Unmanned aerial vehicle detection device for tunnel lining geological radar

Abstract

The invention provides an unmanned aerial vehicle detection device for a tunnel lining geological radar, and belongs to the technical field of tunnel lining geological radar detection. The double-layer annular rail comprises an inner-layer annular rail body and an outer-layer annular rail body, the inner-layer annular rail body comprises a rail frame and an installation table, the rail frame and the installation table are installed in a matched mode, a guide rail and a rack rail are installed on the inner side of the rail frame, and a double-end motor is fixedly installed in the installation table. A geological radar antenna is mounted above the mounting table of the inner-layer annular track, and a balancing weight is mounted above the mounting table of the outer-layer annular track; according to the scheme, the remote controller controls the unmanned aerial vehicle to carry the geological radar antenna to detect the tunnel lining, the system can adapt to complex terrains, the scanning detection coverage is comprehensive, the detection limitation of other equipment is overcome, the risk of operators is reduced, and the detection process is continuous, accurate, rapid and convenient.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel lining geological radar detection, and in particular to an unmanned aerial vehicle detection device for tunnel lining geological radar. Background Art

[0002] A tunnel is an engineering building built underground with entrances and exits at both ends for trains, vehicles, pedestrians, water and pipelines to pass through. During the construction of the tunnel, after the stratum is excavated, the surrounding rock is prone to deformation and other problems. Therefore, most tunnels will build linings to support the tunnel. However, due to improper construction or concrete shrinkage and other factors, the lining will cause cavities behind the lining and the concrete will not be dense, which will cause great safety hazards in the operation stage. Therefore, the lining needs to be inspected. At present, the geological radar inspection of tunnel lining mainly uses lifting equipment such as loaders and inspection vehicles to lift operators to the lining surface so that the radar antenna can be closely attached to the lining for inspection. It consumes a lot of manpower and material resources, and the internal environment of the tunnel is complex and dangerous. Especially in the civil construction stage, there are many vehicles and equipment in the tunnel, and the operating space is limited. Long-term inspection occupies the operating channel, which has a great impact on the construction progress. At the same time, the high-altitude operation of operators poses a great hazard to personal safety.

[0003] The utility model patent with authorization announcement number CN213677163U discloses a tunnel concrete lining geological radar drone detection device. By combining drone technology and image processing technology, drones are applied to the field of tunnel concrete lining detection. This is used as a regular detection means and method for tunnel concrete lining, saving time and labor costs. However, there are also certain disadvantages: during geological detection, in order to ensure the accuracy of the detection, it is often necessary to place the radar antenna as close to the area to be detected as possible. In the above scheme, the radar antenna angle is difficult to adjust and the scanning range is limited.

[0004] In contrast, the invention patent with application publication number CN 117566139 A discloses a UAV tunnel lining inspection device and method. This solution realizes flexible adjustment of the radar antenna angle by introducing an adjustable mechanical arm, and ensures the stable balance of the device during the detection process with the use of counterweights, thereby improving the flexibility and coverage of the detection. However, based on the width of the tunnel, 3-5 manual angle adjustments are still required to complete the entire scanning process. Although this operation is an improvement over the former, it is still time-consuming and labor-intensive. Summary of the invention

[0005] The object of the present invention is to provide a UAV detection device for tunnel lining geological radar to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: A UAV detection device for tunnel lining geological radar, comprising: a UAV; A double-layer circular track, the double-layer circular track is fixedly installed on the drone through a connecting rod, the double-layer circular track includes an inner circular track and an outer circular track, the inner circular track includes a track frame and a mounting platform, a guide rail and a rack track are installed on the inner side of the track frame, elastic guide wheels are respectively arranged on both sides of the mounting platform, a double-headed motor is fixedly installed inside the mounting platform, a gear is fixedly installed at the end of the rotating shaft of the double-headed motor, the track frame and the elastic guide wheel are installed in coordination, and the rack track and the gear are connected in coordination; the structure of the outer circular track is the same as that of the inner circular track; Detection mechanism: a geological radar antenna is installed above the mounting platform of the inner ring track; A balancing mechanism, wherein a counterweight block for balancing the detection mechanism is installed above the mounting platform of the outer annular track; The auxiliary mechanism includes a high-definition camera and an omnidirectional obstacle avoidance sensor, and the high-definition camera and the omnidirectional obstacle avoidance sensor are installed at the bottom of the drone through a gimbal.

[0007] As a further improvement, the elastic guide wheel is tightly connected to the mounting platform through a T-rod. The mounting platform is provided with a mounting groove matching the T-rod. Springs are embedded at the upper and lower ends of the T-rod in the mounting groove, and the T-rod can move up and down along the vertical direction of the mounting groove.

[0008] As a further improvement, limiting rods for positioning the track width are evenly distributed at the bottom of the track frame, and the mounting platform is installed between the track frames and above the limiting rods.

[0009] As a further improvement, the double-headed motor is an integrated double-headed drive motor.

[0010] As a further improvement, an encoder is fixedly mounted on the rotating shaft on one side of the double-headed motor of the mounting platform of the inner annular track.

[0011] As a further improvement, a protective shell for protecting the rack track is installed on the track frame, and a through slot for the double-headed motor shaft to pass through is opened on the protective shell.

[0012] As a further improvement, there are several connecting rods.

[0013] The beneficial effects of the above technical solution of the present invention are as follows: The tunnel lining geological radar drone detection device used in this plan controls the drone to move forward along the tunnel lining surface through a remote control. It can adapt to complex terrain and quickly reach the detection area. The double-layer circular track design allows the geological radar antenna to perform all-round scanning at different heights and angles to ensure comprehensive detection coverage. The use of drones overcomes the limitations of other equipment detection and reduces the risks for operators. The detection process is continuous, accurate, fast and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein: Figure 1 A schematic diagram of the structure of a UAV detection device for tunnel lining geological radar provided in Example 1; Figure 2 Provided for Example 1 Figure 1 Schematic diagram of the inner structure of the middle track frame part A; Figure 3 A schematic diagram of the inner ring track structure provided in Example 1; Figure 4 Provided for Example 1 Figure 3 Enlarged view of middle B; Figure 5 for Figure 4 Schematic diagram of the connection structure of the middle T-bar; Figure 6 Schematic diagram of the installation platform provided for Example 1 Figure 7 A schematic diagram of the connecting rod structure provided in Example 1; Figure 8 A schematic diagram of the auxiliary mechanism structure provided in Example 1; Fig. 9 This is a schematic diagram of the structure of the UAV detection device for tunnel lining geological radar provided in Example 2.

[0015] Description of reference numerals: 1. UAV; 2. Double-layer circular track; 21. Inner circular track; 211. Track frame; 2111. Guide rail; 2112. Rack track; 2113. Limit rod; 2114. Protective shell; 2115. Through slot; 212. Mounting table; 2121. Elastic guide wheel; 2122. T-bar; 2123. Mounting slot; 2124. Spring; 22. Outer circular track; 23. Double-headed motor; 231. Gear; 24. Geological radar antenna; 25. Counterweight; 26. Encoder; 27. Connecting rod; 3. Auxiliary mechanism; 31. High-definition camera and omnidirectional obstacle avoidance sensor; 32. Pan-tilt head. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Those skilled in the art should know that the embodiments described below are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0017] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0018] Working principle: The present invention sets a double-layer circular track 2 mechanism on the UAV 1, wherein the inner circular track 21 is equipped with a geological radar antenna 24, and the outer circular track 22 is equipped with a counterweight 25. When the UAV 1 flies, it moves along the surface of the tunnel lining. The operator can control the geological radar antenna 24 to move 360° along the circular track, which is suitable for the detection of various angles of the tunnel lining. At this time, the encoder 26 cooperates with the external microcontroller to analyze the motion data of the geological radar antenna 24, and at the same time drives the counterweight 25 to move accordingly along the outer circular track 22, thereby avoiding the problems of imbalance and crash of the UAV 1 due to the change of the center of gravity; a high-definition camera and an omnidirectional obstacle avoidance sensor 31 are carried at the bottom of the UAV 1, which simultaneously perform image acquisition and real-time obstacle avoidance of the tunnel lining. The acquired data is transmitted via the geological radar antenna 24, and then transmitted to the tunnel radar detection host through the local area network or Bluetooth for data comparison and analysis, so as to judge whether there are quality defects such as voids and looseness in the tunnel lining, so as to facilitate subsequent processing according to the defect situation.

[0019] After introducing the basic principle of the present invention, various non-limiting embodiments of the present invention are described in detail below. The number of any element in the drawings is for illustration and not for limitation, and any naming is only for distinction and does not have any limiting meaning.

[0020] The principle and spirit of the present invention are explained in detail below with reference to several representative embodiments of the present invention.

[0021] like Figure 1-Figure 8 As shown, a UAV detection device for tunnel lining geological radar according to Example 1 of the present invention includes: a UAV 1, a double-layer circular track 2, a detection mechanism, a balancing mechanism and an auxiliary mechanism 3.

[0022] The drone 1 is provided with screw holes for connecting external devices, and the drone 1 is a prior art.

[0023] like Figure 1 As shown, the double-layer annular track 2 includes an inner annular track 21 and an outer annular track 22 , and both the inner annular track 21 and the outer annular track 22 are configured to be elliptical.

[0024] The above circular setting method can ensure that the geological radar antenna 24 runs 360° without dead angles. Compared with the circular track, setting it to an elliptical shape can effectively save the material and installation space of the double-layer circular track 2, reduce the flight load of the drone 1, and at the same time, the inner layer circular track 21 has sufficient internal space, which can reserve space for subsequent device upgrades and installation of other modules.

[0025] like Figure 1-Figure 6 As shown, the inner annular track 21 includes a track frame 211 and a mounting platform 212, a guide rail 2111 and a rack track 2112 are installed on the inner side of the track frame 211, and limit rods 2113 are evenly and fixedly arranged on the bottom of the track frame 211. Four elastic guide wheels 2121 are respectively installed on both sides of the mounting platform 212. The elastic guide wheels 2121 on each side are paired in pairs and are respectively located on the upper and lower sides of the guide rail 2111 in a clamping state, so as to ensure the stability of the mounting platform 212, and a double-headed motor 23 is fixedly installed inside the mounting platform 212, and a gear 231 is installed at the end of the rotating shaft of the double-headed motor 23.

[0026] like Figure 3 As shown, a protective shell 2114 for protecting the rack track 2112 is fixedly mounted on the track frame 211 , and a through slot 2115 is opened on the protective shell 2114 for the rotating shaft of the double-headed motor 23 to pass through.

[0027] like Figure 3-Figure 5As shown, the elastic guide wheel 2121 is closely connected to the mounting platform 212 through the T-shaped rod 2122, and the mounting platform 212 itself is provided with a mounting groove 2123 matching the T-shaped rod 2122. Inside the mounting groove 2123, springs 2124 are embedded at the upper and lower ends of the T-shaped rod 2122. This design allows the T-shaped rod 2122 to move flexibly in the vertical direction of the mounting groove 2123, thereby enhancing the adaptability and stability of the system.

[0028] Through the above technical solution, the gear 231 at the end of the double-headed motor 23 is precisely engaged with the rack track 2112, providing a power source for the drive of the mounting platform 212. A protective shell 2114 is installed on the outside of the rack track 2122 to prevent fine particles in the tunnel from accumulating on the rack track 2122, thereby causing damage to the gear engagement mechanism; the limit rod 2113 at the bottom of the track frame 211 ensures that the track frame 211 maintains a constant spacing during operation, ensuring the stability of the device, the guide rail 2111 and the rack track 2112 can accurately guide the travel trajectory of the mounting platform 212, and the guide rail 2111 and the elastic guide wheel 2121 are installed in coordination, and the design of the elastic guide wheel 2121 can not only effectively reduce the friction during operation, but also adapt to the curvature changes at different positions of the elliptical ring track, ensuring that the mounting platform 212 can be provided with stable support and precise guidance at any position.

[0029] like Figure 1 and Figure 3 As shown, an encoder 26 is fixedly mounted on one side of the rotating shaft of the double-headed motor 23 of the inner annular track 21 mounting platform 212; the detection mechanism is a geological radar antenna 24, and the balancing mechanism is a counterweight 25. The geological radar antenna 24 can be detachably mounted on the inner annular track 21 mounting platform 212, and the counterweight 25 can be detachably mounted on the outer annular track 22 mounting platform 212. The installation method of the two can be suction cup connection, clip connection or screw fixation, etc.

[0030] Based on the above technical solution, the counterweight 25 is used to balance the detection mechanism. When this solution is running, the encoder 26 collects the motion data of the inner ring track 21 mounting platform 212, and then transmits it to the external microcontroller through the local area network or Bluetooth, analyzes the motion data of the inner ring track 21 mounting platform 212, and then transmits the information to the double-headed motor 23 driver of the outer ring track 22 mounting platform 212. The double-headed motor 23 synchronously drives the outer ring track 22 mounting platform 212 to move relative to the inner ring track 21 mounting platform 212 to maintain the stability of the center of gravity of the device. In addition, the outer ring track 22 mounting platform 212 has a longer torque relative to the inner ring track 21 mounting platform 212, and a relatively light counterweight 25 can be used to achieve the effect of device stability, thereby reducing the flight load of the drone 1.

[0031] like Figure 1 and Figure 7 As shown, the double-layer circular track 2 is connected to the UAV 1 via a connecting rod 27. The connecting rod 27 and the double-layer circular track 2 and the UAV 1 are fixed by screws. A rubber gasket for shock absorption is provided at the connection of the connecting rod 27. Several connecting rods 27 are provided to ensure a stable connection between the double-layer circular track 2 and the UAV 1 during the operation of the device.

[0032] Based on the above technical solution, the double-layer circular track 2 is made of high-strength and lightweight materials, such as aluminum alloy, carbon fiber, etc., which can effectively reduce the flight load of the UAV and increase the stability of the UAV operation.

[0033] like Figure 1 and Figure 8 As shown, the auxiliary mechanism 3 is fixedly connected to the bottom of the drone 1. The auxiliary mechanism 3 includes a high-definition camera, an omnidirectional obstacle avoidance sensor 31, and a gimbal 32. The high-definition camera, the omnidirectional obstacle avoidance sensor 31, and the gimbal 32 are all existing technologies.

[0034] Embodiment 2 of a tunnel lining geological radar drone detection device provided by the present invention: The main difference between it and Example 1 is: like Fig. 9 As shown, this scheme cancels the double-layer circular track setting and changes it to a single-layer circular track. Two mounting platforms are relatively arranged on the single-layer circular track, which are used to install the geological radar antenna and the counterweight block respectively. The two mounting platforms move relative to each other to maintain the stability of the center of gravity of the device.

[0035] This solution eliminates the outer circular track, which is relatively simple to set up and occupies less space, while also reducing the weight of the track. However, due to the single-layer circular track setting, the counterweight block and the geological radar detection device are on the same track with the same torque, so the weight of the counterweight block needs to be increased relatively.

[0036] The above-mentioned ideal embodiments of the present invention are used as inspiration, but it is obvious to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will think of many changes, modifications and alternatives without departing from the thought and spirit of the present invention. It should be understood that in the process of practicing the present invention, various alternatives to the embodiments of the present invention described herein may be adopted. The attached claims are intended to define the scope of protection of the present invention, and therefore cover the modular composition, equivalent or alternatives within the scope of protection of these claims.

Claims

1. A UAV detection device for tunnel lining geological radar, characterized in that: include: Drone (1); A double-layer annular track (2), the double-layer annular track (2) being fixedly mounted on a drone (1) via a connecting rod (27), the double-layer annular track (2) comprising an inner annular track (21) and an outer annular track (22), the inner annular track (21) comprising a track frame (211) and a mounting platform (212), a guide rail (2111) and a rack rail (2112) being mounted on the inner side of the track frame (211), elastic guide wheels (2121) being respectively arranged on both sides of the mounting platform (212), a double-headed motor (23) being fixedly mounted inside the mounting platform (212), a gear (231) being fixedly mounted at the end of a rotating shaft of the double-headed motor (23), the track frame (211) and the elastic guide wheel (2121) being mounted in coordination, and the rack rail (2112) and the gear (231) being connected in coordination; the structure of the outer annular track (22) is the same as that of the inner annular track (21); Detection mechanism, a geological radar antenna (24) is installed above the mounting platform (212) of the inner ring track (21); A balancing mechanism, wherein a counterweight (25) for balancing the detection mechanism is installed above the mounting platform (212) of the outer annular track (22); An auxiliary mechanism (3), the auxiliary mechanism (3) comprising a high-definition camera and an omnidirectional obstacle avoidance sensor (31), the high-definition camera and the omnidirectional obstacle avoidance sensor (31) being mounted on the bottom of the drone (1) via a gimbal (32).

2. The unmanned aerial vehicle detection device for tunnel lining geological radar according to claim 1 is characterized in that: The elastic guide wheel (2121) is tightly connected to the mounting platform (212) via a T-shaped rod (2122); the mounting platform (212) is provided with a mounting groove (2123) matching the T-shaped rod (2122); springs (2124) are embedded at the upper and lower ends of the T-shaped rod (2122) in the mounting groove (2123); and the T-shaped rod (2122) can move up and down in the vertical direction of the mounting groove (2123).

3. The unmanned aerial vehicle detection device for tunnel lining geological radar according to claim 1 is characterized in that: Limiting rods (2113) for positioning the width of the track are evenly distributed at the bottom of the track frame (211), and the mounting platform (212) is mounted between the track frames (211) and above the limiting rods (2113).

4. The unmanned aerial vehicle detection device for tunnel lining geological radar according to claim 1 is characterized in that: The double-headed motor (23) is an integrated double-headed driving motor.

5. The unmanned aerial vehicle detection device for tunnel lining geological radar according to claim 1 is characterized in that: An encoder (26) is fixedly mounted on a rotating shaft on one side of a double-headed motor (23) of a mounting platform (212) of the inner ring track (21).

6. The unmanned aerial vehicle detection device for tunnel lining geological radar according to claim 1 is characterized in that: A protective shell (2114) for protecting the rack track (2112) is installed on the track frame (211), and a through slot (2115) for the rotating shaft of the double-headed motor (23) to pass through is formed on the protective shell (2114).

7. The unmanned aerial vehicle detection device for tunnel lining geological radar according to claim 1 is characterized in that: There are a plurality of connecting rods (27), and rubber gaskets for shock absorption are provided at the connection points of the connecting rods (27).

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