Tunnel lining detection method based on robot automatic tracking technology and radar detection technology

Abstract

The invention relates to a tunnel lining detection method based on a robot automatic tracking technology and a radar detection technology, which comprises a movable vehicle body, a detection operationplatform, a geological radar detection system and a robot automatic tracking system. The detection operation platform is arranged on the movable vehicle body and comprises a detection cabin, an operation mechanism, a generator set, a hydraulic system and other equipment and systems. Multiple measuring lines of the tunnel upper lining and the tunnel bottom inverted arch can be detected simultaneously. During operation, a radar antenna can be conveyed to any measuring point position of the tunnel lining by lifting of the lifting mechanism, unfolding of the robot and extending of the extension rod; when the vehicle is received, the lifting mechanism falls, the robot retracts, and the extension rod retracts, which can be placed in an operation area of the detection cabin. The robot automatictracking system combines a contour scanner and a distance measuring sensor to acquire data, can adjust the distance between the radar antenna and the tunnel wall in real time, and ensures the accuracyand the continuity of detection.

Description

technical field [0001] The invention relates to a tunnel lining detection method based on robot automatic tracking technology and radar detection technology. Background technique [0002] At present, the construction process of railway tunnels adopts visual inspection, breaking inspection or manual non-destructive inspection methods (geological radar, etc.). Artificial geological radar detection can only detect one survey line at a time, the radar detection coverage is limited, the detection speed is slow, the efficiency is low, the safety is not high, the detection conditions and timing are not uniform, and the technical level of the detection personnel is uneven, resulting in some tunnels In the case of multiple detections, there are still some major security risks. Contents of the invention [0003] The purpose of the present invention is to provide a tunnel lining detection method based on robot automatic tracking technology and radar detection technology, which is su...

AI Technical Summary

Problems solved by technology

Artificial geological radar detection can only detect one survey line at a time, the radar detection coverage is limited, the detection speed is slow, the efficiency is low, the safety is not high, the detection conditions and timing are not uniform, and the technical level of the detection personnel is uneven, resulting in some tunnels In the case of multiple detections, there are still some major security risks

Images