Novel air-land amphibious climbing detection robot for tunnel engineering

Abstract

The invention belongs to the technical field of tunnel construction, and discloses a novel tunnel engineering air-land amphibious climbing detection robot which comprises a rack body, aircraft wheels and rotor wing assemblies, and the aircraft wheels and the rotor wing assemblies are arranged on the rack body. The rack body comprises an upper rack plate, a lower rack plate and a plurality of connecting plates used for connecting the upper rack plate and the lower rack plate. The aircraft wheels are arranged at four corners of the rack body and are connected with the rack body through driving connecting pieces, four rotor wing cavities used for arranging the rotor wing assemblies are uniformly arranged in the rack body, the rotor wing cavities and the aircraft wheels are arranged on the rack body in a staggered manner, a control box is arranged in the center of the rack body, and a detection radar is arranged at the bottom of the control box; and the detection radar comprises a sequential control module and a wireless data transmission module, the sequential control module is used for controlling a transmitting antenna, a receiving antenna and a signal acquisition module, and the wireless data transmission module is used for wirelessly transmitting signals acquired by the signal acquisition module to a ground computer. The structure weight is low, the operation energy consumption of the detection robot can be reduced, and the detection quality and efficiency are improved.

Description

technical field [0001] The invention belongs to the technical field of tunnel construction, and relates to tunnel detection, robot technology, sensor technology, control engineering, mechanical design, etc., in particular to a novel tunnel engineering air-land amphibious climbing detection robot. Background technique [0002] After the tunnel construction is completed, it is necessary to inspect the lining quality of the tunnel. Under normal circumstances, the staff need to hold the detection radar and use special inspection vehicles, scaffolding and other equipment to detect the lining and the disease information behind the lining. There are many problems in this method, such as high initial equipment investment cost, large number of staff required, low efficiency, large human interference factors, etc., so it belongs to the technical pain point of the industry. Therefore, it is necessary to provide a new tunnel detection device to improve the quality and efficiency of tunn...

AI Technical Summary

Problems solved by technology

However, due to the large lifting force and driving force required when the tunnel wall crawls, it is prone to slipping caused by insufficient friction when the tunnel wall crawls.

In addition, the walking power mode of the driving wheel and the driven wheel has poor passability under the conditions of uneven terrain and obstacle avoidance

At the same time, the current design requires a coupling method in which the radar signal emitting surface is close to the surface of the measured target. When the robot is working in the field environment, the signal emitting surface of the equipment may be separated from the surface of the measured target. The robot can only be attached to the tunnel wall. ability to detect

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