Portable unmanned aerial vehicle overhauling integrated device and method for top lining in tunnel construction and maintenance period

Abstract

The invention relates to a portable tunnel construction period top lining unmanned aerial vehicle maintenance integrated device and method, and the device comprises an unmanned aerial vehicle, the upper part of the unmanned aerial vehicle is provided with a detection probe and an infrared laser ranging module, and the top of the unmanned aerial vehicle is provided with a liftable mark repair module; the two-way transmission and processing module is used for realizing data transmission between the unmanned aerial vehicle and the ground work station; and the visualization system is used for realizing visualization of data transmitted from the unmanned aerial vehicle to the ground work station. The device can replace manual work to execute a detection task to a difficult-to-detect position at the top of a tunnel, and meanwhile, a small disease area is simply repaired, so that manpower and material resources consumed by detection are reduced.

Description

Technical Field

[0001] The invention relates to a portable unmanned aerial vehicle (UAV) integrated device and method for top lining maintenance during the construction and maintenance period of a tunnel. Background Art

[0002] During the implementation of tunnel engineering, the tunnel top is often a difficult point for engineering inspection due to its excessive height. The complex geological structure, environment and other factors in the tunnel will also affect this work.

[0003] Existing tunnel inspections basically use aerial work vehicles or simple brackets welded on construction machinery. The inspectors stand in the operating frame and hold the radar antenna close to the lining surface to complete the inspection. This inspection method is often accompanied by great risks when facing the inspection of tunnel tops and complex environments, and is prone to safety accidents. Inspectors use aerial work vehicles to perform high-altitude inspections. Since they need to change the inspection position many times and hold their hands up for a long time, the inspectors are prone to fatigue, which causes fluctuations or errors in the closeness between the antenna and the lining surface. Therefore, manual high-altitude inspections have low efficiency and high errors, which will have an adverse effect on the inspection results.

[0004] At present, most of the tunnel drones commonly used in the market adopt electric tracks. This type of drone can solve the detection problem to a certain extent. At the same time, this type of drone needs to lay a large number of mobile tracks, which is relatively costly, has a relatively fixed route, and is applicable to a shorter construction period. It can only perform one of the detection or repair tasks, and there are few products that can directly mark the diseased area. Summary of the invention

[0005] The purpose of the present invention is to provide a portable integrated device and method for drone inspection of the top lining during the construction and maintenance period of a tunnel. The device can replace manual inspection tasks at difficult-to-inspect locations on the top of the tunnel, while performing simple repairs on smaller diseased areas, thereby reducing the manpower and material resources consumed in inspection.

[0006] The technical solution of the present invention is: a portable integrated unmanned aerial vehicle maintenance device for the top lining of a tunnel during the construction and maintenance period, comprising a unmanned aerial vehicle, a detection probe and an infrared laser ranging module are arranged on the upper part of the unmanned aerial vehicle, and a liftable marking repair module is carried on the top of the unmanned aerial vehicle; it also includes a bidirectional transmission and processing module for realizing data transmission between the unmanned aerial vehicle and a ground workstation, and a visualization system for realizing visualization of data transmitted from the unmanned aerial vehicle to the ground workstation.

[0007] Furthermore, the body of the drone is circular, four rotors are evenly distributed around the body of the drone, and a pair of brackets are arranged on the lower side of the body of the drone.

[0008] Furthermore, the infrared laser ranging module includes infrared rangefinders arranged at the front, rear, left, right and top positions of the UAV body; a protractable camera is arranged on one side of the UAV body and is equipped with a light-emitting device.

[0009] Furthermore, an airbag is provided on the body of the drone, and a mounting seat is provided on the upper side of the airbag. The detection module includes a first pressure sensor and a detection probe arranged on the mounting seat at intervals along the circumferential direction, and the mark repair module is arranged on the mounting seat.

[0010] Furthermore, the mark repair module includes a rotating platform that can rotate 360 ​​degrees, a movable slide is provided between the rotating platform and the mounting seat, an annular sponge is detachably mounted on the top of the rotating platform, and a brush for interchangeability with the annular sponge is provided.

[0011] Furthermore, the top surface of the rotating platform is provided with grooves at intervals along the circumferential direction, the annular sponge is fixed on the annular seat, the brush is installed on the disc, and buckles matching the grooves are provided on the bottom surfaces of the annular seat and the disc, and a second pressure sensor is provided on the disc at the outer periphery of the brush.

[0012] Furthermore, the upper end of the rotating platform is provided with infusion ports for connecting to an annular sponge or a brush at intervals along the circumferential direction.

[0013] Furthermore, the two-way transmission and processing module includes multiple sending devices and an integrated information receiving and transmitting device arranged on the top of the drone body; the sending device includes a base, the base is provided with a charging platform that can be pulled forward, the base is provided with a telescopic rod, the upper part of the telescopic rod is detachably installed with an information converter, and the top of the telescopic rod is detachably installed with a solar charging panel.

[0014] Furthermore, the visualization system includes a display screen for displaying drone parameters, detection point parameters, detection images, and real-time video photos.

[0015] A method for unmanned aerial vehicle inspection and maintenance of the top lining of a tunnel during the construction and maintenance period, using a portable unmanned aerial vehicle inspection and maintenance integrated device for the top lining of a tunnel during the construction and maintenance period, comprising the following steps: (1) Set up several signaling devices inside the tunnel and establish signal connections between the UAV integrated information receiving and transmission device, the signaling device and the ground workstation; (2) Conduct disease detection; (2.1) Install a circular sponge on the drone, control the drone to reach the designated point, and then control the drone to move upward so that the detection probe fits the cave top; the first pressure sensor starts working, and the pressure information is transmitted to the ground workstation through the integrated information receiving and transmitting device and the sending device and displayed on the visualization system; (2.2) The camera extends and takes real-time photos of the tunnel top. During the inspection process, the drone enters a hovering state, and the integrated information receiving and transmitting device sends disease information to the ground workstation through the sending device, and displays the captured images on the visualization system. (2.3) When the measured point is detected to have a disease, the rotating platform rises to squeeze the annular sponge and the cave top. The fluorescent marker liquid stored in the annular sponge is squeezed out under the action of pressure and adsorbed on the cave top, forming a colored and fluorescent marking circle; (3) Perform simple repair tasks; (3.1) Replace the circular sponge with a brush and use a camera to determine the exact location of the disease; (3.2) When the drone reaches the diseased location, it moves upward until it is close to the cave top, and then the rotating platform rises. The second pressure sensor transmits the pressure information to the ground workstation via the integrated information receiving and transmitting device and the sending device and displays it on the visualization system. When the specified pressure coefficient is reached, the rotating platform is started and starts to rotate along the circumference direction. At this time, the drone is controlled to move.

[0016] Compared with the prior art, the present invention has the following advantages: 1. The device takes advantage of the good maneuverability of drones, is easy to use, and can be operated independently of operators. It can be operated remotely throughout the entire process, replacing manual inspection tasks at the difficult-to-inspect locations on the top of the tunnel. It overcomes the disadvantage of manually holding the radar antenna during manual inspection, ensures the safety of inspectors, and avoids the problem of reduced detection accuracy due to manual fatigue.

[0017] 2. The drone of this device is small and flexible, moves fast, and can greatly improve the detection efficiency, thereby ensuring that the detection can be completed quickly and the construction progress is minimally affected.

[0018] 3. The device can perform simple repairs on smaller diseased areas, reduce the use of large machinery such as aerial work vehicles, reduce the manpower and material resources consumed in detection, save costs, and greatly reduce manpower and time costs.

[0019] 4. The device realizes real-time analysis and evaluation of cracks in the tunnel through wireless data transmission and intelligent analysis of the transmitted information, which greatly improves the detection efficiency and accuracy and reduces maintenance costs.

[0020] 5. The device has fewer components and is easy to carry, install and use, greatly saving the installation cost of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention; Figure 2It is a schematic structural diagram of the marking device of the present invention; Figure 3 is a schematic diagram of a repair device of the present invention; Figure 4 It is a structural schematic diagram of the camera of the present invention; Figure 5 is a schematic diagram of a visualization system of the present invention; Figure 6 It is a schematic diagram of a signaling device of the present invention; In the figure: 10-UAV; 11-rotor; 12-bracket; 13-infrared rangefinder; 14-camera; 15-light-emitting device; 16-airbag; 17-mounting seat; 18-first pressure sensor; 19-detection probe; 20-rotating platform; 21-moving slide; 22-annular sponge; 23-brush; 24-card slot; 25-annular seat; 251-first buckle; 26-disc; 261-second buckle; 28-second pressure sensor; 29-infusion port; 30-integrated information receiving and transmitting device; 40-transmitting device; 41-base; 42-charging platform; 43-telescopic rod; 44-information transfer device; 45-solar charging panel; 50-display screen; 51-UAV parameters; 52-detection point parameters; 53-detection image; 54-real-time video photos. DETAILED DESCRIPTION

[0022] In order to make the above features and advantages of the present invention more understandable, embodiments are given below with reference to the accompanying drawings for detailed description, but the present invention is not limited thereto.

[0023] refer to Figures 1 to 6 A portable integrated device for unmanned aerial vehicle inspection and maintenance of top lining during tunnel construction and maintenance period, comprising an unmanned aerial vehicle 10, on which a detection module and an infrared laser ranging module for real-time detection of the distance between the unmanned aerial vehicle and the tunnel wall or obstacle are arranged, and a liftable marking repair module is mounted on the top of the unmanned aerial vehicle; the device also comprises a bidirectional transmission and processing module for realizing data transmission between the unmanned aerial vehicle and a ground workstation, and a visualization system for realizing visualization of data transmitted from the unmanned aerial vehicle to the ground workstation.

[0024] In this embodiment, the drone has a circular body, and four rotors 11 are evenly distributed around the drone body. The rotors have plastic protective covers, and a pair of brackets 12 are provided on the lower side of the drone body, and drone batteries are installed. The drone can adopt two flight modes, namely manual flight control mode and automatic cruise mode.

[0025] In this embodiment, the infrared laser ranging module includes an infrared rangefinder 13 arranged in the front, rear, left, right and top positions of the drone body, which can provide real-time warning according to the detection distance. When the drone is in automatic cruise mode, the flight posture can be adjusted in time to prevent the drone from collision and damage.

[0026] In this embodiment, a protractable camera 14 is provided on one side of the drone body and is equipped with a light-emitting device 15. The light-emitting device can be an LED lamp to cope with the dark and complex environment of the tunnel. The switch can be remotely controlled according to usage requirements. When turned off, the camera is retracted into the drone body.

[0027] In this embodiment, an airbag 16 is provided in the middle area of ​​the upper and lower parts of the drone body to cushion the pressure generated by the drone and the cave top during detection, and the upper part is tilted at a certain angle through the deformation of the air cushion, so that the pressure on the detection probe is consistent, thereby ensuring the accuracy of the detection result.

[0028] In this embodiment, a mounting seat 17 is provided on the upper side of the airbag, and the detection module includes a first pressure sensor 18 arranged on the periphery of the mounting seat at intervals along the circumferential direction. A detection probe 19 is installed on the upper end of the first pressure sensor, and the detection probe is located at the four quadrants of the drone.

[0029] In this embodiment, the mark repair module is arranged on the mounting seat, and the mark repair module includes a rotating platform 20 that can rotate 360°. A movable slide 21 is arranged between the rotating platform and the mounting seat. The rotating platform is threadedly connected to the rotating platform through a small electric cylinder arranged in the drone body or the output shaft of a small motor. The rotating platform can be raised and lowered slightly along the movable slide.

[0030] In this embodiment, in order to mark and repair the defect location, a circular sponge 22 is detachably installed on the top of the rotating platform, and the defect location is marked by the drone loaded with marking liquid, which is suitable for the construction period and the maintenance period; and a brush 23 is configured for interchange with the circular sponge, and the repair liquid loaded by the drone can be used to simply repair smaller cracks, which is suitable for the maintenance period. The circular sponge and the brush can be replaced with the circular sponge or the brush according to needs.

[0031] In this embodiment, in order to facilitate the disassembly and assembly of the annular sponge and the brush, the top surface of the rotating platform is provided with slots 24 at intervals along the circumferential direction, the annular sponge is fixed on the annular seat 25, the brush is circular and installed on the disc 26, and the bottom surfaces of the annular seat and the disc are provided with a first buckle 251 and a second buckle 261 that match the slots. A second pressure sensor 28 is provided on the disc at the outer periphery of the brush to detect the pressure between the brush and the tunnel.

[0032] In this embodiment, in order to allow the marking liquid or repairing liquid to be input into the corresponding annular sponge or brush, the upper end of the rotating platform is provided with infusion ports 29 for connecting to the annular sponge or brush at intervals along the circumference. The marking liquid container or repairing liquid container connected to the infusion port via a small pump can be loaded on the unmanned rack.

[0033] In this embodiment, the two-way transmission and processing module includes a plurality of signaling devices 40 and an integrated information receiving and transmitting device 30 disposed on the top of the drone body. The integrated information receiving and transmitting device has the following main functions: detecting the flight speed and flight angle of the drone; storing and displaying the drone data; and displaying the battery power.

[0034] The integrated information receiving and transmitting device transmits the parameters of the drone itself and the parameters of the detection point through several sending devices set up inside the tunnel, realizing information transmission in the tunnel, and finally transmitting it to the ground workstation for processing; after the ground workstation obtains the information, it uses an algorithm to process the data, automatically identifies whether the detection point has a disease, and transmits the disease information to the drone. When the transmission signal is poor, the integrated information receiving and transmitting device will retain the detection data and send it again and prompt when it reaches a place with a good signal.

[0035] In this embodiment, in order to provide a landing point for the drone and to replenish the power of the drone, the signaling device includes a base 41, on which a charging platform 42 that can be pulled forward and is equipped with a battery is provided, and a telescopic rod 43 is provided on the base, on which an information transfer device 44 is detachably installed on the upper part of the telescopic rod, and a solar charging panel 45 is detachably installed on the top of the telescopic rod, and solar charging is a prior art. The information transfer device can transfer information from the drone or the ground workstation to the other side, and at the same time transmit the location information of the signaling device to the drone; the charging platform can provide a landing point for the drone and replenish the power of the drone, and the solar charging panel can be used to replenish the power consumed by the charging platform when the charging platform is not in use. In addition, the position of the detection point can be located for the drone in the automatic cruise mode.

[0036] When the sending device is not in use, the solar charging panel and the information converter can be disassembled, and the charging platform can be retracted into the base, the telescopic rod can be folded downward, and the device-specific portable protective cover can be covered and locked with the base to realize the storage of the sending device.

[0037] In this embodiment, the visualization system includes a display screen 50 for displaying drone parameters 51, detection point parameters 52, detection images 53, and real-time video photos 54. The data transmitted from the drone to the ground workstation includes: the drone's position, altitude, speed, detection data, etc., which will be displayed on the display screen of the ground workstation after processing, which helps to improve the operator's information reception efficiency.

[0038] The drone parameter section mainly displays: drone flight mode, vertical distance between the drone and the cave top, horizontal distance between the drone and obstacles, pressure on the top of the drone, real-time coordinates of the drone, speed of the drone during flight, and inclination of the drone during flight; detection point parameter section: detection point coordinates, detection point height, mortar thickness at the detection point, and whether there is any disease at the detection point; detection image section: displays the sound wave image of the disease at the detection point on the screen; real-time video photos: displays real-time video photos from the camera on the screen.

[0039] In this embodiment, the infrared rangefinders located in front, behind, left, right and above the drone during flight will measure the distance between the drone and the obstacle or the tunnel top in real time. When the drone reaches a certain distance from the obstacle, the drone will issue a prompt. The prompt is that the visualization module will light up and sound an alarm. At the same time, the distance data of the direction closest to the obstacle will be highlighted to ensure the safety of the drone during flight.

[0040] If the drone's battery is low during flight or an emergency situation occurs and the mission needs to be stopped, the drone can be landed on the charging platform installed on the transmitter. The platform can provide a horizontal landing site for the drone and recharge the drone through the bracket.

[0041] A method for unmanned aerial vehicle inspection and maintenance of the top lining of a tunnel during the construction and maintenance period, using a portable unmanned aerial vehicle inspection and maintenance integrated device for the top lining of a tunnel during the construction and maintenance period, comprising the following steps: (1) Set up several signaling devices inside the tunnel and establish signal connections between the UAV integrated information receiving and transmission device, the signaling device and the ground workstation; (2) Conduct disease detection; (2.1) Install a circular sponge on the drone. After the drone reaches the designated position, control the drone to move upward so that the detection probe fits the cave top. At this time, the first pressure sensor starts to work, and the pressure information is transmitted to the ground workstation through the integrated information receiving and transmitting device and the signal transmitting device and displayed on the display screen of the visualization system; the airbag is squeezed and contracts, so that the upper part of the drone can tilt independently of the lower part, so that the detection probe can fit more closely, while buffering the pressure on the drone; (2.2) The camera extends and takes real-time photos of the tunnel top. During the inspection process, the drone enters a hovering state, and the integrated information receiving and transmitting device sends disease information to the ground workstation through the sending device, and displays the captured image on the display screen of the visualization system. The light-emitting device can also be turned on in dim environments. (2.3) The ground workstation uses an algorithm to automatically analyze the damage of the measured points. When the measured points are detected to have damage, the rotating platform is raised by using a moving slide, so that the annular sponge is squeezed against the cave roof. The fluorescent marker liquid stored in the annular sponge is squeezed out and adsorbed on the cave roof under the action of pressure, forming a colored and fluorescent marking circle, which can be efficiently found during the repair work; (3) Perform simple repair tasks; (3.1) Replace the circular sponge with a brush and use a camera to determine the exact location of the disease; (3.2) When the drone reaches the damaged location, it moves upward until it is close to the cave top, and then the rotating platform is raised through the moving slide. The second pressure sensor transmits the pressure information to the ground workstation through the integrated information receiving and transmitting device and the sending device through the circuit in the second buckle, and displays it on the display screen of the visualization system. When the pressure reaches the specified pressure coefficient, the rotating platform is started and starts to rotate along the circumference direction. At this time, the drone is controlled to move, thereby increasing the repair range.

[0042] (4) In the automatic cruise mode, the drone is set to connect with several signal transmitting devices. After the setting is completed, the drone can be started and will automatically move towards the transmitting device. If an obstacle is detected during the movement, the drone will automatically avoid it and send a signal notification. When it reaches the transmitting device, the drone will land on the installed charging platform. After the drone stops and adjusts its position, it will fly vertically upward. According to the data obtained from the infrared rangefinder and the first pressure sensor, the drone will gradually adjust its ascent speed to get close to the tunnel top, so that the drone can smoothly fit the tunnel top and adjust the detection position in real time. During the detection process, the drone will move the detection point through artificial intelligence analysis of data, and will give priority to moving to the location where the disease may occur after analysis, and set the point with the most serious disease as the disease occurrence point, thereby automatically completing the detection task.

[0043] The above is only a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, it does not require creative labor to design different forms of portable integrated devices and methods for unmanned aerial vehicle maintenance of the top lining during the construction and maintenance period of the tunnel. Without departing from the principles and spirit of the present invention, all equal changes, modifications, substitutions and variations made within the scope of the patent application of the present invention should be covered by the scope of the present invention.

Claims

1. A portable integrated device for unmanned aerial vehicle inspection and maintenance of top lining during tunnel construction and maintenance, comprising an unmanned aerial vehicle, characterized in that: The drone is provided with an infrared laser ranging module and a detection module, and a liftable marking repair module is mounted on the top of the drone; it also includes a bidirectional transmission and processing module for realizing data transmission between the drone and a ground workstation, and a visualization system for realizing visualization of data transmitted from the drone to the ground workstation.

2. The portable integrated unmanned aerial vehicle inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 1 is characterized in that: The body of the drone is circular, four rotors are evenly distributed around the body of the drone, and a pair of brackets are arranged on the lower side of the body of the drone.

3. The portable integrated unmanned aerial vehicle inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 1 is characterized in that: The infrared laser ranging module includes infrared rangefinders arranged at the front, rear, left, right and top positions of the UAV body; a protractable camera is arranged on one side of the UAV body and is equipped with a light emitting device.

4. The portable integrated unmanned aerial vehicle maintenance device for top lining during tunnel construction and maintenance period according to claim 2 or 3 is characterized in that: An airbag is arranged on the body of the drone, and a mounting seat is arranged on the upper side of the airbag. The detection module includes a first pressure sensor and a detection probe arranged on the mounting seat at intervals along the circumferential direction, and the mark repair module is arranged on the mounting seat.

5. The portable integrated unmanned aerial vehicle inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 4 is characterized in that: The mark repair module comprises a rotating platform which can rotate 360 ​​degrees, a movable slideway is arranged between the rotating platform and the mounting seat, a ring-shaped sponge is detachably mounted on the top of the rotating platform, and a brush which is interchangeable with the ring-shaped sponge is provided.

6. The portable integrated device for unmanned aerial vehicle inspection and maintenance of top lining during tunnel construction and maintenance period according to claim 5 is characterized in that: The top surface of the rotating platform is provided with slots at intervals along the circumferential direction, the annular sponge is fixed on the annular seat, the brush is installed on the disc, the bottom surfaces of the annular seat and the disc are provided with buckles matching the slots, and a second pressure sensor is provided on the disc at the outer periphery of the brush.

7. The portable integrated unmanned aerial vehicle inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 5 or 6 is characterized in that: Infusion ports for connecting to annular sponges or brushes are arranged at intervals along the circumferential direction on the upper end of the rotating platform.

8. The portable integrated unmanned aerial vehicle inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 5 or 6 is characterized in that: The two-way transmission and processing module includes multiple sending devices and an integrated information receiving and transmitting device arranged on the top of the drone body; the sending device includes a base, on which is provided a charging platform that can be pulled forward, and on which is provided a telescopic rod, on which is detachably installed an information converter on the upper part of the telescopic rod, and on which is detachably installed a solar charging panel on the top of the telescopic rod.

9. The portable integrated unmanned aerial vehicle inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 1 is characterized in that: The visualization system includes a display screen for displaying drone parameters, detection point parameters, detection images, and real-time video photos.

10. A method for unmanned aerial vehicle inspection and maintenance of the top lining of a tunnel during construction and maintenance, using the portable unmanned aerial vehicle inspection and maintenance integrated device for the top lining of a tunnel during construction and maintenance as claimed in claim 8, characterized in that: The following steps are involved: (1) Set up several signaling devices inside the tunnel and establish signal connections between the UAV integrated information receiving and transmission device, the signaling device and the ground workstation; (2) Conduct disease detection; (2.1) Install a circular sponge on the drone, control the drone to reach the designated point, and then control the drone to move upward so that the detection probe fits the cave top; The first pressure sensor starts to work, and the pressure information is transmitted to the ground workstation via the integrated information receiving and transmitting device and the signaling device and is displayed on the visualization system; (2.2) The camera extends and takes real-time photos of the tunnel top. During the inspection process, the drone enters a hovering state, and the integrated information receiving and transmitting device sends disease information to the ground workstation through the sending device, and displays the captured images on the visualization system. (2.3) When the measured point is detected to have a disease, the rotating platform rises to squeeze the annular sponge and the cave top. The fluorescent marker liquid stored in the annular sponge is squeezed out under the action of pressure and adsorbed on the cave top, forming a colored and fluorescent marking circle; (3) Perform simple repair tasks; (3.1) Replace the circular sponge with a brush and use a camera to determine the exact location of the disease; (3.2) When the drone reaches the diseased location, it moves upward until it is close to the cave top, and then the rotating platform rises. The second pressure sensor transmits the pressure information to the ground workstation via the integrated information receiving and transmitting device and the sending device and displays it on the visualization system. When the specified pressure coefficient is reached, the rotating platform is started and starts to rotate along the circumference direction. At this time, the drone is controlled to move.

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