric switch 5;

s2, controlling the unmanned aerial vehicle to communicate with the photoelectric switch 5 corresponding to each water outlet in the tunnel through a remote system so as to obtain a monitoring result of the photoelectric switch 5.

In this embodiment, the tunnel inspection method may be implemented by a tunnel inspection system, that is, the content in the tunnel inspection system may be the content of the tunnel inspection method.

The above embodiments are provided to illustrate the present application and not to limit the present application, so that the modification of the exemplary values or the replacement of equivalent elements should still fall within the scope of the present application.

From the foregoing detailed description, it will be apparent to those skilled in the art that the present application can be practiced without these specific details, and that the present application meets the requirements of the patent statutes.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application. The foregoing description of the preferred embodiment of the application is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

It should be noted that the above description of the flow is only for the purpose of illustration and description, and does not limit the application scope of the present specification. Various modifications and changes to the flow may be made by those skilled in the art under the guidance of this specification. However, such modifications and variations are still within the scope of the present description.

While the basic concepts have been described above, it will be apparent to those of ordinary skill in the art after reading this application that the above disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations of the application may occur to one of ordinary skill in the art. Such modifications, improvements, and modifications are intended to be suggested within the present disclosure, and therefore, such modifications, improvements, and adaptations are intended to be within the spirit and scope of the exemplary embodiments of the present disclosure.

Meanwhile, the present application uses specific words to describe embodiments of the present application. For example, "one embodiment," "an embodiment," and/or "some embodiments" means a particular feature, structure, or characteristic in connection with at least one embodiment of the application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the application may be combined as suitable.

Furthermore, those of ordinary skill in the art will appreciate that aspects of the application are illustrated and described in the context of a number of patentable categories or conditions, including any novel and useful processes, machines, products, or materials, or any novel and useful improvements thereof. Accordingly, aspects of the present application may be implemented entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or a combination of hardware and software. The above hardware or software may be referred to as a "unit," module, "or" system. Furthermore, aspects of the present application may take the form of a computer program product embodied in one or more computer-readable media, wherein the computer-readable program code is embodied therein.

Computer program code required for operation of portions of the present application may be written in any one or more programming languages, including an object oriented programming language such as Java, scala, smalltalk, eiffel, JADE, emerald, C ++, C#, VB.NET, python, etc., a conventional programming language such as C programming language, visualBasic, fortran2103, perl, COBOL2102, PHP, ABAP, a dynamic programming language such as Python, ruby and Groovy, or other programming languages, etc. The program code may execute entirely on the user's computer, or as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any form of network, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or the use of services such as software as a service (SaaS) in a cloud computing environment.

Furthermore, the order in which the elements and sequences are presented, the use of numerical letters, or other designations are used in the application is not intended to limit the sequence of the processes and methods unless specifically recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of example, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the application. For example, while the implementation of the various components described above may be embodied in a hardware device, it may also be implemented as a purely software solution, e.g., an installation on an existing server or mobile device.

Likewise, it should be noted that in order to simplify the presentation of the disclosure and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed subject matter requires more features than are expressly recited in each claim. Rather, the inventive subject matter should be provided with fewer features than the single embodiments described above.

Claims (10)

1. A tunnel inspection system, comprising:

unmanned plane;

the remote system is used for controlling the unmanned aerial vehicle to carry out tunnel inspection operation;

the photoelectric switch is used for monitoring whether a water outlet in the tunnel is blocked or not and is in wireless connection with the unmanned aerial vehicle;

one of the water draining ports at least corresponds to one photoelectric switch, one photoelectric switch is used as a routing inspection point, and based on each routing inspection point in a tunnel, the remote system controls the unmanned aerial vehicle to communicate with each photoelectric switch so as to acquire a monitoring result of the photoelectric switch through the unmanned aerial vehicle.

2. The tunnel inspection system of claim 1, wherein the unmanned aerial vehicle is equipped with a camera that performs image acquisition of a drain port corresponding to the photoelectric switch in communication with the unmanned aerial vehicle and transmits the acquired image to the remote system when the unmanned aerial vehicle communicates with the photoelectric switch.

3. The tunnel inspection system of claim 1, wherein the water outlet comprises a first water outlet horizontally opened and a second water outlet vertically opened, the first water outlet is slidably provided with a first filter screen, the first filter screen is connected with a first telescopic device, the second water outlet is slidably provided with a second filter screen, and the second filter screen is connected with a second telescopic device.

4. A tunnel inspection system according to claim 3, wherein the first drain port is provided with a first manipulator for pushing a blockage into or out of the drain port when the drain port is blocked.

5. The tunnel inspection system of claim 4, wherein the first manipulator comprises:

the first support is used for being arranged beside the first water outlet;

the first motor is arranged on the first support;

the first bracket is rotatably arranged on the first support and is connected with the first motor;

the second bracket is rotationally connected with the first bracket;

the second motor is arranged on the second bracket and is connected with the first bracket;

the third bracket is rotationally connected with the second bracket;

the third motor is arranged on the third bracket and is connected with the second bracket;

the second support is arranged at one end of the third support far away from the second support;

the fourth motor is arranged on the second support;

the fourth bracket is rotatably arranged on the second support and is connected with the fourth motor;

the fifth bracket is rotationally connected with the fourth bracket;

the fifth motor is arranged on the fifth bracket and is connected with the fourth bracket;

the sixth bracket is rotationally connected with the fifth bracket;

the sixth motor is arranged on the sixth bracket and is connected with the fifth bracket;

the third telescopic device is arranged at one end of the sixth bracket far away from the fifth bracket;

and the first push plate is connected with the telescopic end of the third telescopic device.

6. A tunnel inspection system according to claim 3, wherein the second drain is provided with a second manipulator for pushing a blockage into or out of the drain when the drain is blocked.

7. The tunnel inspection system of claim 6 wherein the second robot comprises:

the third support is used for being arranged beside the second water outlet;

the seventh motor is arranged on the third support;

the seventh bracket is rotatably arranged on the third support and is connected with the seventh motor;

the eighth bracket is rotationally connected with the seventh bracket;

the eighth motor is arranged on the eighth bracket and is connected with the seventh bracket;

a ninth bracket rotationally connected with the eighth bracket;

the ninth motor is arranged on the ninth bracket and is connected with the eighth bracket;

the fourth telescopic device is arranged at one end of the ninth bracket far away from the eighth bracket;

and the second push plate is connected with the telescopic end of the fourth telescopic device.

8. The tunnel inspection system of claim 3 wherein the photoelectric switch is disposed on symmetrical sides of the first drain opening and above the first screen to monitor whether the first drain opening is plugged.

9. The tunnel inspection system of claim 3 wherein the photoelectric switches are positioned on symmetrical sides of the second drain opening and outside of the second screen to monitor whether the second drain opening is plugged.

10. The tunnel inspection method is characterized by comprising the following steps of:

s1, monitoring whether each water outlet in a tunnel is blocked by adopting a photoelectric switch;

s2, controlling the unmanned aerial vehicle to communicate with the photoelectric switch corresponding to each water outlet in the tunnel through a remote system so as to obtain a monitoring result of the photoelectric switch.