刘恩广1　李国梁2　于锋1　倪效虎1　李凤鸣3　王艳红4

（1.山东省交通科学研究院，山东 济南 250102

2.山东云晟智能科技有限公司，山东 济南 250101

3.山东建筑大学，山东 济南 250101

4.山东大学机器人研究中心，山东 济南 250061）

摘要：隧道墙体缺陷检测是保障轨道交通良好运营的重要环节。针对轨道交通综合检测装备检测灵活性差的问题，设计一套基于主被动柔顺的隧道机器人地质雷达检测系统，实现隧道墙体裂缝、轮廓断面等病害的高效检测。首先，设计基于弹性回复机构的被动柔顺控制装置，实现地质雷达贴壁检测的自然顺从；然后，提出基于阻抗控制算法的隧道机器人主动柔顺控制算法，主动适应隧道的贴壁检测；最后，通过隧道机器人地质雷达检测系统平台验证了基于主被动柔顺的隧道机器人地质雷达检测系统的有效性，并将该系统集成到轨道交通综合检测装备上进行了实地应用，提高了该装备的检测能力。

关键词：隧道机器人；隧道检测；柔顺控制；地质雷达；阻抗控制算法

中图分类号：TP242.2       文献标志码：A   文章编号：1674-2605(2024)00-0007-08

DOI：10.3969/j.issn.1674-2605.2024.04.007                    开放获取

Tunnel Robot Geological Radar Detection System Based on

Active and Passive Compliance

LIU Enguang1　LI Guoliang2　YU Feng1　NI Xiaohu1　LI Fengming3　WANG Yanhong4

(1.Shandong Transportation Institute, Jinan 250102, China

2.Unimation Intelligent Technology Co., Ltd., Jinan 250101, China

3.Shandong Jianzhu University, Jinan 250101, China

4.Center for Robot Research, Shandong University, Jinan 250061, China)

Abstract: Defect detection of tunnel walls is an important part of ensuring the smooth operation of rail transit. Design a tunnel robot geological radar detection system based on active passive compliance to address the problem of poor flexibility in comprehensive detection equipment for rail transit, and achieve efficient detection of tunnel wall cracks, contour sections, and other defects. Firstly, design a passive compliant control device based on an elastic recovery mechanism to achieve natural compliance in geological radar wall detection; Then, an active compliant control algorithm for tunnel robots based on impedance control algorithm is proposed to actively adapt to wall detection in tunnels; Finally, the effectiveness of the tunnel robot geological radar detection system based on active passive compliance was verified through the tunnel robot geological radar detection system platform, and the system was integrated into the comprehensive detection equipment of rail transit for field application, improving the detection capability of the equipment.

Keywords: tunnel robot; tunnel inspection; compliance control; geological radar; impedance control algorithm