An automatic inspection system for a water diversion tunnel

Abstract

The present invention relates to an automatic inspection system for a water diversion tunnel, which includes a track, an inspection device running on the track, and a positioning device for positioning the inspection device. The positioning device includes a position corrector and an odometer. The odometer cooperates with the tunnel map to position the inspection device. The tunnel is provided with marks for determining position coordinates. The corrector cooperates with the marks and the tunnel map to correct the error of the odometer. The present invention solves the problems that it is difficult to arrange electricity in the water diversion tunnel, it is difficult for the automatic inspection device to determine its accurate position in the water diversion tunnel, and it is usually necessary for manual or manual carrying of detection devices to enter the tunnel for inspection.

Description

Technical Field

[0001] The present invention relates to an automatic inspection system for a water diversion tunnel. Background Art

[0002] A water diversion tunnel is a common water diversion and regulation project building. For the detection of tunnel defects, the manual census method is usually adopted. First, manual inspections are carried out. After defects are found, professional personnel are arranged to measure, detect, and verify each of the found defects one by one. The drawback is that since the water diversion tunnel conveys water, it is difficult to arrange power facilities in the tunnel, and there is no lighting facility arranged in the tunnel. With the limited lighting facilities carried by manual census, it is difficult to comprehensively discover tunnel cracks; due to the inability to arrange power facilities, there is a lack of signals in the water diversion tunnel, and accurate positioning cannot be achieved, so the automatic inspection system cannot be used. Only manual carrying of detection equipment can enter the site. After the tunnel has been in operation for a period of time, there is silt and aquatic organisms attached inside, the ground is slippery, it is difficult to walk and for the detection equipment to move forward, the detection conditions are harsh, the work efficiency is low, and it takes a long time; in addition, water supply is related to people's livelihood and production, and there is a contradiction between water cut-off detection and urban water supply. The water cut-off detection of the water diversion tunnel is subject to strict time limits. If the water diversion tunnel is not detected in time, diseases and aging defects are not discovered, serious consequences such as pipeline settlement or even collapse may occur. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic inspection system that can be used in a water diversion tunnel.

[0004] To this end, an automatic inspection system for a water diversion tunnel of the present invention includes a track, an inspection device running on the track, and a positioning device for positioning the inspection device. The positioning device includes a position corrector and an odometer. The odometer cooperates with the tunnel map to position the inspection device. The tunnel is provided with marks for determining position coordinates. The corrector cooperates with the marks and the tunnel map to correct the error of the odometer.

[0005] Further, the mark is a magnet placed in the inner wall of the tunnel, and the corrector is a magnetic inductor. When the magnetic inductor senses the magnetic flux, the position coordinates of the mark are used as the current position information of the inspection device.

[0006] The mark can cooperate with the corrector to form a loop in the corrector or form a current in the loop of the corrector for the corrector to identify the mark and use the position coordinates of the mark as the current position information of the inspection device.

[0007] Further, the marker is a fixing rod. The corrector includes a limiting block that can move along the groove of the corrector, and a positive electrode and a negative electrode isolated by the limiting block. The fixing rod is used to push the limiting block to release the isolation of the positive motor and the negative electrode of the limiting block, so that the positive electrode and the negative electrode respectively connected to the positive and negative poles of the power supply module can move towards each other and be electrically connected to form a conductive loop to generate a current signal.

[0008] The marker may further include magnets provided on both sides of the track. The magnets are used to generate a magnetic field between the two side magnets. An induction coil is provided in the marker recognition circuit of the corrector. When the induction coil passes through the magnetic field, the induction coil cuts the magnetic field, and an induced current is generated in the marker recognition circuit to form a current signal.

[0009] Further, a calibration device is also included. When the inspection device detects an abnormality, the microprocessor of the inspection device or the calibration device is manually controlled to calibrate this section of the tunnel.

[0010] Further, the calibration device is a spray can. The spray can is internally provided with fluorescent powder and compressed gas. A solenoid valve is provided in the spray pipe of the spray can, and the solenoid valve can be opened and closed under the control of the microprocessor or manually.

[0011] Further, the track is provided at the top of the tunnel and is suitable for hanging a connecting rod on the track. The corrector is connected to the connecting rod and is provided below the top of the tunnel. The inspection device is connected to the connecting rod and is provided below the corrector. One end of the connecting rod connected to the inspection device is a telescopic structure for adjusting the longitudinal position of the inspection device.

[0012] Further, a track installation groove is provided at the top of the tunnel. A waterproof door that rotates and opens is provided outside the installation groove. A waterproof layer is installed on the surface of the track. An elastic sealing strip is provided on one side of the waterproof door connected to the tunnel wall.

[0013] Further, a spring is press-fitted between the waterproof door and the track to keep the waterproof door normally closed. The connecting rod is provided with an opener for opening the waterproof door. One end of the waterproof door is provided with an inclined surface. The two sides and the front end surface of the opener are provided with inclined surfaces. The inclined surfaces on the two sides and the front end of the opener are provided with rollers. The rollers cooperate with the inclined surface of the waterproof door to overcome the pulling force of the spring and open the waterproof door.

[0014] The beneficial effects of the present invention are:

[0015] (1) In the water diversion tunnel, there is no power supply, and water is conveyed in the tunnel. Therefore, it is difficult to deploy base stations in the tunnel like ordinary tunnels and mine roadways, and use positioning technologies such as WiFi and UWB to position the automatic inspection facilities. In the present invention, the implementation position of the automatic inspection device is positioned by adopting the initial position coordinates plus an odometer and combining with the pre-drawn tunnel map, and marks are set in the tunnel at a predetermined distance. When the self-inspection device travels a predetermined distance, the position of the inspection device is corrected with the marks to eliminate the error of the odometer, so that the odometer can relatively accurately determine the real-time position, and the detected defect positions are marked in the detected cloud map.

[0016] (2) A calibration device is also provided in a specific embodiment of the present invention. After the automatic inspection device discovers a tunnel defect, it is still necessary to arrange professional personnel and equipment to conduct professional measurements on the defect position. This calibration device can mark the position range where the defect is located in the actual tunnel, so that subsequent personnel can overcome the problem of positioning difficulties with the help of corresponding equipment, without the need for a large-scale search, saving time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of a specific embodiment of the present invention;

[0018] Figure 2 Schematic diagram of the track and the waterproof door;

[0019] Figure 3 Schematic diagram of the connecting rod and the positioning device;

[0020] Figure 4 Schematic cross-sectional view perpendicular to the track direction of Embodiment 2;

[0021] Figure 5 Schematic cross-sectional view parallel to the track direction of Embodiment 2;

[0022] Figure 6 Schematic diagrams of Embodiment 1 and Embodiment 3;

[0023] Figure 7 Schematic diagram of the spray barrel;

[0024] Figure 8 Schematic diagram of the automatic inspection system;

[0025] Figure 9 Schematic diagram of the waterproof door and the connecting rod.

[0026] Description of the reference numerals: 1, track; 2, inspection device; 3, corrector; 4, permanent magnet; 5, fixing rod; 6, groove; 7, limit block; 8, positive electrode; 9, negative electrode; 10, connecting base; 11, spring; 12, spray nozzle; 13, solenoid valve; 14, connecting rod; 15, placement groove; 16, waterproof door; 17, waterproof layer; 18, elastic sealing strip; 19, opener; 20, roller. Detailed implementation manners

[0027] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following will, in conjunction with the accompanying drawings and preferred embodiments, describe in detail the specific implementation manners, structures, features and their effects of the present invention as follows.

[0028] Referring to Figures 1 to 9 As shown, an automatic inspection system for a water diversion tunnel of the present invention includes a track 1, an inspection device 2 running on the track 1, and a positioning device for positioning the inspection device 2. The positioning device includes a position corrector 3 and an odometer. The odometer cooperates with the tunnel map to position the inspection device 2. The tunnel is provided with marks with determined position coordinates. The corrector 3 cooperates with the marks and the tunnel map to correct the error of the odometer. In this embodiment, the inspection device 2 generally includes non-destructive testing equipment such as a high-precision infrared thermal imager, a laser scanner or an ultrasonic detector, as well as a microprocessor, a memory for storing data, a communication module for transmitting data to the outside, a traveling device for driving the inspection device 2 to move forward, and a power module. It also includes a server and a display screen provided outside and connected to the inspection device 2. The microprocessor can transmit the data detected by the inspection device 2 to the server in real time through the communication module. The track 1 is arranged at the top of the tunnel, and the inspection device 2 is suspended on the track 1. The traveling mechanism includes a wheel rail and a driving device. Its working principle is as follows: Before entering the tunnel, the inspection device 2 accurately determines its own position through a satellite positioning system such as Beidou, forms initial position information and stores it in the memory. The inspection device 2 moves along the track 1 into the tunnel at a certain speed under the drive of the traveling mechanism. The moving speed is usually 2 km / h. The inspection device 2 starts to work and detects the defects of the tunnel. The odometer records the distance traveled by the inspection mechanism and transmits the real-time mileage data to the microprocessor in real time. The microprocessor compares the real-time mileage data of the odometer with the initial position information and the tunnel map, calculates the real-time position coordinates of the inspection device 2, and uses this real-time position as the position information of the tunnel detected by the current inspection device 2. The cloud map or the cross-section information formed by the detection is transmitted to the server or stored in the memory.

[0029] Embodiment 1 presents a solution for position correction using a magnetic inductor. The marker is a magnetic marker point, including a permanent magnet placed on the inner wall of the tunnel. The corrector 3 includes a magnetic inductor. When the magnetic inductor senses the magnetic flux, the position coordinates of this marker are used as the current position information of the inspection device. In this embodiment, multiple magnets 4 are pre-arranged on the tunnel roof at a predetermined distance. Each magnet 4 is numbered in sequence, and the position coordinate information of each magnet 4 is pre-recorded on the tunnel map. When the inspection device 2 passes through the position where the magnet 4 is located in sequence, the magnetic inductor senses the magnetic flux and transmits the sensing information to the microprocessor. The microprocessor uses the marker position information corresponding to the sequence in the tunnel map as the current coordinate information and corrects the odometer mileage information with this position information. The magnetic marker points buried at different positions have different magnetic intensities, and this intensity data is pre-stored in the memory. The microprocessor determines the coordinate position of the marker point by comparing the magnetic field intensity data sensed by the magnetic inductor with the intensity data in the memory and uses it for correction. This embodiment solves the problem that when a certain magnetic marker point fails, if the position correction is carried out in the order of the marker points, the marker of the next sequence may be regarded as the marker of the previous sequence, resulting in the use of incorrect position coordinates for correction. At the same time, it can also avoid the interference of natural permanent magnets in the tunnel.

[0030] Refer to Figure 3 , Figure 4 , Figure 5 As shown, the above-mentioned marker can also cooperate with the corrector 3 to form a conductive loop in the corrector 3 or form a current in the loop of the corrector 3 for the corrector 3 to identify the marker and use the position coordinates of the marker as the current position information of the positioning device.

[0031] Refer to Figure 4As shown, Embodiment 2 shows a solution for precisely correcting the position of the inspection device 2 using collision sensing. Marked as the fixed rod 5, the corrector 3 includes a limit block 7 that can move along the groove 6 of the corrector 3, and the limit block 7 isolates the positive electrode 8 and the negative electrode 9. The fixed rod 5 is used to push the limit block 7 to release the isolation of the limit block 7 on the positive electrode 8 and the negative electrode 9. Springs 11 are usually press-fitted on the connection bases 10 of the positive electrode 8 and / or the negative electrode 9, so that the positive electrode 8 and the negative electrode 9 respectively connected to the positive and negative poles of the power supply module can move towards each other and be electrically connected to form a conductive loop to generate a current signal. The fixed rod 5 is pre-fixed on the top of the tunnel and can cooperate with the limiter. When the inspection device 2 passes by the fixed rod 5 at a certain speed, the fixed rod 5 has a certain speed relative to the inspection device 2. The fixed rod 5 collides with the limit block 7 and pushes the limit block 7 along the inclined surface of the limit block 7 to move downward along the groove 6 until the limit block 7 releases the isolation of the positive electrode 8 and the negative electrode 9. The positive electrode 8 and the negative electrode 9 move towards each other under the elastic force of the spring 11 and form a contact conductive loop to conduct and generate an electrical signal. After the fixed rod 5 moves past the limit block 7 from above, the limit block 7 resets under the action of the bottom spring 11, and the limit block 7 is provided with an inclined surface for separating the positive and negative electrodes 9. The microprocessor corrects the position of the inspection device 2 according to this electrical signal. Since in this embodiment, the fixed rod 5 contacts the corrector 3 and generates an electrical signal in a very short distance, compared with Embodiment 1, precise correction of the position can be achieved.

[0032] Referring to Figure 5 As shown, Embodiment 3 further includes magnets 4 provided on both sides of the track 1. The magnets 4 are used to generate a magnetic field between the two magnets 4 on both sides. An induction coil is provided in the marker recognition circuit of the corrector 3. When the induction coil passes through the magnetic field, the induction coil cuts the magnetic field, and an induced current is generated in the marker recognition circuit to form a current signal. This electrical signal can be sensed by a current sensor, and the microprocessor corrects the position of the inspection device 2 according to this electrical signal. The above magnet 4 is preferably a permanent magnet 4.

[0033] In the above Embodiments 2 and 3, the above fixed rod 5 or magnet 4 may fall off, causing a certain marker to fail. And the above embodiments correct in sequence according to the sequential positions of the markers. When a certain marker point does not function properly, it may lead to using incorrect position coordinates for correction during subsequent position correction. In this embodiment, when the microprocessor corrects the position, it can compare the position coordinates where the marker is located with the real-time position coordinates calculated according to the odometer. When the difference between the two position coordinates is greater than the error value, the microprocessor sends an alarm message to the server, and the position of the inspection device 2 is manually corrected by the server staff.

[0034] Referring to Figure 3 and Figure 7As shown, in the above-mentioned Embodiment 1, Embodiment 2 and Embodiment 3, a calibration device is further included. When the inspection device 2 detects an abnormality, the microprocessor of the inspection device 2 or the calibration device is calibrated manually for this section of the tunnel. The calibration device may include a spray tube 12. The spray tube 12 is internally provided with fluorescent powder and compressed gas. An electromagnetic valve 13 is provided in the spray pipe of the spray tube 12. The electromagnetic valve 13 can be opened and closed under the control of the microprocessor or manually. When an abnormality is detected, the microprocessor controls the electromagnetic valve 13 of the spray tube 12 to open, and the fluorescent powder is ejected under the action of the compressed gas and adheres to the tunnel wall. It is difficult to locate in the diversion tunnel. Even if the automatic inspection device 2 has determined the approximate range of the defect, subsequent professionals still need to spend a lot of time to find the actual position of the defect marked by the inspection device 2. This embodiment enables subsequent professional inspectors to quickly find the defect position by using lighting facilities in combination with the defect cloud map. Correspondingly, the above-mentioned fluorescent powder can also be magnetic powder, and the above-mentioned calibration device can also be other devices in the prior art.

[0035] Refer to Figure 1 、 Figure 2 、 Figure 3 As shown, in the above-mentioned embodiment, the track 1 is arranged at the top of the tunnel. The connecting rod 14 is hung on the track 1. The corrector 3 is connected to the connecting rod 14 and arranged below the top of the tunnel. The inspection device 2 is connected to the connecting rod 14 and arranged below the corrector 3. One end of the connecting rod 14 connected to the inspection device 2 is a telescopic structure for adjusting the longitudinal position of the inspection device 2. Generally, the inspection device 2 is preferably arranged on the center line of the tunnel.

[0036] Refer to Figure 2 、 Figure 3 As shown, in the above-mentioned embodiment, an installation groove 15 for the track 1 is provided at the top of the tunnel. A rotary opening waterproof door 16 is provided outside the installation groove 15. A waterproof layer 17 is installed on the surface of the track 1. An elastic sealing strip 18 is provided on one side of the waterproof door 16 connected to the tunnel wall. A spring 11 is press-fitted between the waterproof door 16 and the track 1 to keep the waterproof door 16 normally closed. The connecting rod 14 is provided with an opener 19 for opening the waterproof door 16. One end of the waterproof door 16 is provided with an inclined surface. The two sides and the front end surface of the opener 19 are provided with inclined surfaces. The inclined surfaces on the two sides and the front end of the opener 19 are provided with rollers 20. The rollers 20 cooperate with the inclined surface of the waterproof door 16 to overcome the pulling force of the spring 11 and open the waterproof door 16.

[0037] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments of equivalent changes within the scope of the technical solution of the present invention by using the above-disclosed technical content. However, as long as it does not depart from the content of the technical solution of the present invention, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An automatic inspection system for a water diversion tunnel, comprising a track, an inspection device running on the track, and a positioning device for positioning the inspection device, characterized in that: The positioning device includes a position corrector and an odometer, the odometer cooperates with a tunnel map to locate the inspection device, the tunnel is provided with a mark for determining the position coordinates, and the corrector cooperates with the mark and the tunnel map to correct the error of the odometer; The mark can cooperate with the corrector to form a loop in the corrector for the corrector to identify the mark and use the position coordinates of the mark as the current position information of the inspection device; The mark is a fixed rod, and the corrector includes a limit block that can move along the groove of the corrector and a positive electrode and a negative electrode isolated by the limit block. The fixed rod is used to push the limit block to release the isolation of the positive electrode and the negative electrode of the limit block, so that the positive electrode and the negative electrode respectively connected to the positive electrode and the negative electrode of the power module can move towards each other and form a conductive loop after being electrically connected to generate a current signal; The connection base of the positive electrode and / or the negative electrode is pressed with a spring, and the fixing rod is pre-fixed on the top of the tunnel and cooperates with the limit block. When the inspection device passes the fixing rod at a certain speed, the fixing rod collides with the limit block and pushes the limit block along the inclined surface of the limit block to move downward along the groove until the limit block releases the isolation of the positive electrode and the negative electrode. The limit block is reset under the action of the bottom spring, and the limit block is provided with an inclined surface that separates the positive and negative electrodes.

2. The automatic inspection system for a water diversion tunnel according to claim 1, characterized in that: It also includes a calibration device. When the inspection device detects an abnormality, the microprocessor of the inspection device or the calibration device is manually controlled to calibrate the section of the tunnel.

3. The automatic inspection system for a water diversion tunnel according to claim 2, characterized in that: The calibration device is a spray gun, which contains fluorescent powder and compressed gas. A solenoid valve is arranged in the nozzle of the spray gun, and the solenoid valve can be opened and closed under microprocessor or manual control.

4. The automatic inspection system for a water diversion tunnel according to claim 1, characterized in that: The track is arranged at the top of the tunnel and is suitable for hanging a connecting rod on the track. The corrector is connected to the connecting rod and is arranged below the top of the tunnel. The inspection device is connected to the connecting rod and is arranged below the corrector. One end of the connecting rod connected to the inspection device is a retractable structure for adjusting the longitudinal position of the inspection device.

5. The automatic inspection system for a water diversion tunnel according to claim 4, characterized in that: A track placement groove is provided on the top of the tunnel, a waterproof door that can be rotated and opened is provided on the outside of the placement groove, a waterproof layer is installed on the surface of the track, and an elastic sealing strip is provided on one side where the waterproof door is connected to the tunnel wall.

6. The automatic inspection system for a water diversion tunnel according to claim 5, characterized in that: A spring is pressed between the waterproof door and the track to keep the waterproof door normally closed. The connecting rod is provided with an opener for opening the waterproof door. One end of the waterproof door is provided with an inclined surface, and the two sides and the front end surface of the opener are provided with inclined surfaces. The two sides and the front end inclined surfaces of the opener are provided with rollers. The rollers cooperate with the inclined surfaces of the waterproof door to overcome the tension of the spring so that the waterproof door opens.

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