WO2024065920A1 - Tunnel diagnostic vehicle and diagnostic system - Google Patents

Abstract

The present application discloses a tunnel diagnostic vehicle and a diagnostic system. The tunnel diagnostic vehicle comprises: a vehicle body, a detection device and a central control device; the detection device is disposed on the vehicle body; the central control device is disposed on the vehicle body and is provided with a control module and a diagnostic module which are in communication connection; the control module is in communication connection with the detection device and with a cloud platform, so as to collect tunnel data; and the diagnostic module is used for fusing the tunnel data and outputting a preliminary diagnostic result. The control module transmits the collected tunnel data to the diagnostic module and simultaneously uploads the tunnel data to the cloud platform. The diagnostic module quickly provides a preliminary diagnostic result, whereas the cloud platform performs detailed and comprehensive data analysis.

Description

Tunnel diagnostic vehicle and diagnostic system

This application claims priority to Chinese patent application No. 202211183376.1 filed on September 27, 2022.

Technical Field

The present application relates to the technical field of tunnel detection equipment, and in particular to a tunnel diagnostic vehicle and a diagnostic system.

Background technique

Urban rail transit has the outstanding characteristics of safety, speed, greenness and environmental protection. my country's urban rail transit has developed rapidly, ranking first in the world in terms of the scale of operating lines, the scale of lines under construction and the scale of passenger flow.

At present, urban rail tunnels often rely on human eye detection and manual instrument detection for different diseases, which has safety uncertainties. At the same time, manual detection is highly subjective and it is difficult to ensure the completeness and accuracy of the detection results. With the continuous increase in the current detection workload, the time required is also getting longer and longer. The existing track inspection vehicles also have the disadvantages of incomplete detection and a long time to obtain diagnostic results after detection.

technical problem

The main purpose of this application is to provide a tunnel diagnostic vehicle, aiming to improve the degree of automation of tunnel diagnosis and improve the level and efficiency of tunnel disease diagnosis.

Technical Solutions

To achieve the above objectives, the tunnel diagnostic vehicle proposed in this application includes:

Vehicle body;

A detection device, which is disposed on the vehicle body and is used to collect tunnel data; and

A central control device is arranged on the vehicle body and is provided with a control module and a diagnosis module which are communicatively connected. The control module is communicatively connected with the detection device to collect the tunnel data. The diagnosis module is used to integrate and process the tunnel data and output a preliminary diagnosis result. The control module is communicatively connected with the cloud platform to upload the tunnel data for analysis and diagnosis.

In one embodiment, the detection equipment includes an apparent disease detection equipment, a hidden disease detection equipment and a tunnel deformation detection equipment. The apparent disease detection equipment, the hidden disease detection equipment and the tunnel deformation detection equipment are arranged on the vehicle body at intervals and are all electrically connected to the control module.

In one embodiment, the tunnel deformation detection device is arranged at the rear end of the vehicle body in the direction of travel, and the vehicle body comprises:

A detection area, wherein the detection area is provided with a detection space, and the apparent disease detection equipment and the hidden disease detection equipment are arranged in the detection space; and

A control area, wherein the control area is arranged on at least one side of the detection area, the control area is provided with a control space, and the central control device is arranged in the control space.

In one embodiment, the hidden disease detection device and the apparent disease detection device are arranged at intervals along the length direction of the vehicle body, and in the traveling direction, the hidden disease detection device is arranged before the apparent disease detection device;

And/or, the surface disease detection device includes a visible light collection component and an infrared light collection component arranged toward the tunnel surface, and the visible light collection component and the infrared light collection component are electrically connected to the control module to collect tunnel data.

In one embodiment, the hidden disease detection equipment is provided with a plurality of mechanical arm fixtures and a plurality of radar antennas, and the plurality of mechanical arm fixtures are arranged at intervals along the length direction of the vehicle body;

An end of the mechanical arm tooling away from the vehicle body is connected to the radar antenna, and the mechanical arm tooling and the radar antenna are electrically connected to the control module.

In one embodiment, at least two of the radar antennas are disposed at the bottom of the vehicle body for detecting the track plate;

And/or, the radar antenna is provided with a second distance measuring device facing the tunnel surface, and the second distance measuring device is electrically connected to the control module;

And/or, the mechanical arm tooling is provided with a retractable mechanical arm;

And/or, an obstacle avoidance radar is provided at the front end of the vehicle in the direction of travel, and the obstacle avoidance radar is electrically connected to the control module.

In one embodiment, the tunnel deformation detection device is a three-dimensional laser radar, and the three-dimensional laser radar is arranged in the middle of the rear end of the vehicle body;

And/or, the tunnel diagnostic vehicle further includes an interactive device, which is disposed in the control space and electrically connected to the central control device, and is used for displaying data and inputting commands.

In one embodiment, the control area includes a first control room located at the front end of the vehicle body in the direction of travel and a second control room located at the rear end of the vehicle body in the direction of travel, the central control device is located in the first control room, the tunnel deformation detection device is located outside the second control room, and the detection area is located between the first control room and the second control room;

And/or, the detection area is provided with a hatch covering the vehicle body, the hatch covers the vehicle body and the hatch can be pushed and pulled along the length direction of the vehicle body to open or close the detection space.

In one embodiment, the tunnel diagnostic vehicle is further provided with a power device, which is provided at the bottom of the vehicle body and electrically connected to the control module;

At least two pairs of wheels are arranged at the bottom of the vehicle body, and the output end of the power device is drivingly connected to at least one pair of wheels to drive the wheels to rotate.

The present application also proposes a diagnostic system, comprising:

Cloud Platform; and

In the tunnel diagnostic vehicle as described in any of the above embodiments, the central control device is communicatively connected with the cloud platform.

Beneficial Effects

The tunnel diagnostic vehicle of the present application places the detection equipment and the central control equipment on a vehicle body that can move along the tunnel. The detection equipment can comprehensively collect data information in the tunnel as the vehicle body moves, thereby improving the detection efficiency. The control module is used to collect tunnel data, and simultaneously transmit it to the diagnostic module and upload it to the cloud platform. The diagnostic module can quickly give preliminary diagnostic results, which is convenient for operation and maintenance personnel to promptly resolve some obvious tunnel diseases and avoid safety hazards. The cloud platform conducts detailed and comprehensive data analysis and gives detailed diagnostic results. In this way, while ensuring a comprehensive diagnosis of tunnel diseases, the level and efficiency of diagnosis are improved, so that some diseases can be remedied in a timely manner.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

FIG1 is a schematic structural diagram of an embodiment of a tunnel diagnostic vehicle of the present application;

FIG2 is a partial enlarged view of point A in FIG1;

FIG3 is a schematic structural diagram of another embodiment of the tunnel diagnostic vehicle of the present application;

FIG4 is a partial enlarged view of point B in FIG3 ;

FIG5 is a schematic structural diagram of an embodiment of an apparent disease detection device of the present application;

FIG6 is a schematic diagram of the internal structure of the apparent disease detection device in FIG5 ;

FIG7 is a schematic structural diagram of another embodiment of the tunnel diagnostic vehicle of the present application;

FIG8 is a schematic structural diagram of an embodiment of a hidden disease detection device of the present application;

FIG. 9 is a schematic structural diagram of the arch tooling in FIG. 8 .

Description of Figure Numbers:

Label	Name	Label	Name	Label	Name
100	Tunnel diagnostic vehicle	2123	Side panels	32	Robotic arm
10	Body	twenty two	Fill light device	321	Joints
11	Detection area	221	Light source	321a	First axis
11a	Detection space	2211	Connectors	321b	Second axis
111	Hatch door	twenty three	Image acquisition device	321c	Third axis
12	Control area	231	Infrared light collection components	321d	Fourth axis
12a	Control space	232	Visible light collection components	321e	Fifth axis
13	Wheels	twenty four	First distance measuring device	321f	Sixth Axis
20	Equipment for detecting apparent diseases	30	Hidden disease detection equipment	322	Stretch your arms
twenty one	Mount	31	Support device	322a	First extension arm
211	Base	311	Vault tooling	322b	Second extension arm
2111	Control Department	3111	First connecting piece	33	Lifting mechanism
2112	control box	312	Spandrel tooling	34	Translation mechanism
2113	Connection part	3121	Second connecting piece	35	Radar antenna
212	Bracket	313	Arch waist tooling	40	Obstacle avoidance radar
212a	Installation space	3131	Third connecting piece	50	3D LiDAR
2121	Install the side	314	Arch foot tooling	60	Power plant
2122	Mounting plate	3141	Fourth connecting piece	200	Tunnel

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

In order to achieve the purpose of improving the automation level of tunnel diagnosis and enhancing the efficiency of tunnel disease detection and diagnosis, the present application proposes a tunnel diagnosis vehicle 100.

1 to 9 , in some embodiments of the present application, the tunnel diagnostic vehicle 100 includes a vehicle body 10, a detection device and a central control device. The detection device is disposed on the vehicle body 10 and is used to collect tunnel data. The central control device is disposed on the vehicle body 10 and is provided with a control module and a diagnostic module that are communicatively connected. The control module is communicatively connected to the detection device to collect tunnel data. The diagnostic module is used to fuse and process the tunnel data and output a preliminary diagnostic result. The control module is communicatively connected to the cloud platform to upload the tunnel data for analysis and diagnosis.

In one embodiment, the vehicle body 10 is a self-powered movable device, and the central control device and the detection device are installed on the vehicle body 10 and move with the vehicle body 10 inside the tunnel 200. To ensure that the detection device has sufficient time to collect data, the vehicle body 10 will travel in the tunnel 200 at a speed of 5-20 km/h.

The detection equipment includes, but is not limited to, equipment for detecting tunnel surface defects and tunnel hidden defects. When the vehicle 10 moves in the tunnel 200, the detection equipment collects data information on the surface of the tunnel 200 and inside the tunnel 200 as comprehensively as possible. In one embodiment, the data information includes image information, electromagnetic pulse signals, and the like.

In one embodiment, the detection device is electrically connected to the central control device via a bus such as LIN/CAN, TCP-IP, etc., so that the control module collects the tunnel data information collected by the detection device via the bus. The control module is not only used to collect data information, but also to generate and issue instructions to control the coordinated operation of various components of the tunnel diagnostic vehicle 100.

The diagnosis module is used to analyze and integrate the tunnel data collected by the control module, and quickly and timely provide preliminary diagnosis results. The disease conditions that can be determined by the preliminary diagnosis include but are not limited to large cracks or collapses on the surface of the tunnel 200, hollows, etc.

In some embodiments, the tunnel diagnostic vehicle 100 can move along the tunnel 200 by remote control or unmanned driving, and perform inspections on the tunnel 200. Generally speaking, the collected tunnel data needs to be analyzed and diagnosed for a long time to obtain a more detailed and comprehensive diagnosis result, and then the tunnel 200 disease remediation operation is performed according to the diagnosis result. In this embodiment, the diagnosis module can timely provide some more obvious disease diagnosis results as a reference, so that the operation and maintenance personnel can immediately remedy the obvious disease conditions of the tunnel 200 to avoid safety hazards.

In addition, the collected tunnel data is sent to the diagnostic module for preliminary diagnosis and uploaded to the cloud platform through communication equipment. A more detailed and comprehensive data analysis is performed on the cloud to obtain detailed diagnostic results and maintenance recommendations.

In one embodiment, the cloud platform is a big data platform, which can compare and analyze the tunnel data based on the uploaded tunnel data in combination with the information in the big database. In one embodiment, the central control device is connected to the cloud platform through a wireless communication device that supports WIFI6 to enable rapid data transmission and improve efficiency.

The tunnel diagnostic vehicle 100 of the present application is provided with detection equipment and central control equipment on a vehicle body 10 that can travel along a tunnel 200. The detection equipment can comprehensively collect data information in the tunnel 200 as the vehicle body 10 moves, thereby improving detection efficiency. The control module is used to collect tunnel data, and transmit it to the diagnostic module and upload it to the cloud platform at the same time. The diagnostic module can quickly give preliminary diagnostic results, so that operation and maintenance personnel can promptly resolve some obvious tunnel 200 diseases and avoid safety hazards. The cloud platform conducts detailed and comprehensive data analysis and gives detailed diagnostic results. In this way, while ensuring a comprehensive diagnosis of tunnel 200 diseases, the hierarchy and efficiency of the diagnosis are improved, so that some diseases can be remedied in a timely manner.

3 , in one embodiment, the detection equipment includes an apparent disease detection equipment 20 , a hidden disease detection equipment 30 and a tunnel deformation detection equipment. The apparent disease detection equipment 20 , the hidden disease detection equipment 30 and the tunnel deformation detection equipment are arranged at intervals on the vehicle body 10 and are all electrically connected to the control module.

In this embodiment, the apparent disease detection equipment 20 is mainly used to detect cracks, water leakage and other disease information on the surface of the tunnel 200; the hidden disease detection equipment 30 is mainly used to detect the disease information inside the tunnel 200, such as cavities and steel bar corrosion; the tunnel deformation detection equipment is used to scan the tunnel 200 and detect whether the tunnel 200 has collapse and other diseases. The control module is used to collect the tunnel data collected by each detection equipment.

In one embodiment, the apparent disease detection device 20, the hidden disease detection device 30 and the tunnel deformation detection device are independent of each other. The control module can perform time and space synchronization processing on the data information of each device, and can issue corresponding control instructions to the apparent disease detection device 20, the hidden disease detection device 30 and the tunnel deformation detection device to form feedback control.

In some embodiments, the tunnel deformation detection equipment is arranged at the rear end of the vehicle body 10 in the direction of travel. The vehicle body 10 includes a detection area 11 and a control area 12. The detection area 11 is provided with a detection space 11a. The apparent disease detection equipment 20 and the hidden disease detection equipment 30 are arranged in the detection space 11a. The control area 12 is arranged on at least one side of the detection area 11. The control area 12 is provided with a control space 12a. The central control equipment is arranged in the control space 12a.

In this embodiment, the detection area 11 and the control area 12 are arranged on the vehicle body 10. The detection space 11a is used to accommodate the apparent disease detection equipment 20 and the hidden disease detection equipment 30, and the control space 12a is used to accommodate the central control equipment, the control device of the vehicle body 10, etc. A driving cab can also be set in the control space 12a for easy operation.

Specifically, in one embodiment, the control area 12 includes a first control room located at the front end of the vehicle body 10 in the direction of travel and a second control room located at the rear end of the vehicle body 10 in the direction of travel, the central control equipment is located in the first control room, the tunnel deformation detection equipment is located on the outside of the second control room, and the detection area 11 is located between the first control room and the second control room.

In one embodiment, the tunnel diagnostic vehicle 100 further includes an interactive device, which is disposed in the control space 12a and is electrically connected to the central control device. The interactive device is used to display data and input commands.

Among them, the interactive equipment is set in both the first control room and the second control room, and the interactive equipment includes a display screen, a joystick, etc. The display screen can be used to display detection data information, vehicle body 10 operation information, diagnosis results, etc., and the joystick is used to input control instructions. Of course, the display screen can be a touch screen, which can also be used to input control instructions.

1 , in one embodiment, the detection area 11 is provided with a hatch 111 covering the vehicle body 10 , the hatch 111 covers the vehicle body 10 and can be pushed and pulled along the length direction of the vehicle body 10 to open or close the detection space 11 a .

The hatch 111 of this embodiment is formed by connecting a plurality of groups of U-shaped folding plates, and the hatch 111 is buckled on the vehicle body 10. Slide rails are provided on both sides of the vehicle body 10, and the ends of the folding plates are slidably connected to the slide rails. It can be understood that when the tunnel diagnostic vehicle 100 is in a working state, the hatch 111 can be fully or partially opened to allow the detection equipment to be fully or partially exposed to the outside world; when the work is completed, the detection equipment is folded in the detection space 11a, and the hatch 111 is closed to protect the detection equipment in the detection space 11a.

In other embodiments of the present application, the hatch 111 may also be opened to both sides of the vehicle body 10, and its arrangement form is not particularly limited herein.

3 again, in one embodiment, the hidden defect detection device 30 and the apparent defect detection device 20 are arranged at intervals along the length direction of the vehicle body 10, and in the traveling direction, the hidden defect detection device 30 is arranged before the apparent defect detection device 20. In this embodiment, the hidden defect detection device 30 and the apparent defect detection device 20 are fixed at intervals in the detection space 11a to avoid mutual interference.

3 , 5 and 6 , in one embodiment, the surface disease detection device 20 includes a visible light collection component 232 and an infrared light collection component 231 disposed toward the surface of the tunnel 200 , and the visible light collection component 232 and the infrared light collection component 231 are electrically connected to a control module to collect tunnel data.

In this embodiment, the apparent disease detection equipment 20 includes a mounting frame 21, a fill light device 22 and an image acquisition device 23. The mounting frame 21 is fixed to the vehicle body 10 and is provided with an arched mounting side 2121; the fill light device 22 is provided on the mounting frame 21, and is used to illuminate the surface of the tunnel 200; the image acquisition device 23 includes a plurality of visible light acquisition components 232 and a plurality of infrared light acquisition components 231, and the plurality of visible light acquisition components 232 and the plurality of infrared light acquisition components 231 are arranged at intervals along the mounting side 2121 and face the surface of the tunnel 200 to collect tunnel data.

The installation side 2121 is roughly set in a major arc, and the shape of the installation side 2121 roughly matches the contour of the cross-sectional direction of the tunnel 200. A plurality of visible light collection components 232 and a plurality of infrared light collection components 231 are arranged at intervals along the installation side 2121. Thus, each visible light collection component 232 and infrared light collection component 231 collects images on the surface of the tunnel 200 in different directions.

It can be understood that the visible light collection component 232 and the infrared light collection component 231 are both connected to the control module, and the visible light and infrared light simultaneously collect images of a surface area. The control module collects image data and uses the imaging characteristics of cracks and other disease targets under different spectrum bands to perform data collaborative analysis, thereby locating the diseased part.

On this basis, the visible light collection element 232 and the infrared light collection element 231 can be independently controlled by software, and a synchronization framework for the two can be established to facilitate collaborative analysis. In another embodiment, the images collected by multiple visible light collection elements 232 and multiple infrared light collection elements 231 can be spliced through control module operations to obtain complete image information.

In one embodiment, the visible light collection element 232 may be a high-precision camera unit with a resolution of 0.2 mm/pix (pixel), and the infrared light collection element 231 may be an infrared imaging unit with a resolution of ±0.2°C to improve accuracy and recognition rate.

The fill light device 22 is used to illuminate the surface of the tunnel 200 to ensure the brightness of the field of view, thereby ensuring the imaging quality of the image.

In the technical solution of this embodiment, the arched installation side 2121 is adapted to the contour of the tunnel 200. The multiple visible light collection components 232 and the multiple infrared light collection components 231 arranged along the installation side 2121 can respectively face different parts of the surface of the tunnel 200 to collect images. The fill light device 22 is used to illuminate the surface of the tunnel 200. The visible light collection component 232 and the infrared light collection component 231 can operate independently or collect images simultaneously. The image data collected by the multiple visible light collection components 232 and the multiple infrared light collection components 231 can be spliced and/or processed in coordination through the control module to ensure the integrity of the image data, improve the recognition accuracy and accuracy of the surface diseases of the tunnel 200, and are relatively convenient, thereby improving the detection efficiency.

Referring to Fig. 5, in one embodiment, the apparent disease detection device 20 of the tunnel diagnostic vehicle 100 further includes a plurality of first distance measuring devices 24, which are connected to the outer surface of the mounting frame 21 and arranged at intervals along the mounting side 2121. In this embodiment, the apparent disease detection device 20 includes three first distance measuring devices 24, which face the arch crown and the spandrels on both sides, and record the distance between the surface of the tunnel 200 in real time as a reference for data analysis. For example, when the tunnel diagnostic vehicle 100 turns, the distance on both sides of the spandrel will change, so that the focus of the camera may have problems and cause blurred images. The first distance measuring device 24 records the change in real time, and when the data is analyzed, the location and cause of the blurred data can be clearly known, which is convenient for subsequent analysis and improves efficiency.

The hidden disease detection equipment 30 is provided with multiple robotic arm tools and multiple radar antennas 35, and the multiple robotic arm tools are arranged at intervals along the length direction of the vehicle body 10; a radar antenna 35 is connected to the end of a robotic arm tool away from the vehicle body 10, and the robotic arm tool and the radar antenna 35 are electrically connected to the control module.

3 and 7 to 9 , in some embodiments, the hidden disease detection equipment 30 includes a supporting device 31 and at least three radar antennas 35 . The supporting device 31 is connected to the vehicle body 10 , and the supporting device 31 includes at least three robotic arm fixtures. Each robotic arm fixture is provided with a robotic arm 32 . The ends of at least three robotic arms 32 away from the vehicle body 10 are spaced apart along the cross-sectional direction of the tunnel 200 . A radar antenna 35 is correspondingly provided at the end of a robotic arm 32 away from the vehicle body 10 .

In one embodiment, the radar antenna 35 uses a set frequency of 600 MHz for detection, ensuring that the data image is complete and clear to a large extent.

The radar antenna 35 is fixed to the body 10 of the tunnel diagnostic vehicle 100 through the support device 31, and detects and collects the internal data information of the tunnel 200 around the corresponding measuring line as the tunnel diagnostic vehicle 100 moves forward. The ends of at least three mechanical arms 32 are arranged at intervals to correspond to the measuring lines at different positions of the tunnel 200, so as to collect the data of the tunnel 200 as comprehensively as possible on the one hand, and to prevent the interference between the radar antennas 35 that are too close to each other on the other hand.

In one embodiment, the number of the robotic arms 32 may be three, five, or seven, etc., and the robotic arms 32 may be disposed on one side or both sides of the vehicle body 10 in the forward direction.

By connecting a plurality of mechanical arms 32 with a plurality of radar antennas 35, various parts of the tunnel 200 can be detected during the movement of the vehicle body 10, so that hidden defects inside the tunnel 200 can be comprehensively and quickly detected and data can be collected, thereby improving detection efficiency and increasing the degree of automation.

Referring to FIG. 7 and FIG. 8 , specifically, in another embodiment, the support device 31 is provided with a crown fixture 311, two spandrel fixtures 312, two waist fixtures 313 and two foot fixtures 314; wherein the two spandrel fixtures 312 are symmetrically arranged on both sides of the vehicle body 10, the two waist fixtures 313 are symmetrically arranged on both sides of the vehicle body 10, and the two foot fixtures 314 are symmetrically arranged on both sides of the vehicle body 10. That is, in this embodiment, the support device 31 includes seven mechanical arms 32, each fixture is provided with a mechanical arm 32, and each mechanical arm 32 is arranged corresponding to each measuring line, so as to be evenly spaced in the end face direction of the tunnel 200, so as to conduct a comprehensive detection of the tunnel 200. The tunnel diagnostic vehicle 100 can conveniently collect comprehensive tunnel data in one single movement, and conduct a comprehensive tunnel 200 disease analysis.

In order to evenly balance the weight and ensure the stability of the vehicle body 10, the arch tooling 311 is arranged in the middle of the vehicle body 10, and the other tools are symmetrically arranged in pairs.

In one embodiment, at least two radar antennas 35 are disposed at the bottom of the vehicle body 10 to detect the damage of the track plate, thereby further improving the comprehensiveness of the detection of hidden damage detection equipment 30 .

In one embodiment, the radar antenna 35 is provided with a second ranging device facing the surface of the tunnel 200. The second ranging device is used to detect and record the distance between the radar antenna 35 and the surface of the tunnel 200 in real time, which can be used as a parameter for judging abnormal tunnel data or as a data reference for control logic.

In one embodiment, the robot arm tooling is provided with a telescopically arranged robot arm 32 .

The mechanical arm 32 may be a multi-joint mechanical arm 32, including at least two joints 321 and at least one extension arm 322, each joint 321 is provided with at least one rotating shaft, and the two ends of the extension arm 322 are respectively connected to the rotating shafts of two different joints 321. The rotation of the rotating shaft causes the extension arm 322 to rotate, thereby realizing the extension and contraction of the mechanical arm 32.

Specifically, referring to FIG9 , in one embodiment, the mechanical arm 32 includes a first joint, a second joint and a third joint, the first joint includes a first rotating shaft 321a and a second rotating shaft 321b disposed on one side of the first rotating shaft 321a, the first rotating shaft 321a is used to be fixedly connected to the vehicle body 10, the second joint is provided with a third rotating shaft 321c, the third joint is provided with a fourth rotating shaft 321d, a fifth rotating shaft 321e disposed at one end of the fourth rotating shaft 321d and a sixth rotating shaft 321f disposed at one end of the fifth rotating shaft 321e, and the sixth rotating shaft 321f is provided for connecting the radar antenna 35; the mechanical arm 32 also includes a first extending arm 322a and a second extending arm 322b, the first extending arm 322a connects the second rotating shaft 321b and the third rotating shaft 321c, and the second extending arm 322b connects the third rotating shaft 321c and the fourth rotating shaft 321d. The mechanical arm 32 of this embodiment is a six-axis mechanical arm 32, which has a high degree of freedom, is fast and convenient to extend and retract, and has a high efficiency.

Of course, the robotic arm may also be a multi-stage telescopic robotic arm 32, which is not limited here.

It can be understood that the tunnel data detected by the radar antenna 35 is collected by the control module, and the control module can also issue control instructions to the robotic arm 32 to control the contraction and extension of the robotic arm 32.

In one embodiment, a detection member is provided at one end of the mechanical arm 32 away from the vehicle body 10, and the detection member is used to detect obstacles in the direction of travel of the radar antenna 35. The detection member may be a probe or a millimeter wave radar. It is understandable that the mechanical arm 32 and the detection member are both electrically connected to the control module. When the detection member detects an obstacle on the travel path, the detection member will generate a signal containing obstacle information. After collecting the signal, the control module generates a corresponding instruction through calculation and sends the instruction to the mechanical arm 32 to control the mechanical arm 32 to retract, so that the radar antenna 35 maintains a sufficient safe distance from the surface of the tunnel 200 and avoids obstacles, thereby ensuring the safety of the detection process and protecting the safety of the equipment.

In another embodiment, an obstacle avoidance radar 40 is provided at the front end of the vehicle body 10 in the direction of travel, and the obstacle avoidance radar 40 is electrically connected to the control module. In one embodiment, the obstacle avoidance radar 40, the second distance measuring device and the detection member cooperate to realize the obstacle avoidance operation. The obstacle avoidance radar 40 is used to detect obstacles on the surface of the tunnel 200 and in front of the tunnel 200 to avoid collision of the vehicle body 10. The obstacle avoidance radar 40 has a low detection accuracy for obstacles on the surface of the tunnel 200, while the detection member can accurately detect the obstacle information on the surface of the tunnel 200 in front of the direction of travel of the mechanical arm 32. The second distance measuring device is used to detect and record the distance between the radar antenna 35 and the surface of the tunnel 200 in real time.

Specifically, when the obstacle avoidance radar 40 and/or the detection element detects an obstacle and needs to avoid it, the control module controls the mechanical arm 32 to retract, and at this time the distance between the radar antenna 35 and the surface of the tunnel 200 becomes longer, and the second distance measuring device records it in real time, which can be used as a basis for judging abnormal tunnel data. That is, when the data is sorted, it can be judged that the mechanical arm 32 has performed an obstacle avoidance operation based on the distance anomaly here, and the tunnel data here is not accurate, and it can be inferred that there is an abnormal protrusion on the surface of the tunnel 200 here.

In one embodiment, the second distance measuring device can cooperate with the movement of the tunnel diagnostic vehicle 100. When performing line scanning, the tunnel data will be recorded only when the wheels 13 of the tunnel diagnostic vehicle 100 rotate to generate a pulse signal and the second distance measuring device detects that the position of the radar antenna 35 is within a specified range; if either of the above two is missing, the data recording will be stopped, thereby ensuring the validity of the collected tunnel data and reducing the impact of abnormal data.

1 and 2 , in one embodiment, the tunnel deformation detection device is a three-dimensional laser radar 50 , which is disposed in the middle of the rear end of the vehicle body 10 so that the three-dimensional laser radar 50 can better scan the tunnel 200 and establish a model of the tunnel 200 .

3 , in one embodiment, the tunnel diagnostic vehicle 100 is further provided with a power device 60 , which is disposed at the bottom of the vehicle body 10 and electrically connected to the control module; at least two pairs of wheels 13 are disposed at the bottom of the vehicle body 10 , and the output end of the power device 60 is transmission-connected to at least one pair of wheels 13 to drive the wheels 13 to rotate.

In one embodiment, the power device 60 may be a motor drive device with an energy storage device, and the output end of the motor is connected to the wheel 13 through a gear or a chain.

In one embodiment, the wheel 13 may be a rail wheel for moving on a rail; the wheel 13 may also be an ordinary wheel 13 to adapt to ordinary road conditions.

The present application also proposes a diagnostic system, including a cloud platform and a tunnel diagnostic vehicle 100. The specific structure of the tunnel diagnostic vehicle 100 refers to the above embodiment, and the central control device is connected to the cloud platform in communication. Since the present diagnostic system adopts all the technical solutions of all the above embodiments, it has at least all the functions brought by the technical solutions of the above embodiments, which will not be described one by one here. The data collected by the tunnel diagnostic vehicle 100 can be uploaded to the cloud platform for further analysis to make a detailed diagnosis of the disease condition of the tunnel 200.

The above are only optional embodiments of the present application, and do not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly/indirectly used in other related technical fields are included in the patent protection scope of the present application.

Claims (10)

1. A tunnel diagnostic vehicle, wherein the tunnel diagnostic vehicle comprises:

   Vehicle body;

   A detection device, which is disposed on the vehicle body and is used to collect tunnel data; and

   A central control device is arranged on the vehicle body and is provided with a control module and a diagnosis module which are communicatively connected. The control module is communicatively connected with the detection device to collect the tunnel data. The diagnosis module is used to integrate and process the tunnel data and output a preliminary diagnosis result. The control module is communicatively connected with the cloud platform to upload the tunnel data for analysis and diagnosis.
2. The tunnel diagnostic vehicle as described in claim 1, wherein the detection equipment includes an apparent disease detection equipment, a hidden disease detection equipment and a tunnel deformation detection equipment, and the apparent disease detection equipment, the hidden disease detection equipment and the tunnel deformation detection equipment are arranged on the vehicle body at intervals and are all electrically connected to the control module.
3. The tunnel diagnostic vehicle according to claim 2, wherein the tunnel deformation detection device is arranged at the rear end of the vehicle body in the direction of travel, and the vehicle body comprises:

   A detection area, wherein the detection area is provided with a detection space, and the apparent disease detection equipment and the hidden disease detection equipment are arranged in the detection space; and

   A control area, wherein the control area is arranged on at least one side of the detection area, the control area is provided with a control space, and the central control device is arranged in the control space.
4. The tunnel diagnostic vehicle according to claim 3, wherein the hidden disease detection device and the apparent disease detection device are arranged at intervals along the length direction of the vehicle body, and in the direction of travel, the hidden disease detection device is arranged before the apparent disease detection device;

   And/or, the surface disease detection device includes a visible light collection component and an infrared light collection component arranged toward the tunnel surface, and the visible light collection component and the infrared light collection component are electrically connected to the control module to collect tunnel data.
5. The tunnel diagnostic vehicle according to claim 3, wherein the hidden disease detection equipment is provided with a plurality of mechanical arm fixtures and a plurality of radar antennas, and the plurality of mechanical arm fixtures are arranged at intervals along the length direction of the vehicle body;

   An end of the mechanical arm tooling away from the vehicle body is connected to the radar antenna, and the mechanical arm tooling and the radar antenna are electrically connected to the control module.
6. The tunnel diagnostic vehicle according to claim 5, wherein at least two of the radar antennas are disposed at the bottom of the vehicle body for detecting the track plate;

   And/or, the radar antenna is provided with a second distance measuring device facing the tunnel surface, and the second distance measuring device is electrically connected to the control module;

   And/or, the mechanical arm tooling is provided with a retractable mechanical arm;

   And/or, an obstacle avoidance radar is provided at the front end of the vehicle in the direction of travel, and the obstacle avoidance radar is electrically connected to the control module.
7. The tunnel diagnostic vehicle according to claim 3, wherein the tunnel deformation detection device is a three-dimensional laser radar, and the three-dimensional laser radar is arranged in the middle of the rear end of the vehicle body;

   And/or, the tunnel diagnostic vehicle further includes an interactive device, which is disposed in the control space and electrically connected to the central control device, and is used for displaying data and inputting commands.
8. The tunnel diagnostic vehicle according to claim 3, wherein the control area includes a first control room located at the front end of the vehicle body in the direction of travel and a second control room located at the rear end of the vehicle body in the direction of travel, the central control device is located in the first control room, the tunnel deformation detection device is located outside the second control room, and the detection area is located between the first control room and the second control room;

   And/or, the detection area is provided with a hatch covering the vehicle body, the hatch covers the vehicle body and the hatch can be pushed and pulled along the length direction of the vehicle body to open or close the detection space.
9. The tunnel diagnostic vehicle according to claim 1, wherein the tunnel diagnostic vehicle is further provided with a power device, the power device being provided at the bottom of the vehicle body and electrically connected to the control module;

   At least two pairs of wheels are arranged at the bottom of the vehicle body, and the output end of the power device is drivingly connected to at least one pair of wheels to drive the wheels to rotate.
10. A diagnostic system comprising:

    Cloud Platform; and

    According to any one of claims 1 to 9, the central control device is communicatively connected to the cloud platform.