A fault-crossing tunnel disease detection device based on laser technology

Abstract

The invention discloses a fault-crossing tunnel defect detection device based on laser technology, comprising a detection vehicle, a bottom plate and a convex platform; a photoelectric encoder is installed on the wheels of the detection vehicle; the convex platform comprises a first convex platform and a second convex platform; a laser rangefinder is arranged on the left side plate, the right side plate, the middle horizontal plate of the first convex platform and the middle horizontal plate of the second convex platform; a tunnel curvature analysis camera and an industrial area array CCD camera are arranged on the left side plate and the right side plate of the second convex platform respectively; a motor mounting seat is arranged on the top plates of the first convex platform and the second convex platform, and a driving motor is arranged in the motor mounting seat; the output shaft of the driving motor is connected to one end of a connecting rod through a coupling, and the other end of the connecting rod is fixed to the bottom of a bearing disc; the bottom of the bearing disc is respectively connected to one end of four telescopic rods, and the other ends of the four telescopic rods are fixed to the top of the motor mounting seat; a 3D laser scanner and a light intensity sensor are mounted on the top of the bearing disc.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel disease detection, and in particular relates to a cross-fault tunnel disease detection device based on laser technology. Background Art

[0002] Common defects in tunnel structures mainly include lining cracks, cross-section deformation, misalignment, water leakage, honeycombed surface, peeling and peeling. At present, the daily monitoring work of operating tunnels is mostly inseparable from manual work. For example, the detection of tunnel lining cracks is done by manual identification with the naked eye, then measurement with a ruler, camera photography to record the crack characteristics, and manual recording of crack location information. For the detection of lining cracks above the arch waist and the arch, scaffolding or aerial lifting platform vehicles are required so that the inspectors can get close to the inner wall of the tunnel, use flashlights for lighting, and check the arch waist and arch defects with the naked eye. The lining cracks detected by this method have low accuracy and are prone to missed detection. In the detection project, the safety of personnel is poor and the detection efficiency is low. It takes 10 people 1 hour to complete a 1-kilometer tunnel. Summary of the invention

[0003] The purpose of the present invention is to provide a cross-fault tunnel defect detection device based on laser technology to address the above-mentioned deficiencies in the prior art, so as to solve the problem of low efficiency of existing tunnel defect detection.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A cross-fault tunnel disease detection device based on laser technology, comprising a detection vehicle, a bottom plate installed on the detection vehicle, and a convex platform fixed on the bottom plate; a photoelectric encoder is installed on the wheels of the detection vehicle;

[0006] The convex platform comprises a first convex platform and a second convex platform; the first convex platform and the second convex platform are respectively slidably fixed to the two ends of the bottom plate by means of slide rails; a laser rangefinder is arranged on the left side plate, the right side plate, the middle horizontal plate of the first convex platform and the middle horizontal plate of the second convex platform; a tunnel curvature analysis camera and an industrial array CCD camera are respectively arranged on the left side plate and the right side plate of the second convex platform; a motor mounting seat is arranged on the top plate of the first convex platform and the second convex platform, and a driving motor is arranged in the motor mounting seat; an output shaft of the driving motor is connected to one end of a connecting rod by means of a coupling, and the other end of the connecting rod is fixed to the bottom of the bearing disc; the bottom of the bearing disc is respectively connected to one end of four telescopic rods, and the other end of the four telescopic rods is fixed to the top of the motor mounting seat; a 3D laser scanner and a light intensity sensor are mounted on the top of the bearing disc;

[0007] Several rotating lights are evenly distributed on the outside of the two slide rails, and a control box is set between the two slide rails; the control box integrates a controller, a power supply and a communication module electrically connected to the controller respectively; a laser rangefinder, a tunnel curvature analysis camera, an industrial array CCD camera, a drive motor, a 3D laser scanner, a light intensity sensor, a rotating light and a photoelectric encoder are all electrically connected to the controller; and the communication module is respectively connected to the external computer and the on-board computer signal.

[0008] Preferably, the bottoms of the left and right sides of the first and second convex platforms are both provided with sliding grooves for cooperating with the slide rails.

[0009] Preferably, the rotating lamp comprises a lamp tube and a positioning plate; both ends of the lamp tube are fixed to the positioning plate through a rotating arm; and an adjusting bolt for adjusting the direction of the lamp tube is provided on the rotating arm.

[0010] Preferably, the rotating lamp is a shadowless lamp.

[0011] Preferably, the communication module is connected to the onboard computer of the detection vehicle via a data cable, and is wirelessly connected to an external computer via LORA wireless transmission.

[0012] Preferably, the radial distance between the target surface of the industrial area array CCD camera and the tunnel wall is 2.0 m-2.2 m.

[0013] Preferably, the two slide rails are fixed to the base plate by bolts.

[0014] Preferably, the drive motor is a 25BYT-2 linear motor.

[0015] The cross-fault tunnel disease detection device based on laser technology provided by the present invention has the following beneficial effects:

[0016] The present invention collects tunnel lining cross-section diagrams and obtains contour dimension images of tunnel lining cross-sections through electronic instruments such as industrial array CCD cameras, tunnel curvature analysis cameras, and 3D laser scanners, wherein the image position information obtained by scanning corresponds to the mileage in the mileage positioning of the photoelectric encoder, and the collected image data information is spliced ​​to generate a tunnel layout diagram, and image recognition analysis is performed to extract cross-fault tunnel disease information. The present invention realizes the loading of various detection devices based on the detection vehicle, and realizes the disease detection of cross-fault tunnels while the detection vehicle is running, replacing manual detection, and greatly improving the detection efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram of the bottom plate structure of the cross-fault tunnel defect detection device based on laser technology.

[0018] Figure 2This is a diagram of the convex platform structure of the cross-fault tunnel disease detection device based on laser technology.

[0019] Figure 3 This is the structural diagram of the rotating light of the cross-fault tunnel disease detection device based on laser technology.

[0020] Figure 4 This is a structural diagram of the inspection vehicle for the cross-fault tunnel defect detection device based on laser technology.

[0021] Among them, 1. bottom plate; 2. first convex platform; 3. second convex platform; 4. control box; 5. slide rail; 6. rotating light; 7. laser rangefinder; 8. tunnel curvature analysis camera; 9. industrial array CCD camera; 10. 3D laser scanner; 11. light intensity sensor; 12. wheel; 13. photoelectric encoder; 14. inspection vehicle; 21. right side plate; 22. left side plate; 23. top plate; 24. motor mounting seat; 25. driving motor; 26. connecting rod; 27. telescopic rod; 28. bearing disc; 29. ​​middle horizontal plate; 61. lamp tube; 62. positioning plate; 63. adjustment bolt; 64. rotating arm. DETAILED DESCRIPTION

[0022] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0023] According to one embodiment of the present application, referring to Figure 1-Figure 4 The cross-fault tunnel defect detection device based on laser technology in this scheme includes a detection vehicle 14, a base plate 1 installed on the detection vehicle 14 and a convex platform fixed on the base plate 1. A photoelectric encoder 13 is installed on the wheel 12 of the detection vehicle 14 to record the travel distance of the detection vehicle 14 and to correspond the image position information obtained by scanning with the mileage in the mileage positioning of the photoelectric encoder 13.

[0024] The convex platform includes a first convex platform 2 and a second convex platform 3 with the same structure. The first convex platform 2 and the second convex platform 3 both include a left side plate 22 , a right side plate 21 and a top plate 23 , and a middle horizontal plate 29 is fixed to the lower end of the top plate 23 .

[0025] The left side plate 22 and the right side plate 21 of the first convex platform 2 and the second convex platform 3 are both provided with sliding grooves at the bottom, and the sliding grooves cooperate with the sliding rails 5 to realize the movement of the first convex platform 2 and the second convex platform 3 on the base plate 1, thereby adjusting the distance between the first convex platform 2 and the second convex platform 3.

[0026] The motor mounting seat 24 is fixed on the top plate 23 of the first convex platform 2 and the second convex platform 3. The motor mounting seat 24 contains a driving motor 25. The driving motor 25 is a 25BYT-2 linear motor that can autonomously convert rotational motion into linear motion.

[0027] The output shaft of the driving motor 25 is connected to one end of the connecting rod 26 via a coupling, that is, the operation of the driving motor 25 can realize the up and down movement of the connecting rod 26 .

[0028] The other end of the connecting rod 26 is fixed to the bottom of the carrying disc 28, and the bottom of the carrying disc 28 is respectively connected to one end of four telescopic rods 27, and the other ends of the four telescopic rods 27 are fixed to the top of the motor mounting seat 24. The top of the carrying disc 28 is loaded with a 3D laser scanner 10 and a light intensity sensor 11.

[0029] The principle of height adjustment of the 3D laser scanner 10 is:

[0030] The driving motor 25 drives the connecting rod 26 to move upward (or downward), thereby pushing the bearing disc 28 to move upward together. The bearing disc 28 moves upward, thereby driving the four telescopic rods 27 to move upward together, that is, the light intensity sensor 11 and the 3D laser scanner 10 in the bearing disc 28 move upward. That is, the height adjustment of the light intensity sensor 11 and the 3D laser scanner 10 is achieved, so as to adjust the 3D laser scanner 10 to the optimal scanning height, thereby improving the scanning accuracy.

[0031] Among them, the 3D laser scanner 10 is used to scan the contour dimensions of the tunnel lining section, and a 3D laser scanner 10 is set on each of the supporting discs 28 of the first convex platform 2 and the second convex platform 3. Two 3D laser scanners 10 are used to scan the tunnel and acquire data for error compensation and correction of the data, thereby increasing the authenticity and accuracy of the data and improving the scanning accuracy.

[0032] Laser rangefinders 7 are arranged on the left side plate 22, the right side plate 21, the middle horizontal plate 29 of the first convex platform 2 and the middle horizontal plate 29 of the second convex platform 3, and tunnel curvature analysis cameras 8 and industrial area array CCD cameras 9 are arranged on the left side plate 22 and the right side plate 21 of the second convex platform 3, respectively.

[0033] The radial distance between the target surface of the industrial array CCD camera 9 and the tunnel wall is 2.0m-2.2m. The laser rangefinder 7 is used to measure and record the distance between the industrial array CCD camera 9 and the tunnel surface. The industrial array CCD camera 9 is used to collect the tunnel lining cross-section and the tunnel surface disease image data.

[0034] The present invention arranges laser rangefinders 7 in multiple directions, which can be used to measure multiple distances to the tunnel wall. When performing laser ranging, imaging is performed simultaneously, and an image of the tunnel inner wall including the laser spot can be obtained.

[0035] The principle of disease detection is:

[0036] The image position information obtained by the 3D laser scanner 10 is matched with the mileage in the mileage positioning of the photoelectric encoder 13, and the tunnel contour data collected by its contour scanning is processed to generate a tunnel cross-sectional view; then, image splicing is performed based on the collected tunnel lining cross-sectional view to generate a tunnel layout map, and image recognition analysis is performed to extract tunnel disease information.

[0037] There are several rotating lights 6 evenly distributed on the outside of the two slide rails 5. The rotating lights 6 include a lamp tube 61 and a positioning plate 62. Both ends of the lamp tube 61 are fixed to the positioning plate 62 through a rotating arm 64. The rotating arm 64 is provided with an adjusting bolt 63 for adjusting the direction of the lamp tube 61. The lamp tube 61 can be rotated to the optimal position according to actual needs to improve the shooting accuracy of the detection equipment.

[0038] The rotating lamp 6 is a shadowless lamp, which will not produce shadows and will not affect the data collection of the tunnel curvature analysis camera 8, the industrial area array CCD camera 9 and the 3D laser scanner 10.

[0039] The rotating light 6 is controlled by the controller. When the inspection vehicle 14 enters the tunnel, the light intensity at the current position is collected in real time, and the collected light intensity information is transmitted to the controller. The controller receives the information and determines whether the current light intensity is within the preset light intensity range (the normal range value captured by the tunnel curvature analysis camera 8, the industrial array CCD camera 9 and the 3D laser scanner 10). If it is not (generally, the light intensity of the tunnel is low) and is lower than the preset light intensity range, the controller controls the turning on of the rotating light 6 and rotates the number of the rotating lights 6 to meet the light intensity requirements of the tunnel curvature analysis camera 8, the industrial array CCD camera 9 and the 3D laser scanner 10.

[0040] The control box 4 is arranged between the two slide rails 5. The control box 4 integrates a controller, a power supply and a communication module electrically connected to the controller respectively; the laser rangefinder 7, the tunnel curvature analysis camera 8, the industrial array CCD camera 9, the drive motor 25, the 3D laser scanner 10, the light intensity sensor 11, the rotating light 6 and the photoelectric encoder 13 are all electrically connected to the controller; the communication module is respectively connected to the external computer and the on-board computer signal.

[0041] The communication module can be an RJ45 interface for wired connection with the onboard control room of the detection vehicle 14 to realize data transmission and reception. It can also be a LORA wireless transmission module to realize connection with an external computer.

[0042] The controller is a single chip microcomputer, PLC or other control structure, which is mainly used to control data collection and information reception and storage, and transmit the received data to the on-board control room of the inspection vehicle 14 and the external computer to realize the detection of tunnel diseases.

[0043] The working principle of the cross-fault tunnel disease detection device based on laser technology in this scheme is:

[0044] The base plate 1 and the various detection electronic components on the base plate 1 are fixed on the detection vehicle 14. The staff drives the detection vehicle 14 into the tunnel. While entering the tunnel, they issue instructions to the controller to control the radio and television encoder, laser rangefinder 7, tunnel curvature analysis camera 8, industrial array CCD camera 9, drive motor 25, 3D laser scanner 10, and light intensity sensor 11 to start operation.

[0045] The light intensity collects the light intensity at the current position in real time and transmits the collected light intensity information to the controller. The controller receives the information and determines whether the current light intensity is within the preset light intensity range. If it is not within and lower than the preset light intensity range, the controller controls the turning on of the rotating lights 6 and turns the number of the rotating lights 6 on to meet the light intensity requirements of the tunnel curvature analysis camera 8, the industrial array CCD camera 9 and the 3D laser scanner 10.

[0046] At the same time, the driving motor 25 is controlled to adjust the 3D laser scanner 10 to an optimal scanning height (optimal illumination intensity and moderate distance from the tunnel wall).

[0047] The 3D laser scanner 10 scans the outline size of the tunnel lining section. Two 3D laser scanners 10 are used to scan the tunnel and acquire data for data error compensation and correction. The laser rangefinder 7 measures and records the distance between the industrial array CCD camera 9 and the tunnel surface. The industrial array CCD camera 9 collects the tunnel lining section diagram and then collects the tunnel surface disease image data; the collected multiple tunnel information is transmitted to the on-board control room of the inspection vehicle 14 and the external computer through the communication module.

[0048] The image position information obtained by the 3D laser scanner 10 corresponds to the mileage in the mileage positioning of the photoelectric encoder 13. The tunnel contour data collected by the 3D laser scanner 10 through contour scanning is processed to generate a tunnel cross-sectional view; then, image splicing is performed based on the collected tunnel lining cross-sectional view to generate a tunnel layout map, and image recognition analysis is performed to extract tunnel disease information.

[0049] The present invention utilizes the inspection vehicle 14 to realize the loading of various inspection devices. While the inspection vehicle 14 is running, the defect inspection of the cross-fault tunnel is realized based on laser technology, which replaces manual inspection, and the inspection efficiency and accuracy are greatly improved.

[0050] Although the specific implementation of the invention is described in detail in conjunction with the drawings, it should not be understood as limiting the scope of protection of this patent. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still fall within the scope of protection of this patent.

Claims

1. A device for detecting faults in cross-fault tunnels based on laser technology, characterized in that: It includes a testing vehicle, a bottom plate installed on the testing vehicle, and a convex platform fixed on the bottom plate; a photoelectric encoder is installed on the wheel of the testing vehicle; The convex platform includes a first convex platform and a second convex platform; the first convex platform and the second convex platform are slidably fixed to the two ends of the bottom plate by slide rails; laser rangefinders are arranged on the left plate, the right plate, the middle horizontal plate of the first convex platform and the middle horizontal plate of the second convex platform; a tunnel curvature analysis camera and an industrial array CCD camera are arranged on the left plate and the right plate of the second convex platform respectively; a motor mounting seat is arranged on the top plate of the first convex platform and the second convex platform, and a driving motor is arranged in the motor mounting seat; the output shaft of the driving motor is connected to one end of the connecting rod through a coupling, and the other end of the connecting rod is fixed to the bottom of the bearing disc; the bottom of the bearing disc is respectively connected to one end of four telescopic rods, and the other end of the four telescopic rods is fixed to the top of the motor mounting seat; a 3D laser scanner and a light intensity sensor are loaded on the top of the bearing disc; A plurality of rotating lights are evenly distributed on the outside of the two slide rails, and a control box is arranged between the two slide rails; the control box integrates a controller, and a power supply and a communication module electrically connected to the controller respectively; the laser rangefinder, the tunnel curvature analysis camera, the industrial array CCD camera, the drive motor, the 3D laser scanner, the light intensity sensor, the rotating light and the photoelectric encoder are all electrically connected to the controller; the communication module is respectively connected to the external computer and the on-board computer signal; The light intensity sensor collects the light intensity at the current position in real time and transmits the collected light intensity information to the controller. The controller receives the information and determines whether the current light intensity is within the preset light intensity range. If it is not within and lower than the preset light intensity range, the controller controls the turning on of the rotating lights and the number of rotating lights turned on to meet the light intensity requirements of the tunnel curvature analysis camera, industrial array CCD camera and 3D laser scanner. At the same time, the driving motor is controlled to adjust the scanning height of the 3D laser scanner; The bottoms of the left and right sides of the first and second convex platforms are provided with sliding grooves for cooperating with the slide rails; The rotating lamp comprises a lamp tube and a positioning plate; two ends of the lamp tube are fixed to the positioning plate through a rotating arm; and an adjusting bolt for adjusting the direction of the lamp tube is arranged on the rotating arm.

2. The cross-fault tunnel disease detection device based on laser technology according to claim 1 is characterized by: The rotating lamp is a shadowless lamp for illumination.

3. The cross-fault tunnel disease detection device based on laser technology according to claim 1 is characterized by: The communication module is connected to the on-board computer of the detection vehicle through a data line, and is wirelessly connected to an external computer through LORA wireless transmission.

4. The cross-fault tunnel disease detection device based on laser technology according to claim 1 is characterized in that: The radial distance between the target surface of the industrial area array CCD camera and the tunnel wall is 2.0m-2.2m.

5. The laser-based fault-crossing tunnel defect detection device according to claim 1 is characterized in that: The two slide rails are fixed to the bottom plate by bolts.

6. The laser-based fault-crossing tunnel defect detection device according to claim 1 is characterized in that: The driving motor is a 25BYT-2 linear motor.

Images