CN213750759U - Railway tunnel intelligent patrol vehicle based on SLAM technology - Google Patents
Railway tunnel intelligent patrol vehicle based on SLAM technology Download PDFInfo
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- CN213750759U CN213750759U CN202023106673.5U CN202023106673U CN213750759U CN 213750759 U CN213750759 U CN 213750759U CN 202023106673 U CN202023106673 U CN 202023106673U CN 213750759 U CN213750759 U CN 213750759U
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Abstract
The utility model discloses a railway tunnel intelligence inspection car based on SLAM technique, include: the device comprises a vehicle body, a laser radar sensor, a communication device, a temperature sensor, a humidity sensor, a main control board, wheels, a driving device, a power supply module, an infrared gas sensor, an inertia measurement sensor, a PC machine control group, a lifting support, an angle regulator and a vision sensor. The utility model discloses a high accuracy tunnel is independently navigated and is fixed a position and keep away the intelligent inspection machine car of barrier and the remote operation and the control of being convenient for, simultaneously, the utility model discloses can replace traditional manpower to patrol and examine, the cost of using manpower sparingly reduces the danger of patrolling and examining personnel's work.
Description
Technical Field
The utility model relates to a robotechnology field and tunnel detection field especially relate to a railway tunnel intelligence inspection car based on SLAM technique.
Background
With the continuous development of traffic, the grade, scale and number of the newly-built railway tunnel are gradually increased year by year. The rapid development also puts higher requirements for the detection of the tunnel. A large number of existing railway tunnel operation lines are aged, tunnel diseases continuously appear, the railway operation safety is greatly threatened, some diseases possibly exist during construction, the tunnel is regularly and accurately detected, the diseases are found as soon as possible, serious diseases are pertinently remedied, maintenance cost can be saved, and the method is also an important means for ensuring railway transportation safety. Because traditional tunnel detects and relies on manual operation, it is time-consuming to take a lot of work, is difficult to comprehensive accurate detection, and high-efficient, automatic, intelligent tunnel state detects new technology is the important means and must trend of solving this problem.
Slam (simultaneous localization and Mapping), also known as cml (current localization and Mapping), instantaneous localization and Mapping. The application of slam technology to tunnel detection has also become a trend. The detection vehicle based on laser scanning often can not detect the crack because of the restriction of laser scanner itself, and the detection vehicle equipment based on digital photograph can not acquire the point cloud data because does not possess the scanner, consequently can not detect tunnel deformation and cavity behind one's back. But the laser slam, in combination with the visual slam, is still in the initial state.
Disclosure of Invention
To above problem, the utility model provides a railway tunnel intelligence inspection car based on SLAM technique.
For realizing the utility model aims at providing a railway tunnel intelligence inspection car based on SLAM technique, include: the device comprises a vehicle body, a laser radar sensor, a communication device, a temperature sensor, a humidity sensor, a main control board, wheels, a driving device, a power supply module, an infrared gas sensor, an inertia measurement sensor, a PC (personal computer) control group, a lifting support, an angle regulator and a vision sensor;
the wheels and the driving device are arranged at the bottom of the vehicle body; the laser radar sensor and the lifting support are arranged at the top of the vehicle body; the vision sensor is arranged at the top of the lifting bracket through an angle adjuster; the communication device, the main control board, the power supply module and the PC machine control group are arranged inside the vehicle body; the temperature sensor, the humidity sensor, the infrared gas sensor and the inertia measurement sensor are arranged on the outer side surface of the vehicle body;
the PC control group is electrically connected with the main control board and the driving device respectively; the PC control unit is wirelessly connected with a remote monitoring center through the communication device; the lifting bracket and the angle regulator are respectively electrically connected with the driving device; the wheels are mechanically connected with the driving device; the main control board is electrically connected with the power supply module, the vision sensor, the laser radar sensor, the temperature sensor, the humidity sensor, the infrared gas sensor and the inertia measurement sensor respectively.
Further, railway tunnel intelligence inspection car based on SLAM technique still includes buzzer siren and alarm lamp, buzzer siren and alarm lamp set up the lateral surface of car body, buzzer siren and alarm lamp with PC machine control group electric connection.
Further, railway tunnel intelligence inspection car based on SLAM technique still includes the LED lamp, the LED lamp sets up the below of vision sensor, the LED lamp with vision sensor electric connection.
Further, railway tunnel intelligence inspection car based on SLAM technique still includes the warning light, the warning light sets up the rear of a vehicle of car body, the warning light with power module electric connection.
Further, the vision sensor employs a depth camera.
Further, the communication device is a WiFi device.
Further, the laser radar sensor adopts a laser radar to carry infrared thermal imaging equipment.
Further, the main control board adopts stm32 control board.
Further, the PC control group includes a plurality of raspberry pi microcomputers.
Further, railway tunnel intelligence inspection car based on SLAM technique still includes liquid crystal display, liquid crystal display sets up the top of car body, liquid crystal display with main control board electric connection.
Compared with the prior art, the utility model discloses following beneficial effect has:
the novel laser radar and the depth camera are integrated, the problems that the traditional laser radar is high in cost and a map lacks semantic information are solved, and the limitation that the visual slam is applied to a white wall with less features and insufficient brightness is also overcome. The two are fused, so that the navigation and positioning accuracy is improved, the cost is reduced, and the application field is expanded. And (3) acquiring images of the surface of the lining by using a depth camera, scanning and detecting the deformation of the inner contour of the tunnel, cracks on the surface of the lining, water leakage diseases and rear holes by using a three-dimensional laser radar. The utility model discloses a high accuracy tunnel is independently navigated and is fixed a position and keep away barrier and the intelligence inspection vehicle of remote operation and control of being convenient for can replace traditional manpower to patrol and examine, and the cost of using manpower sparingly reduces the danger of patrolling and examining personnel's work.
Drawings
Fig. 1 is a schematic structural diagram of an operating principle of an intelligent railway tunnel inspection vehicle based on SLAM technology according to an embodiment;
fig. 2 is a schematic side view of the overall structure of the intelligent railway tunnel inspection vehicle based on the SLAM technology according to one embodiment.
Description of reference numerals: 1-liquid crystal display screen, 2-laser radar sensor, 3-communication device, 4-temperature sensor, 5-humidity sensor, 6-main control board, 7-buzzer alarm, 8-alarm lamp, 9-wheel, 10-driving device, 11-warning lamp, 12-power supply module, 13-infrared gas sensor, 14-inertial measurement sensor, 15-PC machine control group, 16-lifting support, 17-angle regulator, 18-vision sensor, 19-LED lamp and 20-vehicle body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Aiming at the difficulties of complex tunnel environment, weak GPS signal and the like, the defects of low precision, poor real-time performance, easy environmental interference and large running amount of a mobile robot for realizing the obstacle avoidance function in the prior art are overcome, and as shown in fig. 1 and fig. 2, the embodiment provides the railway tunnel intelligent patrol car based on the SLAM technology, the laser SLAM and the visual SLAM are fused, the high-precision autonomous positioning, navigation and obstacle avoidance are realized, and the intelligent management is provided for the tunnel patrol work.
The embodiment mainly fuses laser slam and vision slam mutually, realizes the autonomous positioning and navigation of high accuracy, and provides intelligent management for the tunnel inspection work. The railway tunnel intelligence patrols and examines car based on SLAM technique that this embodiment provided, includes: the device comprises a vehicle body 20, a laser radar sensor 2, a communication device 3, a temperature sensor 4, a humidity sensor 5, a main control board 6, wheels 9, a driving device 10, a power supply module 12, an infrared gas sensor 13, an inertia measurement sensor 14, a PC control group 15, a lifting support 16, an angle regulator 17 and a vision sensor 18;
the wheels 9 and the driving device 10 are arranged at the bottom of the vehicle body 20; the laser radar sensor 2 and the lifting bracket 16 are arranged on the top of the vehicle body 20; the vision sensor 18 is arranged on the top of the lifting bracket 16 through an angle adjuster 17; the communication device 3, the main control board 6, the power module 12 and the PC control unit 15 are arranged inside the vehicle body 20; the temperature sensor 4, the humidity sensor 5, the infrared gas sensor 13 and the inertia measurement sensor 14 are arranged on the outer side surface of the vehicle body 20;
the PC control unit 15 is electrically connected with the main control board 6 and the driving device 10 respectively; the PC control group 15 is wirelessly connected with a remote monitoring center through the communication device 3; the lifting bracket 16 and the angle regulator 17 are respectively electrically connected with the driving device 10; the wheel 9 is mechanically connected with the driving device 10; the main control board 6 is electrically connected with the power module 12, the vision sensor 18, the laser radar sensor 2, the temperature sensor 4, the humidity sensor 5, the infrared gas sensor 13 and the inertial measurement sensor 14 respectively.
In one embodiment, the railway tunnel intelligent patrol car based on SLAM technology further comprises a buzzer alarm 7 and an alarm lamp 8, the buzzer alarm 7 and the alarm lamp 8 are arranged on the outer side surface of the car body 20, and the buzzer alarm 7 and the alarm lamp 8 are electrically connected with the PC control group 15.
In one embodiment, the railway tunnel intelligent patrol car based on the SLAM technology further comprises an LED lamp 19, the LED lamp 19 is arranged below the vision sensor 18, and the LED lamp 19 is electrically connected with the vision sensor 18.
In one embodiment, the railway tunnel intelligent patrol car based on the SLAM technology further comprises a warning lamp 11, the warning lamp 11 is arranged at the tail end of the car body 20, and the warning lamp 11 is electrically connected with the power module 12.
In one embodiment, the vision sensor 18 employs a depth camera.
In one embodiment, the communication device 3 is a WiFi device.
In one embodiment, the lidar sensor 2 employs a lidar to mount an infrared thermal imaging device.
In one embodiment, the main control board 6 employs a stm32 control board.
In one embodiment, the PC control group 15 includes a plurality of raspberry pi microcomputers.
In one embodiment, the railway tunnel intelligent patrol vehicle based on the SLAM technology further comprises a liquid crystal display screen 1, wherein the liquid crystal display screen 1 is arranged on the top of the vehicle body 20, and the liquid crystal display screen 1 is electrically connected with the main control panel 6.
The vehicle body 20 includes a chassis and a frame. The chassis is provided with four-wheel-drive wheels 9, a lifting bracket 16, a direct-current power supply system and a driving motor. Wherein, the wheels 9 adopt Mecanum wheels, the lifting support 16 is used as a center rod of the frame and is connected with a driving motor on a chassis, and the top layer is connected with a depth camera through an angle adjuster 17 (the depth camera is connected with the lifting support 16 through the angle adjuster 17). In particular, to compensate for insufficient light in the tunnel, a row of LED lights 19 is mounted beside the depth camera to improve image quality. The height of the lifting support 16 is adjusted through control driving, and the angle adjuster 17 is controlled to shoot pictures with different heights and different directions, so that the inspection range of the tunnel is improved.
The driving device 10 is composed of wheels 9 on the bottom layer, a brake, a reducer and a driving motor. The running instruction is sent out by computer or manual control, and the regulation of running speed, direction and brake is controlled by computer.
The communication device 3 is constituted by a WiFi receiver located in the middle layer. The remote monitoring center can remotely access the tunnel intelligent vehicle and transmit the content shot by the depth camera to realize remote monitoring and control.
The safety and auxiliary device consists of a distance measuring laser radar arranged on the top layer, a buzzer alarm 7 and an alarm lamp 8 arranged on the bottom layer. The ranging laser radar is used for obstacle avoidance and navigation. When a large shelter is detected on the track, the microcomputer sends an instruction to enable the buzzer alarm 7 to sound and the alarm lamp 8 to flicker to remind monitoring personnel. Meanwhile, the control system is also provided with a battery power detection system, and when the battery power is low, the buzzer alarm 7 can sound and the alarm lamp 8 can flash.
The control system consists of a raspberry pi microcomputer, an upper computer, a stm32 control panel and a slam system. The Slam system is composed of a laser radar sensor 2, a depth camera, an inertial measurement sensor 14, a temperature sensor 4, an infrared gas sensor 13 and a humidity sensor 5 which are installed on a vehicle body. Each sensor is connected to the stm32 control board. The stm32 control panel and depth camera are connected to a raspberry pi microcomputer. Humidity, temperature, gas concentration and the like as indexes for measuring the tunnel environment can be displayed on the liquid crystal display screen 1 in real time, and the information is synchronously transmitted to a remote monitoring center.
The drive device 10 of the vehicle body chassis includes a brake, a decelerator, and a drive motor. The wheels 9 are Mecanum wheels, a driving motor is connected with the four Mecanum wheels of the chassis, a PC control unit 15 or a manual control driving motor starts to work, and the adjustment of the running speed, the running direction and the brake is controlled by the PC control unit 15. In order to compensate the problem of insufficient light in the tunnel, a row of LED lamps 19 are arranged below the depth camera to improve the image quality. The height of the lifting support 16 is adjusted by controlling the driving device 10, and the angle adjuster 17 is controlled to shoot pictures with different heights and different directions, so that the inspection range of the tunnel is improved. Carry on infrared thermal imaging equipment through laser radar and utilize laser scanner to obtain tunnel internal surface point cloud data, utilize point cloud data, judge tunnel and rail structure deformation state, if structural convergence warp etc. utilize infrared thermal imaging equipment can detect the cable in the tunnel good or bad. When the laser radar detects that a large obstacle exists on the track, the PC control unit 15 sends an instruction to enable the buzzer alarm 7 to sound and the alarm lamp 8 to flicker to remind monitoring personnel. Meanwhile, the control system is also provided with a battery power detection system, and when the battery power is lower than a threshold value set in the main control panel 6, the control system can also make the buzzer alarm 7 sound and the alarm lamp 8 flash. The tail part of the vehicle is also provided with a warning lamp 11 for reminding a rear inspector. The temperature sensor 4, the humidity sensor 5, the infrared gas sensor 13 and the inertial measurement sensor 14 are connected with the stm32 control panel, and various detection information for measuring the tunnel environment indexes are finally displayed on the liquid crystal display screen 1.
With reference to fig. 1 and 2, the specific working process of the present invention is: the intelligent patrol car utilizes a Slam system carried by the intelligent patrol car, and the Slam system consists of a laser radar sensor 2, a depth camera, an inertial measurement sensor 14, a temperature sensor 4, an infrared gas sensor 13 and a humidity sensor 5 which are arranged on a car body 20. The method comprises the steps of acquiring images of the surface of a tunnel lining and the whole scene of the tunnel by using a depth camera, scanning and detecting the deformation of the inner contour of the tunnel, cracks on the surface of the lining, water leakage and diseases and detecting a back cavity by using a three-dimensional laser radar, and detecting the deformation of a rail in the tunnel and a large obstacle on the rail by using the laser radar. The infrared thermal imaging device is used for detecting the damage and the deformation of the cable in the tunnel. The information detected by the temperature sensor 4, the infrared gas sensor 13 and the humidity sensor 5 is also transmitted to a microcomputer of the raspberry type control system, the disease information is connected with a remote monitoring center through a micro PC and a WiFi module of a wireless communication system, the remote monitoring center can remotely access the tunnel intelligent vehicle (mutual access among computers is realized), and various disease information detected by the slam system is received and accurately positioned to realize remote monitoring and control. It should be noted that the above mentioned algorithms are prior art in the field, and the present invention does not improve the algorithm itself.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that the terms "first \ second \ third" referred to in the embodiments of the present application merely distinguish similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence when allowed. It should be understood that "first \ second \ third" distinct objects may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented in an order other than those illustrated or described herein.
The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, product, or device.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a railway tunnel intelligence inspection car based on SLAM technique which characterized in that includes: the device comprises a vehicle body, a laser radar sensor, a communication device, a temperature sensor, a humidity sensor, a main control board, wheels, a driving device, a power supply module, an infrared gas sensor, an inertia measurement sensor, a PC (personal computer) control group, a lifting support, an angle regulator and a vision sensor;
the wheels and the driving device are arranged at the bottom of the vehicle body; the laser radar sensor and the lifting support are arranged at the top of the vehicle body; the vision sensor is arranged at the top of the lifting bracket through an angle adjuster; the communication device, the main control board, the power supply module and the PC machine control group are arranged inside the vehicle body; the temperature sensor, the humidity sensor, the infrared gas sensor and the inertia measurement sensor are arranged on the outer side surface of the vehicle body;
the PC control group is electrically connected with the main control board and the driving device respectively; the PC control unit is wirelessly connected with a remote monitoring center through the communication device; the lifting bracket and the angle regulator are respectively electrically connected with the driving device; the wheels are mechanically connected with the driving device; the main control board is electrically connected with the power supply module, the vision sensor, the laser radar sensor, the temperature sensor, the humidity sensor, the infrared gas sensor and the inertia measurement sensor respectively.
2. The railway tunnel intelligent patrol vehicle based on the SLAM technology as claimed in claim 1, further comprising a buzzer alarm and an alarm lamp, wherein the buzzer alarm and the alarm lamp are arranged on the outer side surface of the vehicle body, and the buzzer alarm and the alarm lamp are electrically connected with the PC control unit.
3. The railway tunnel intelligent patrol vehicle based on SLAM technology as claimed in claim 1, further comprising an LED lamp, wherein said LED lamp is arranged below said vision sensor, and said LED lamp is electrically connected with said vision sensor.
4. The SLAM technology-based intelligent patrol vehicle for railway tunnels as claimed in claim 1, further comprising a warning light, wherein the warning light is arranged at the tail of the vehicle body and is electrically connected with the power module.
5. The SLAM technology-based intelligent patrol vehicle for railway tunnels as claimed in claim 1, wherein said vision sensor employs a depth camera.
6. The SLAM technology-based intelligent patrol vehicle for railway tunnels as claimed in claim 1, wherein said communication device is a WiFi device.
7. The SLAM technology-based intelligent patrol vehicle for railway tunnels as claimed in claim 1, wherein the lidar sensor is mounted with an infrared thermal imaging device.
8. The SLAM technology-based intelligent patrol vehicle for railway tunnels as claimed in claim 1, wherein the main control board adopts stm32 control board.
9. The SLAM technology-based intelligent patrol vehicle for railway tunnels as claimed in claim 1, wherein said PC control unit comprises a plurality of raspberry-type microcomputers.
10. The railway tunnel intelligent patrol vehicle based on the SLAM technology as claimed in claim 1, further comprising a liquid crystal display screen, wherein the liquid crystal display screen is arranged on the top of the vehicle body and is electrically connected with the main control board.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023106673.5U CN213750759U (en) | 2020-12-22 | 2020-12-22 | Railway tunnel intelligent patrol vehicle based on SLAM technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023106673.5U CN213750759U (en) | 2020-12-22 | 2020-12-22 | Railway tunnel intelligent patrol vehicle based on SLAM technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799150A (en) * | 2021-09-24 | 2021-12-17 | 南京信息工程大学 | Gas concentration inspection robot based on indoor navigation and positioning and control method thereof |
| CN116587781A (en) * | 2023-05-16 | 2023-08-15 | 广州铁诚工程质量检测有限公司 | Unmanned car for tunnel detection |
-
2020
- 2020-12-22 CN CN202023106673.5U patent/CN213750759U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799150A (en) * | 2021-09-24 | 2021-12-17 | 南京信息工程大学 | Gas concentration inspection robot based on indoor navigation and positioning and control method thereof |
| CN116587781A (en) * | 2023-05-16 | 2023-08-15 | 广州铁诚工程质量检测有限公司 | Unmanned car for tunnel detection |
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