Tunnel inverted arch quality detection robot and detection method

Abstract

The invention discloses a tunnel inverted arch quality detection robot and a detection method, and belongs to the technical field of measurement, the tunnel inverted arch quality detection robot adopts a crawler-type seismic source design, is high in obstacle avoidance capability, can adapt to operation and construction tunnels at the same time, can control the advancing distance through a control mechanism and can realize automatic hammering, and the detection efficiency is improved. Compared with a traditional method, the working steps of measurement, point release and the like are omitted, the working efficiency is improved, the tunnel inverted arch quality detection robot further adopts a multi-channel detector integrated towing cable structural design, multiple covering earthquakes can be efficiently collected conveniently, meanwhile, the channel distance can be rapidly set in a towing cable folding mode according to the tunnel site condition, and the working efficiency is improved. According to the tunnel inverted arch quality detection method, the collection efficiency can be improved under the condition that tight coupling is guaranteed, the tunnel inverted arch quality detection method adopts an inverted arch data processing algorithm based on synthetic aperture ultrasonic imaging, the imaging resolution is improved by combining data of a plurality of probes and synthesizing a large effective aperture, and meanwhile a clearer image can be provided in a deep structure.

Description

Technical Field

[0001] The invention belongs to the field of measurement technology, and in particular relates to a tunnel invert quality detection robot and a detection method. Background Art

[0002] The inverted arch is a reverse arch structure set at the bottom of the tunnel to improve the stress conditions of the upper supporting structure. It is one of the main components of the tunnel structure.

[0003] Inverted arch is generally defined as an arch that points upwards, and is generally a reinforced concrete structure. Together with the secondary lining, it forms the whole tunnel, and is used to increase structural stability and waterproofing. On the one hand, the inverted arch effectively transfers the stratum pressure above the tunnel to the underground through the tunnel side wall structure or the load on the road surface. On the other hand, it also effectively resists the reaction force from the stratum below the tunnel.

[0004] The quality inspection of the invert arch collects and analyzes data through the impact source to obtain the inspection results of the invert arch quality. The traditional impact work requires multiple people to cooperate in the steps of ranging and placing points, and the dragging, disassembly, installation and adjustment of the source are inconvenient. When analyzing the data, the lateral resolution and imaging quality of the traditional inspection method are low. Summary of the invention

[0005] In order to solve the problems raised in the above-mentioned background technology, the present invention provides a tunnel arch quality inspection robot and inspection method to solve the problems that the traditional impact work requires multiple people to cooperate in the distance measurement, point placement and other work steps, and the dragging, disassembly, installation and adjustment of the seismic source are inconvenient. When analyzing the data, the lateral resolution and imaging quality of the traditional inspection method are low.

[0006] To achieve the above object, the present invention provides the following technical solutions: A tunnel invert quality inspection robot, comprising: shell; A seismic source mechanism; the seismic source mechanism is arranged in the housing, and the seismic source mechanism is provided with an impact end, and the impact end is used to impact the surface of the invert arch; Track drive mechanism; the track drive mechanism includes a motor driver and a track wheel, the motor driver is installed in the housing, the track wheel is installed at the bottom of the housing, the motor driver is connected to the track wheel, and the motor driver is used to drive the track wheel; Control mechanism; the source mechanism and the motor driver are both connected to the control mechanism, the control mechanism is used to send impact start and stop signals to the source mechanism, and control the impact frequency and impact amplitude of the source mechanism, and the control mechanism is also used to control the movement of the crawler wheel by controlling the motor driver; A vibration tester; the vibration tester is connected to the control mechanism, and is used to collect vibration data on the surface of the invert and upload it to the control mechanism; A foldable towing handle; one end of the towing handle is mounted on the outer shell; Multiple detectors; the detectors are arranged on the trailer, each detector is connected to the control mechanism, and the detectors are used to collect echo signals and upload the echo signals to the control mechanism.

[0007] Preferably, the source mechanism comprises: Pneumatic hammer; the hammer body of the pneumatic hammer is fixedly arranged in the shell, the bottom surface of the shell is provided with a through hole, and the hammer head of the pneumatic hammer passes through the through hole and points to the surface of the inverted arch; Air compressor; the air compressor is arranged in the housing, and the air compressor is connected to the air hammer; Electrical components; the air hammer and the air compressor are connected to the signal output end of the electrical components, and the signal input end of the electrical components is connected to the control mechanism. The electrical components are used to control the start and stop of the hammering of the air hammer and control the hammering frequency and amplitude according to the instructions of the control mechanism.

[0008] Preferably, the control mechanism comprises: Programmable logic controller; electrical components and motor drivers are connected to the programmable logic controller; Encoder; the encoder is connected with a programmable logic controller; Remote control; the remote control is used to generate remote control signals, the remote control is connected to the encoder, and the remote control is used to transcode the remote control signals through the encoder and input them into the programmable logic controller to control the electrical components and motor drivers.

[0009] Preferably, the foldable tow bag comprises: Water hose; one end of the water hose is mounted on the outer shell; Multiple bottom plates; the bottom plates are tubular structures, the bottom plates are mounted on the water hose, and a detector is arranged on one bottom plate; Multiple groups of scribers; one group of scribers includes two sub-scribers, and the two sub-scribers in one group of scribers are respectively arranged on both sides of the bottom surface of a bottom plate, and the sub-scribers are parallel to the water belt; Multiple cables; the cables are all arranged in the water belt, one end of one of the cables passes through the water belt and is connected to the control mechanism, and the other end is connected to the detector adjacent to the control mechanism, both ends of the other cables pass through the water belt and are respectively connected to two adjacent detectors, and every two adjacent detectors are connected by one cable.

[0010] Preferably, the cable is in a bent state in the water hose.

[0011] Preferably, the water belt is marked with scale.

[0012] A method for detecting the quality of a tunnel invert comprises the following steps: S1: Use the source mechanism to perform source excitation, and multiple detectors are arranged to receive echo signals from defect points in the tunnel invert; S2: remove the direct wave from the echo signal; S3: Calculate the delay time of all detectors receiving echo signals and perform synthetic aperture ultrasonic imaging; S4: performing focusing calculation on each pixel point in the imaging area of ​​synthetic aperture ultrasound imaging, and performing signal superposition processing on the echo signal; S5: Pearson correlation coefficient is used to perform correlation analysis on the imaging area, and the image signal-to-noise ratio of the imaging area is enhanced by weighting; S6: Use Radon transform to remove multiple waves in the imaging area to obtain the final image, and use the final image to detect and judge the quality of the tunnel invert.

[0013] Preferably, the specific calculation method of the delay time in S3 is: Assume that the horizontal distance between the hammering point and the detector receiving point is x, then the defect point to be detected is located at a distance y below the perpendicular bisector of the straight line connecting the hammering point and the detector receiving point; The propagation distance S of the seismic wave from the impact point to the receiving point m for: Formula 1: ; The sound path difference at this time for: Formula 2: ; Where v is the propagation speed of seismic waves in the medium; Combining equation 1 and equation 2, we can get the delay time of the echo of detector m: for: .

[0014] Compared with the prior art, this application has the following advantages: 1. This application adopts a crawler-type seismic source design with strong obstacle avoidance ability, which can adapt to both operating and construction tunnels. The travel distance can be controlled by the control mechanism and automatic hammering can be realized. Compared with the traditional method, it saves the work steps such as measurement and point placement, greatly improves the work efficiency, and can reduce the number of on-site acquisition engineers from 4 to 1-2; 2. This application adopts a multi-channel detector integrated tow cable structure design, which is convenient for towing and efficient collection of multiple coverage earthquakes. At the same time, the track spacing can be quickly set by folding and towing according to the tunnel site conditions. This application can improve the collection efficiency while ensuring tight coupling.

[0015] 3. This application adopts an invert data processing algorithm based on synthetic aperture ultrasonic imaging. This application combines data from multiple probes to synthesize a large effective aperture, thereby improving imaging resolution and providing clearer images in deep structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the internal structure of this application; Figure 2 for Figure 1 A top view of Figure 3 This is a schematic diagram of the external structure of this application; Figure 4 This is a schematic diagram of the installation position of the detector; Figure 5 It is a schematic diagram of the structure of a foldable towing handle; Figure 6 It is a schematic diagram of the original data; Figure 7 Schematic diagram of SAFT data after correlation analysis of the original data; Figure 8 Schematic diagram of the data after using Radon transformation for SAFT data; The markings in the figure are: 1-power supply; 2-air compressor; 3-electrical components; 4-air hammer; 5-motor driver; 6-vibration tester; 7-track wheel; 8-detector; 9-base plate; 10-slice; 11-water hose; 12-housing. DETAILED DESCRIPTION

[0017] In order to facilitate those skilled in the art to understand the technical content of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] Embodiment 1: like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, a tunnel invert quality inspection robot comprises: The outer side of the shell 12 is provided with a circle of LED lights, which are automatically lit during data collection, that is, they can provide lighting for data collection, and are also a striking safety reminder sign, which can serve as a warning to nearby construction machinery or vehicles during data collection to prevent safety accidents from occurring under dim tunnel lighting conditions.

[0019] A seismic source mechanism; the seismic source mechanism is disposed in the housing 12, and the seismic source mechanism is provided with an impact end, the impact end being used to impact the surface of the invert; Source agencies include: Pneumatic hammer 4; the hammer body of the pneumatic hammer 4 is fixedly arranged in the housing 12, the bottom surface of the housing 12 is provided with a through hole, the hammer head of the pneumatic hammer 4 passes through the through hole and points to the surface of the inverted arch, and the pneumatic hammer 4 is arranged near the center of gravity of the entire housing 12; Air compressor 2; the air compressor 2 is arranged in the housing 12, and the air compressor 2 is connected to the air hammer 4; The electrical component 3; the air hammer 4 and the air compressor 2 are connected to the signal output end of the electrical component 3, and the signal input end of the electrical component 3 is connected to the control mechanism. The electrical component 3 is used to control the start and stop of the hammering of the air hammer 4 and control the hammering frequency and amplitude according to the instructions of the control mechanism.

[0020] Track drive mechanism; the track drive mechanism includes a motor driver 5 and a track wheel 7, the motor driver 5 is installed in the housing 12, the track wheel 7 is installed at the bottom of the housing 12, the motor driver 5 is connected to the track wheel 7, the motor driver 5 is used to drive the track wheel 7, and the driving speed during operation is 3 kilometers per hour.

[0021] Control mechanism; the source mechanism and the motor driver 5 are connected to the control mechanism, the control mechanism is used to send impact start and stop signals to the source mechanism, and control the impact frequency and impact amplitude of the source mechanism, and the control mechanism is also used to control the movement of the track wheel 7 by controlling the motor driver 5; The controlling bodies include: Programmable logic controller; electrical components 3 and motor driver 5 are connected to the programmable logic controller. The programmable logic controller is provided with full-automatic and semi-automatic working modes. When the road surface is flat and there is no other interference, the full-automatic working mode is adopted. Press the operation button of the remote control, the trolley moves forward according to the set travel distance, then stops and hammers. The moment the hammer head hammers the surface of the inverted arch triggers the hammer switch tied to the hammer head. At this time, the data collected by the seismic acquisition instrument is timestamped, and the vibration tester 6 automatically saves the seismic data 200ms after the timestamp. The 200ms data is much larger than the reflected signal of the depth range of the inverted arch. When the surface flatness of the inverted arch is not good or there are obstacles in some sections, the semi-automatic working mode is adopted. In the semi-automatic state, press the automatic driving button, move forward to the set layout, automatically brake and stop, and then press the start button to hammer, and so on. During the working process, each hammering is counted once. In order to avoid the error accumulation of 400 mm each time, manual operation is performed in the middle to make a calibration with the set mark point. The calibration does not affect the hammering count; Encoder; the encoder is connected with a programmable logic controller; Remote controller: The remote controller is used to generate remote control signals. The remote controller is connected to the encoder. The remote controller is used to convert the remote control signals through the encoder and input them into the programmable logic controller to control the electrical components 3 and the motor driver 5. During operation, the operator walks with the vehicle, holding the remote controller, and performs operations such as steering, forward, backward, and hammering. In order to ensure safety and prevent misoperation, the backward function requires pressing two buttons at the same time.

[0022] Vibration tester 6; the vibration tester 6 is connected to the control mechanism, and the vibration tester 6 is used to collect the vibration data of the invert surface and upload it to the control mechanism.

[0023] A foldable tow bar; one end of the tow bar is mounted on the housing 12; The foldable tow handle includes: Water hose 11; one end of the water hose 11 is mounted on the housing 12, and the water hose 11 is marked with a scale. The water hose 11 is a filament lined water hose 11, and the water hose 11 is made of PVC polyester filaments, and has the characteristics of light weight and firmness; Multiple bottom plates 9; the bottom plate 9 is a tubular structure, the bottom plate 9 is made of stainless steel, and the weight of one bottom plate 9 is 0.5 kg. The bottom plate 9 is mounted on the water hose 11, and one detector 8 is set on one bottom plate 9; Multiple groups of blades 10; one group of blades 10 includes two sub-blades 10, and the two sub-blades 10 in one group of blades 10 are respectively arranged on both sides of the bottom surface of a bottom plate 9, and the sub-blades 10 and the water hose 11 are parallel to each other. During the dragging process, the friction between the stainless steel base and the surface of the invert is too large, which is easy to damage the tow cable. After the sliding blade is installed, the resistance of the dragging process can be effectively reduced; Multiple cables; the cables are all arranged in the water belt 11, and the water belt 11 can protect the cables, one end of one of the cables passes through the water belt 11 and is connected to the control mechanism, and the other end is connected to the detector 8 adjacent to the control mechanism, and both ends of the other cables pass through the water belt 11 and are respectively connected to two adjacent detectors 8, and every two adjacent detectors 8 are connected by one cable, and the cables are bent in the water belt 11; Multiple detectors 8; the detectors 8 include 12 channels and 24 channels. The detectors 8 are wide-band high-sensitivity acceleration sensors. The detectors 8 are arranged on the trailer. Each detector 8 is connected to the control mechanism. The detectors 8 are used to collect echo signals and upload the echo signals to the control mechanism. The foldable tow basket of the present application can freely set the track spacing by rolling up the partial length of the water hose 11, and the rolled up part is nailed and fixed with a large stapler. For example, if the length of the water hose 11 is set to 1m, the track spacing of any distance within 1m can be set according to the project site conditions and the current detection depth, and the detector 8 is coupled through gravity, and a base plate 9 weighing 0.5kg can ensure good coupling during the collection process.

[0024] Power supply 1: Power supply 1 is used to supply power to the above components. Power supply 1 is designed to be detachable. When the power is low, the battery can be directly replaced without waiting for charging.

[0025] A method for detecting the quality of a tunnel invert comprises the following steps: S1: Establish an observation system, use the source mechanism to excite, 12 channels of geophones are arranged in 8 rows to receive, there are 1251 sampling points in the time direction, the sampling interval is 5μs, the channel spacing is 20cm, the offset distance is 40cm, and the echo signal is obtained; S2: Remove the direct wave from the echo signal. Since the energy of the direct wave is very strong, it can overwhelm other effective signals. Therefore, in order to see the information of the effective signal more clearly, we need to remove the direct wave, so that we can more accurately identify and measure other important components in the seismic record. S3: Perform synthetic aperture ultrasound imaging. In the SAFT imaging process, in order to obtain the accurate delay time of each detector scanning, the distance difference of the sound wave propagation during the transmission and reception process is first calculated; Assume that the horizontal distance between the hammering point and the detector receiving point is x, then the defect point to be detected is located at a distance y below the perpendicular bisector of the straight line connecting the hammering point and the detector receiving point; The propagation distance S of the seismic wave from the impact point to the receiving point m for: Formula 1: ; The sound path difference at this time for: Formula 2: ; Where v is the propagation speed of seismic waves in the medium; Combining equation 1 and equation 2, we can get the delay time of the echo of detector m: for: .

[0026] S4: Focus calculation is performed on each pixel point in the imaging area, and the echo signals on each channel are combined with the corresponding delay for signal superposition processing. The echo signal corresponding to the pixel point of the defect point is the strongest. After superposition processing, the signal will be amplified, so it can be intuitively seen in the imaging image that there is a larger reflection signal at the pixel point corresponding to the defect point, thereby knowing the defect location.

[0027] S5: Pearson correlation coefficient is used for correlation analysis. In imaging signal processing, there is a good correlation between the reflected echoes of the defect points, while the correlation between the interference waves is very weak. Weighting is performed according to a certain weight. In this process, the strength of the defect point signal and the interference wave are suppressed, and the image signal-to-noise ratio is enhanced.

[0028] like Figure 6 , Figure 7 After imaging, it is found that the imaging resolution is high, the cluttered signals are removed, and the effective signals are more concentrated. However, there are a large number of multiple waves at the middle position of 4-10m in the model data, which affects the imaging effect.

[0029] S6: Using Radon transform to remove multiple waves is an effective method in pre-stack data processing. This method uses the time difference between the primary wave and the multiple waves. First, the data is corrected. The parabolic Radon transform is used to map the phase axes of the primary wave and the multiple waves with different curvatures to different regions in the Radon domain. This can effectively separate the primary wave and the multiple waves, thereby achieving the suppression of multiple waves. Figure 8 shown.

[0030] In view of the characteristics and existing problems of ultrasonic detection of tunnel inverts, synthetic aperture focusing technology SAFT is used for imaging processing. The concrete defect model is established using simulation software, and the SAFT method suitable for ultrasonic detection of concrete is explored under the condition of co-location of a single probe and receiver. The simulation results show that this method significantly improves the lateral resolution and imaging quality of ultrasonic detection of concrete.

[0031] In this embodiment, the present application adopts a crawler-type source design with strong obstacle avoidance capability, which can adapt to both operating and construction tunnels. The travel distance can be controlled by a control mechanism and automatic hammering can be realized. Compared with traditional methods, it omits work steps such as measurement and point placement, greatly improves work efficiency, and can reduce the number of on-site acquisition engineers from 4 to 1-2 people; the present application adopts a multi-channel detector 8 integrated tow cable structure design, which is convenient for towing and efficient acquisition of multiple coverage earthquakes. At the same time, the track spacing can be quickly set by folding and towing according to the on-site conditions of the tunnel. The present application can improve the acquisition efficiency while ensuring tight coupling; the present application adopts an invert data processing algorithm based on synthetic aperture ultrasonic imaging. The present application combines data from multiple probes to synthesize a large effective aperture, improves imaging resolution, and can provide clearer images in deep structures.

Claims

1. A tunnel invert quality inspection robot, characterized in that: include: Shell (12); Source institution; The seismic source mechanism is arranged in the housing (12), and the seismic source mechanism is provided with an impact end, and the impact end is used to impact the surface of the invert arch; A crawler drive mechanism; the crawler drive mechanism comprises a motor drive (5) and a crawler wheel (7), the motor drive (5) being mounted in a housing (12), the crawler wheel (7) being mounted at the bottom of the housing (12), the motor drive (5) being connected to the crawler wheel (7), and the motor drive (5) being used to drive the crawler wheel (7); A control mechanism; the source mechanism and the motor driver (5) are both connected to the control mechanism, the control mechanism is used to send impact start and stop signals to the source mechanism, and to control the impact frequency and impact amplitude of the source mechanism, and the control mechanism is also used to control the movement of the track wheel (7) by controlling the motor driver (5); A vibration tester (6); the vibration tester (6) is connected to the control mechanism, and the vibration tester (6) is used to collect vibration data on the surface of the invert arch and upload it to the control mechanism; A foldable towing handle; one end of the towing handle is mounted on the housing (12); A plurality of detectors (8); the detectors (8) are arranged on the trailer, each detector (8) is connected to a control mechanism, and the detectors (8) are used to collect echo signals and upload the echo signals to the control mechanism.

2. A tunnel invert quality inspection robot according to claim 1, characterized in that: Source agencies include: An air hammer (4); a hammer body of the air hammer (4) is fixedly arranged in the housing (12); a through hole is provided on the bottom surface of the housing (12); a hammer head of the air hammer (4) passes through the through hole and points toward the surface of the inverted arch; An air compressor (2); the air compressor (2) is arranged in the housing (12), and the air compressor (2) is connected to the air hammer (4); The electric component (3) is connected to the air hammer (4) and the air compressor (2) and the signal output end of the electric component (3), and the signal input end of the electric component (3) is connected to the control mechanism. The electric component (3) is used to control the start and stop of the hammering of the air hammer (4) and the frequency and amplitude of the hammering according to the instructions of the control mechanism.

3. A tunnel invert quality inspection robot according to claim 2, characterized in that: The controlling bodies include: A programmable logic controller; the electrical component (3) and the motor driver (5) are connected to the programmable logic controller; Encoder; the encoder is connected with a programmable logic controller; The remote controller is used to generate a remote control signal, the remote controller is connected to an encoder, and the remote controller is used to convert the remote control signal through the encoder and input it into a programmable logic controller to control the electrical component (3) and the motor driver (5).

4. The tunnel invert quality inspection robot according to claim 1, characterized in that: The foldable tow handle includes: A water hose (11); one end of the water hose (11) is mounted on the housing (12); A plurality of bottom plates (9); the bottom plates (9) are tubular structures, the bottom plates (9) are sleeved on the water hose (11), and a detector (8) is arranged on one bottom plate (9); A plurality of groups of scribers (10); a group of scribers (10) comprises two sub-scribers (10), the two sub-scribers (10) in a group of scribers (10) are respectively arranged on two sides of the bottom surface of a bottom plate (9), and the sub-scribers (10) and the water belt (11) are parallel to each other; A plurality of cables; the cables are all arranged in a water belt (11), one end of one of the cables passes through the water belt (11) to be connected to a control mechanism, and the other end is connected to a detector (8) adjacent to the control mechanism, and both ends of the other cables pass through the water belt (11) to be respectively connected to two adjacent detectors (8), and every two adjacent detectors (8) are connected by one cable.

5. The tunnel invert quality inspection robot according to claim 4, characterized in that: The cable is in a bent state in the water hose (11).

6. The tunnel invert quality inspection robot according to claim 4, characterized in that: The water hose (11) is marked with scale.

7. A tunnel invert quality inspection method, applied to the quality inspection robot according to claims 1-6, characterized in that: The following steps are involved: S1: using a seismic source mechanism to perform seismic source excitation, and arranging a plurality of geophones (8) to receive echo signals from defect points in the tunnel invert; S2: remove the direct wave from the echo signal; S3: Calculate the delay time of all detectors (8) receiving the echo signal and perform synthetic aperture focusing imaging; S4: performing focusing calculation on each pixel point in the imaging area of ​​synthetic aperture focusing imaging, and performing signal superposition processing on the echo signal; S5: Pearson correlation coefficient is used to perform correlation analysis on the imaging area, and the image signal-to-noise ratio of the imaging area is enhanced by weighting; S6: Use Radon transform to remove multiple waves in the imaging area to obtain the final image, and use the final image to detect and judge the quality of the tunnel invert.

8. A tunnel invert quality detection method according to claim 7, characterized in that: The specific calculation method of the delay time in S3 is: Assume that the horizontal distance between the hammer point and the detector receiving point is x, then the defect point to be detected is located at a distance y below the perpendicular bisector of the straight line connecting the hammer point and the detector receiving point; The propagation distance S of the seismic wave from the impact point to the receiving point m for: Formula 1: ; The sound path difference at this time for: Formula 2: ; Where v is the propagation speed of seismic waves in the medium; Combining equation 1 and equation 2, we can get the delay time of the echo of detector m: for: 。

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