LU501077B1 - Safety inspection robot for underground tunnel - Google Patents

Abstract

A safety inspection robot for an underground tunnel, including an inspection track and a robot installed and movable along the inspection track, a main control system is arranged in a robot body, the main control system includes a self-balancing control module, motor control module, positioning module and image recognition module, the self-balancing control module automatically adjusts, when the robot body deflects, height of each electrical servo wheel in an electrical servo push rod according to attitude information of the robot body acquired by a three-dimensional inertial measurement unit of the robot body, so as to make the robot body horizontal, the motor control module controls a rotating speed and the height of each electrical servo wheel in the electrical servo push rod, the positioning module acquires position information of the robot in real time, and the image recognition module detects an image collected in a motion process of the robot.

Description

DESCRIPTION 501077

SAFETY INSPECTION ROBOT FOR UNDERGROUND TUNNEL FIELD OF TECHNOLOGY

[0001] The embodiments of the present invention relate to the technical field of safety inspection, and in particular to a safety inspection robot for an underground tunnel.

BACKGROUND

[0002] In China, the urbanization has been accelerated and the total demand for urban transportation has grown tremendously at present due to the rapid social economic development, causing the great contradiction of urban transportation. Compared with the traditional ground transportation mode, a subway, an important tool of the urban transportation, has the advantages of large transportation volume, high speed, punctuality, convenience, energy saving and environmental protection, etc., and is increasingly important in improving an urban traffic environment, thus being widely used in many cities.

[0003] In the cities that have been built or are under construction, increasing construction projects excluding subway construction are conducted around or above a subway tunnel, which include unloading, loading, pumping, drainage, vibration or other construction procedures or factors, possibly causing some influences such as structural deformation, inclination, displacement, uplift or settlement on a structure of the subway tunnel. However, structural deformation can cause reduction in operation performance and efficiency of a train, can increase friction between a train wheel and a wheel track, and then speeds up wear of the train wheel and the wheel track. When a degree of track bed uplift or settlement reaches 3 mm or above, it is necessary to adjust a track. Structural cracks of a subway tunnel are mainly divided into track bed cracks, side wall cracks and vault cracks, which can be generated due to design and construction, operation and load, external environment change or other factors. The factors roughly include:

[0004] (1) Foundation differential settlement

[0005] If an engineering design solution of a structure of a subway tunnel is irrational during construction, a foundation reinforcement effect can be unobvious and unbalanced, the LUs01077 later operation and load cause foundation differential settlement, and when a settlement degree is far beyond an allowable range of a design and actual engineering structure, a large number of structural disease cracks can appear.

[0006] (2) Tunnel structure surrounding land displacement

[0007] When deep foundation pit excavation is conducted around a subway operating tunnel, foundation pit dewatering and horizontal displacement of a supporting structure can cause displacement of a land around the structure of the subway tunnel, which leads to insufficient lateral earth confinement pressure of the structure of the subway tunnel and increasing horizontal convergence of a tunnel section, and then causes the vault cracks in the tunnel structure and peeling cracks between the track bed and a lining structure, resulting in corner collapse and block falling at a corner of a segment.

[0008] (3) Setting of deformation joints

[0009] Deformation joints mainly include settlement joints and expansion joints, and considering a maximum vertical dislocation that a whole track bed foundation of the subway structure can bear, except for special requirements, the settlement joints are basically not set. However, a limited number of expansion joints are usually set in areas with soft soil to increase longitudinal stiffness of the structure, which further increases a settlement degree after construction when a foundation reinforcement effect is poor or there is an influence of an external environment, thus increasing a structural stress concentration and easily leading to the structural cracks.

[0010] (4) Insufficient structural strength

[0011] During design and construction of the subway tunnel, if there are problems in engineering design or an insufficient compaction degree of backfill behind a wall during the construction, the structural strength and quality cannot meet relevant design and construction requirements, and structural cracks in the tunnel will also easily occur.

[0012] (5) Influences of train vibration

[0013] High departure frequency of a train makes the subway tunnel structure suffer from low-frequency continuous vibration for a long time, which easily leads to a large degree of longitudinal settlement of an underlying soft soil foundation and cracks in a stress concentration section of the tunnel structure. For existing cracks, long-term subway operation and load are likely to make the track bed to vibrate up and down, resulting in back-suction. The back-suction makes water constantly erode the cracks, and the cracks are prone to expansion.

[0014] (6) Water leakage problem LUS01077

[0015] As another common problem of the subway tunnel structure, water leakage can lead to and accelerate weathering and denudation of a lining of the tunnel structure. If containing corrosive substances, the leaked water may further corrode and damage lining concrete, resulting in decreased bearing capacity of the lining and seriously influencing durability of the subway tunnel structure. Generally speaking, the water leakage occurs in circumferential joints, longitudinal joints, interval communication channels and other parts, which are mainly caused by continuous development of the structural cracks and failure of a waterproof system due to problems in a structural waterproof layer.

[0016] Moreover, when deformation is too severe to be detected, a train running at a high speed may turn over, causing a serious traffic accident. Therefore, safety inspection for the subway tunnel is important to subway safe operation. Currently, inspection is mainly conducted in the tunnel manually, that is, through human eye detection and artificial instrument detection, which have high requirements on the detection personnel and can hardly guarantee safe operation of the detection personnel. The above methods have uncertainty of safety. Manual detection is subjective, so it is difficult for the experienced detection personnel to guarantee intactness and accuracy of a detection result.

SUMMARY

[0017] In order to solve the problems or at least part of the problems, the present invention provides a safety inspection robot for an underground tunnel.

[0018] The embodiments of the present invention provide the safety inspection robot for an underground tunnel. The safety inspection robot includes an inspection track and a robot installed on the inspection track and movable along the inspection track.

[0019] The robot includes an electrical servo wheel set and a robot body, and the robot body is slidably connected to the inspection track by means of the electrical servo wheel set.

[0020] A main control system is arranged in the robot body, and the main control system includes a self-balancing control module, a motor control module, a positioning module and an image recognition module.

[0021] The self-balancing control module is configured to automatically adjust, when the robot body deflects, a height of each electrical servo wheel in the electrical servo wheel set according to attitude information of the robot body acquired by a three-dimensional inertial measurement unit of the robot body, so as to make the robot body horizontal, so that accidents in a subway integrated pipeline are effectively reduced, cost of human resources LUS01077 and complex personnel coordination and communication is obviously reduced, and risk of fire accidents 1s reduced.

[0022] The motor control module is configured to control a rotating speed and the height of each electrical servo wheel in the electrical servo wheel set.

[0023] The positioning module is configured to acquire position information of the robot in real time.

[0024] The image recognition module is configured to detect an image collected in a motion process of the robot to recognize water spot information and crack information in the image.

[0025] The embodiments of the present invention provide the safety inspection robot for an underground tunnel. The safety inspection robot may use a single track of an existing track for inspection, when the track is idle during the night, the personnel may place the robot body on a subway without secondary construction to monitor water spots, detect tunnel cracks, etc. in the tunnel, during the inspection, the robot may store a picture of a safety problem, the position information and time to generate a daily record of the inspection, during the inspection after recognition of a problem, a safety hazard area is a key monitoring area, cracks of a tunnel wall are observed for a long time, and an independent database is established for later maintenance and treatment of a user.

BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly describe a technical solution in the embodiments of the present invention or in the prior art, a brief introduction to the accompanying drawings required for the description of the embodiments or the prior art will be provided below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. Those of ordinary skill in the art would also derive other accompanying drawings from these accompanying drawings without making inventive efforts.

[0027] Fig. 1 is a structural schematic diagram of a safety inspection robot for an underground tunnel according to the embodiments of the present invention;

[0028] Fig. 2 is a schematic diagram of an inspection process of the safety inspection robot for an underground tunnel according to the embodiments of the present invention;

[0029] Fig. 3 is a schematic diagram of a main control system according to the LUS01077 embodiments of the present invention;

[0030] Fig. 4 is a schematic diagram of an electricity taking mode of a communication module according to the embodiments of the present invention; and

[0031] Fig. 5 is a schematic diagram of attitude adjustment according to the embodiments of the present invention.

[0032] Reference numerals:

[0033] inspection track 1, robot body 2, track cement substrate 3, reflective sticker 4, electrical servo wheel 5, camera system 6, ultrasonic radar 7, laser range finder 8, laser recognizer 9, antenna 10, electrical push rod 11, plane wheel 12, plane bearing 13, first locking nut 14, supporting shaft 15, rolling shaft 16, ball bearing 17, second locking nut 18, fixing nut 19, pitch motor 20, shell 21, housing 22, rotary motor 23, rotary driving gear 24, rotary auxiliary gear 25, main control system 26, elastic rubber sheath 27, self-balancing control module 261, motor control module 262, positioning module 263, image recognition module 264, detection module 265, communication module 266, storage battery 267, and three-dimensional inertial measurement unit 268.

DESCRIPTION OF THE EMBODIMENTS

[0034] In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, rather than all of the embodiments. Based on the embodiments of the present invention, all the other embodiments obtained by those of ordinary skill in the art without inventive effort are within the scope of the present invention.

[0035] Increasing construction projects excluding subway construction are conducted around or above a subway tunnel, which include unloading, loading, pumping, drainage, vibration or other construction procedures or factors, possibly causing some influences such as structural deformation, inclination, displacement, uplift or settlement on a structure of the subway tunnel. Structural cracks of the subway tunnel are mainly divided into track bed cracks, side wall cracks and vault cracks, which may be generated due to design and construction, operation and load, external environment change or other factors. Moreover,

when deformation is too severe to be detected, a train running at a high speed may turn over, LUS01077 causing a serious traffic accident. Therefore, safety inspection for the subway tunnel is important to subway safe operation.

[0036] Currently, inspection is conducted in the tunnel mainly by means of manpower and instruments, that is, through human eye detection and artificial instrument detection, which are both mature and reliable in technology but have high requirements on the detection personnel and can hardly guarantee safe operation of the detection personnel. The above methods have uncertainty of safety. Manual detection is subjective, so it is difficult for the experienced detection personnel to guarantee intactness and accuracy of a detection result. A mode combining manpower and instruments is increasingly difficult to meet detection requirements due to increase in current detection workloads. Time required for the whole detection is prolonged, so safety of the detection personnel cannot be further guaranteed. A tunnel trolley appearing recently conducts safety monitoring manually, which is limited by personnels quality, especially the inspection is usually conducted during the night or early in the morning, so working efficiency is low.

[0037] Each embodiment of the present invention provides a safety inspection robot for an underground tunnel. The safety inspection robot may use a single track of an existing track for the inspection, when the track is idle during the night, the personnel may place a robot body 2 on a subway for automatic inspection without secondary construction. The description and introduction will be made below by means of a plurality of embodiments.

[0038] As shown in Fig. 1, the embodiments of the present invention provide the safety inspection robot for an underground tunnel. The safety inspection robot includes an inspection track 11 and a robot installed on the inspection track 11 and movable along the inspection track 11.

[0039] The robot includes an electrical servo wheel set and the robot body 2, and the robot body 2 is slidably connected to the inspection track 11 by means of the electrical servo wheel set.

[0040] A main control system is arranged in the robot body. As shown in Fig. 3, the main control system includes a self-balancing control module 261, a motor control module 262, a positioning module 263 and an image recognition module 264.

[0041] The self-balancing control module 261 is configured to automatically adjust, when the robot body deflects, a height of each electrical servo wheel in the electrical servo wheel set according to attitude information of the robot body acquired by a three-dimensional inertial measurement unit 268 of the robot body, so as to make the robot body horizontal.

[0042] The motor control module 262 is configured to control a rotating speed and the LUS01077 height of each electrical servo wheel in the electrical servo wheel set.

[0043] The positioning module 263 is configured to acquire position information of the robot in real time.

[0044] The image recognition module 264 1s configured to detect an image collected in a motion process of the robot to recognize water spot information and crack information in the image.

[0045] A detection module 265 is further included, and the detection module 265 includes a camera system 6, an ultrasonic radar 7, a laser range finder 8 and a laser recognizer

9.

[0046] Specifically, in the embodiment, the camera system 6 has a binocular recognition function for target recognition. The laser range finder 8 includes a laser, an infrared label (a reflective sticker) and a speedometer. The ultrasonic radar 7 includes an ultrasonic module and a photoelectric collision avoidance module for obstacle detection, and further includes an environmental sensor for detecting environmental information in an inspection route.

[0047] Automation of monitoring a disaster, fire prevention and harmful gas of the structure of the subway tunnel of a cable tunnel is comprehensively achieved, a backward mode of manually entering the cable tunnel for inspection is changed, and labor intensity and working risk are reduced; and accidents in the cable tunnel of the subway is effectively reduced, cost of human resources and complex personnel coordination and communication is obviously reduced, risk of fire accidents is reduced, hidden danger of the accidents may be found at an early stage, and the safety in the subway tunnel is improved. Automatic inspection, non-contact inspection, etc. of the robot solve a potential safety problem in the subway tunnel, improve the working efficiency and reliability of maintenance of the cable tunnel, and effectively reduce the cost.

[0048] In the embodiment, a storage battery 267 is further arranged in the main control system.

[0049] Based on the embodiments, a communication module 266 is further included, and the communication module 266 inducts an alternating voltage from one side of a high-voltage line in the underground tunnel by means of a self-induction coil, and obtains a direct current voltage by means of a rectifier circuit and a power conversion circuit.

[0050] Due to the fact that a WIFI system requires power supply in the tunnel, the secondary construction is needed. In order to solve the problem, the communication module 266 in the embodiment uses the self-induction coil to take electricity from a main cable for subway power supply in the tunnel. A structure of the self-induction coil and an electricity LUS01077 taking mode are shown in Fig. 4. The communication module 266 in the underground tunnel is powered by a self-powered power supply of the high-voltage line. A current transformer directly inducts the alternating voltage of a certain magnitude from one side of the high-voltage line, then treats the alternating voltage by means of the corresponding rectifier circuit and power conversion circuit, and finally outputs the stable direct current voltage for load to provide sufficient energy for the positioning module 263 and the communication module 266 in the tunnel, and the output power supply is connected to a WIFI module by means of a wire to achieve long-distance communication in the tunnel.

[0051] In order to meet requirements of robot communication, such as high-speed data transmission (up to 2-3 Mbit/s), video transmission, infrared transmission, and positioning information transmission, in the embodiment, the present invention provides a self-adaptive transmission method. Channel state information is used for changing a size of transmitted data, a transmission symbol law, an encoding law, a transmission power level and an antenna weight at a transmitting terminal. À WIFI and long-wave communication module 266 is powered through self-electricity-taking by the high-voltage line in real time. When the robot conducts detection, the communication module 266 is automatically activated, and when the robot does not work, the system is automatically shut down, so that the module does not require management, and unmanned management is achieved.

[0052] Based on the embodiments, the positioning module 263 includes a laser and reflective stickers, and the reflective stickers are arranged at two sides of the inspection track at equal intervals.

[0053] Specifically, in the embodiment, the positioning module 263 works according to a signal per 100 meters marked by a laser label module (one reflective sticker is set every 100 meters) and short distance information fed back by motor speed monitoring. Considering that a motor is out of step or a roller slips, calibration of each position is conducted according to each laser label. The laser label module (the reflective sticker) is composed of an infrared laser light source and an infrared avalanche diode installed on the robot body; and the reflective sticker has two types including a single reflective strip and double reflective strips after adjustment of light and dark stripes, where the double reflective strips may reflect light to form dipulse. According to a requirement of positioning accuracy, the number of reflective strips may further be increased to 4 or above to achieve compilation of address codes.

[0054] Based on the embodiments, the self-balancing control module 261 includes a navigation unit, a single-axis accelerometer, a single-axis gyroscope and a single-axis geomagnetometer. LUS01077

[0055] The navigation unit is configured to establish a navigation coordinate system of the robot and set a navigation coordinate of the robot in the navigation coordinate system according to an inspection line.

[0056] The single-axis accelerometer 1s configured to detect an acceleration signal of the robot.

[0057] The single-axis gyroscope is configured to detect an angular speed signal of the robot relative to the navigation coordinate system.

[0058] The single-axis geomagnetometer is configured to detect a heading signal of the robot relative to a preset navigation coordinate.

[0059] Specifically, in the embodiment, the single track of the existing track in the tunnel is used for motion of the robot, so a volume of the robot may be effectively reduced, thus facilitating operation of the robot every day. Different from a double-track robot and a mounting-track robot, the robot uses the single track of the existing track for the motion. It is necessary to consider balance when the robot moves on the single track in a moving vehicle, especially when the robot moves in an arc along the track, which is influenced by centrifugal force. The robot may neither rely on the double-track robot to limit a wheel to achieve stability, nor on the mounting-track robot to limit the wheel by means of lateral pulling force.

[0060] In the embodiment, as shown in Fig. 5, the electrical servo wheel set includes four electrical servo wheels (a wheel 1, a wheel 2, a wheel 3 and a wheel 4 in Fig. 5), each of the two sides of the inspection track is provided with two corresponding wheels, and pressure and friction along the inspection track mainly exist between the robot and the inspection track. A moment between the wheel and the inspection track is too small to overcome the centrifugal force. Therefore, in order to achieve the stability of the robot, the robot monitors an attitude of the robot in real time by means of a gyroscope. Once a gravity center of the robot deflects and deviates from a support point of the track, speeds of the wheels 2 and 4 are increased. By using a speed difference, the track may form acting force opposite to the centrifugal force on the moving vehicle. Through real-time monitoring of the attitude and continuous control of the speed, the stability of the robot running on the single track may be achieved.

[0061] Specifically, in the embodiment, three single-axis accelerometers, three single-axis gyroscopes and three single-axis geomagnetometers are included. The single-axis accelerometer, the single-axis gyroscope and the single-axis geomagnetometer form the three-dimensional inertial measurement unit 268, where the single-axis accelerometer is configured to detect an acceleration signal of an object in a carrier coordinate system, the LUS01077 single-axis gyroscope is configured to detect an angular speed signal of a carrier relative to the navigation coordinate system, and the single-axis geomagnetometer is configured to detect a heading signal of the carrier relative to the navigation coordinate. By measuring signals of an angular speed, acceleration and a heading angle of the object in three-dimensional space, the attitude information of the object may be calculated. In order to improve detection accuracy and reliability, the laser range finder is configured to calibrate left and right positions of the robot. When the robot deflects and a measured distance between two sides differs greatly from a test position in the system, the robot system automatically adjusts the heights of left and right wheels to automatically match the horizontal state after acquiring relevant information.

[0062] In the embodiment, the inspection track 11 may be a single track or double tracks, the existing track may be used for inspection, and environmental parameters are collected by means of the camera system 6, the ultrasonic radar 7, the laser range finder 8 and the laser recognizer 9, so that the automation of monitoring the disaster, the fire prevention and the harmful gas of the structure of the subway tunnel of the cable tunnel is comprehensively achieved, the backward mode of manually entering the cable tunnel for the inspection is changed, and the labor intensity and the working risk are reduced; and the hidden danger of the accidents may be found at the early stage, and the safety in the subway tunnel is improved. The automatic inspection, the non-contact inspection, etc. of the robot solve the potential safety problem in the subway tunnel, improve the working efficiency and reliability of the maintenance of the cable tunnel, and reduce the operation and maintenance cost effectively.

[0063] Based on the embodiments, a track cement substrate 3 is arranged under the inspection track 11, and the inspection track 11 is fixed onto the track cement substrate 3.

[0064] Based on the embodiments, the robot body 2 is slidably connected to a flat face at a top of the inspection track 11 by means of a plane wheel 12.

[0065] Two fixing shafts are fixed to a lower portion of the robot body 2, a rolling shaft 16 is fixedly arranged between the two fixing shafts, the rolling shaft 16 is connected to a plane bearing 13 of the plane wheel 12 in a rolling mode so as to rotate the plane wheel 12 along the rolling shaft 16, and an outer side face of the plane wheel 12 makes contact with the flat face at the top of the inspection track 11.

[0066] In the embodiment, in order to reduce friction resistance of the robot body 2 on the inspection track 11, the plane wheel 12 is arranged at a supporting position of the robot body 2 and the inspection track 11, the robot body 2 may be supported on the inspection track LUS01077 11 by means of the plane wheel 12, and the friction resistance of a contact face between the robot body 2 and the inspection track 11 when the robot body moves may be reduced, so that the robot body 2 may be driven to run more easily. Specifically, in the embodiment, the rolling shaft 16 of the plane wheel 12 is fixed to the robot body 2 by means of a first locking nut 14, the plane wheel 12 may rotate relative to the rolling shaft 16, the rolling shaft 16 is fixedly arranged between supporting shafts 15 by means of the first locking nut, the two supporting shafts 15 fix the robot body 2, and the rolling shaft 16 is connected to the plane wheel 12 in a rolling mode by means of the plane bearing 13, so that relative rolling between the rolling shaft 16 and the plane wheel 12 may be achieved, and the outer side face of the plane wheel 12 makes contact with the flat face at the top of the inspection track 11, thus supporting the robot body 2 and rolling the robot body 2 on the flat face at the top of the inspection track 11.

[0067] Based on the embodiments, a cross section of the inspection track 11 1s I-shaped and includes the flat face at the top and concave faces at two sides.

[0068] In the embodiment, the electrical servo wheel set is connected to the plane wheel 12 in a matching mode by means of the I-shaped inspection track 11, and the structure is suitable for a general-use underground track structure. Therefore, when inspection is conducted in some underground places with tracks, the safety inspection robot may use the single track of the existing track for the inspection, when the track is idle during the night, the personnel may place the robot body 2 on the subway for the automatic inspection without the secondary construction.

[0069] Based on the embodiments, as shown in Fig. 2, the electrical servo wheel set includes four electrical push rods 11 and four electrical servo wheels 5, and an output shaft of each of the electrical push rods 11 is connected to a ball bearing 17 of the corresponding electrical servo wheel 5; and outer wheels of two of the electrical servo wheels 5 make contact with the concave face at one side of the inspection track 1, and outer wheels of the other two electrical servo wheels 5 make contact with the concave face at the other side of the inspection track 1.

[0070] In the embodiment, the four electrical push rods 11 cooperate with the electrical servo wheels 5 to drive the robot body 2, which are simple in structure and convenient to install. The four electrical servo wheels 5 are installed in a back-forth direction of the inspection track 1 to drive the whole robot body 2 to advance along the inspection track 1. A center of the electrical servo wheel 5 is provided with the electrical push rod 11,

the electrical push rod 11 is inserted into the electrical servo wheel 5, and an interior of the LUS01077 electrical servo wheel 5 1s provided with the ball bearing 17, so that the electrical push rod 11 does not need to rotate when the electrical servo wheel 5 rotates, and an axial end of the electrical push rod 11 is provided with a threaded hole to lock a whole driving mechanism by means of a second locking nut 18.

[0071] Based on the embodiments, the output shaft of the electrical push rod 11 is sleeved with an elastic rubber sheath 27.

[0072] In the embodiment, an exposed rod part of the electrical push rod 11 1s sleeved with the elastic rubber sheath 27 to prevent dust, water spots or other damage.

[0073] Based on the embodiment, the robot body includes a shell 21 and a housing 22 located on the shell 21; and the shell 21 is fixedly connected to the housing 22 by means of a fixing nut 19.

[0074] The main control system 26 is arranged in the shell 21, the electrical push rod 11 is arranged in the shell 21, the ultrasonic radar 7, the laser range finder 8 and the laser recognizer 9 are arranged outside the shell 21, and the electrical push rod 11, a servo motor wheel, the ultrasonic radar 7, the laser range finder 8 and the laser recognizer 9 are electrically connected to the main control system 26; and

[0075] a rotating mechanism 1s arranged in the housing 22, and the camera system 6 is arranged on the housing 22 and connected to the rotating mechanism.

[0076] In the embodiment, the main control system 26 is configured to control the whole robot body 2 to conduct the inspection and data collection according to the preset condition, which includes the following steps that the robot body 2 is controlled to run at a preset speed, the servo motor wheel 1s controlled to adjust a running state of the robot body 2, and the servo motor wheel, the ultrasonic radar 7, the laser range finder 8 and the laser recognizer 9 are controlled to collect the environmental data. Moreover, distance recognition, positioning, communication and self-electricity-taking are conducted.

[0077] Based on the embodiments, the camera system 6 includes a camera and the rotating mechanism; the rotating mechanism includes a pitch motor 20 and a rotary motor 23, a rotary driving gear is fixed to an output shaft of the rotary motor 23, a rotary auxiliary gear 1s fixed to an output shaft of the pitch motor 20, the output shaft of the rotary motor 23 is connected to the camera system 6, and the rotary driving gear 24 meshes with the rotary auxiliary gear 25.

[0078] In the embodiment, multi-angle and multi-height photographing of the camera system 6 may be achieved by means of the rotary motor 23 and the pitch motor 20, so that the collected data is more comprehensive, mistakes during the inspection are prevented, and the LUS01077 safety of the inspection is guaranteed.

[0079] Based on the embodiments, the camera system 6 includes a binocular depth camera and a color camera.

[0080] In conclusion, the embodiments of the present invention provide the safety inspection robot for an underground tunnel. The safety inspection robot may use a single track of an existing track for inspection, when the track is idle during the night, the personnel may place the robot body on a subway without secondary construction to monitor water spots, detect tunnel cracks, etc. in the tunnel, during the inspection, the robot may store a picture of a disaster problem, the position information and time to generate a daily record of the inspection, during the inspection after recognition of a problem, a safety hazard area is a key monitoring area, cracks of a tunnel wall are observed for a long time, and an independent database is established for later maintenance and treatment of a user.

[0081] The apparatus embodiments described above are merely schematic, where the unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, the component may be located at one place, or distributed on a plurality of network units. Part or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiments. Those of ordinary skill in the art may understand and implement the present invention without making the inventive effort.

[0082] Finally, it should be noted that the above embodiments are merely used to describe the technical solution of the present invention, rather than limiting the same. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solution described in the foregoing embodiments may still be modified, or some of the technical features therein may be equivalently replaced. However, these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims (7)

CLAIMS LU501077

1. A safety inspection robot for an underground tunnel, comprising an inspection track and a robot installed on the inspection track and movable along the inspection track, wherein the robot comprises an electrical servo wheel set and a robot body, and the robot body 1s slidably connected to the inspection track by means of the electrical servo wheel set; a cross section of the inspection track comprises a flat face at a top and concave faces at two sides; the electrical servo wheel set comprises four electrical push rods and four electrical servo wheels, and an output shaft of each of the electrical push rods is connected to a ball bearing of the corresponding electrical servo wheel; outer wheels of two of the electrical servo wheels make contact with the concave face at one side of the inspection track, outer wheels of the other two electrical servo wheels make contact with the concave face at the other side of the inspection track, and the output shaft of each electrical push rod is sleeved with an elastic rubber sheath; a main control system is arranged in the robot body, and the main control system comprises a self-balancing control module, a motor control module, a positioning module and an image recognition module; the self-balancing control module is configured to automatically adjust, when the robot body deflects, a height of each electrical servo wheel in the electrical servo wheel set according to attitude information of the robot body acquired by a three-dimensional inertial measurement unit of the robot body, so as to make the robot body horizontal, the motor control module is configured to control a rotating speed and the height of each electrical servo wheel in the electrical servo wheel set; the positioning module is configured to acquire position information of the robot in real time; the positioning module comprises a laser and reflective stickers, and the reflective stickers are arranged at the two sides of the inspection track at equal intervals; the image recognition module is configured to detect an image collected in a motion process of the robot to recognize water spot information and crack information in the image; and a communication module is further included, and the communication module inducts an alternating voltage from one side of a high-voltage line in the underground tunnel by means of a self-induction coil, and obtains a direct current voltage by means of a rectifier circuit and a power conversion circuit.

2. The safety inspection robot for an underground tunnel according to claim 1, further comprising a detection module, wherein the detection module comprises a camera system, an ultrasonic radar, a laser range finder and a laser recognizer. LUS01077

3. The safety inspection robot for an underground tunnel according to claim 1, wherein the robot body is slidably connected to the flat face at the top of the inspection track by means of a plane wheel; and two fixing shafts are fixed to a lower portion of the robot body, a rolling shaft is fixedly arranged between the two fixing shafts, the rolling shaft is connected to a plane bearing of the plane wheel in a rolling mode so as to rotate the plane wheel along the rolling shaft, and an outer side face of the plane wheel makes contact with the flat face at the top of the inspection track.

4. The safety inspection robot for an underground tunnel according to claim 1, wherein the robot body comprises a shell and a housing located on the shell; and the main control system is arranged in the shell, and the shell is slidably connected to the inspection track by means of the electrical servo wheel set.

5. The safety inspection robot for an underground tunnel according to claim 2, wherein the camera system comprises a camera and a rotating mechanism; the rotating mechanism comprises a pitch motor and a rotary motor, a rotary driving gear is fixed to an output shaft of the rotary motor, a rotary auxiliary gear is fixed to an output shaft of the pitch motor, the output shaft of the rotary motor is connected to the camera, and the rotary driving gear meshes with the rotary auxiliary gear.

6. The safety inspection robot for an underground tunnel according to claim 5, wherein the camera comprises a binocular depth camera and a color camera.

7. The safety inspection robot for an underground tunnel according to claim 1, wherein the self-balancing control module comprises a navigation unit, a single-axis accelerometer, a single-axis gyroscope and a single-axis geomagnetometer; the navigation unit is configured to establish a navigation coordinate system of the robot and set a navigation coordinate of the robot in the navigation coordinate system according to an inspection line; the single-axis accelerometer is configured to detect an acceleration signal of the robot; the single-axis gyroscope is configured to detect an angular speed signal of the robot relative to the navigation coordinate system; and the single-axis geomagnetometer is configured to detect a heading signal of the robot relative to a preset navigation coordinate.