Trackless underwater tunnel, inspection device and system

Abstract

The embodiments of the present invention provide a trackless underwater tunnel, an inspection device and a system, and relate to the field of underwater tunnel inspection technology. The trackless underwater tunnel includes a special-shaped tunnel and two limiting parts. A notch groove is provided on the top of the special-shaped tunnel, and the notch groove extends along the length direction of the special-shaped tunnel; two limiting parts are arranged in the opening of the notch groove and are located on opposite sides of the notch groove. The limiting parts are used to limit part of the inspection device in the notch groove so that the inspection device slides along the length direction of the special-shaped tunnel. In this way, there is no need to install rails in the tunnel, which will not affect the water-passing section, and is also conducive to the accurate positioning of the inspection device. In addition, the inspection operation is simple and convenient, which is more conducive to promotion and application.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater tunnel inspection, and in particular to a trackless underwater tunnel, an inspection device and a system. Background Art

[0002] At present, the water diversion tunnels that have been built mostly adopt circular, horseshoe-shaped or city gate-shaped sections, which are more convenient during excavation and support construction. However, with the long-term operation of the water diversion tunnel, the disadvantages of the smooth underwater tunnel section in the maintenance stage have gradually emerged. The traditional inspection method adopts manual inspection after emptying, which has the main problems of high cost, low efficiency and high risk. Some tunnels are inclined shaft sections, which cannot be inspected manually. With the development of information and surveying technology in recent years, especially the rapid development of artificial intelligence technology, it has become an effective way of inspection for underwater tunnels to replace people with machines. At present, various tunnel operation and management units and scientific research units are fully engaged in the application research of robots in underwater tunnels, and have achieved relatively fruitful research results and demonstration benefits. However, the underwater robot inspection technology has high requirements and great difficulty. It has low adaptability to complex tunnel structures and harsh underwater environments. At the same time, the positioning accuracy of the robot in long tunnels is not high. At the same time, the robot needs to be controlled by professionals and the operation is complicated. It is difficult to promote it in conventional operation and management units, and it is not conducive to high-frequency inspection of underwater tunnels.

[0003] In response to the above problems, relevant researchers have tried to lay tracks in tunnels and use track robots for inspections. However, since the water diversion tunnel runs with water all year round, it is easy for the rails to rust and cannot travel back and forth normally. In addition, laying tracks can easily affect the normal water-passing section. Therefore, laying tracks in underwater tunnels is difficult to achieve. Summary of the invention

[0004] The purpose of the present invention includes providing a trackless underwater tunnel, inspection device and system, which does not require the installation of rails in the tunnel, will not affect the water-passing section, is also conducive to the accurate positioning of the inspection device, and the inspection operation is simple and convenient, which is more conducive to promotion and application.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a trackless underwater tunnel, the trackless underwater tunnel comprising:

[0007] A special-shaped tunnel, wherein a notch groove is provided on the top of the special-shaped tunnel, and the notch groove extends along the length direction of the special-shaped tunnel;

[0008] Two limiting parts are arranged in the opening of the notch groove and located at opposite sides of the notch groove. The limiting parts are used to limit part of the inspection device in the notch groove so that the inspection device can slide along the length direction of the special-shaped tunnel.

[0009] In an optional embodiment, the top surface of the limiting portion is an inclined surface, and the height of the inclined surface gradually decreases from one end connected to the wall surface of the notch groove to one end close to the center of the notch groove.

[0010] In a second aspect, the present invention provides a trackless underwater tunnel inspection device, which is applied to the trackless underwater tunnel of the aforementioned embodiment, and the trackless underwater tunnel inspection device includes:

[0011] A horizontal motion vehicle, which is arranged in the notch groove and supported on the limiting portion;

[0012] A vertical connecting rod, one end of which is hinged to the horizontal motion vehicle;

[0013] The inspection cabin is hinged to the other end of the vertical connecting rod.

[0014] In an optional embodiment, the horizontal motion vehicle comprises:

[0015] Horizontal bracket;

[0016] At least two horizontal wheels are mounted on opposite ends of the horizontal support, and the horizontal wheels are used to rotate along the wall surface of the notch groove;

[0017] At least two vertical wheels are installed at two opposite ends of the horizontal support, and the vertical wheels are used to be supported on the limiting portion and rotate along the limiting portion.

[0018] In an optional embodiment, the horizontal motion vehicle further comprises:

[0019] The driving motor is installed on the horizontal bracket, the driving motor is drivingly connected with the vertical wheel, and the driving motor is used to drive the vertical wheel to rotate.

[0020] In an optional embodiment, the horizontal motion vehicle further comprises:

[0021] The elastic part is used to change the distance between the horizontal wheels on two opposite sides.

[0022] In an optional embodiment, the inspection cabin has an electric door, and the trackless underwater tunnel inspection device further includes:

[0023] A winding machine is arranged in the inspection cabin;

[0024] The approach robot is placed in the inspection cabin. The approach robot is connected to the winding machine through cables. The electric door is opened to control the approach robot to drive out of the inspection cabin.

[0025] In an optional embodiment, the vertical connecting rod is an electric telescopic rod.

[0026] In an optional embodiment, the trackless underwater tunnel inspection device further includes:

[0027] A light source is installed on the outside of the inspection cabin, and is used to illuminate the trackless underwater tunnel;

[0028] A camera is installed on the outside of the inspection cabin and is used to capture images inside the trackless underwater tunnel;

[0029] The three-dimensional sonar is installed on the outside of the inspection cabin. The three-dimensional sonar is used to detect the cross-sectional shape of the trackless underwater tunnel.

[0030] In a third aspect, the present invention provides a trackless underwater tunnel system, the trackless underwater tunnel system comprising:

[0031] The trackless underwater tunnel of the aforementioned embodiment;

[0032] The trackless underwater tunnel inspection device of the aforementioned embodiment is used for inspecting a trackless underwater tunnel.

[0033] The beneficial effects of the trackless underwater tunnel, inspection device and system provided by the embodiments of the present invention include:

[0034] 1. A notch groove is opened at the top of the special-shaped tunnel, and a limiter is set in the opening of the notch groove, so that part of the inspection device is limited in the notch groove and slides along the length direction of the special-shaped tunnel. There is no need to install rails, which will not affect the water-passing section. Inspection can be carried out in the tunnel with or without water, which is not affected by the operation status of the tunnel and can ensure the safety of the inspection process;

[0035] 2. The inspection device is used to slide along the length direction of the notch groove, which is conducive to the accurate positioning of the machine inspection, and has higher stability and safety;

[0036] 3. It has a wider range of uses and can also be applied to special-shaped tunnels such as inclined shaft sections. The inspection operation is simple and convenient, which is more conducive to promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic structural diagram of a trackless underwater tunnel system provided by an embodiment of the present invention;

[0039] Figure 2for Figure 1 Schematic diagram of the structure of the trackless underwater tunnel;

[0040] Figure 3 It is a schematic diagram of assembling the horizontal motion vehicle in the notch groove;

[0041] Figure 4 This is a schematic diagram of the internal structure of the inspection cabin.

[0042] Icons: 100-trackless underwater tunnel system; 110-trackless underwater tunnel; 111-special-shaped tunnel; 112-notched groove; 113-limiting part; 120-trackless underwater tunnel inspection device; 121-horizontal moving vehicle; 122-horizontal bracket; 123-horizontal wheel; 124-vertical wheel; 125-vertical connecting rod; 126-inspection cabin; 127-light source; 128-camera; 129-3D sonar; 130-winding machine; 131-approach robot; 132-cable. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0046] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0048] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0049] Please refer to Figure 1 The present embodiment provides a trackless underwater tunnel system 100 (hereinafter referred to as the “system”), which includes a trackless underwater tunnel 110 and a trackless underwater tunnel inspection device 120 (hereinafter referred to as the “inspection device”), wherein the inspection device is used to inspect the trackless underwater tunnel 110.

[0050] See also Figure 1 and Figure 2 The trackless underwater tunnel 110 includes a special-shaped tunnel 111 and two stoppers 113, wherein the special-shaped tunnel 111 may be an inclined shaft section or a horizontal shaft section, and a notch groove 112 is provided at the top of the special-shaped tunnel 111, and the notch groove 112 extends along the length direction of the special-shaped tunnel 111. The notch groove 112 may be formed by being reserved during the tunnel construction process.

[0051] The two limiting portions 113 are disposed in the opening of the notch groove 112 and are located at opposite sides of the notch groove 112 . Specifically, the notch groove 112 and the two limiting portions 113 may form a T-shaped groove.

[0052] The limiting portion 113 is used to limit a portion of the inspection device within the notch groove 112 so that the inspection device can slide along the length direction of the special-shaped tunnel 111 .

[0053] Preferably, the top surface of the limiting portion 113 is an inclined surface, and the height of the inclined surface gradually decreases from one end connected to the wall surface of the notch groove 112 to one end close to the center of the notch groove 112. Specifically, the inclination angle of the inclined surface relative to the horizontal plane can be 3° to 10°. In this way, setting the top surface of the limiting portion 113 as an inclined surface can prevent gravel or other impurities from being stuck in the notch groove 112, and avoid limiting the movement of the inspection device along the notch groove 112.

[0054] In other embodiments, the notch groove 112 and the two limiting portions 113 may also form an L-shaped groove as long as the inspection device can be suspended.

[0055] The beneficial effects of the trackless underwater tunnel 110 provided in this embodiment include at least:

[0056] 1. A notch groove 112 is reserved at the top of the special-shaped tunnel 111, and a limiter 113 is provided to form a channel for the inspection device to move. No rails need to be installed, which can achieve accurate positioning and high-frequency inspection of the machine inspection without affecting the water-passing section. Inspection can be carried out in the tunnel with or without water, which is not affected by the tunnel operation status and can ensure the safety of the inspection process;

[0057] 2. It has a wider range of applications and can also be applied to special-shaped tunnels 111 such as inclined shaft sections. In addition, the inspection operation is simple and convenient, which is more conducive to promotion and application.

[0058] See also Figure 1 The inspection device includes a horizontal moving vehicle 121, a vertical connecting rod 125 and an inspection cabin 126, wherein the horizontal moving vehicle 121 is used to be arranged in the notch groove 112 and supported on the limit portion 113. One end of the vertical connecting rod 125 is hinged to the horizontal moving vehicle 121, and the inspection cabin 126 is hinged to the other end of the vertical connecting rod 125.

[0059] The two ends of the vertical connecting rod 125 are respectively connected to the horizontal moving vehicle 121 and the inspection cabin 126 in a hinged manner, so that the inspection cabin 126 can maintain its original horizontal state during the horizontal movement of the vehicle 121.

[0060] The vertical connecting rod 125 can be an electric telescopic rod. In this way, by controlling the length of the electric telescopic rod, the height of the inspection cabin 126 in the hole can be adjusted to more efficiently utilize the inspection cabin 126 to detect defects in the hole.

[0061] A light source 127, a camera 128 and a three-dimensional sonar 129 are also installed on the outside of the inspection cabin 126, wherein the light source 127 is used to illuminate the trackless underwater tunnel 110, the camera 128 is used to take pictures of the trackless underwater tunnel 110, and the three-dimensional sonar 129 is used to detect the cross-sectional shape of the trackless underwater tunnel 110. In this way, the light source 127, the camera 128 and the three-dimensional sonar 129 can be used to perform a preliminary scan of the overall environment inside the tunnel to find abnormal locations and siltation in the tunnel structure.

[0062] See also Figure 1 and Figure 3The horizontal moving vehicle 121 includes a horizontal support 122, at least two horizontal wheels 123 and at least two vertical wheels 124, wherein at least two horizontal wheels 123 are mounted at opposite ends of the horizontal support 122, and the horizontal wheels 123 are used to rotate along the wall surface of the notch groove 112, and at least two vertical wheels 124 are mounted at opposite ends of the horizontal support 122, and the vertical wheels 124 are used to be supported on the limiting portion 113 and rotate along the limiting portion 113. The horizontal wheels 123 and the vertical wheels 124 can both be waterproof rubber wheels to reduce the wear on the wall surface of the notch groove 112 and the limiting portion 113.

[0063] The horizontal motion vehicle 121 further includes a driving motor (not shown in the figure), which is mounted on the horizontal support 122 and is in driving connection with the vertical wheel 124, and is used to drive the vertical wheel 124 to rotate. In this way, by using the vertical wheel 124 as a driving wheel, the gravity of the inspection device can be used to keep the vertical wheel 124 in contact with the limiter 113, increase the friction between the vertical wheel 124 and the limiter 113, ensure that the vertical wheel 124 does not slip or idle, and can stably drive the horizontal motion vehicle 121 to move.

[0064] The power supply of the driving motor can be provided by the onboard battery or cable, and the horizontal motion vehicle 121 can be set to a uniform motion mode, so that the position of the inspection device can be accurately calculated according to the duration of the motion.

[0065] The horizontal motion vehicle 121 further includes an elastic part (not shown in the figure), and the horizontal wheels 123 are mounted on the horizontal bracket 122 through the elastic part, and the elastic part is used to change the spacing between the horizontal wheels 123 on the opposite sides. Because the accuracy of the width of the notch groove 112 is not high, when the horizontal motion vehicle 121 moves along the notch groove 112, the horizontal wheels 123 on the opposite sides may be difficult to contact the wall surface of the notch groove 112 at the same time, or the width of the notch groove 112 suddenly decreases, which may cause the horizontal wheels 123 on the opposite sides to be stuck in the notch groove 112. By providing the elastic part, the spacing between the horizontal wheels 123 on the opposite sides can be changed, so that the horizontal wheels 123 on the opposite sides can adapt to the road section with a changed width in the notch groove 112, and the horizontal motion vehicle 121 can smoothly pass through the road section with a changed width in the notch groove 112, thereby improving the stability of operation.

[0066] See also Figure 4 The inspection device also includes a winding machine 130 and an approach robot 131, wherein the winding machine 130 is arranged in the inspection cabin 126, the inspection cabin 126 has an electric door, the approach robot 131 is placed in the inspection cabin 126, the approach robot 131 is connected to the winding machine 130 through a cable 132, and the electric door is opened to control the approach robot 131 to drive out of the inspection cabin 126.

[0067] See also Figure 1 When the approaching robot 131 is needed to conduct a detailed inspection of the situation in the trackless underwater tunnel 110, the electric door of the inspection cabin 126 is controlled to open, and the approaching robot 131 is controlled to drive out of the inspection cabin 126 to reach the defect location for detailed inspection. The approaching robot 131 can be a robot floating in the water, so as to adapt to complex environments such as underwater attachment, no light, and shielding, and realize high-precision information collection.

[0068] The trackless underwater tunnel 110, inspection device and system provided in this embodiment have the following beneficial effects:

[0069] 1. A notch groove 112 is provided at the top of the special-shaped tunnel, and a limiter 113 is provided in the opening of the notch groove 112, so that part of the inspection device is limited in the notch groove 112 and slides along the length direction of the special-shaped tunnel 111. No rails need to be installed, and the water-passing section will not be affected. Inspection can be carried out in the tunnel with or without water, and it is not affected by the operation status of the tunnel, and the safety of the inspection process can be ensured;

[0070] 2. The inspection device is used to slide along the length direction of the notch groove 112, which is conducive to the accurate positioning of the machine inspection, and has higher stability and safety;

[0071] 3. It has a wider range of applications and can also be applied to special-shaped tunnels such as inclined shaft sections. The inspection operation is simple and convenient, which is more conducive to promotion and application.

[0072] 4. During the underwater inspection, the inspection device can use the approach robot 131 to measure and identify defects in the hole at close range, which can improve the inspection effect.

[0073] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A trackless underwater tunnel, characterized in that: The trackless underwater tunnel comprises: A special-shaped tunnel (111), wherein a notch groove (112) is provided at the top of the special-shaped tunnel (111), and the notch groove (112) extends along the length direction of the special-shaped tunnel (111); Two limiting portions (113) are arranged in the opening of the notch groove (112) and are located on opposite sides of the notch groove (112); the limiting portions (113) are used to limit a portion of the inspection device in the notch groove (112) so that the inspection device slides along the length direction of the special-shaped tunnel (111); the notch groove (112) and the two limiting portions (113) form a T-shaped groove; The top surface of the limiting portion (113) is an inclined surface, and the height of the inclined surface gradually decreases from one end connected to the wall surface of the notch groove (112) to one end close to the center of the notch groove (112).

2. A trackless underwater tunnel inspection device, characterized in that: The trackless underwater tunnel inspection device is applied to the trackless underwater tunnel according to claim 1, and the trackless underwater tunnel inspection device comprises: A horizontal motion vehicle (121) is used to be arranged in the notch groove (112) and supported on the limiting portion (113); A vertical connecting rod (125), one end of which is hinged to the horizontal moving vehicle (121); The inspection cabin (126) is hinged to the other end of the vertical connecting rod (125).

3. The trackless underwater tunnel inspection device according to claim 2 is characterized in that: The horizontal motion vehicle (121) comprises: Horizontal support (122); At least two horizontal wheels (123) are installed at opposite ends of the horizontal support (122), and the horizontal wheels (123) are used to rotate along the wall surface of the notch groove (112); At least two vertical wheels (124) are installed at opposite ends of the horizontal support (122), and the vertical wheels (124) are used to be supported on the limiting portion (113) and rotate along the limiting portion (113).

4. The trackless underwater tunnel inspection device according to claim 3 is characterized in that: The horizontal motion vehicle (121) further comprises: A drive motor is mounted on the horizontal support (122), the drive motor is in driving connection with the vertical wheel (124), and the drive motor is used to drive the vertical wheel (124) to rotate.

5. The trackless underwater tunnel inspection device according to claim 3 is characterized in that: The horizontal motion vehicle (121) further comprises: An elastic part, wherein the horizontal wheel (123) is mounted on the horizontal bracket (122) via the elastic part, and the elastic part is used to change the spacing between the horizontal wheels (123) on two opposite sides.

6. The trackless underwater tunnel inspection device according to claim 2, characterized in that: The inspection cabin (126) has an electric door, and the trackless underwater tunnel inspection device further comprises: A winding machine (130) is arranged in the inspection cabin (126); An approaching robot (131) is placed in the inspection cabin (126). The approaching robot (131) is connected to the winding machine (130) via a cable (132). By opening the electric door, the approaching robot (131) can be controlled to move out of the inspection cabin (126).

7. The trackless underwater tunnel inspection device according to claim 2, characterized in that: The vertical connecting rod (125) is an electric telescopic rod.

8. The trackless underwater tunnel inspection device according to claim 2, characterized in that: The trackless underwater tunnel inspection device also includes: A light source (127) is installed on the outside of the inspection cabin (126), and the light source (127) is used to illuminate the trackless underwater tunnel; A camera (128) is installed on the outside of the inspection cabin (126), and the camera (128) is used to capture images in the trackless underwater tunnel; A three-dimensional sonar (129) is installed on the outside of the inspection cabin (126), and the three-dimensional sonar (129) is used to detect the cross-sectional shape of the trackless underwater tunnel.

9. A trackless underwater tunnel system, characterized in that: The trackless underwater tunnel system comprises: The trackless underwater tunnel according to claim 1; and The trackless underwater tunnel inspection device as described in claim 2 is used to inspect the trackless underwater tunnel.

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