Rail robot control system for tunnel structure detection and working method

A control system and method based on a rail robot are used for detecting tunnel structure deformation, water leakage and other diseases. Comprising a walking mechanism control module, a fusion positioning module, an umbrella-shaped folding and unfolding mechanism control module, a tail end executing mechanism motion control module, a wireless communication module and a central processing unit module. The maintainability and expandability of the system are improved through modular control, the motion distance of the robot is fed back in real time through the fusion positioning module, and data transmission with an upper computer is achieved through the wireless communication module. The track robot walking mechanism drives a guide wheel to move through a direct-current brushless motor. The central processing unit module is connected with the umbrella-shaped folding and unfolding mechanism through the RS485-to-TTL communication module, and the motor driver is controlled according to a Modbus protocol to accurat