地铁隧道结构病害智能巡检机器人运动学数据集

课题地下基础设施多感官机器人智能巡检技术的基于智能控制的多功能模块化隧道巡检机器人平台任务部分，任务书指标为巡检机器人平台可以以60km/h的速度平稳续航、以20km/h的速度行驶100km消耗电量（含检测设备用电）小于90kW·h、巡检机器人整体各通道MTTFD不低于2500h。
本数据集（地铁隧道结构病害智能巡检机器人运动学数据集）的主要数据项包括60km/h速度下车体中心位置、车体前轮车轴中央位置的振动加速度、20km/h速度下运行100km动力电池主电路输出的电压电流、各通道MTTFD数值。
试验测试地下基础设施多感官机器人智能巡检技术的隧道巡检机器人在60km/h速度下的振动稳定性、在20km/h的速度行驶100km消耗电量，计算各通道MTTFD结果，并对试验结果、计算结果进行评价。

This covers the task segment of the intelligent control-enabled multifunctional modular tunnel inspection robot platform, which is part of the research project on multi-sensory robotic intelligent inspection technology for underground infrastructure. The indicators stipulated in the task statement are: the inspection robot platform can achieve stable endurance at 60 km/h; the power consumption (including power for detection equipment) shall be less than 90 kW·h when traveling 100 km at 20 km/h; and the MTTFD of each channel of the entire inspection robot shall be no less than 2500 hours.

This dataset, officially named the kinematic dataset of intelligent inspection robots for subway tunnel structure defects, contains the following core data entries: vibration acceleration at the center of the vehicle body and the central position of the front axle when traveling at 60 km/h; voltage and current outputs from the main circuit of the power battery during a 100 km journey at 20 km/h; and MTTFD values for each channel.

Experiments were conducted to verify the vibration stability of the tunnel inspection robot for the multi-sensory robotic intelligent inspection technology of underground infrastructure at 60 km/h, measure the power consumption when traveling 100 km at 20 km/h, calculate the MTTFD results for each channel, and evaluate both the experimental and calculated outcomes.

搜集汇总

背景与挑战

背景概述

该数据集是地下基础设施多感官机器人智能巡检技术项目的一部分，聚焦于地铁隧道结构病害智能巡检机器人的运动学性能。它包含机器人在60km/h速度下的振动加速度数据、20km/h速度下运行100km的电压电流数据，以及各通道MTTFD数值，用于评估机器人的运行稳定性、续航能力和可靠性指标。