Binocular Vision Based Suspended Rail Immersed Tube Tunnel Inspection Robot

In order to solve the problem of underwater immersed tube tunnels work inspection mostly relying on the mode of manual inspection + non-destructive testing, a inspection robot based on binocular vision suspension applicable to the characteristics of immersed tube tunnels is proposed. On the basis of the analysis of the characteristics of tunnel diseases, the system architecture and the design of each part of the robot are described, and the two-dimensional code positioning technology of the inspection robot is introduced, as well as the measurement technology of the joint opening amount of the pipe joints to identify the diseases, and the technology of water leakage detection of the cracks are introduced. The practical application effect of the robot in immersed tube tunnel traffic engineering is analyzed. The inspection robot's running speed reaches 2.5km/h, and the measurement of tube joint interface tension reaches sub-millimeter accuracy, which can comprehensively detect immersed tube tunnel diseases.