Tunnel automatic maintenance multi-arm robot and control method thereof

Abstract

The invention provides a tunnel automatic maintenance multi-arm robot and a control method thereof. The tunnel automatic maintenance multi-arm robot comprises a walking mechanism, a fixed base plate arranged on the walking mechanism, a plurality of multi-degree-of-freedom mechanical arms arranged on the fixed base plate and a main control platform. Image detection devices and maintenance tool fixing grooves are formed in the tail ends of the multi-degree-of-freedom mechanical arms in a carrying mode, and the main control platform is correspondingly in communication connection with the multi-degree-of-freedom mechanical arms, the image detection devices and maintenance tools arranged in the maintenance tool fixing grooves. By arranging the multiple multi-degree-of-freedom mechanical arms, multi-directional simultaneous operation of the robot can be achieved, and the maintenance efficiency of tunnel maintenance equipment is improved. Big data processing and machine learning algorithms are adopted, automatic task planning and mechanical arm track planning are achieved, and the functions of automatic tunnel detection and maintenance can be intelligently achieved.

Description

technical field [0001] The present disclosure relates to the relevant technical field of tunnel robots, and in particular, relates to a tunnel automatic maintenance dobby robot and a control method thereof. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] At present, a large number of tracks in my country have entered the stage of operation and maintenance, but the space of rail transit tunnels is small, the electromechanical equipment is dense, and the maintenance time for skylights is short, resulting in low maintenance efficiency, poor effect, and difficult disease treatment, resulting in shortened service life and even threatening traffic operations. Safety. [0004] In view of the complex environment of the tunnel and the difficulty of multi-type disease treatment, the comprehensive maintenance operation equipment needs to have the f...

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Problems solved by technology

[0003] At present, a large number of tracks in my country have entered the stage of operation and maintenance, but the space of rail transit tunnels is small, the electromechanical equipment is dense, and the maintenance time for skylights is short, resulting in low maintenance efficiency, poor effect, and difficult disease treatment, resulting in shortened service life and even threatening traffic operations. Safety

[0004] In view of the complex environment of the tunnel and the treatment of various types of diseases, the comprehensive maintenance operation equipment needs to have the functions of drilling, grouting, grooving and manned operations, and there are problems of development, integration and testing.

The inventors found that, in view of the demand for fast, intelligent and precise maintenance, general-purpose equipment is widely used in China for perforation and grouting in terms of water leakage disease treatment for tunnel maintenance, which has a single function and lacks the research and development of corresponding special equipment. Tunnel maintenance equipment has a low degree of automation, and most tasks require manual labor to play a leading role, and each type of equipment has a relatively single task scenario and a low level of integration. can not achieve

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