Tunnel crack repairing system based on wall-attaching type unmanned aerial vehicle

Abstract

A tunnel crack repairing system based on a wall-attaching type unmanned aerial vehicle comprises the wall-attaching type unmanned aerial vehicle, a GPS / INS combined navigation module, a vehicle-mounted communication and transmission module, a motion controller, a camera shooting device, a repairing module and a ground workstation. The wall-attaching type unmanned aerial vehicle is used for being attached on the surface of a tunnel lining and moves according to a set path. The GPS / INS combined navigation module is used for navigating to the unmanned aerial vehicle. The vehicle-mounted communication and transmission module makes two-way communication with the ground workstation. The motion controller is used for controlling the unmanned aerial vehicle to move. The camera shooting device is used for determining the position of a crack and monitoring the pouring process. The repairing module is used for repairing the crack of the tunnel lining. The ground workstation is used for designing and controlling a navigating path of the wall-attaching type unmanned aerial vehicle and can receive, analyze and display detection data sent by the unmanned aerial vehicle. The GPS / INS combined navigation module, the vehicle-mounted communication and transmission module, the motion controller, the camera shooting device and the repairing module are all installed on the wall-attaching type unmanned aerial vehicle. Traffic closing is not needed, the cost is low and the efficiency is high.

Description

technical field [0001] The invention belongs to the field of tunnel repair in civil engineering, and relates to the repair of tunnel cracks, in particular to a tunnel crack repair system based on a wall-attached drone. Background technique [0002] With the development of my country's economy, the comprehensive national strength is increasing, and the transportation construction has developed rapidly. However, there are many mountainous areas in our country, and it is often necessary to build a large number of tunnels in engineering construction. After a long period of use, cracks and other common diseases will appear in the tunnel lining. , if effective countermeasures are not taken, it will seriously affect the traffic safety of the tunnel. At present, the repair of tunnel cracks in China mainly relies on manual repair, which generally requires experienced technicians to implement, which is inefficient and poor in reliability. Especially when repairing the top of the tunne...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the disadvantages of closed traffic, high cost, and low efficiency in existing tunnel repair methods, the present invention provides a tunnel crack repair system based on wall-mounted drones that does not require closed traffic, has low cost, and high efficiency

Images