CN110888423A - Intelligent inspection system for tunnel - Google Patents
Intelligent inspection system for tunnel Download PDFInfo
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- CN110888423A CN110888423A CN201811037656.5A CN201811037656A CN110888423A CN 110888423 A CN110888423 A CN 110888423A CN 201811037656 A CN201811037656 A CN 201811037656A CN 110888423 A CN110888423 A CN 110888423A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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Abstract
The invention discloses an intelligent inspection system for a tunnel system, which comprises: the intelligent robot system comprises a rail (02) fixedly arranged on the inner surface of the tunnel (01) and used for providing a guiding effect for the movement of the intelligent robot (03), a power-summing rail (02), the intelligent robot (03) arranged on the rail (02) and capable of reciprocating along the rail (02) in the extending direction of the intelligent robot and used for acquiring real-time state data in the tunnel (01) and transmitting the real-time state data to a central processing system (04), and the central processing system (04) used for receiving the real-time state data, analyzing the real-time state data and generating processing results and instructions. The intelligent inspection system for the tunnel system can monitor the infrastructure inside the tunnel (01) and the use state of the tunnel (01) in real time, find faults or hidden fault hazards in time, save the time of safety inspection and improve the efficiency of safety inspection.
Description
Technical Field
The invention relates to the technical field of tunnel safety, in particular to an intelligent inspection system for tunnel safety detection.
Background
Tunnels are engineering structures buried in the ground and are a form of human use of underground space. The tunnel can be divided into a traffic tunnel, a hydraulic tunnel, a municipal tunnel and a mine tunnel. In 1970, the international economic cooperation and development organization held a tunnel conference which integrates various factors, and the definition of the tunnel is as follows: a cavity with a cross section area larger than 2 square meters is built in a certain application and under the ground by any method with specified shape and size. The tunnels may be classified into highway tunnels, submarine tunnels, underground civil air defense projects, subway tunnels, light rail tunnels, and the like according to the use environment.
Due to the particularity of the existing positions of the tunnels, the detection difficulty of the tunnels is high due to the diversity of fault types. The method can be divided into equipment abrasion, fracture and crack according to the fault expression form; there are electrical faults, signal faults, mechanical faults and electrical faults according to the physical type of the fault cause.
The existing fault diagnosis methods mainly comprise the following four types: (1) empirical method: the operation inspector diagnoses the fault according to experience, visual inspection and logic judgment; (2) the component replacement method comprises the following steps: replacing a possible faulty component with a new component and verifying by running; (3) equipment detection method: testing by means of professional instruments and equipment to locate fault points; (4) and (3) operation record searching method: and searching for the fault problem by comparing and referring to the operation record. The existing diagnosis method requires that an operation inspector is familiar with the working principle of each component of the rail transit and various fault information, the working intensity is high, the efficiency is low, and the accuracy of fault diagnosis is easily interfered by personnel factors.
Disclosure of Invention
The invention aims to solve the problems of low inspection speed, high working strength, low working efficiency and the like in manual safety inspection in the prior art, and provides an intelligent inspection system for a tunnel, which can timely find faults or hidden faults in the states of infrastructures in the tunnel and the running states of vehicles in the tunnel in real time, save the time of safety inspection and improve the efficiency of safety inspection.
The invention provides an intelligent inspection system for a tunnel, which comprises:
track: the intelligent robot is fixedly arranged on the inner surface of the tunnel, the length of the intelligent robot is greater than or equal to that of the tunnel, the intelligent robot is used for providing a guiding effect for the movement of the intelligent robot along the extending direction of the tunnel, the track can also be used for providing power for the intelligent robot, and the intelligent robot can be connected with a trolley line on the track through an electric brush to take electricity;
the intelligent robot: the intelligent robot is arranged on the track and can reciprocate along the track in the extension direction of the track, is used for acquiring real-time state data in the tunnel, transmitting the real-time state data to the central processing system, receiving an instruction transmitted by the central processing system, and executing corresponding actions according to the instruction, and can get electricity in real time through the track or through a self-contained storage battery;
a central processing system: the intelligent robot system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring real-time state data transmitted by the intelligent robot;
the module is assembled to the function: the intelligent robot is arranged on the intelligent robot and used for combining the functional modules in the data acquisition module, the motion control module and the emergency rescue module according to the requirements of actual environmental conditions, and the functional modules are arranged on the functional assembling module through the interfaces arranged on the functional assembling module.
The function assembling module can effectively combine modular products in the data acquisition module, the operation control module and the emergency rescue module according to different tunnel environments and detection items, and can effectively solve the problems in practice; the function assembly module can be detached from the intelligent robot, each modular product is installed on the function assembly module in advance according to different detection items, the function assembly module originally installed on the intelligent robot is detached when the intelligent robot needs to be replaced, and a new task can be executed by replacing a new function assembly module. The modular product can be a solid product such as a camera and the like, and can also be a control program such as an operation control program and the like.
The invention relates to an intelligent inspection system for a tunnel, which is characterized in that as an optimal mode, an intelligent robot comprises:
a robot car body: the device is used for carrying a data acquisition module, a motion control module, a data processing module, a main control module and a emergency rescue module;
a data acquisition module: the system comprises a robot body, a data processing module and a data processing module, wherein the robot body is fixedly arranged on the robot body and used for acquiring real-time state data in a tunnel and transmitting the real-time state data to the data processing module;
a motion control module: the robot body is fixedly arranged on the robot body, is used for detecting the motion state of the robot body and generating motion state information, is used for sending the motion state information to the main processing module, is used for receiving a motion instruction sent by the main control module, and is used for adjusting the motion state of the robot body according to the motion instruction;
a data processing module: the real-time state data acquisition module is fixedly arranged on the robot body and used for acquiring real-time state data of the robot body;
a main processing module: the system is fixedly arranged on a robot body, is used for receiving a comparison result transmitted by the data processing module, is used for receiving motion state information sent by the motion control module, is used for sending an instruction to the motion control module, is used for sending an emergency instruction to the emergency rescue module, is used for sending the comparison result and the motion state information to the central processing system, and is used for receiving a motion instruction, an emergency instruction and data update information sent by the central processing system;
an emergency rescue module: the emergency rescue device is fixedly installed on the robot body, stores emergency rescue equipment, is used for receiving the emergency command transmitted by the main processing module and is used for carrying out emergency rescue according to the emergency command.
The invention relates to an intelligent inspection system for a tunnel, which is characterized in that as an optimal mode, a data acquisition module comprises:
a laser scanning device: the system is used for carrying out three-dimensional modeling on the tunnel, detecting the limitation and deformation of the tunnel, detecting foreign matters in the tunnel and detecting the deformation of the track;
a scanning camera: the device is used for detecting cracks and wet spots of the tunnel and detecting foreign matters in the tunnel;
a camera: the system is used for monitoring the environment in the tunnel;
an infrared imager: the device is used for detecting the heating of the cable in the tunnel and detecting the invasion of people and animals in the tunnel;
a temperature detector: the tunnel temperature sensor is used for detecting temperature abnormality in the tunnel and identifying a heat source in the tunnel;
a speed detector: for detecting the speed of the movement of the object in the tunnel.
The laser scanning device can perform tunnel three-dimensional modeling, foreign matter intrusion detection, tunnel body structure and tunnel curvature deformation detection and rail geometric shape detection (rail part falling, rail gauge deformation and the like); the scanning camera can be used for detecting foreign matters, cracks on the wall surface of the tunnel and wet stains on the wall surface; the camera can monitor the real-time environment in the tunnel; the infrared imager can be used for detecting cable heating in the tunnel, detecting invasion of people or animals, detecting short circuit of a power loop in the tunnel and the like; the emergency rescue module can transmit emergency rescue to the fault position according to the emergency instruction, such as fire extinguishing bomb to the fire site.
The invention relates to an intelligent inspection system for a tunnel, which is characterized in that as an optimal mode, a motion control module comprises:
3D inertial measurement unit: the system is used for detecting the attitude and the acceleration of the robot body, and a gyroscope can be selected;
positioning a sensor: the robot comprises a detection module, a control module and a display module, wherein the detection module is used for detecting the position information of a robot body;
a motor driver: the robot is used for providing running power for the robot body;
a gyroscope: the system is used for detecting the azimuth information of the robot body and can realize the accurate positioning of a moving object by combining the inertial navigation technology;
non-contact keeps away barrier sensor: for detecting whether an obstacle such as a foreign object exists on the rail, for example, a radar.
As a preferred mode, the intelligent robot further includes:
the invention relates to an intelligent inspection system for a tunnel, which is a preferable mode, wherein a data processing module comprises:
a data comparison module: the data acquisition module is used for acquiring real-time state data of the rail transit system infrastructure, and transmitting the real-time state data to the data judgment module;
a data judgment module: the system comprises a database, a fault diagnosis module, a fault early warning module, a fault diagnosis module and a fault diagnosis module, wherein the database is used for storing the comparison result of the fault diagnosis module and the fault early warning module;
a fault diagnosis module: the system comprises a plant control module, a plant classification module, a;
a fault early warning module: the system is used for classifying and grading the early warning information, positioning the early warning information and transmitting the early warning classification information, the early warning grading information and the early warning positioning information to the main control module.
The invention relates to an intelligent inspection system for a tunnel, which is characterized in that as a preferred mode, a central processing system comprises:
a database module: the central processing system is used for storing fault information, early warning information and updating information summarized by the central processing system;
a knowledge base module: the tunnel data storage device is used for storing service life and wear data information of each part and component in the tunnel;
an inference engine module: and the system is used for classifying and updating the fault information or early warning information gathering results transmitted by the central processing system to the fault database module and the knowledge base module.
The database module can realize automatic updating according to the fault information and the early warning information transmitted by the data processing module, and the updated result is used as the basis for judging and grading the next fault information or early warning information, so that the intelligent growth of the intelligent inspection robot is realized.
The invention relates to an intelligent inspection system for a tunnel, which is characterized in that as an optimal mode, a database module comprises:
a fault information module: the system comprises a storage module, a fault classification module, a fault rating module and a fault classification module, wherein the storage module is used for storing fault information, fault classification information, fault positioning information, fault rating information and fault thresholds of tunnels;
the early warning information module: the tunnel early warning system is used for storing early warning information, early warning classification information, early warning positioning information, early warning rating information and early warning threshold values of the tunnel.
The invention relates to an intelligent inspection system for a tunnel, which is used as an optimal mode, wherein real-time state data comprise real-time state data of infrastructure in the tunnel, real-time state data of the running condition of a moving object in the tunnel, real-time state data of the running of an intelligent robot and real-time state data of the environment in the tunnel.
According to the intelligent inspection system for the tunnel system, as an optimal mode, the instructions comprise a motion instruction for controlling the intelligent robot to move and an emergency instruction for controlling the intelligent robot to carry out an emergency plan.
As an optimal mode, the data acquisition module further comprises a radio frequency scanning device, a toxic gas detector and a smoke detector. The radio frequency scanning device can scan electronic tags on equipment and is used for determining basic data information and position information of each equipment; the toxic gas detector can identify toxic gas in the tunnel; the smoke detector can identify smoke in the tunnel and quickly identify sudden conditions such as fire disasters.
The invention relates to an intelligent inspection system for a tunnel, which is characterized in that a plurality of tracks are arranged in the tunnel as a preferred mode, and the tracks are arranged on the side wall or the top of the tunnel. Set up an intelligence and patrol and examine the robot on every track, a plurality of intelligence are patrolled and examined the robot and can be compensatied and detect the blind spot, improve the accuracy that detects, improve tunnel system's security.
In the using process of the invention, the intelligent robot is supplied with electricity by a current collector and provides power for a driving wheel to drive the intelligent robot to move along the direction of a guide rail, a data acquisition module collects real-time state data of infrastructure of a rail transit system in real time and transmits the real-time state data to a data processing module, the data processing module firstly divides the data transmitted by the data acquisition module into normal data, fault data and early warning data, wherein the normal data are directly stored in a database, the fault data are issued to a fault diagnosis module for classification, positioning and rating, and fault classification information, fault rating information and fault positioning information are fed back to a user by a display device, the early warning information is issued to a fault early warning module for classification, positioning and rating, and the early warning classification information, early warning rating information and early warning positioning information are fed back to the user by the display device, the system can find faults or hidden faults in time, save the time of safety inspection and improve the efficiency of safety inspection.
Meanwhile, the database can realize automatic updating according to the fault information and the early warning information transmitted by the data processing module, and the updated result is used as the basis for judging and grading the next fault information or early warning information, so that the intelligent growth of the intelligent robot is realized.
According to the invention, the intelligent robot is arranged on the guide rail on the inner wall of the tunnel, so that real-time state data in the tunnel can be detected in real time, faults or fault hidden dangers can be found in time, the time for safety inspection is saved, and the efficiency of safety inspection is improved.
Drawings
FIG. 1 is a diagram of a system for intelligent inspection of tunnels;
FIG. 2 is a schematic diagram of a functional assembly module of the intelligent inspection system for a tunnel;
FIG. 3 is a flow chart of a smart robot for a smart inspection system for a tunnel;
FIG. 4 is a block diagram of an intelligent robot of the intelligent inspection system for a tunnel;
fig. 5 is a composition diagram of a data acquisition module of the intelligent inspection system for a tunnel;
fig. 6 is a composition diagram of a motion control module of the intelligent inspection system for a tunnel;
fig. 7 is a block diagram of a data processing module of the intelligent tour inspection system for a tunnel;
fig. 8 is a block diagram of a central processing system of the smart patrol system for a tunnel;
fig. 9 is a composition diagram of a database module of the intelligent inspection system for a tunnel.
Description of the drawings:
01. a tunnel; 02. a track; 03. an intelligent robot; 04. a central processing system; 041. a database module; 0411. a fault information module; 0412. an early warning information module; 042. a knowledge base module; 043. a reasoner module; 05. a functional assembly module; 100. a data acquisition module; 110. a laser scanning device; 120. a scanning camera; 130. a camera; 140. an infrared imager; 150. a temperature detector; 160. a speed detector; 200. a motion control module; 210. a 3D inertial measurement unit; 220. a positioning sensor; 230. a motor driver; 240. a gyroscope; 250. a non-contact obstacle avoidance sensor; 300. a data processing module; 310. a data comparison module; 320. a data judgment module; 330. a fault diagnosis module; 340. a fault early warning module; 400. a main control module; 500. and an emergency rescue module.
Detailed Description
The invention provides an intelligent inspection system for a tunnel system, which comprises the following components as shown in figure 1:
the track 02: the intelligent robot 03 is fixedly arranged on the inner surface of the tunnel 01, has a length greater than or equal to that of the tunnel 01, is used for providing a guiding effect for the movement of the intelligent robot 03 along the extension direction of the tunnel 01, and is used for providing power for the intelligent robot 03;
intelligent robot 03: the system is arranged on the track 02 and can reciprocate along the track 02 in the extension direction of the track, and is used for acquiring real-time state data in the tunnel 01, transmitting the real-time state data to the central processing system 04, receiving an instruction transmitted by the central processing system 04, and executing corresponding action according to the instruction; the real-time state data comprises infrastructure real-time state data in the tunnel, moving object running condition real-time state data in the tunnel, intelligent robot running real-time state data and environment real-time state data in the tunnel; the instructions comprise a motion instruction for controlling the intelligent robot to move and an emergency instruction for controlling the intelligent robot to carry out an emergency plan; as shown in fig. 3 to 4, the intelligent robot 03 includes:
a robot car body: for carrying the data acquisition module 100, the motion control module 200, the data processing module 300, the main control module 400 and the emergency rescue module 500;
the data acquisition module 100: the system is fixedly arranged on a robot body, is used for acquiring real-time state data in the tunnel 01 and transmitting the real-time state data to the data processing module 300; as shown in fig. 5, includes:
laser scanning device 110: the system is used for carrying out three-dimensional modeling on the tunnel 01, detecting cracks and deformation of the tunnel 01, detecting foreign matters in the tunnel 01 and detecting deformation of the rail 02;
the scanning camera 120: the device is used for detecting cracks and wet spots of the tunnel 01 and detecting foreign matters in the tunnel 01;
the camera 130: the system is used for monitoring the environment in the tunnel 01;
infrared imager 140: the device is used for detecting the heating of the cable in the tunnel 01 and detecting the invasion of people and animals in the tunnel 01;
temperature acquisition device 150: the system is used for acquiring temperature information in the tunnel 01 and identifying a heat source in the tunnel 01;
the speed acquisition device 160: for collecting motion information of moving objects within the tunnel 01.
The motion control module 200: the system comprises a main processing module 400, a motion instruction receiving module 400, a motion state information generating module and a motion state information generating module, wherein the motion state information generating module is fixedly arranged on a robot body and used for detecting the motion state of the robot body, sending the motion state information to the main processing module 400, receiving the motion instruction sent by the main control module 400 and adjusting the motion state of the robot body according to; as shown in fig. 6, includes:
3D inertial measurement unit 210: the robot body attitude and acceleration detection device is used for detecting the attitude and the acceleration of the robot body;
the positioning sensor 220: the robot comprises a detection module, a control module and a display module, wherein the detection module is used for detecting the position information of a robot body;
the motor driver 230: the robot is used for providing running power for the robot body;
the gyroscope 240: the system is used for judging the position information of the robot body;
non-contact obstacle avoidance sensor 250: for detecting whether or not there is an obstacle such as a foreign object on the rail 02.
The data processing module 300: the system comprises a data acquisition module 100, a database module, a classification module 400 and a database, wherein the data acquisition module is used for comparing and judging real-time state data collected by the data acquisition module 100 with normal state data of infrastructure of a rail transit system stored in the database module to generate fault information or early warning information, classifying and processing the fault information or the early warning information to generate classification information and a processing result, transmitting the processing result to the main control module 400, and transmitting the classification information and the processing result to the database; as shown in fig. 7, further includes:
the data comparison module 310: the data judgment module 320 is used for comparing the real-time state data collected by the data acquisition module 100 with the normal state data of the rail transit system infrastructure stored in the database module and transmitting the comparison result to the database module;
the data judgment module 320: the database module is used for judging the comparison result according to a threshold value set in the database module, generating fault information or early warning information, transmitting the fault information to the fault diagnosis module 330, and transmitting the early warning information to the fault early warning module 340;
the fault diagnosis module 330: the main control module 400 is used for classifying and grading the fault information, positioning the fault information, and transmitting the fault classification information, the fault grading information and the fault positioning information to the main control module;
the fault pre-warning module 340: for classifying and ranking the early warning information, positioning the early warning information, and transmitting the early warning classification information, the early warning ranking information, and the early warning positioning information to the main control module 400.
The main processing module 400: the robot body is fixedly installed on the robot body, and is used for receiving the comparison result transmitted by the data processing module 300, receiving the motion state information sent by the motion control module 200, sending a motion instruction to the motion control module 200, sending the comparison result and the motion state information to the central processing system 04, and receiving the motion instruction sent by the central processing system 04.
The emergency rescue module 500: the detachable installation is on the robot automobile body, can assemble it in function assembly module when needing to use emergency rescue module 500 and use for the storage emergency rescue equipment for receive the emergency instruction of main processing module 400 conveying, be used for carrying out emergency rescue according to emergency instruction.
Function assembly module 05: as shown in fig. 2, the intelligent robot is arranged on the intelligent robot, and is used for combining 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 installing the functional modules on the functional assembling module 05 through the interface 051 arranged on the functional assembling module 05.
The central processing system 04: the intelligent robot control system is used for receiving the real-time state data transmitted by the intelligent robot 03, analyzing the real-time state data, generating an instruction according to an analysis result, and transmitting the instruction to the intelligent robot 03. As shown in fig. 8, includes:
the database module 041: the central processing system 04 is used for storing fault information, early warning information and update information summarized by the central processing system 04; as shown in fig. 9, includes:
the fault information module 0411: the system is used for storing fault information, fault classification information, fault positioning information, fault rating information and fault threshold values of the tunnel 01;
the warning information module 0412: the tunnel 01 early warning system is used for storing early warning information, early warning classification information, early warning positioning information, early warning rating information and early warning threshold values of the tunnel 01;
knowledge base module 042: the data storage device is used for storing service life and wear data information of each part and component in the tunnel 01;
the reasoner module 043: and the database module 041 and the knowledge base module 042 are used for updating the fault information or early warning information summary result sent by the central processing system 04 in a classified manner.
The intelligent robot 03 is supplied with electricity through the electricity collecting device 4 and drives the intelligent robot 03 to move along the direction of the rail 02, the data acquisition module 100 collects real-time state data of infrastructure of a rail transit system in real time and transmits the real-time state data to the data processing module 300, the data processing module 300 firstly divides the data transmitted by the data acquisition module 100 into normal data, fault data and early warning data, wherein the normal data are directly stored in the database module 041, the fault data are issued to the fault diagnosis module 330 for classification, positioning and rating, and transmits fault classification information, fault rating information and fault positioning information to the central processing system 04, the early warning information is issued to the fault early warning module 340 for classification, positioning and rating, and transmits the early warning classification information, the early warning rating information and the early warning positioning information to the central processing system 04, and faults or potential faults can be found in time, the time of safety inspection is saved, and the efficiency of safety inspection is improved. The main control module 400 transmits the summarized motion state information, fault information, and early warning information to the central processing system 04 by wire (or wireless), and the database module 041 can automatically update the collected motion state information, fault information, and early warning information 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 determining and ranking the next fault information or early warning information, thereby realizing the intelligent growth of the intelligent robot 03.
Example 1
Inside the highway tunnel, when the intelligent robot 03 finds suspicious foreign matters in the routing inspection process, the scanning camera 120 transmits the acquired data to the data processing module 300 for analysis and positioning through the positioning sensor 220, the data processing module 300 transmits the fault classification information, the fault rating information and the fault positioning information to the central processing system 04 for feedback to the manager, and the database module 041 stores the fault classification information, the fault rating information and the fault positioning information in the field and realizes automatic updating.
Example 2
Inside the expressway tunnel, when the intelligent robot 03 finds that a suspicious fault needs to be further determined in the routing inspection process, the central processing system 04 sends a motion instruction to the main control module 400 according to fault information sent by the main control module 400, the main control module 400 sends the motion instruction to the motion control module 200, the motion state (stopping or decelerating) of the intelligent robot 03 is adjusted through the 3D inertia measurement unit 210, the motor driver 230 and the gyroscope 240, the suspicious fault information is further determined, and a determination result is transmitted to the central processing system 04 to be fed back to a manager.
Example 3
Inside the expressway, when the intelligent robot 03 finds that the vehicle running speed is abnormal in the routing inspection process, if the vehicle running speed is suddenly and greatly reduced, 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 sends the motion instruction to the motion control module 200, the motion state (stop or deceleration) of the intelligent robot 03 is adjusted through the 3D inertia measurement unit 210, the motor driver 230 and the gyroscope 240, the suspicious fault information is further judged, and the judgment result is transmitted to the central processing system 04 to be fed back to the manager.
Example 4
Inside the submarine tunnel, when the intelligent robot 03 finds an abnormal heat source in the routing inspection process, 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, the data processing module 300 transmits the fault classification information, the fault rating information and the fault positioning information to the central processing system 04 for feedback to the manager, and the database module 041 stores the fault classification information, the fault rating information and the fault positioning information in the field and realizes automatic updating.
Example 5
Inside the submarine tunnel, when needing to carry out emergency treatment to unusual heat source, central processing system 04 sends emergency instruction to main control module 400 according to the trouble information that main control module 400 sent, and motion control module 200 control intelligent robot 03 returns, and the staff installs the fire extinguishing bomb in emergency rescue module 500 on the module is assembled to the function in the control room, and the rethread motion control module 200 returns the place that the trouble takes place and carries out emergency rescue.
Example 6
Inside the tunnel of the rail transit system, when the intelligent robot 03 finds a crack in the tunnel in the routing inspection process, the camera 130 transmits the acquired data to the data processing module 300 for analysis and positioning through the positioning sensor 220, the data processing module 300 transmits the fault classification information, the fault rating information and the fault positioning information to the central processing system 04 for feedback to the manager, and the database module 041 stores the fault classification information, the fault rating information and the fault positioning information in the field and realizes automatic updating.
Example 7
When laser scanning needs to be performed on the rail transit system tunnel, a worker installs the laser scanning device 110 on the function assembling module in an operation room, and the central processing system 04 controls the motion control module 200 through a motion instruction to drive the intelligent robot 03 to perform tunnel scanning.
Example 8
When the execution task of the intelligent robot 03 needs to be replaced, a new functional module is installed on the functional assembling module 05 through the interface 051 in advance, the original functional assembling module 05 is detached from the intelligent robot 03, and the new task can be executed according to the new functional assembling module 05.
The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that various modifications, changes, and equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an intelligence system of patrolling and examining for tunnel which characterized in that: the method comprises the following steps:
track (02): the intelligent robot is fixedly arranged on the inner surface of the tunnel (01), has a length greater than or equal to that of the tunnel (01), and is used for providing a guiding effect for the movement of the intelligent robot (03) along the extending direction of the tunnel (01);
intelligent robot (03): the system is arranged on the track (02) and can reciprocate along the track (02) in the extending direction of the track, is used for acquiring real-time state data in the tunnel (01), transmitting the real-time state data to the central processing system (04), receiving instructions transmitted by the central processing system (04), and executing corresponding actions according to the instructions;
central processing system (04): the intelligent robot system comprises a data processing module, a data processing module and a data processing module, wherein the data processing module is used for receiving real-time state data transmitted by the intelligent robot (03), analyzing the real-time state data, generating an instruction according to an analysis result, and transmitting the instruction to the intelligent robot (03);
functional assembly module (05): the intelligent robot is arranged on the intelligent robot (03) and used for combining all functional modules in the data acquisition module (100), the motion control module (200) and the emergency rescue module (500) according to the requirements of actual environmental conditions, and installing the functional modules on the functional assembling module (05) through an interface (051) arranged on the functional assembling module (05).
2. The intelligent inspection system for tunnels according to claim 1, wherein: the intelligent robot (03) comprises:
a robot car body: the system comprises a data acquisition module (100), a motion control module (200), a data processing module (300), a main control module (400) and the emergency rescue module (500);
data acquisition module (100): the real-time state data acquisition module is fixedly arranged on the robot body, is used for acquiring the real-time state data in the tunnel and is used for transmitting the real-time state data to the data processing module (300);
motion control module (200): the system comprises a main control module (400), a robot body, a motion state detection module, a motion state information generation module and a motion state information generation module, wherein the robot body is fixedly arranged on the robot body and used for detecting the motion state of the robot body and generating the motion state information, sending the motion state information to the main processing module (400), receiving a motion instruction sent by the main control module (400), and adjusting the motion state of the robot body according to the;
data processing module (300): the real-time state data acquisition module is fixedly arranged on the robot body and used for receiving the real-time state data transmitted by the data acquisition module (100), comparing the real-time state data with data in a database and generating a comparison result, and transmitting the comparison result to the main control module (400);
main processing module (400): the system is fixedly installed on the robot body, and is used for receiving the comparison result transmitted by the data processing module (300), receiving the motion state information sent by the motion control module (200), sending the motion instruction to the motion control module (200), sending an emergency instruction to an emergency rescue module, sending the comparison result and the motion state information to the central processing system (04), and receiving the motion instruction, the emergency instruction and data update information sent by the central processing system (04);
emergency rescue module (500): the emergency rescue device is detachably mounted on the robot body, stores emergency rescue equipment, is used for receiving the emergency command transmitted by the main processing module (400), and is used for carrying out emergency rescue according to the emergency command.
3. The intelligent inspection system for tunnels according to claim 2, wherein: the data acquisition module (100) comprises:
laser scanning device (110): the system is used for three-dimensional modeling of the tunnel (01), detecting the limitation and deformation of the tunnel (01), detecting foreign matters in the tunnel (01) and detecting the deformation of the track (02);
scanning camera (120): the device is used for detecting cracks and wet spots of the tunnel (01) and detecting foreign matters in the tunnel (01);
camera (130): the system is used for monitoring the environment in the tunnel (01);
infrared imager (140): the device is used for detecting the heating of the cable in the tunnel (01) and detecting the invasion of people and animals in the tunnel (01);
temperature probe (150): the tunnel heat source detection device is used for detecting temperature abnormity in the tunnel (01) and identifying a heat source in the tunnel (01);
speed probe (160): the device is used for detecting the speed of the movement of an object in the tunnel (01).
4. The intelligent inspection system for tunnels according to claim 2, wherein: the motion control module (200) comprises:
3D inertial measurement unit (210): for detecting the attitude and acceleration of the robot body;
positioning sensor (220): the robot comprises a detection module, a control module and a display module, wherein the detection module is used for detecting the position information of the robot body;
motor driver (230): the robot is used for providing running power for the robot body;
gyroscope (240): the system comprises a detection module, a display module and a control module, wherein the detection module is used for detecting the orientation information of the robot vehicle body;
non-contact obstacle avoidance sensor (250): is used for detecting whether obstacles such as foreign matters exist on the track (5).
5. The intelligent inspection system for tunnels according to claim 2, wherein: the data processing module (300) comprises:
data comparison module (310): the data acquisition module (100) is used for acquiring real-time state data of a rail transit system infrastructure, comparing the real-time state data with normal state data of the rail transit system infrastructure stored in the database, and transmitting the comparison result to the data judgment module (320);
data determination module (320): the system is used for judging the comparison result according to a threshold value set in a database, generating fault information or early warning information, transmitting the fault information to a fault diagnosis module (330), and transmitting the early warning information to a fault early warning module (340);
fault diagnosis module (330): the fault information processing system is used for classifying and grading the fault information, positioning the fault information and transmitting the fault classification information, the fault grading information and the fault positioning information to a main processing module (400);
fault early warning module (340): the early warning system is used for classifying and grading the early warning information, positioning the early warning information and transmitting the early warning classification information, the early warning grading information and the early warning positioning information to a main processing module (400).
6. The intelligent inspection system for tunnels according to claim 1, wherein: the central processing system (04) comprises:
database module (041): for storing fault information, early warning information and update information summarized by the central processing system (04);
knowledge base module (042): the tunnel (01) is used for storing the service life and wear data information of all parts and components in the tunnel (01);
reasoner module (043): the database module (041) and the knowledge base module (042) are used for updating the fault information or early warning information summary result transmitted by the central processing system (04) in a classified manner.
7. The intelligent inspection system for tunnels according to claim 6, wherein: the database module (041) comprises:
failure information module (0411): the tunnel fault information storage device is used for storing fault information, fault classification information, fault positioning information, fault rating information and fault threshold values of the tunnel (01);
early warning information module (0412): the tunnel (01) is used for storing early warning information, early warning classification information, early warning positioning information, early warning rating information and early warning threshold values of the tunnel (01).
8. The intelligent inspection system for tunnels according to claim 1, wherein: the real-time state data comprises real-time state data of infrastructure in the tunnel (02), real-time state data of the running condition of a moving object in the tunnel (02), real-time state data of the running of the intelligent robot (03) and real-time state data of the environment in the tunnel (02).
9. The intelligent inspection system for tunnels according to claim 1, wherein: the instructions comprise a motion instruction for controlling the intelligent robot (03) to move and an emergency instruction for controlling the intelligent robot (03) to carry out an emergency plan.
10. The intelligent inspection system for tunnels according to claim 1, wherein: a plurality of rails (02) are arranged in the tunnel (01), and the rails (02) are arranged on the side wall or the top of the tunnel (01).
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| CN201811037656.5A CN110888423A (en) | 2018-09-06 | 2018-09-06 | Intelligent inspection system for tunnel |
| PCT/CN2018/104742 WO2020047879A1 (en) | 2018-09-06 | 2018-09-09 | Intelligent inspection system for tunnel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811037656.5A CN110888423A (en) | 2018-09-06 | 2018-09-06 | Intelligent inspection system for tunnel |
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