Automated data acquisition device and method for radar detection of highway tunnel lining

Abstract

The present invention relates to an automated data acquisition device and method for radar detection of highway tunnel linings, the device comprising a power-carrying vehicle, a telescopic control rod and a travel control track, a main control module is arranged inside the power-carrying vehicle, the telescopic control rod is vertically connected to the power-carrying vehicle, and is slidably connected to the travel control track through a rigid connection mechanism, an angle adjuster and an antenna bearing platform for installing a geological radar antenna are arranged on the top of the telescopic control rod, the angle adjuster is connected to the antenna bearing platform, and the main control module is respectively connected to the telescopic control rod and the angle adjuster; when performing data acquisition, the travel control track is fixed to the lining side wall, and the geological radar antenna is closely attached to the lining surface of the established survey line. Compared with the prior art, the present invention has the advantages of being able to accurately locate the designed survey line and not requiring manual intervention.

Description

Technical Field

[0001] The invention relates to the technical field of highway tunnel lining radar detection, and in particular to an automatic data acquisition device and method for highway tunnel lining radar detection. Background Art

[0002] Concrete lining is an important part of tunnel structure. During the tunnel construction period, due to various factors, the lining is prone to quality defects such as internal voids, looseness and insufficient thickness, which seriously affect the safety of the tunnel structure. The use of geological radar method to detect the quality of tunnel lining can achieve better results. At present, when using geological radar to detect highway tunnel linings, most of the data collection work is done by people standing on a lifting trolley and holding a radar antenna. This method has many shortcomings: ① The antenna needs to be manually lifted during the inspection, and the inspection personnel work at high altitude, which poses a safety hazard. The lifting trolley is used as the driving force, and it is difficult for manual operation to maintain a uniform speed along the designed survey line; ② The designed survey line is usually randomly selected on site and cannot be accurately positioned. If defects are found after data processing, it is difficult to accurately find the defect location on site; ③ The inspection process uses manual marking rather than automatic control, and human factors will lead to inaccurate marking.

[0003] After searching, the existing patent technologies either use geological radar scanning frames to achieve radar lifting, or use support structures to achieve automated detection, or are lining detection devices for railroad tunnels. For example, patent CN110118294B discloses a design method for a special geological radar scanning frame for tunnel lining quality detection. This invention only eliminates the need for manual lifting of the geological radar, but fails to achieve autonomous movement, automatic marking, and automated collection of the detection device; patent application CN110687533A discloses a geological radar auxiliary device and method suitable for tunnel lining quality detection. Although this invention enables the geological radar antenna to automatically collect data along the survey line covered by the flexible track, when performing vault detection, the installation of the support structure requires high-altitude operations. At the same time, for tunnels with different sections, the support structure needs to be measured. Customization is very cumbersome; Patent CN110146875B discloses a tunnel initial radar detection device. Although the invention realizes the mechanical lifting and autonomous movement of the geological radar antenna, the detection device cannot accurately locate the survey line, and cannot ensure that the trolley moves according to the designed survey line at the bend of the tunnel, and fails to realize automatic marking of the detection device; Patent application CN106814346A provides a tunnel lining detection bracket and detection method with automatic height and angle adjustment. Although the invention realizes the mechanical lifting and autonomous movement of the geological radar antenna, it is only applicable to rail railway tunnels and cannot be applied to highway tunnel lining detection. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide an automatic data acquisition device for highway tunnel lining radar detection which can accurately locate the designed survey line and does not require manual intervention.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] An automated data acquisition device for radar detection of highway tunnel linings comprises a power-carrying vehicle, a telescopic control rod and a travel control track, wherein a main control module is arranged inside the power-carrying vehicle, the telescopic control rod is vertically connected to the power-carrying vehicle, and is slidably connected to the travel control track via a rigid connection mechanism, an angle adjuster and an antenna bearing platform for installing a geological radar antenna are arranged on the top of the telescopic control rod, the angle adjuster is connected to the antenna bearing platform, and the main control module is respectively connected to the telescopic control rod and the angle adjuster; when data acquisition is performed, the travel control track is fixed to the lining side wall.

[0007] Furthermore, the power-carrying vehicle comprises a vehicle body, a distance-measuring direction wheel is arranged at the front part of the bottom of the vehicle body in the forward direction, and a power traveling wheel is arranged at the rear part in the forward direction.

[0008] Furthermore, a track wheel connected to the rigid connection mechanism is arranged in the travel control track.

[0009] Furthermore, the rigid connection mechanism comprises a connecting rod lock and a rigid connecting rod, one end of the rigid connecting rod is fixed to the telescopic control rod through the connecting rod lock, and the other end is connected to the track wheel.

[0010] Furthermore, the rigid connecting rod is detachably connected to the track wheel.

[0011] Furthermore, the travel control rail is fixed to the lining side wall by fixing screws.

[0012] The present invention also provides an automated data collection method for highway tunnel lining radar detection using the automated data collection device as described above, comprising the following steps:

[0013] 1) Construct a highway tunnel model with a survey line, calculate the horizontal distance L from the survey line to the tunnel centerline, the height H from the survey line to the tunnel ground, and the angle a between the tangent line of the survey line on the lining surface and the horizontal line. The survey line is the designed route for geological radar antenna to be attached to the tunnel lining surface for detection;

[0014] 2) calculating the set position of the power-carrying vehicle in the highway tunnel when collecting data and the set height of the center point of the angle adjuster from the ground based on the horizontal distance L, the height H and the angle a, wherein the set position and the set height are sufficient to enable the collection device to travel along the designed survey line during the data collection process;

[0015] 3) Arrange the acquisition device at the set position, fix the geological radar antenna on the antenna bearing platform, adjust the telescopic control rod to the set height through the main control module, and control the angle adjuster to make the geological radar antenna close to the lining surface of the established survey line;

[0016] 4) fixing the travel control track to the lining side wall and connecting the telescopic control rod through an adapted rigid connection mechanism;

[0017] 5) Start the power carrier vehicle and set the detection distance and marking frequency to start data collection and detection.

[0018] Furthermore, the set position is represented by the horizontal distance L1 from the center point of the power-carrying vehicle to the central axis of the tunnel, and the calculation formula of L1 is:

[0019] L1=LM*sin a

[0020] Wherein, M is the distance between the measuring line and the center point of the angle adjuster.

[0021] Furthermore, the calculation formula of the set height H1 is:

[0022] H1=HM*cos a

[0023] Wherein, M is the distance between the measuring line and the center point of the angle adjuster.

[0024] Furthermore, steps 1) to 5) are repeated to realize data collection and detection of different measurement lines.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1) The present invention does not require manual high-altitude operations when conducting geological radar detection, thereby reducing safety hazards.

[0027] 2) When implementing the highway tunnel lining quality inspection, the method of the present invention uses the tunnel model to quantify the design of the survey line and accurately locate the detection device. The detection device is accurately located through calculation to ensure that the geological radar antenna is closely fitted to the tunnel lining, thereby improving the accuracy of the detection work.

[0028] 3) The present invention enables the detection device to be accurately positioned on the designed survey line. During the detection process, the radar antenna moves forward at a uniform speed along the designed survey line, automatically collects data and measures distance marks, and no human intervention is required. The system is fully automated and controlled, thereby realizing automated data collection for highway tunnel lining radar detection.

[0029] 4) The present invention controls the travel route through the travel control track, and can ensure that the device travels according to the designed survey line even at the bend of the tunnel.

[0030] 5) The present invention has a simple structure and is easy to use. When testing tunnels with different sections or multiple measuring lines, the travel control track does not need to be adjusted, and only the rigid connecting rod with a suitable length needs to be adjusted for connection and fixing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the device of the present invention;

[0032] Figure 2 It is a structural schematic diagram of the angle adjuster and the radar antenna bearing platform of the present invention;

[0033] Figure 3 It is a schematic diagram of the process of the present invention;

[0034] Figure 4 It is a schematic diagram of the detection working process of the device of the present invention;

[0035] In the figure: 1. power carrier vehicle, 101. power travel wheel, 102. ranging direction wheel, 2. telescopic control rod, 3. travel control track, 301. track wheel, 4. main control module, 5. angle adjuster, 6. antenna carrying platform, 7. fixing screw, 801. connecting rod lock, 802. rigid connecting rod, 9. measuring line. DETAILED DESCRIPTION

[0036] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0037] like Figure 1 As shown, this embodiment provides an automated data acquisition device for highway tunnel lining radar detection, including a power-carrying vehicle 1, a telescopic control rod 2 and a travel control track 3. A main control module 4 is arranged inside the power-carrying vehicle 1. The telescopic control rod 2 is vertically connected to the power-carrying vehicle 1 and is slidably connected to the travel control track 3 through a rigid connection mechanism. An angle adjuster 5 and an antenna bearing platform 6 for installing a geological radar antenna are arranged on the top of the telescopic control rod 2. The angle adjuster 5 is connected to the antenna bearing platform 6. Figure 2As shown, the main control module 4 is respectively connected to the telescopic control rod 2 and the angle adjuster 5; when collecting data, the travel control track 3 is fixed to the lining side wall, and the angle adjuster 5 can adjust the angle through the main control module 4 so that the geological radar antenna is in close contact with the lining surface.

[0038] In this embodiment, the power-carrying vehicle 1 includes a vehicle body, a distance-measuring direction wheel 102 is provided at the front of the bottom of the vehicle body in the forward direction, and two power traveling wheels 101 are provided at the rear in the forward direction. The power traveling wheel 101 and the distance-measuring direction wheel 102 are both connected to the main control module 4, which can provide power for uniform speed driving and automatic distance measurement marks.

[0039] The travel control track 3 is fixed to the lining side wall by fixing screws 7, and a track wheel 301 connected to the rigid connection mechanism is arranged therein, so as to facilitate the smooth movement of the power-carrying vehicle 1 and the telescopic control rod 2 along the travel control track 3 when traveling. In this embodiment, the rigid connection mechanism includes a connecting rod lock 801 and a rigid connecting rod 802, one end of the rigid connecting rod 802 is fixed to the telescopic control rod 2 by the connecting rod lock 801, and the other end is connected to the track wheel 301. The rigid connecting rod 802 is detachably connected to the track wheel 301, so that the rigid connecting rod 802 of different lengths can be selected according to different usage scenarios.

[0040] In this embodiment, the main control module 4 includes a motor for driving corresponding components.

[0041] refer to Figure 3 As shown, when the automatic data acquisition device as described above is used to perform automatic data acquisition for highway tunnel lining radar detection, the following steps are included:

[0042] 1) Construct a highway tunnel model with a survey line, calculate the horizontal distance L from the survey line to the tunnel centerline, the height H from the survey line to the tunnel ground, and the angle a between the tangent line of the survey line on the lining surface and the horizontal line. The survey line is the design route for the geological radar antenna to be attached to the tunnel lining surface for detection;

[0043] 2) Based on the horizontal distance L, height H and angle a, the set position of the power-carrying vehicle in the highway tunnel and the set height of the center point of the angle adjuster from the ground when collecting data are calculated. The set position and the set height are sufficient to make the collection device move along the designed survey line during the data collection process. The specific calculation method is:

[0044] Select the corresponding geological radar antenna and measure the distance M between the survey line and the center point of the angle adjuster 5. The set position is represented by the horizontal distance L1 from the center point of the power carrier vehicle to the central axis of the tunnel. The calculation formula of the horizontal distance L1 and the set height H1 is:

[0045] L1=LM*sin a,H1=HM*cos a

[0046] 3) Arrange the acquisition device at the set position, fix the geological radar antenna on the antenna bearing platform 6, adjust the telescopic control rod 2 to the set height through the main control module 4, and control the angle adjuster 5 to make the geological radar antenna close to the lining surface of the established survey line;

[0047] 4) Fix the travel control track 3 to the lining side wall and connect the telescopic control rod 2 through an adapted rigid connection mechanism;

[0048] 5) Start the power carrier vehicle 1 and set the detection distance and marking frequency to start data collection and detection.

[0049] The schematic diagram of the detection work of the above-mentioned collection device in a highway tunnel is as follows: Figure 4 As shown, the automatic data collection process is carried out strictly in accordance with the designed measurement line 9.

[0050] When testing tunnels with different cross sections or multiple measuring lines, the travel control track 3 does not need to be adjusted. It is only necessary to select a rigid connecting rod 802 of appropriate length and connect and fix it with the telescopic control rod 2 through the connecting rod lock 801, and repeat the above steps.

[0051] The above-mentioned acquisition device and corresponding acquisition method can control the detection route through the travel control track 3, ensure that the radar antenna performs detection according to the designed measurement line, and realize automatic ranging marking, thereby realizing automatic control of the detection process.

[0052] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An automated data acquisition device for radar detection of highway tunnel linings, characterized in that: The invention comprises a power-carrying vehicle (1), a telescopic control rod (2) and a travel control track (3); a main control module (4) is arranged inside the power-carrying vehicle (1); the telescopic control rod (2) is vertically connected to the power-carrying vehicle (1) and is slidably connected to the travel control track (3) through a rigid connection mechanism; an angle adjuster (5) and an antenna bearing platform (6) for installing a geological radar antenna are arranged on the top of the telescopic control rod (2); the angle adjuster (5) is connected to the antenna bearing platform (6); the main control module (4) is respectively connected to the telescopic control rod (2) and the angle adjuster (5); when data collection is performed, the travel control track (3) is fixed to the lining side wall.

2. The automatic data acquisition device for highway tunnel lining radar detection according to claim 1 is characterized in that: The power-carrying vehicle (1) comprises a vehicle body, wherein a distance-measuring direction wheel (102) is arranged at the front part of the bottom of the vehicle body in the forward direction, and a power traveling wheel (101) is arranged at the rear part in the forward direction.

3. The automatic data acquisition device for highway tunnel lining radar detection according to claim 1 is characterized in that: A track wheel (301) connected to the rigid connection mechanism is arranged in the travel control track (3).

4. The automatic data acquisition device for highway tunnel lining radar detection according to claim 3 is characterized in that: The rigid connection mechanism comprises a connecting rod lock (801) and a rigid connecting rod (802); one end of the rigid connecting rod (802) is fixed to the telescopic control rod (2) through the connecting rod lock (801), and the other end is connected to the track wheel (301).

5. The automatic data acquisition device for highway tunnel lining radar detection according to claim 4 is characterized in that: The rigid connecting rod (802) is detachably connected to the track wheel (301).

6. The automatic data acquisition device for highway tunnel lining radar detection according to claim 1 is characterized in that: The travel control track (3) is fixed to the lining side wall by means of fixing screws (7).

7. An automated data collection method for highway tunnel lining radar detection using the automated data collection device according to any one of claims 1 to 6, characterized in that: The following steps are involved: 1) Construct a highway tunnel model with a survey line, calculate the horizontal distance L from the survey line to the tunnel centerline, the height H from the survey line to the tunnel ground, and the angle a between the tangent line of the survey line on the lining surface and the horizontal line. The survey line is the designed route for geological radar antenna to be attached to the tunnel lining surface for detection; 2) calculating the set position of the power-carrying vehicle in the highway tunnel when collecting data and the set height of the center point of the angle adjuster from the ground based on the horizontal distance L, the height H and the angle a, wherein the set position and the set height are sufficient to enable the collection device to travel along the designed survey line during the data collection process; 3) arranging the acquisition device at the set position, fixing the geological radar antenna on the antenna bearing platform (6), adjusting the telescopic control rod (2) to a set height through the main control module (4), and controlling the angle adjuster (5) to make the geological radar antenna close to the lining surface of the established survey line; 4) fixing the travel control track (3) to the lining side wall and connecting the telescopic control rod (2) via a suitable rigid connection mechanism; 5) Start the power carrier vehicle (1) and set the detection distance and marking frequency to start data collection and detection.

8. The automated data collection method according to claim 7, characterized in that: The set position is represented by the horizontal distance L1 from the center point of the power-carrying vehicle to the center axis of the tunnel. The calculation formula of L1 is: L1=LM*sin a Wherein, M is the distance between the measuring line and the center point of the angle adjuster (5).

9. The automated data collection method according to claim 7, characterized in that: The calculation formula of the set height H1 is: H1=HM*cos a Wherein, M is the distance between the measuring line and the center point of the angle adjuster (5).

10. The automated data collection method according to claim 7, characterized in that: Repeat steps 1)-5) to realize data collection and detection of different measurement lines.

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