A tunnel lining geological radar unmanned aerial vehicle detection device

Abstract

The application provides a kind of unmanned aerial vehicle detection device for tunnel lining geological radar, belongs to the field of tunnel lining geological radar detection technology, including unmanned aerial vehicle;Double-layer annular track, the double-layer annular track includes inner annular track and outer annular track, the inner annular track includes track frame and mounting table, the track frame and mounting table are cooperatively installed, the inside of track frame is equipped with guide rail and rack rail, double-head motor is fixedly installed in the inside of mounting table, geological radar antenna is installed above the mounting table of inner annular track, and counterweight is installed above the mounting table of outer annular track;The scheme detects tunnel lining by remote control unmanned aerial vehicle carrying geological radar antenna, can adapt to complex terrain, scanning detection covers comprehensively, overcomes the limitations of other equipment detection, reduces the risk of operator, and the detection process is continuous, accurate, fast and convenient.

Description

Technical Field

[0001] This invention relates to the field of ground-penetrating radar (GPR) detection technology for tunnel linings, and specifically to a UAV (unmanned aerial vehicle) detection device for GPR detection of tunnel linings. Background Technology

[0002] A tunnel is an underground engineering structure with entrances and exits at both ends, allowing trains, vehicles, pedestrians, water flow, and pipelines to pass through. During tunnel construction, after the strata are excavated, the surrounding rock is prone to deformation. Therefore, most tunnels are lined for support. However, improper construction or factors such as concrete shrinkage can cause voids behind the lining and insufficient compaction of the concrete, posing significant safety hazards during operation. Therefore, lining inspection is necessary. Currently, tunnel lining ground-penetrating radar inspection mainly involves using lifting equipment such as loaders and inspection vehicles to raise workers to the lining surface to ensure the radar antenna is in close contact with the lining for inspection. This requires significant manpower and resources. Furthermore, the tunnel environment is complex and dangerous, especially during the civil engineering phase when there are many vehicles and equipment inside the tunnel, and the operating space is limited. Prolonged inspection occupying the operating passage significantly impacts the construction progress. At the same time, workers operating at height pose significant safety risks.

[0003] The utility model patent with authorization announcement number CN213677163U discloses a ground-penetrating radar UAV detection device for tunnel concrete lining. By combining UAV technology and image processing technology, it applies UAV to the field of tunnel concrete lining detection, using it as a routine detection method for tunnel concrete lining, saving time and labor costs. However, it also has certain drawbacks: during geological detection, in order to ensure the accuracy of the detection, it is often necessary to place the radar antenna as close as possible to the area to be detected. In the above solution, the radar antenna angle is difficult to adjust, and the scanning range is limited.

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

[0005] The purpose of this invention is to provide a UAV detection device for tunnel lining ground-penetrating radar to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A UAV detection device for ground-penetrating radar of tunnel lining includes: a UAV;

[0008] A double-layered circular track is fixedly installed on the UAV via connecting rods. The double-layered circular track includes an inner circular track and an outer circular track. The inner circular track includes a track frame and a mounting platform. Guide rails and a rack and pinion track are installed on the inner side of the track frame. Elastic guide wheels are respectively provided on both sides of the mounting platform. A dual-headed motor is fixedly installed inside the mounting platform, and a gear is fixedly installed at the end of the dual-headed motor's shaft. The track frame and elastic guide wheels are fitted together, and the rack and pinion track is connected to the gear. The outer circular track has the same structure as the inner circular track.

[0009] The detection mechanism has a ground-penetrating radar antenna mounted above the mounting platform of the inner ring track.

[0010] A balancing mechanism is provided, wherein a counterweight for balancing the detection mechanism is installed above the mounting platform of the outer ring track.

[0011] The auxiliary mechanism includes a high-definition camera and an omnidirectional obstacle avoidance sensor, which are mounted on the bottom of the drone via a gimbal.

[0012] As a further improvement, the elastic guide wheel is tightly connected to the mounting platform via a T-shaped rod. The mounting platform has a mounting groove that matches the T-shaped rod. Springs are embedded at the upper and lower ends of the T-shaped rod in the mounting groove, and the T-shaped rod can move up and down along the vertical direction of the mounting groove.

[0013] As a further improvement, the bottom of the track frame is evenly provided with limiting rods for positioning the track width, and the mounting platform is installed between the track frames and above the limiting rods.

[0014] As a further improvement, the dual-head motor is an integrated dual-head drive motor.

[0015] As a further improvement, an encoder is fixedly mounted on the shaft of the dual-head motor on one side of the mounting platform of the inner ring track.

[0016] As a further improvement, the track frame is equipped with a protective shell for protecting the rack and pinion track, and the protective shell has a through slot for the shaft of the dual-head motor to pass through.

[0017] As a further improvement, the connecting rods are of several kinds.

[0018] The beneficial effects of the above-mentioned technical solution of the present invention are as follows:

[0019] The tunnel lining ground-penetrating radar UAV inspection device used in this solution is controlled by a remote controller to move the UAV forward along the tunnel lining surface, adapting to complex terrain and quickly reaching the inspection area. The double-layer circular track design allows the ground-penetrating radar antenna to perform omnidirectional scanning at different heights and angles, ensuring comprehensive inspection coverage. Using UAVs overcomes the limitations of other equipment inspection methods, reduces the risks to operators, and ensures a continuous, accurate, fast, and convenient inspection process. Attached Figure Description

[0020] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0021] Figure 1 This is a schematic diagram of the UAV detection device for tunnel lining ground radar provided in Example 1;

[0022] Figure 2 Provided for Example 1 Figure 1 A schematic diagram of the inner structure of part A of the central track frame;

[0023] Figure 3 A schematic diagram of the inner ring track structure provided in Example 1;

[0024] Figure 4 Provided for Example 1 Figure 3 Enlarged view of B in the middle;

[0025] Figure 5 for Figure 4 Schematic diagram of the connection structure of the T-shaped rod;

[0026] Figure 6 A schematic diagram of the mounting platform provided in Example 1

[0027] Figure 7 A schematic diagram of the connecting rod structure provided in Example 1;

[0028] Figure 8 A schematic diagram of the auxiliary mechanism structure provided in Example 1;

[0029] Figure 9 This is a schematic diagram of the UAV detection device for tunnel lining ground radar provided in Example 2.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Unmanned Aerial Vehicle (UAV); 2. Double-layered circular track; 21. Inner circular track; 211. Track frame; 2111. Guide rail; 2112. Rack and pinion track; 2113. Limiting rod; 2114. Protective shell; 2115. Through slot; 212. Mounting platform; 2121. Elastic guide wheel; 2122. T-shaped rod; 2123. Mounting slot; 2124. Spring; 22. Outer circular track; 23. Dual-head motor; 231. Gear; 24. Ground penetrating radar antenna; 25. Counterweight; 26. Encoder; 27. Connecting rod; 3. Auxiliary mechanism; 31. High-definition camera and omnidirectional obstacle avoidance sensor; 32. Gimbal. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art should understand that the embodiments described below are only some, not all, of the embodiments disclosed. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] Working Principle: This invention features a double-layered circular track mechanism 2 on the drone 1. The inner circular track 21 carries a ground-penetrating radar antenna 24, while the outer circular track 22 carries a counterweight 25. During flight, the drone 1 moves along the tunnel lining surface. The operator can control the ground-penetrating radar antenna 24 to move 360° along the circular track, suitable for detecting tunnel lining at various angles. Simultaneously, the encoder 26, in conjunction with an external microcontroller, analyzes the motion data of the ground-penetrating radar antenna 24, driving the counterweight 25 to move accordingly along the outer circular track 22. This prevents the drone 1 from becoming unbalanced or crashing due to changes in its center of gravity. A high-definition camera and an omnidirectional obstacle avoidance sensor 31 are mounted below the drone 1, simultaneously acquiring images of the tunnel lining and performing real-time obstacle avoidance. The acquired data is transmitted via the ground-penetrating radar antenna 24 and then via a local area network or Bluetooth to the tunnel radar detection host for data comparison and analysis. This determines whether the tunnel lining has quality defects such as voids or lack of density, facilitating subsequent processing based on the defect situation.

[0035] After introducing the basic principles of the present invention, various non-limiting embodiments of the present invention are described in detail below. Any number of elements in the accompanying drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning.

[0036] The principles and spirit of the present invention will be explained in detail below with reference to several representative embodiments.

[0037] like Figures 1-8 As shown, a UAV detection device for tunnel lining ground radar according to Embodiment 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.

[0038] The drone 1 has screw holes for connecting external devices. The drone 1 is existing technology.

[0039] like Figure 1 As shown, the double-layer circular track 2 includes an inner circular track 21 and an outer circular track 22, both of which are elliptical in shape.

[0040] The above-mentioned ring-shaped setting method can ensure that the ground-penetrating radar antenna 24 can operate in 360° without blind spots. Compared with the circular track, setting it to an elliptical shape can effectively save the material and installation space of the double-layer ring track 2, reduce the flight load of the UAV 1, and at the same time, the inner ring track 21 has sufficient internal space, which can reserve space for subsequent device upgrades and the installation of other modules.

[0041] like Figures 1-6 As shown, the inner ring track 21 includes a track frame 211 and a mounting platform 212. The inner side of the track frame 211 is equipped with a guide rail 2111 and a rack and pinion track 2112. Limiting rods 2113 are evenly fixedly arranged at the bottom of the track frame 211. Four elastic guide wheels 2121 are installed on both sides of the mounting platform 212. The elastic guide wheels 2121 on each side are paired in pairs and clamped on the upper and lower sides of the guide rail 2111 to ensure the stability of the mounting platform 212. A double-headed motor 23 is fixedly installed inside the mounting platform 212. A gear 231 is installed at the end of the shaft of the double-headed motor 23.

[0042] like Figure 3 As shown, a protective shell 2114 for protecting the rack and pinion track 2112 is fixedly installed on the track frame 211. The protective shell 2114 has a through groove 2115 for the shaft of the dual-head motor 23 to pass through.

[0043] like Figures 3-5As shown, the elastic guide wheel 2121 is tightly connected to the mounting platform 212 via a T-shaped rod 2122, while the mounting platform 212 itself has a mounting groove 2123 that matches the T-shaped rod 2122. Springs 2124 are embedded at both ends of the T-shaped rod 2122 inside the mounting groove 2123. 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.

[0044] Through the above technical solution, the gear 231 at the end of the dual-head motor 23 meshes precisely with the rack and pinion track 2112, providing a power source for the drive of the mounting platform 212. The rack and pinion track 2122 is equipped with a protective shell 2114, which can prevent fine particles in the tunnel from accumulating on the rack and pinion track 2122, thereby causing damage to the gear meshing mechanism. The limiting 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 and pinion track 2112 can accurately guide the travel trajectory of the mounting platform 212. The guide rail 2111 and the elastic guide wheel 2121 are installed together, 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 of the elliptical ring track at different positions, ensuring that the mounting platform 212 can be provided with stable support and precise guidance in any position.

[0045] like Figure 1 and Figure 3 As shown, an encoder 26 is fixedly installed on one side of the shaft of the dual-head motor 23 of the inner ring track 21 mounting platform 212; the detection mechanism is a ground-penetrating radar antenna 24, and the balancing mechanism is a counterweight 25. The ground-penetrating radar antenna 24 can be detachably installed on the inner ring track 21 mounting platform 212, and the counterweight 25 can be detachably installed on the outer ring track 22 mounting platform 212. The two can be installed by suction cup connection, snap-fit ​​connection, or screw fixation, etc.

[0046] Based on the above technical solution, the counterweight 25 is used to balance the detection mechanism. During operation, the encoder 26 collects motion data from the inner ring track 21 mounting platform 212 and transmits it to an external microcontroller via a local area network or Bluetooth. The microcontroller analyzes the motion data and then transmits the information to the dual-head motor 23 driver of the outer ring track 22 mounting platform 212. The dual-head motor 23 synchronously drives the outer ring track 22 mounting platform 212 to move relative to the inner ring track 21 mounting platform 212, maintaining the stability of the device's center of gravity. Furthermore, the outer ring track 22 mounting platform 212 has a longer torque than the inner ring track 21 mounting platform 212, allowing for stable device operation with a relatively lighter counterweight 25, thereby reducing the flight load on the UAV 1.

[0047] likeFigure 1 and Figure 7 As shown, the double-layer ring track 2 is connected to the drone 1 via connecting rod 27. The connecting rod 27 and the double-layer ring track 2 are fixed to the drone 1 by screws. The connection point of the connecting rod 27 is provided with a rubber pad for shock absorption. Several connecting rods 27 are provided to ensure a stable connection between the double-layer ring track 2 and the drone 1 during the operation of the device.

[0048] Based on the above technical solution, the materials used in the double-layer ring track 2 are all high-strength and lightweight materials, such as aluminum alloy and carbon fiber, which can effectively reduce the flight load of the UAV and increase the stability of the UAV operation.

[0049] 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.

[0050] Embodiment 2 of the UAV detection device for tunnel lining ground-penetrating radar provided by the present invention:

[0051] Its main difference from Example 1 is:

[0052] like Figure 9 As shown, this scheme eliminates the double-layer circular track setting and replaces it with a single-layer circular track. Two mounting platforms are set opposite each other on the single-layer circular track, which are used to install the ground-penetrating radar antenna and the counterweight, respectively. The two mounting platforms move relative to each other to maintain the stability of the device's center of gravity.

[0053] This scheme eliminates the outer ring track, making the setup relatively simpler and requiring less space. It also reduces the weight of the track. However, due to the single-layer ring track setup, the counterweight and the ground-penetrating radar detector are on the same track with the same torque, so the weight of the counterweight needs to be increased.

[0054] The above-described preferred embodiments of the present invention are provided as examples, but it will be apparent to those skilled in the art that such embodiments are provided merely by way of example. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and intent of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of protection of the invention and therefore cover the modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A UAV detection device for tunnel lining ground-penetrating radar, characterized in that, include: Unmanned aerial vehicle (1); A double-layer ring track (2) is fixedly installed on the UAV (1) via a connecting rod (27). The double-layer ring track (2) includes an inner ring track (21) and an outer ring track (22). The inner ring track (21) includes a track frame (211) and a mounting platform (212). A guide rail (2111) and a rack and pinion track (2112) are installed on the inner side of the track frame (211). Elastic guide wheels (2121) are respectively provided on both sides of the mounting platform (212). A dual-head motor (23) is fixedly installed inside the mounting platform (212). A gear (231) is fixedly installed at the end of the shaft of the dual-head motor (23). The track frame (211) and the elastic guide wheel (2121) are installed together. The rack and pinion track (2112) and the gear (231) are connected together. The structure of the outer ring track (22) is the same as that of the inner ring track (21). The detection mechanism has a ground-penetrating radar antenna (24) mounted above the mounting platform (212) of the inner ring track (21). The balancing mechanism has a counterweight (25) installed above the mounting platform (212) of the outer ring track (22) for balancing the detection mechanism. The auxiliary mechanism (3) includes a high-definition camera and an omnidirectional obstacle avoidance sensor (31), which are mounted on the bottom of the drone (1) via a gimbal (32).

2. The UAV detection device for tunnel lining ground-penetrating radar according to claim 1, 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) has a mounting groove (2123) that matches 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). The T-shaped rod (2122) can move up and down along the vertical direction of the mounting groove (2123).

3. The UAV detection device for tunnel lining ground-penetrating radar according to claim 1, characterized in that, The bottom of the track frame (211) is evenly provided with limiting rods (2113) for positioning the track width, and the mounting platform (212) is installed between the track frames (211) and above the limiting rods (2113).

4. The UAV detection device for tunnel lining ground-penetrating radar according to claim 1, characterized in that, The dual-head motor (23) is an integrated dual-head drive motor.

5. The UAV detection device for tunnel lining ground-penetrating radar according to claim 1, characterized in that, An encoder (26) is fixedly installed on the shaft of the dual-head motor (23) on one side of the mounting platform (212) of the inner ring track (21).

6. The UAV detection device for tunnel lining ground-penetrating radar according to claim 1, characterized in that, The track frame (211) is equipped with a protective shell (2114) for protecting the rack track (2112), and the protective shell (2114) has a through groove (2115) for the shaft of the double-headed motor (23) to pass through.

7. The UAV detection device for tunnel lining ground-penetrating radar according to claim 1, characterized in that, There are several connecting rods (27), and the connection points of the connecting rods (27) are provided with rubber pads for shock absorption.

Images