WO2020047879A1 - 一种用于隧道的智能巡检系统 - Google Patents

一种用于隧道的智能巡检系统 Download PDF

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Publication number
WO2020047879A1
WO2020047879A1 PCT/CN2018/104742 CN2018104742W WO2020047879A1 WO 2020047879 A1 WO2020047879 A1 WO 2020047879A1 CN 2018104742 W CN2018104742 W CN 2018104742W WO 2020047879 A1 WO2020047879 A1 WO 2020047879A1
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Prior art keywords
tunnel
module
information
fault
data
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PCT/CN2018/104742
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English (en)
French (fr)
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刘春梅
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刘春梅
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Publication of WO2020047879A1 publication Critical patent/WO2020047879A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • the invention relates to the technical field of tunnel security, and in particular, to an intelligent inspection system for tunnel security detection.
  • a tunnel is an engineering building buried in the ground. It is a form of human use of underground space. Tunnels can be divided into traffic tunnels, hydraulic tunnels, municipal tunnels, and mine tunnels. The tunnel conference held by the International Economic Cooperation and Development Organization in 1970 combined various factors. The definition of a tunnel is: a section with a shape and size of more than 2 square meters constructed for a certain purpose and under any action on the ground. The cave. According to different use environments, tunnels can be divided into highway tunnels, subsea tunnels, underground civil air defense works, subway tunnels, light rail tunnels and so on.
  • the detection of the tunnel is difficult. According to the fault manifestation, it can be divided into equipment wear, fracture, and crack; according to the physical type of the fault inducement, it can be divided into electrical fault, signal fault, mechanical fault and electronic fault.
  • the existing fault diagnosis methods are mainly of the following four categories: (1) experience method: the operation inspector diagnoses the fault based on experience, visual inspection and logical judgment; (2) component replacement method: replace the possible faulty component with a new component, and then Verification by operation; (3) Equipment detection method: locate fault points with the help of professional instruments and equipment; (4) Operation record search method: Find fault problems by comparison and reference to operation records.
  • Experience method the operation inspector diagnoses the fault based on experience, visual inspection and logical judgment
  • component replacement method replace the possible faulty component with a new component, and then Verification by operation
  • Equipment detection method locate fault points with the help of professional instruments and equipment
  • Operation record search method Find fault problems by comparison and reference to operation records.
  • Existing diagnostic methods require operation inspectors to be familiar with the working principles and various fault information of various components of rail transit. The work intensity is large, the efficiency is low, and the accuracy of fault diagnosis is easily disturbed by human factors.
  • the invention is to overcome the problems of slow inspection speed, high work intensity, low work efficiency and the like in the prior art when performing a manual security check, and provides an intelligent inspection system for a tunnel, which can real-time the status of the infrastructure in the tunnel And the running status of the vehicles in the tunnel, timely discovering faults or hidden dangers, saving time for security inspections, and improving the efficiency of security inspections.
  • the invention provides an intelligent inspection system for a tunnel, including:
  • Track It is fixed on the inner surface of the tunnel and the length is greater than or equal to the length of the tunnel. It is used to provide guidance for the movement of the smart robot along the tunnel extension direction. The track can also be used to provide power to the smart robot. Sliding contact wires on the track are connected for power;
  • Intelligent robot It is set on the track and can reciprocate along the track in its extending direction. It is used to collect real-time status data in the tunnel, used to transmit real-time status data to the central processing system, and used to receive instructions transmitted by the central processing system. In order to perform the corresponding actions according to the instructions, the smart robot can take power in real time through the track, or it can take power through its own battery;
  • Central processing system for receiving real-time status data transmitted by intelligent robots, for analyzing real-time status data and generating instructions based on the analysis results, for transmitting instructions to intelligent robots;
  • Function assembly module It is set on the intelligent robot, and is used to combine the functional modules in the data acquisition module, motion control module, and emergency rescue module according to the needs of the actual environmental conditions, and is installed on the function assembly module through the interface provided on the function assembly module. Functional assembly module.
  • the functional assembly module can effectively combine the modular products in the data acquisition module, operation control module, and emergency rescue module according to the different tunnel environments and testing items, which can effectively solve the actual problems; the functional assembly module can be changed from intelligent The robot is disassembled, and each modular product is installed on the functional assembly module in advance according to the different testing items. When the intelligent robot needs to be replaced, the functional assembly module originally installed on the intelligent robot is removed and replaced with a new functional assembly module. You can perform the new task.
  • the modular product can be a physical product such as a camera, or a control program such as a running control program.
  • an intelligent robot includes:
  • Robot body used to carry data acquisition module, motion control module, data processing module, main control module and emergency rescue module;
  • Data acquisition module fixedly installed on the robot body, used to collect real-time status data inside the tunnel, and used to transmit real-time status data to the data processing module;
  • Motion control module fixedly installed on the robot body, used to detect the motion status of the robot body and generate motion status information, used to send the motion status information to the main processing module, and used to receive motion instructions sent by the main control module Used to adjust the movement state of the robot body according to the movement instruction;
  • Data processing module fixedly installed on the robot body, used to receive the real-time status data transmitted by the data acquisition module, used to compare the real-time status data with the data in the database and generate a comparison result, which is used to transmit the comparison result to Main control module
  • Main processing module fixedly installed on the robot body, used to receive the comparison results transmitted by the data processing module, used to receive the motion status information sent by the motion control module, used to send instructions to the motion control module, and used to the emergency rescue module Send emergency instructions for the central processing system to send comparison results and exercise status information, and to receive movement instructions, emergency instructions and data update information sent by the central processing system;
  • Emergency rescue module It is fixedly installed on the robot body, stores emergency rescue equipment, is used to receive emergency instructions transmitted by the main processing module, and is used for emergency rescue according to the emergency instructions.
  • the data acquisition module includes:
  • Laser scanning device used for 3D modeling of the tunnel, used to detect tunnel boundaries and deformation, used to detect foreign objects in the tunnel, used to detect track deformation;
  • Scanning camera used to detect tunnel cracks and wet stains, and used to detect foreign objects in the tunnel;
  • Infrared imager used to detect the heating of cables in the tunnel, used to detect the intrusion of people and animals in the tunnel;
  • Temperature detector used to detect abnormal temperature in the tunnel and used to identify the heat source in the tunnel;
  • Speed detector used to detect the speed of the object in the tunnel.
  • the laser scanning device can perform three-dimensional modeling of tunnels, detection of foreign object intrusion, detection of tunnel structure and tunnel curvature deformation, detection of rail geometry (track parts fall off, gauge gauge deformation, etc.); scanning cameras can perform foreign object detection and tunnel wall cracks Detection, wall wet stain detection; camera can monitor the real-time environment in the tunnel in real time; infrared imager can detect cable heating in the tunnel, detection of intrusion of people or animals, detection of power circuit short-circuit in the tunnel, etc .; the emergency rescue module can respond to emergency instructions Launch emergency rescue at the fault location, such as firing fire extinguishing bombs at the fire location.
  • the motion control module includes:
  • 3D inertial measurement unit used to detect the attitude and acceleration of the robot car body, and a gyroscope can be selected;
  • Positioning sensor used to detect the position information of the robot body
  • Motor driver used to provide running power for the robot body
  • Gyroscope used to detect the position information of the robot body, combined with inertial navigation technology can achieve accurate positioning of moving objects;
  • Non-contact obstacle avoidance sensor used to detect the existence of obstacles such as radar on the track.
  • an intelligent inspection system for a tunnel according to the present invention, as a preferred mode, the intelligent robot further includes:
  • the data processing module includes:
  • Data comparison module It is used to compare the real-time status data collected by the data acquisition module with the normal status data of the rail transit system infrastructure stored in the database, and transmit the comparison result to the data judgment module;
  • Data judgment module used to judge the comparison result according to the threshold set in the database, generate fault information or early warning information, and transmit the fault information to the fault diagnosis module, and the early warning information to the fault early warning module;
  • Fault diagnosis module It is used for classifying and rating fault information and locating fault information, and transmitting fault classification information, fault rating information and fault location information to the plant control module;
  • Fault early warning module It is used to classify and rank the early warning information and locate the early warning information, and transmit the early warning classification information, early warning rating information and early warning positioning information to the main control module.
  • the central processing system includes:
  • Database module used to store fault information, early warning information, and updated information summarized by the central processing system
  • Knowledge base module It is used to store the service life and wear data information of various parts and components inside the tunnel;
  • Reasoner module It is used to classify and update the fault information or early warning information summary result transmitted from the central processing system to the old database module and knowledge base module.
  • the database module can automatically update according to the fault information and early warning information transmitted by the data processing module, and use the updated results as the basis for the next fault information or early warning information determination and rating, and realize the intelligent growth of the intelligent inspection robot.
  • the database module includes:
  • Fault information module used to store tunnel fault information, fault classification information, fault location information, fault rating information, and various fault thresholds;
  • Early warning information module used to store early warning information, early warning classification information, early warning positioning information, early warning rating information, and various early warning thresholds of the tunnel.
  • the real-time status data includes real-time status data of infrastructure in the tunnel, real-time status data of running objects in the tunnel, real-time status data of intelligent robot operation, and tunnel Real-time status data of the internal environment.
  • the instructions include a motion instruction for controlling the movement of the intelligent robot and an emergency instruction for controlling the intelligent robot to perform an emergency plan.
  • the data acquisition module further includes a radio frequency scanning device, a toxic gas detector, and a smoke detector.
  • the radio frequency scanning device can scan the electronic tags on the equipment to determine the basic data information and location information of each equipment; the toxic gas detector can identify the toxic gas in the tunnel; the smoke detector can identify the smoke in the tunnel, quickly identify the fire, etc. emergency.
  • an intelligent inspection system for a tunnel is provided with a plurality of tracks in the tunnel, and the tracks are arranged on the side wall or the top of the tunnel.
  • One intelligent inspection robot is set on each track, and multiple intelligent inspection robots can make up for blind spots in detection, improve the accuracy of detection, and improve the safety of the tunnel system.
  • the intelligent robot takes power from the power collecting device and supplies it to the motor.
  • the motor provides power to the driving wheel and drives the intelligent robot to move along the direction of the guide rail.
  • the data acquisition module collects real-time status data of the rail transit system infrastructure and It is transmitted to the data processing module.
  • the data processing module first divides the data transmitted by the data acquisition module into normal data, fault data, and early warning data.
  • the normal data is directly saved to the database, and the fault data is sent to the fault diagnosis module for classification and positioning.
  • the display device feeds back to the user, which can find faults or hidden troubles in time, save the time of safety inspection, and improve the efficiency of safety inspection.
  • the database can automatically update according to the fault information and early warning information transmitted by the data processing module, and use the updated results as the basis for the next fault information or early warning information determination and rating to achieve the intelligent growth of intelligent robots.
  • the invention can detect the real-time status data in the tunnel in real time, timely discover the fault or hidden trouble, save the time of security inspection, and improve the efficiency of security inspection.
  • Figure 1 is a composition diagram of an intelligent inspection system for a tunnel
  • FIG. 2 is a schematic diagram of a functional assembly module of an intelligent inspection system for a tunnel
  • FIG. 3 is a flowchart of an intelligent robot for an intelligent inspection system of a tunnel
  • FIG. 4 is a composition diagram of an intelligent robot for an intelligent inspection system for a tunnel
  • FIG. 5 is a composition diagram of a data acquisition module of an intelligent inspection system for a tunnel
  • FIG. 6 is a composition diagram of a motion control module of an intelligent inspection system for a tunnel
  • FIG. 7 is a composition diagram of a data processing module of an intelligent inspection system for a tunnel
  • FIG. 8 is a composition diagram of a central processing system of an intelligent inspection system for a tunnel
  • FIG. 9 is a composition diagram of a database module of an intelligent inspection system for a tunnel.
  • the present invention provides an intelligent inspection system for a tunnel system, as shown in FIG. 1, including:
  • Track 02 It is fixed on the inner surface of tunnel 01 and has a length greater than or equal to the length of tunnel 01. It is used to provide guidance for the movement of intelligent robot 03 in the direction of tunnel 01 extension and to provide power for intelligent robot 03.
  • Intelligent robot 03 set on track 02 and can reciprocate along track 02 in its extension direction, used to collect real-time status data in tunnel 01, used to transmit real-time status data to central processing system 04, and used to receive central processing system 04
  • the instructions transmitted are used to perform corresponding actions according to the instructions;
  • real-time status data includes real-time status data of infrastructure in the tunnel, real-time status data of moving objects in the tunnel, real-time status data of intelligent robot operation and real-time status data of the environment in the tunnel;
  • the instructions include motion instructions for controlling the motion of the intelligent robot and emergency instructions for controlling the emergency response of the intelligent robot; as shown in Figures 3 to 4, the intelligent robot 03 includes:
  • Robot body used to carry data acquisition module 100, motion control module 200, data processing module 300, main control module 400 and emergency rescue module 500;
  • Data acquisition module 100 fixedly installed on the robot body, used to collect real-time status data in tunnel 01, and used to transmit real-time status data to data processing module 300; as shown in FIG. 5, including:
  • Laser scanning device 110 used for three-dimensional modeling of tunnel 01, used to detect cracks and deformations in tunnel 01, used to detect foreign objects in tunnel 01, and used to detect track 02 deformation;
  • Scanning camera 120 used to detect cracks and wet stains in tunnel 01, and used to detect foreign objects in tunnel 01;
  • Camera 130 used to monitor the environment in tunnel 01;
  • Infrared imager 140 used to detect the heating of cables in tunnel 01, and used to detect the intrusion of people and animals in tunnel 01;
  • Temperature collection device 150 used to collect temperature information in tunnel 01, and used to identify a heat source in tunnel 01;
  • Speed acquisition device 160 used to collect motion information of a moving object in tunnel 01.
  • Motion control module 200 fixedly mounted on the robot body, used to detect the motion status of the robot body and generate motion status information, used to send the motion status information to the main processing module 400, and used to receive the The movement instruction is used to adjust the movement state of the robot body according to the movement instruction; as shown in FIG. 6, including:
  • 3D inertial measurement unit 210 used to detect the attitude and acceleration of the robot body
  • Positioning sensor 220 used to detect position information of the robot body
  • Motor driver 230 used to provide running power for the robot body
  • Gyro 240 used to determine the position information of the robot body
  • Non-contact obstacle avoidance sensor 250 used to detect whether there is an obstacle such as a foreign object on the track 02.
  • Data processing module 300 compares and judges the real-time status data collected by the data acquisition module 100 with the normal status data of the rail transit system infrastructure stored in the database module, generates fault information or warning information, and generates fault information or warning The information is classified and processed, generating classification information and processing results, transmitting the processing results to the main control module 400, and transmitting the classification information and processing results to the database; as shown in FIG. 7, further including:
  • Data comparison module 310 compares the real-time status data collected by the data acquisition module 100 with the normal status data of the rail transit system infrastructure stored in the database module, and transmits the comparison result to the data judgment module 320;
  • Data judging module 320 used for judging the comparison result according to the threshold set in the database module, generating fault information or warning information, and transmitting the fault information to the fault diagnosis module 330, and transmitting the warning information to the fault warning module 340;
  • Fault diagnosis module 330 for classifying and rating fault information and locating the fault information, and transmitting the fault classification information, fault rating information, and fault location information to the main control module 400;
  • the fault early warning module 340 is configured to classify and rank the early warning information and locate the early warning information, and transmit the early warning classification information, early warning rating information, and early warning positioning information to the main control module 400.
  • Main processing module 400 fixedly installed on the robot body, used to receive the comparison results transmitted by the data processing module 300, used to receive the motion status information sent by the motion control module 200, used to send motion instructions to the motion control module 200, and It sends the comparison result and exercise state information to the central processing system 04, and is used to receive the exercise instruction sent by the central processing system 04.
  • Emergency rescue module 500 detachably installed on the robot body. When the emergency rescue module 500 is needed, it can be assembled in the functional assembly module for storage of emergency rescue equipment and used to receive the emergency transmitted by the main processing module 400. Instructions for emergency rescue in accordance with emergency instructions.
  • Function assembly module 05 As shown in FIG. 2, it is set on the intelligent robot and is used to combine the functional modules in the data acquisition module 100, the motion control module 200, and the emergency rescue module 500 according to the requirements of the actual environmental conditions, and pass
  • the interface 051 provided on the function assembling module 05 is installed on the function assembling module 05.
  • Central processing system 04 used to receive the real-time status data transmitted by the intelligent robot 03, used to analyze the real-time status data and generate instructions based on the analysis results, and used to transmit the instructions to the intelligent robot 03. As shown in Figure 8, it includes:
  • Database module 041 used to store fault information, early warning information, and update information summarized by the central processing system 04; as shown in Figure 9, including:
  • Fault information module 0411 used to store fault information, fault classification information, fault location information, fault rating information, and fault thresholds of tunnel 01;
  • Early warning information module 0412 used to store early warning information, early warning classification information, early warning positioning information, early warning rating information, and various early warning thresholds of tunnel 01;
  • Knowledge base module 042 used to store the service life and wear data information of each component and component inside tunnel 01;
  • Reasoner module 043 It is used to classify and update the fault information or early warning information summary result transmitted from the central processing system 04 to the old database module 041 and the knowledge base module 042.
  • the intelligent robot 03 takes power from the power collecting device 4 and supplies it to the motor.
  • the motor drives the intelligent robot 03 to move along the direction of track 02.
  • the data acquisition module 100 collects real-time status data of the rail transit system infrastructure and transmits it to the data processing module 300.
  • the data processing module 300 first divides the data transmitted by the data acquisition module 100 into normal data, fault data, and early warning data, where the normal data is directly saved to the database module 041, and the fault data is sent to the fault diagnosis module 330 for classification, positioning and rating.
  • the fault classification information, fault rating information, and fault location information are transmitted to the central processing system 04, and the warning information is sent to the fault early warning module 340 for classification, positioning, and rating, and the warning classification information, warning rating information, and warning positioning information are transmitted to the central
  • the processing system 04 can find faults or hidden troubles in time, save the time of safety inspection, and improve the efficiency of safety inspection.
  • the main control module 400 transmits the summarized motion status information, fault information, and early warning information to the central processing system 04 by wire (or wireless transmission), and the database module 041 can automatically update according to the fault information and early warning information transmitted by the main control module 400. , And use the updated result as the basis for the next fault information or early warning information determination and rating, to achieve the intelligent growth of intelligent robot 03.
  • the scanning camera 120 transmits the collected data to the data processing module 300 for analysis and positioning through the positioning sensor 220.
  • the data processing module 300 classifies the fault
  • the information, fault rating information, and fault location information are transmitted to the central processing system 04 for feedback to the management personnel.
  • the database module 041 stores the fault classification information, fault rating information, and fault location information on the site and automatically updates them.
  • the central processing system 04 sends a motion instruction to the main control module 400 according to the fault information sent by the main control module 400.
  • the main control module 400 then Send the motion instruction to the motion control module 200, adjust the motion state (stop or deceleration) of the intelligent robot 03 through the 3D inertial measurement unit 210, the motor driver 230 and the gyroscope 240, further judge the suspicious fault information, and judge The result is transmitted to the central processing system 04 for feedback to the management staff.
  • the central processing system 04 sends a motion instruction to the main control module 400 according to the fault information sent by the main control module 400
  • the main control module 400 then sends motion instructions to the motion control module 200, and adjusts the motion state (stop or deceleration) of the intelligent robot 03 through the 3D inertial measurement unit 210, the motor driver 230, and the gyroscope 240, and further suspicious fault information
  • the judgment result is transmitted to the central processing system 04 and fed back to the management personnel.
  • the temperature acquisition device 150 transmits the temperature information of the heat source to the data processing module 300 for analysis and positioning through the positioning sensor 220, and the data processing module 300 will fail.
  • the classification information, fault rating information, and fault location information are transmitted to the central processing system 04 for feedback to the management personnel.
  • the database module 041 stores the fault classification information, fault rating information, and fault location information on the site and automatically updates them.
  • the central processing system 04 sends an emergency instruction to the main control module 400 according to the fault information sent by the main control module 400, and the motion control module 200 controls the intelligent robot 03 to return.
  • the operation room installs the fire extinguishing bomb in the emergency rescue module 500 on the functional assembly module, and then returns to the fault location for emergency rescue through the motion control module 200.
  • the camera 130 transmits the collected data to the data processing module 300 for analysis and positioning through the positioning sensor 220.
  • the data processing module 300 classifies the fault
  • the information, fault rating information, and fault location information are transmitted to the central processing system 04 for feedback to the management personnel.
  • the database module 041 stores the fault classification information, fault rating information, and fault location information on the site and automatically updates them.
  • the worker installs the laser scanning device 110 on the functional assembly module in the operation room, and the central processing system 04 controls the motion control module 200 to drive the intelligent robot 03 to perform tunnel scanning through motion instructions.
  • a new function module is installed in advance on the function assembly module 05 through the interface 051, and the original function assembly module 05 is removed from the intelligent robot 03 and the new function assembly module 05 is installed. Both perform new tasks.

Abstract

一种用于隧道系统的智能巡检系统，包括：固定设置在隧道(01)内表面用于为智能机器人(03)的运动提供导向作用，用于为智能机器人（03）提供动力的轨道(02)，设置在轨道(02)上且能够沿轨道(02)在其延伸方向往复运动用于采集隧道(01)内实时状态数据并将实时状态数据传送至中央处理系统(04)的智能机器人(03)和用于接收实时状态数据并对其进行分析和生成处理结果与指令的中央处理系统(04)。能够实时监测隧道(01)内部基础设施以及隧道(01)的使用状态，及时发现故障或故障隐患，节省安全检查的时间，提高安全检查的效率。

Description

一种用于隧道的智能巡检系统 技术领域
本发明涉及隧道安全技术领域，具体涉及一种用于隧道安全检测的智能巡检系统。
背景技术
隧道是埋置于地层内的工程建筑物，是人类利用地下空间的一种形式。隧道可分为交通隧道、水工隧道、市政隧道、矿山隧道。1970年国际经济合作与发展组织召开的隧道会议综合了各种因素，对隧道所下的定义为：以某种用途、在地面下作用任何方法规定形状和尺寸修筑的断面积大于2平方米的洞室。根据使用环境不同，隧道可分为高速公路隧道、海底隧道、地下人防工程、地铁隧道、轻轨隧道等等。
隧道由于其存在位置的特殊性，故障类型的多样性导致其检测难度较大。按照故障表现形式可分为设备磨损、断裂、裂纹；按照故障诱因的物理类型可分为电气故障、信号故障、机械故障和电子故障。
现有的故障诊断方法主要为以下四类：(1)经验法：运检师依据经验、目测以及逻辑判断对故障进行诊断；(2)部件替换法：使用新部件替换可能的故障部件，再通过运行进行验证；(3)设备检测法：借助专业仪器、设备进行测试来定位故障点；(4)运行记录查找法：通过对比、参照运行记录寻找故障问题。现有的诊断方法要求运检师熟悉轨道交通各组成部分的工作原理、各种故障信息，工作强度大、效率低，故障诊断的准确性易受人员因素的干扰。
发明内容
本发明是为了克服现有技术中在人工进行安全检查时检查速度慢、工作强度大、工作效率低等问题，提供一种用于隧道的智能巡检系统，能够在实时隧道内基础设施的状态以及隧道内车辆的运行状态，及时发现故障 或故障隐患，节省安全检查的时间，提高安全检查的效率。
本发明提供一种用于隧道的智能巡检系统，包括：
轨道：固定设置在隧道内表面且长度大于等于隧道的长度，用于为智能机器人沿隧道延伸方向的运动提供导向作用，轨道同时也可以用于为智能机器人提供动力，智能机器人可以通过电刷与轨道上的滑触线相连进行取电；
智能机器人：设置在轨道上且能够沿轨道在其延伸方向往复运动，用于采集隧道内实时状态数据，用于将实时状态数据传送至中央处理系统，用于接收中央处理系统传送的指令，用于根据指令执行相应的动作，智能机器人可以通过轨道实时取电，也可以通过自带蓄电池取电；
中央处理系统：用于接收智能机器人传送的实时状态数据，用于对实时状态数据进行分析并根据分析结果生成指令，用于将指令传送至智能机器人；
功能拼装模块：设置在智能机器人上，用于根据实际环境状况的需求将数据采集模块、运动控制模块和应急救援模块中的各功能模块进行组合，并通过设置在功能拼装模块上的接口安装在功能拼装模块上。
功能拼装模块能够根据隧道环境和检测项目的不同将数据采集模块、运功控制模块和应急救援模块中的模块化产品进行有效的组合，能够有效的解决实际出现的问题；功能拼装模块可从智能机器人上拆卸下来，根据检测项目的不同提前将各模块化产品安装在功能拼装模块上，当智能机器人需要更换时将原来安装在智能机器人上的功能拼装模块拆下，换上新的功能拼装模块即可执行新的任务。模块化产品可以是实体产品如摄像头等，也可以是控制程序如运行控制程序等。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，智能机器人包括：
机器人车体：用于运载数据采集模块、运动控制模块、数据处理模块、主控制模块和应急救援模块；
数据采集模块：固定安装在机器人车体上，用于采集隧道内部实时状态数据，用于将实时状态数据传送至数据处理模块；
运动控制模块：固定安装在机器人车体上，用于检测机器人车体的运动状态并生成运动状态信息，用于将运动状态信息发送至主处理模块，用 于接收主控制模块发送的运动指令，用于根据运动指令调节机器人车体的运动状态；
数据处理模块：固定安装在机器人车体上，用于接收数据采集模块传送的所述实时状态数据，用于将实时状态数据与数据库中数据进行对比并生成对比结果，用于将对比结果传送至主控制模块；
主处理模块：固定安装在机器人车体上，用于接收数据处理模块传送的对比结果，用于接收运动控制模块发送的运动状态信息，用于向运动控制模块发送指令，用于向应急救援模块发送应急指令，用于中央处理系统发送对比结果和运动状态信息，用于接收中央处理系统发送的运动指令、应急指令和数据更新信息；
应急救援模块：固定安装在机器人车体上，存储应急救援设备，用于接收主处理模块传送的应急指令，用于根据应急指令进行应急救援。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，数据采集模块包括：
激光扫描装置：用于对隧道进行三维建模，用于检测隧道限界和变形，用于检测隧道内异物，用于检测轨道变形；
扫描相机：用于检测隧道裂纹和湿渍，用于检测隧道内异物；
摄像头：用于对隧道内环境进行监控；
红外成像仪：用于检测隧道内电缆发热，用于检测隧道内人员和动物的侵入；
温度探测器：用于检测隧道内的温度异常，用于识别隧道内的热源；
速度探测器：用于检测隧道内物体运动的速度。
激光扫描装置能够进行隧道三维建模、异物侵限检测、隧洞洞体结构和隧道曲率变形检测、铁轨几何形状检测(轨道零件脱落、轨距变形等)；扫描相机能够进行异物检测、隧道壁面裂纹检测、壁面湿渍检测；摄像头能够对隧道内实况环境实时监测；红外成像仪能够进行隧洞内电缆发热检测、人员或动物入侵检测、隧洞内功率回路短路检测等；应急救援模块能够根据应急指令向故障位置发射应急救援，如向着火地点发射灭火弹等。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，运动控制模块包括：
3D惯性测量单元：用于检测机器人车体的姿态和加速度，可选用陀螺 仪；
定位传感器：用于检测机器人车体的位置信息；
电机驱动器：用于为机器人车体提供运行动力；
陀螺仪：用于检测机器人车体的方位信息，结合惯导技术能够实现运动物体的精确定位；
非接触式避障传感器：用于检测轨道上是否存在异物等障碍，例如雷达等。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，智能机器人还包括：
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，数据处理模块包括：
数据比较模块：用于将数据采集模块收集的实时状态数据与数据库中存储的轨道交通系统基础设施的正常状态数据进行对比，将对比结果传送至数据判断模块；
数据判断模块：用于将对比结果按照数据库中设定的阈值进行判断，生成故障信息或预警信息，并将故障信息传送至故障诊断模块，将预警信息传送至故障预警模块；
故障诊断模块：用于将故障信息进行分类和评级并对故障信息进行定位，并将故障分类信息、故障评级信息和故障定位信息传送至株控制模块；
故障预警模块：用于将预警信息进行分类和评级并对预警信息进行定位，并将预警分类信息、预警评级信息和预警定位信息传送至主控制模块。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，中央处理系统包括：
数据库模块：用于存储故障信息、预警信息以及由中央处理系统汇总的更新信息；
知识库模块：用于存储隧道内部各零部件和元器件使用寿命及磨损数据信息；
推理器模块：用于将中央处理系统传送来的故障信息或预警信息汇总结果分类更新至故数据库模块和知识库模块。
数据库模块能够根据数据处理模块传送的故障信息和预警信息实现自动更新，并将更新后的结果作为下一次故障信息或预警信息判定、评级的 依据，实现智能巡检机器人的智能化成长。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，数据库模块包括：
故障信息模块：用于存储隧道的故障信息、故障分类信息、故障定位信息、故障评级信息和各故障阈值；
预警信息模块：用于存储隧道的预警信息、预警分类信息、预警定位信息、预警评级信息和各预警阈值。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，实时状态数据包括隧道内基础设施实时状态数据，隧道内运动物体运行情况实时状态数据，智能机器人运行实时状态数据和隧道内环境实时状态数据。
本发明所述的一种用于隧道系统的智能巡检系统，作为优选方式，指令包括用于控制智能机器人运动的运动指令和用于控制智能机器人进行应急预案的应急指令。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，数据采集模块还包括射频扫描装置、有毒气体探测器、烟雾探测器。射频扫描装置能够扫描设备上的电子标签，用于确定各设备的基础数据信息以及位置信息；有毒气体探测器能够识别隧道内的有毒气体；烟雾探测器能够识别隧道内的烟雾，快速识别火灾等突发状况。
本发明所述的一种用于隧道的智能巡检系统，作为优选方式，在隧道内设有多个轨道，轨道设置在隧道侧壁或顶部。在每个轨道上设置一个智能巡检机器人，多个智能巡检机器人能够弥补检测盲点，提高检测的准确性，提高隧道系统的安全性。
本发明在使用过程中，智能机器人通过集电装置取电供给电机，电机为主动轮提供动力，带动智能机器人沿着导轨方向运动，数据采集模块实时收集轨道交通系统基础设施的实时状态数据并将其传送至数据处理模块，数据处理模块首先把数据采集模块传送过来的数据分为正常数据、故障数据和预警数据，其中正常数据直接保存至数据库，故障数据下发至故障诊断模块进行分类、定位与评级并将故障分类信息、故障评级信息和故障定位信息通过显示装置反馈至用户，预警信息下发至故障预警模块进行分类、定位与评级并将预警分类信息、预警评级信息和预警定位信息通过显示装置反馈至用户，能够及时发现故障或故障隐患，节省安全检查的时 间，提高安全检查的效率。
同时数据库能够根据数据处理模块传送的故障信息和预警信息实现自动更新，并将更新后的结果作为下一次故障信息或预警信息判定、评级的依据，实现智能机器人的智能化成长。
本发明由于在隧道内壁导轨上设有智能机器人，能够实时检测隧道内的实时状态数据，及时发现故障或故障隐患，节省安全检查的时间，提高安全检查的效率。
附图说明
图1为一种用于隧道的智能巡检系统组成图；
图2为一种用于隧道的智能巡检系统功能拼装模块示意图；
图3为一种用于隧道的智能巡检系统智能机器人的流程图；
图4为一种用于隧道的智能巡检系统智能机器人的组成图；
图5为一种用于隧道的智能巡检系统数据采集模块的组成图；
图6为一种用于隧道的智能巡检系统运动控制模块的组成图；
图7为一种用于隧道的智能巡检系统数据处理模块的组成图；
图8为一种用于隧道的智能巡检系统中央处理系统的组成图；
图9为一种用于隧道的智能巡检系统数据库模块的组成图。
附图说明：
01、隧道；02、轨道；03、智能机器人；04、中央处理系统；041、数据库模块；0411、故障信息模块；0412、预警信息模块；042、知识库模块；043、推理器模块；05、功能拼装模块；100、数据采集模块；110、激光扫描装置；120、扫描相机；130、摄像头；140、红外成像仪；150、温度探测器；160、速度探测器；200、运动控制模块；210、3D惯性测量单元；220、定位传感器；230、电机驱动器；240、陀螺仪；250、非接触式避障传感器；300、数据处理模块；310、数据比较模块；320、数据判断模块；330、故障诊断模块；340、故障预警模块；400、主控制模块；500、应急救援模块。
具体实施方式
本发明提供一种用于隧道系统的智能巡检系统，如图1所示，包括：
轨道02：固定设置在隧道01内表面且长度大于等于隧道01的长度，用于为智能机器人03沿隧道01延伸方向的运动提供导向作用，用于为智能机器人03提供动力；
智能机器人03：设置在轨道02上且能够沿轨道02在其延伸方向往复运动，用于采集隧道01内实时状态数据，用于将实时状态数据传送至中央处理系统04，用于接收中央处理系统04传送的指令，用于根据指令执行相应的动作；实时状态数据包括隧道内基础设施实时状态数据，隧道内运动物体运行情况实时状态数据，智能机器人运行实时状态数据和隧道内环境实时状态数据；指令包括用于控制智能机器人运动的运动指令和用于控制智能机器人进行应急预案的应急指令；如图3～4所示，智能机器人03包括：
机器人车体：用于运载数据采集模块100、运动控制模块200、数据处理模块300、主控制模块400和应急救援模块500；
数据采集模块100：固定安装在机器人车体上，用于采集隧道01内实时状态数据，用于将实时状态数据传送至数据处理模块300；如图5所示，包括：
激光扫描装置110：用于对隧道01进行三维建模，用于检测隧道01裂纹和变形，用于检测隧道01内异物，用于检测轨道02变形；
扫描相机120：用于检测隧道01裂纹和湿渍，用于检测隧道01内异物；
摄像头130：用于对隧道01内环境进行监控；
红外成像仪140：用于检测隧道01内电缆发热，用于检测隧道01内人员和动物的侵入；
温度采集装置150：用于采集隧道01内的温度信息，用于识别隧道01内的热源；
速度采集装置160：用于采集隧道01内移动物体的运动信息。
运动控制模块200：固定安装在机器人车体上，用于检测机器人车体的运动状态并生成运动状态信息，用于将运动状态信息发送至主处理模块400，用于接收主控制模块400发送的运动指令，用于根据运动指令调节机器人车体的运动状态；如图6所示，包括：
3D惯性测量单元210：用于检测机器人车体的姿态和加速度；
定位传感器220：用于检测机器人车体的位置信息；
电机驱动器230：用于为机器人车体提供运行动力；
陀螺仪240：用于判断机器人车体位置信息；
非接触式避障传感器250：用于检测轨道02上是否存在异物等障碍。
数据处理模块300：用于将数据采集模块100收集的实时状态数据与数据库模块中存储的轨道交通系统基础设施的正常状态数据进行对比和判断，生成故障信息或预警信息，并将故障信息或预警信息进行分类并处理，生成分类信息和处理结果，将处理结果传送至主控制模块400，将分类信息和处理结果传送至数据库；如图7所示，进一步包括：
数据比较模块310：用于将数据采集模块100收集的实时状态数据与数据库模块中存储的轨道交通系统基础设施的正常状态数据进行对比，将对比结果传送至数据判断模块320；
数据判断模块320：用于将对比结果按照数据库模块中设定的阈值进行判断，生成故障信息或预警信息，并将故障信息传送至故障诊断模块330，将预警信息传送至故障预警模块340；
故障诊断模块330：用于将故障信息进行分类和评级并对故障信息进行定位，并将故障分类信息、故障评级信息和故障定位信息传送至主控制模块400；
故障预警模块340：用于将预警信息进行分类和评级并对预警信息进行定位，并将预警分类信息、预警评级信息和预警定位信息传送至主控制模块400。
主处理模块400：固定安装在机器人车体上，用于接收数据处理模块300传送的对比结果，用于接收运动控制模块200发送的运动状态信息，用于向运动控制模块200发送运动指令，用于向中央处理系统04发送对比结果和运动状态信息，用于接收中央处理系统04发送的运动指令。
应急救援模块500：可拆卸的安装在机器人车体上，当需要使用应急救援模块500时可将其拼装在功能拼装模块使用，用于存储应急救援设备，用于接收主处理模块400传送的应急指令，用于根据应急指令进行应急救援。
功能拼装模块05：如图2所示，设置在智能机器人上，用于根据实际环境状况的需求将数据采集模块100、运动控制模块200和应急救援模块 500中的各功能模块进行组合，并通过设置在功能拼装模块05上的接口051安装在功能拼装模块05上。
中央处理系统04：用于接收智能机器人03传送的实时状态数据，用于对实时状态数据进行分析并根据分析结果生成指令，用于将指令传送至智能机器人03。如图8所示，包括：
数据库模块041：用于存储故障信息、预警信息以及由中央处理系统04汇总的更新信息；如图9所示，包括：
故障信息模块0411：用于存储隧道01的故障信息、故障分类信息、故障定位信息、故障评级信息和各故障阈值；
预警信息模块0412：用于存储隧道01的预警信息、预警分类信息、预警定位信息、预警评级信息和各预警阈值；
知识库模块042：用于存储隧道01内部各零部件和元器件使用寿命及磨损数据信息；
推理器模块043：用于将中央处理系统04传送来的故障信息或预警信息汇总结果分类更新至故数据库模块041和知识库模块042。
智能机器人03通过集电装置4取电供给电机，电机带动智能机器人03沿着轨道02方向运动，数据采集模块100实时收集轨道交通系统基础设施的实时状态数据并将其传送至数据处理模块300，数据处理模块300首先把数据采集模块100传送过来的数据分为正常数据、故障数据和预警数据，其中正常数据直接保存至数据库模块041，故障数据下发至故障诊断模块330进行分类、定位与评级并将故障分类信息、故障评级信息和故障定位信息传送中央处理系统04，预警信息下发至故障预警模块340进行分类、定位与评级并将预警分类信息、预警评级信息和预警定位信息传送至中央处理系统04，能够及时发现故障或故障隐患，节省安全检查的时间，提高安全检查的效率。主控制模块400将汇总的运动状态信息、故障信息、预警信息通过有线传送(或无线传送)至中央处理系统04，同时数据库模块041能够根据主控制模块400传送的故障信息和预警信息实现自动更新，并将更新后的结果作为下一次故障信息或预警信息判定、评级的依据，实现智能机器人03的智能化成长。
实施例1
在高速公路隧道内部，当智能机器人03在巡检过程中发现可疑异物时，扫描相机120将采集的数据传送至数据处理模块300进行分析并通过定位传感器220进行定位，数据处理模块300将故障分类信息、故障评级信息和故障定位信息传送中央处理系统04反馈至管理人员，同时数据库模块041将故障分类信息、故障评级信息和故障定位信息进场存储并实现自动更新。
实施例2
在高速公路隧道内部，当智能机器人03在巡检过程中发现可疑故障需要进一步确定时，中央处理系统04根据主控制模块400发送的故障信息向主控制模块400发送运动指令，主控制模块400再将运动指令发送至运动控制模块200，通过3D惯性测量单元210、电机驱动器230和陀螺仪240来调节智能机器人03的运动状态(停止或减速)，对可疑故障信息进行进一步的判定，并将判定结果传送中央处理系统04反馈至管理人员。
实施例3
在高速公路内部，当智能机器人03在巡检过程中发现车辆运行速度异常时，如车辆行驶速度突然大幅降低，中央处理系统04根据主控制模块400发送的故障信息向主控制模块400发送运动指令，主控制模块400再将运动指令发送至运动控制模块200，通过3D惯性测量单元210、电机驱动器230和陀螺仪240来调节智能机器人03的运动状态(停止或减速)，对可疑故障信息进行进一步的判定，并将判定结果传送中央处理系统04反馈至管理人员。
实施例4
在海底隧道内部，当智能机器人03在巡检过程中发现异常热源时，温度采集装置150将热源的温度信息传送至数据处理模块300进行分析并通过定位传感器220进行定位，数据处理模块300将故障分类信息、故障评级信息和故障定位信息传送中央处理系统04反馈至管理人员，同时数据库模块041将故障分类信息、故障评级信息和故障定位信息进场存储并实现自动更新。
实施例5
在海底隧道内部，当需要对异常热源进行应急处理时，中央处理系统04根据主控制模块400发送的故障信息向主控制模块400发送应急指令，运动控制模块200控制智能机器人03返回，工作人员在操作室将应急救援模块500中的灭火弹安装在功能拼装模块上，再通过运动控制模块200返回故障发生地点进行应急救援。
实施例6
在轨道交通系统隧道内部，当智能机器人03在巡检过程中发现隧道裂纹时，摄像头130将采集的数据传送至数据处理模块300进行分析并通过定位传感器220进行定位，数据处理模块300将故障分类信息、故障评级信息和故障定位信息传送中央处理系统04反馈至管理人员，同时数据库模块041将故障分类信息、故障评级信息和故障定位信息进场存储并实现自动更新。
实施例7
当需要对轨道交通系统隧道进行激光扫描时，工作人员在操作室将激光扫描装置110安装在功能拼装模块上，中央处理系统04通过运动指令控制运动控制模块200带动智能机器人03进行隧道扫描。
实施例8
当需要更换智能机器人03的执行任务时，提前将新的功能模块通过接口051安装在功能拼装模块05上，从智能机器人03上拆除原有的功能拼装模块05并按上新的功能拼装模块05既能执行新的任务。
以上说明对本发明而言只是说明性的，而非限制性的，本领域普通技术人员理解，在不脱离权利要求所限定的精神和范围的情况下，可作出的任何修改、变化或等效，都将落入本发明的保护范围之内。

Claims (10)

  1. 一种用于隧道的智能巡检系统，其特征在于：包括：
    轨道(02)：固定设置在隧道(01)内表面且长度大于等于所述隧道(01)的长度，用于为智能机器人(03)沿所述隧道(01)延伸方向的运动提供导向作用；
    智能机器人(03)：设置在所述轨道(02)上且能够沿所述轨道(02)在其延伸方向往复运动，用于采集隧道(01)内实时状态数据，用于将所述实时状态数据传送至中央处理系统(04)，用于接收所述中央处理系统(04)传送的指令，用于根据所述指令执行相应的动作；
    中央处理系统(04)：用于接收所述智能机器人(03)传送的实时状态数据，用于对所述实时状态数据进行分析并根据分析结果生成指令，用于将所述指令传送至所述智能机器人(03)；
    功能拼装模块(05)：设置在所述智能机器人(03)上，用于根据实际环境状况的需求将数据采集模块(100)、运动控制模块(200)和应急救援模块(500)中的各功能模块进行组合，并通过设置在所述功能拼装模块(05)上的接口(051)安装在所述功能拼装模块(05)上。
  2. 根据权利要求1所述的一种用于隧道的智能巡检系统，其特征在于：所述智能机器人(03)包括：
    机器人车体：用于运载数据采集模块(100)、运动控制模块(200)、数据处理模块(300)、主控制模块(400)和所述应急救援模块(500)；
    数据采集模块(100)：固定安装在所述机器人车体上，用于采集所述隧道内部实时状态数据，用于将所述实时状态数据传送至所述数据处理模块(300)；
    运动控制模块(200)：固定安装在所述机器人车体上，用于检测所述机器人车体的运动状态并生成运动状态信息，用于将所述运动状态信息发送至所述主处理模块(400)，用于接收所述主控制模块(400)发送的运动指令，用于根据所述运动指令调节所述机器人车体的运动状态；
    数据处理模块(300)：固定安装在所述机器人车体上，用于接收所述数据采集模块(100)传送的所述实时状态数据，用于将所述实时状态数据与数据库中数据进行对比并生成对比结果，用于将所述对比结果传送至主 控制模块(400)；
    主处理模块(400)：固定安装在所述机器人车体上，用于接收所述数据处理模块(300)传送的所述对比结果，用于接收所述运动控制模块(200)发送的所述运动状态信息，用于向所述运动控制模块(200)发送所述运动指令，用于向应急救援模块发送应急指令，用于所述中央处理系统(04)发送所述对比结果和所述运动状态信息，用于接收所述中央处理系统(04)发送的所述运动指令、所述应急指令和数据更新信息；
    应急救援模块(500)：可拆卸的安装在所述机器人车体上，存储应急救援设备，用于接收所述主处理模块(400)传送的所述应急指令，用于根据所述应急指令进行应急救援。
  3. 根据权利要求2所述的一种用于隧道的智能巡检系统，其特征在于：所述数据采集模块(100)包括：
    激光扫描装置(110)：用于对隧道(01)进行三维建模，用于检测隧道(01)限界和变形，用于检测隧道(01)内异物，用于检测轨道(02)变形；
    扫描相机(120)：用于检测隧道(01)裂纹和湿渍，用于检测隧道(01)内异物；
    摄像头(130)：用于对隧道(01)内环境进行监控；
    红外成像仪(140)：用于检测隧道(01)内电缆发热，用于检测隧道(01)内人员和动物的侵入；
    温度探测器(150)：用于检测隧道(01)内的温度异常，用于识别隧道(01)内的热源；
    速度探测器(160)：用于检测隧道(01)内物体运动的速度。
  4. 根据权利要求2所述的一种用于隧道的智能巡检系统，其特征在于：所述运动控制模块(200)包括：
    3D惯性测量单元(210)：用于检测所述机器人车体的姿态和加速度；
    定位传感器(220)：用于检测所述机器人车体的位置信息；
    电机驱动器(230)：用于为所述机器人车体提供运行动力；
    陀螺仪(240)：用于检测所述机器人车体的方位信息；
    非接触式避障传感器(250)：用于检测轨道(5)上是否存在异物等障碍。
  5. 根据权利要求2所述的一种用于隧道的智能巡检系统，其特征在于：所述数据处理模块(300)包括：
    数据比较模块(310)：用于将所述数据采集模块(100)收集的所述实时状态数据与所述数据库中存储的轨道交通系统基础设施的正常状态数据进行对比，将所述对比结果传送至所述数据判断模块(320)；
    数据判断模块(320)：用于将所述对比结果按照数据库中设定的阈值进行判断，生成故障信息或预警信息，并将所述故障信息传送至故障诊断模块(330)，将所述预警信息传送至故障预警模块(340)；
    故障诊断模块(330)：用于将所述故障信息进行分类和评级并对所述故障信息进行定位，并将所述故障分类信息、所述故障评级信息和所述故障定位信息传送至主处理模块(400)；
    故障预警模块(340)：用于将所述预警信息进行分类和评级并对所述预警信息进行定位，并将所述预警分类信息、所述预警评级信息和所述预警定位信息传送至主处理模块(400)。
  6. 根据权利要求1所述的一种用于隧道的智能巡检系统，其特征在于：所述中央处理系统(04)包括：
    数据库模块(041)：用于存储故障信息、预警信息以及由所述中央处理系统(04)汇总的更新信息；
    知识库模块(042)：用于存储所述隧道(01)内部各零部件和元器件使用寿命及磨损数据信息；
    推理器模块(043)：用于将所述中央处理系统(04)传送来的故障信息或预警信息汇总结果分类更新至故所述数据库模块(041)和所述知识库模块(042)。
  7. 根据权利要求6所述的一种用于隧道的智能巡检系统，其特征在于：所述数据库模块(041)包括：
    故障信息模块(0411)：用于存储所述隧道(01)的故障信息、故障分类信息、故障定位信息、故障评级信息和各故障阈值；
    预警信息模块(0412)：用于存储所述隧道(01)的预警信息、预警分类信息、预警定位信息、预警评级信息和各预警阈值。
  8. 根据权利要求1所述的一种用于隧道的智能巡检系统，其特征在于：所述实时状态数据包括隧道(02)内基础设施实时状态数据，隧道(02) 内运动物体运行情况实时状态数据，智能机器人(03)运行实时状态数据和隧道(02)内环境实时状态数据。
  9. 根据权利要求1所述的一种用于隧道的智能巡检系统，其特征在于：所述指令包括用于控制所述智能机器人(03)运动的运动指令和用于控制所述智能机器人(03)进行应急预案的应急指令。
  10. 根据权利要求1所述的一种用于隧道的智能巡检系统，其特征在于：在所述隧道(01)内设有多个所述轨道(02)，所述轨道(02)设置在所述隧道(01)侧壁或顶部。
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