隧道检修一体化机器人系统设计及关键技术分析

机器人作为一种能替代人工且能大幅度提高工作效率的创新技术,在隧道维护方面的应用倍受关注。近年来,研究者基于机器人系统开发了各种隧道检测设备,但难以同步实现隧道修复的功能。目前,我国运营隧道的检测与维修均是分开进行的,且维修过程仍以传统的人工维修为主,导致一些较为严重的隧道结构病害未及时修复而产生巨大安全隐患,同时检修与维修作业人员会长时间处于复杂、密闭的隧道环境中而不利于身体健康。基于此,本文提出一种隧道检修一体化机器人系统概念,并对该系统三维成像结构形式和技术、隧道检修优化方法进行分析,可解决隧道病害成像、修复定位、修复能力等关键检修问题。结合当前隧道机器人检测系统,设计了检修一体化机器人系统,为我国运营隧道的检修与维修方法提供新的思路。

Research on the integrated robot system of tunnel detection and maintenance and analysis of key technologies

As an innovative technology that can replace manual work and greatly improve work efficiency,robot has attracted much attention in tunnel maintenance.In recent years,researchers have developed a variety of tunnel detection equipment based on robot system,which is difficult to achieve the function of tunnel repair synchronously.At present,the detection and maintenance of operating tunnels in our country were carried out separately,and the maintenance process was still dominated by traditional manual maintenance.This problem leads to some serious tunnel structural diseases not repaired in time,which further produces a huge potential safety hazard.Meanwhile,detection and maintenance workers are in a complex and closed tunnel environment for a long time,which is not conducive to their health.Based on this,this paper proposes a concept of tunnel detection and maintenance integrated robot system,and analyzes the three-dimensional imaging structure form and technology of the system,and the optimization method of tunnel detection and maintenance,which can solve the key maintenance problems of tunnel disease imaging,repair positioning,repair ability and so on.Combined with the current tunnel robot detection system,an integrated detection and maintenance robot system is designed,which provides a new idea for the detection and maintenance methods of operating tunnels in China.