CN113442138B - Routing inspection path planning method for climbing robot in tunnel - Google Patents
Routing inspection path planning method for climbing robot in tunnel Download PDFInfo
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- CN113442138B CN113442138B CN202110718693.8A CN202110718693A CN113442138B CN 113442138 B CN113442138 B CN 113442138B CN 202110718693 A CN202110718693 A CN 202110718693A CN 113442138 B CN113442138 B CN 113442138B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention belongs to the technical field of tunnel detection, and particularly relates to a routing planning method for a climbing robot in a tunnel, which comprises the following steps: s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards; s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top; and S3, repeating the step S1 and the step S2 until the detection of all the vaults is completed. The invention has the advantages of scientific and reasonable path coverage, simple and feasible advancing strategy, high routing inspection path precision and the like.
Description
Technical Field
The invention relates to the technical field of tunnel detection, in particular to a routing method for an inspection path of a climbing robot in a tunnel.
Background
The detection of the lining quality in the conventional tunnel needs a worker to hold professional equipment such as a detection radar and the like, and can detect and obtain the lining and the disease information behind the lining by cooperating with auxiliary equipment such as a special detection vehicle, a scaffold and the like. The method has the disadvantages of high equipment investment cost in the early stage, large amount of workers with professional skills, large man-made interference factors and poor stability of detection precision. In addition, the propelling speed of the detection equipment is slow, the detection process is complex, the overall efficiency is low, the detection range in the skylight period is small, and the detection requirement of a busy line tunnel is difficult to meet. The existing tunnel lining disease detection has a plurality of problems and belongs to the technical pain point of the industry.
Tunnel inner wall climbing inspection robot provides a fine solution, and it relies on self to climb the function and pastes and lean on at the tunnel inner wall, removes along the tunnel inner wall through running gear, utilizes the check out test set discernment lining cutting disease of loading. The tunnel inner wall is the cylindric of extension, if adopts random robot to patrol and examine the route, must appear detecting the blind area, takes place the robot simultaneously and repeats the condition that comes and goes the detection in the same place easily, is difficult to ensure the normal clear of detection achievement.
The tunnel vault surface inspection method has the advantages that the tunnel vault is not planar but has an obviously curved cambered surface, the requirement on the path precision is stricter, and a path calibration link needs to be added. Therefore, a method for planning the routing of the climbing robot in the tunnel is needed, so that the detection range is ensured to cover the whole area to be detected, repeated detection is avoided, and the detection efficiency is improved.
Disclosure of Invention
The invention aims to realize that when a climbing robot clings to the inner wall in a tunnel to carry out lining disease detection work, the climbing robot can follow a comprehensive and efficient detection path, judge the advancing direction of the robot through environmental conditions, calibrate the path, and provide a climbing robot routing inspection path planning method which can advance orderly, cover comprehensively and avoid obstacles effectively.
In order to solve the technical problems, the invention adopts the technical scheme that: a routing planning method for inspection of a climbing robot in a tunnel comprises the following steps:
s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards;
s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top;
and S3, repeating the step S1 and the step S2 until the detection of all the vaults is completed.
In step S2, the robot determines whether the robot reaches the bottom of the opposite arch by touching the sensor; the touch sensor comprises a hemispherical touch head, a pressure sensor and a spring, wherein the hemispherical touch head is arranged on the robot through the spring, the pressure sensor is arranged between the hemispherical touch head and the robot, and the touch sensor is distributed around the robot.
The hemispherical collision head is arranged on the robot through a plurality of springs, and the pressure sensor is positioned between the springs.
In the step S1 and the step S2, the robot performs route calibration through a gravity direction sensor fixed on the robot, the gravity direction sensor includes a spherical shell, a mark sensor and a gravity ball, the gravity ball is freely arranged in the spherical shell, the mark sensor is arranged on a cross section of a ball center parallel to the longitudinal section of the robot on the inner surface of the spherical shell, and the robot judges whether the robot path is accurate through whether the gravity ball exists on the mark sensor.
The mark sensor is a pressure sensor.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a routing inspection path planning method for a climbing robot in a tunnel, which has the advantages of scientific and reasonable path coverage, simple and feasible traveling strategy, high routing inspection path precision and the like.
Drawings
Fig. 1 is a flowchart of a routing method for routing inspection by a climbing robot in a tunnel according to the present invention;
FIG. 2 is a 3D model of a tunnel vault and floor;
FIG. 3 is a front view of a routing inspection path of the climbing robot;
FIG. 4 is a plan view of a routing inspection path of the climbing robot;
FIG. 5 is a schematic view of a gravity direction sensor;
FIG. 6 is a schematic view of the direction of travel of the robot and the direction of the tangential component of gravity;
fig. 7 is a schematic diagram showing the relationship between the robot advancing direction and the gravity component.
Fig. 8 is a schematic structural diagram of the touch sensor.
FIG. 9 is a schematic diagram of a robot reaching the ground to trigger steering;
in the figure: 1-climbing robot, 2-lining, 3-gravity direction, 4-advance direction, 5-tunnel cross section tangent, 6-gravity tangential component, 7-gravity ball, 8-shell, 9-pressure layer, 10-marking sensor, 11-tunnel floor, 12-touch sensor, 13-pressure sensor, 14-hemispherical collision head, and 15-spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the invention provides a routing planning method for a climbing robot in a tunnel, which comprises the following steps:
s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards;
s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top;
and S3, repeating the step S1 and the step S2 until the detection of all the vaults is completed.
In this embodiment, the robot has a specific route of travel, and lining detection is performed along the route. As shown in fig. 2 to 4, in the present embodiment, the route planning is designed according to the geometric characteristics of the vault with the circular cross section of the tunnel, covers all positions of the vault, and has no repeated detection part.
Specifically, in steps S1 and S2, the robot performs route calibration by using a gravity direction sensor fixed on the robot, as shown in fig. 5, the gravity direction sensor includes a spherical housing 8, a mark sensor 10, and a gravity ball 7, the gravity ball 7 is freely disposed in the spherical housing 8, the mark sensor 10 is disposed on a cross-section of a center of gravity parallel to a longitudinal section of the robot on an inner surface of the spherical housing 8, and the robot determines whether the robot path is accurate by determining whether there is a gravity ball on the mark sensor 10. As shown in fig. 6-7, the diagrams are schematic diagrams of the stress of the robot walking along the tunnel wall.
Specifically, in step S2, the robot determines whether the robot reaches the opposite arch bottom by touching the sensor; as shown in fig. 8, the touch sensor includes a hemispherical touch head 14, a pressure sensor 13 and a spring 15, the hemispherical touch head 14 is disposed on the robot through the spring 15, the pressure sensor 13 is disposed between the hemispherical touch head 14 and the robot, and the touch sensors are distributed around the robot. Specifically, the mark sensor 10 is a pressure sensor. Fig. 9 is a schematic diagram of a touch sensor triggered steering system. The hemispherical collision head 14 is provided on the robot by 2 springs 15, and the pressure sensor 13 is provided between the springs.
In this embodiment, the robot has a steering trigger function, and a steering trigger signal is formed by the touch sensor. The touch sensor comprises a hemispherical touch head, a pressure sensor and a spring, and the touch sensor is distributed around the robot. When the robot reaches the end of the path, the collision head is extruded by the tunnel floor, the spring is contracted, and the pressure sensor is pressed to send a steering signal.
In addition, in the present embodiment, the robot has a travel route calibration function, and the vertical direction is calibrated by the gravity direction sensor. The gravity direction sensor comprises a shell, a pressure sensor and a gravity ball, the gravity direction sensor is fixed on the robot, and the pressure sensor which is coplanar with the longitudinal section of the robot in the section passing through the center of the ball is a marking sensor. The gravity ball rolls freely in the spherical shell, and the position of the gravity ball changes along with the change of the posture of the robot. When the gravity ball presses on the marking sensor, the robot path is accurate, otherwise it deviates from the path.
Conventional path within the tunnel: the main body of the inspection path of the robot in the tunnel is a bow-shaped spiral advancing path. The method starts from the junction of the arc surface of the side wall of the vault at one side and the floor, the main direction of the junction is consistent with the cross section of the tunnel, and the side wall arc surface, the ceiling arc surface, the opposite side wall arc surface and the junction of the opposite side wall arc surface and the floor are arranged along the way of the vault. The robot then turns 90 deg., traveling a distance of the width of the detection range in the direction of tunnel extension. The robot again turns 90 deg. to the same side and moves in the opposite direction of the main direction to the starting side. The robot turns 90 to the other side, and turns 90 again after traveling a distance of the detection range width. Repeating the processes to realize the reciprocating arch-shaped moving of the robot at the vault of the tunnel.
After the climbing robot is attached to the inner wall of the tunnel, the position and the posture of the climbing robot are judged through an environment sensing system, and the advancing direction is adjusted to be consistent with the tangential direction of the curved top of the cross section of the tunnel. The robot moves on the arch crown surface in the cross section direction of the tunnel through the walking mechanism. And in the moving process, the route and the posture are continuously adjusted through the environment sensing system, and the movement in the cross section direction of the tunnel is kept.
Specifically, in the present embodiment, the climbing robot tracking method: the climbing robot traveling strategy is divided into a tunnel cross section direction traveling strategy, a steering strategy and a tunnel extending direction traveling strategy according to typical path conditions.
The walking strategy in the cross section direction of the tunnel is as follows: whether the climbing robot walks along the direction of the cross section of the tunnel or not is calibrated by a gravity direction sensor. When the advancing direction of the climbing robot is consistent with the cross section direction of the tunnel, the advancing direction and the component of the gravity direction of the robot in the tangential direction of the cross section of the tunnel are in the same straight line, otherwise, an included angle is formed between the advancing direction and the component. The basic structure and principle of the gravity direction sensor are shown in fig. 5, the pressure sensor is arranged on the inner surface of the cavity of the spherical shell, the gravity ball is arranged in the cavity, the gravity ball can freely roll in the cavity of the shell, the gravity ball presses the pressure sensor of the cavity to send out an electric signal under the action of gravity, and the straight line of the center of the shell and the response pressure sensor indicates the real-time gravity direction. The gravity direction sensor is fixed on the robot, and the pressure sensor which is coplanar with the longitudinal section direction of the robot (namely a plane parallel to the walking direction of the robot) through the sphere center is marked in the sensor shell. When the body posture of the robot changes in a three-dimensional space, the shell changes along with the body, and the gravity ball rolls. When the gravity ball presses the marked pressure sensor, the advancing direction of the robot is consistent with the plan, otherwise, the robot deviates from the track.
And (3) steering strategy: the climbing robot adopts a bilateral speed difference method for steering, when the climbing robot steers to the left side, the left wheel of the climbing robot decelerates to form path steering, and when the climbing robot steers to the right side, otherwise. Even one-sided wheel stall or reverse may be employed when a small turning radius is required. As shown in fig. 8, a plurality of touch sensors are arranged around the climbing robot, the core component of the touch sensors is a pressure sensor, and an additional hemispherical touch head and a telescopic component are jointly formed. As shown in fig. 9, the robot is triggered by a touch sensor when turning, and when the robot travels to the end along the cross section direction on the tunnel arch top and touches the junction between the arch top and the tunnel floor, the robot is triggered to turn, and the rotation angle is 90 °.
The walking strategy in the extending direction of the tunnel is as follows: whether the climbing robot walks along the tunnel extending direction is calibrated by touching the sensor. According to the routing of patrolling and examining, after the robot finishes the detection of a cross section, the robot needs to turn 90 degrees at the junction of the vault of the tunnel and the floor and move a distance of detection width along the extending direction of the tunnel by being close to the floor. And the touch sensor is always kept in contact with the tunnel floor in the advancing process, so that the advancing direction of the robot is controlled. The travel distance is controlled by the real-time speed and running time of the robot, and the inertial navigation device is used for calibration.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A method for planning routing inspection paths of climbing robots in tunnels is characterized by comprising the following steps:
s1, the robot inspection path is that the robot travels along the section of the tunnel arch from the joint of the arch crown at one side and the ground vertically upwards;
s2, when the robot reaches the opposite side arch bottom through the arch top, the robot turns and travels a detection width distance in the tunnel extension direction, then vertically travels upwards again along the cross section of the tunnel arch, and returns to the arch bottom of the starting side through the arch top;
s3, repeating the step S1 and the step S2 until the detection of all the vaults is completed;
in step S1 and step S2, the robot carries out route calibration through the gravity direction sensor fixed on the robot, the gravity direction sensor includes spherical shell (8), mark sensor (10) and gravity ball (7), gravity ball (7) freely sets up in spherical shell (8), be provided with mark sensor (10) on the cross-section of the centre of sphere parallel with the longitudinal section of robot on spherical shell (8) internal surface, the robot judges whether the robot path is accurate through whether there is the gravity ball on mark sensor (10).
2. The routing method for the inspection tour of the climbing robot in the tunnel according to claim 1, wherein in the step S2, the robot judges whether the robot reaches the bottom of the opposite side arch through a touch sensor; touch sensor includes hemisphere collision head (14), pressure sensor (13) and spring (15), hemisphere collision head (14) pass through spring (15) and set up on the robot, pressure sensor (13) set up between hemisphere collision head (14) and robot, touch sensor and distribute around the robot.
3. The routing method for the inspection tour of the climbing robot in the tunnel according to claim 2, wherein the hemispherical impact head (14) is arranged on the robot through a plurality of springs (15), and the pressure sensor (13) is located among the plurality of springs.
4. The method for planning the routing inspection path of the climbing robot in the tunnel according to claim 1, wherein the marking sensor (10) is a pressure sensor.
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| CN114211512B (en) * | 2022-02-23 | 2022-05-13 | 中铁十二局集团山西建筑构件有限公司 | Whole-face loop inspection method for tunnel lining detection climbing robot |
| CN115328180B (en) * | 2022-07-21 | 2024-09-24 | 国网安徽省电力有限公司 | An obstacle avoidance gait planning method for angle steel tower climbing robots |
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Application publication date: 20210928 Assignee: Yitong Engineering Testing Co.,Ltd. Shenzhen Branch Assignor: CHINA RAILWAY 12TH BUREAU GROUP SHANXI BUILDING COMPONENT Co.,Ltd. Contract record no.: X2024140000009 Denomination of invention: A Path Planning Method for Inspection of Climbing Robots in Tunnels Granted publication date: 20220823 License type: Common License Record date: 20240311 |
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