Industrial tunnel disease detection positioning vehicle

Abstract

The invention relates to the technical field of tunnel engineering detection. An industrial tunnel disease detecting and positioning vehicle comprises a vehicle body composed of a base and a push handle, and guide wheels are arranged at the bottom of the vehicle body; a front image acquisition system and a side image acquisition system are arranged on the vehicle body; an adjusting device and a lifting device are further arranged on the vehicle body; an industrial personal computer and a display are arranged on the vehicle body and are used for controlling the operation of the whole system; and a disease marking device is also arranged on the vehicle body. The invention provides an industrial tunnel disease detection positioning vehicle which can effectively improve the detection and marking of tunnel diseases, greatly facilitates the subsequent maintenance, optimizes the operation experience and the detection efficiency, and can meet higher detection requirements. The technical problems that in the prior art, current tunnel detection generally depends on manual inspection, the detection efficiency is low, the risk is high, the subjectivity is high, the detection efficiency of a common image acquisition system is not ideal enough, maintenance personnel need to find disease positions for the second time, and higher detection requirements cannot be met are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel engineering detection, and particularly relates to an industrial tunnel disease detection positioning vehicle. BACKGROUND

[0002] With the acceleration of urbanization, the number of urban population and the density of buildings are increasing, and the urban ground traffic pressure is facing severe challenges, and the development of urban rail transit is an important way to solve the ground traffic congestion; and as an important part of urban rail transit, the subway shield tunnel inevitably has different degrees of structural diseases such as damage, cracks, water leakage and the like during service, which will seriously affect the service performance and service life of the tunnel if not treated in time and allowed to develop; especially in the background of rapid growth of traffic operation mileage in recent years, urban rail transit gradually enters the centralized operation period, and the requirements for operation and maintenance (especially intelligent management) technology, means and methods are improved, and the rapid detection of tunnel diseases is particularly important.

[0003] At present, the common tunnel detection method mainly relies on manual handheld device inspection or uses an automatic detection system based on a track or a vehicle, manual detection is low in efficiency, high in danger and strong in subjectivity; most systems can only complete image acquisition and cannot physically mark the identified diseases on site, so that the subsequent maintenance personnel need to find the disease position twice, which is low in efficiency and cannot meet higher detection requirements, and therefore it is necessary to improve. SUMMARY

[0004] The present application provides an industrial tunnel disease detection positioning vehicle which can effectively improve the detection and marking of tunnel diseases, greatly facilitates subsequent maintenance, does not need to find again, improves the quality and adaptability of image acquisition, optimizes the operation experience and detection efficiency, and can meet higher detection requirements; and solves the technical problems in the prior art that the current tunnel detection usually relies on manual inspection, the detection efficiency is low, the danger is high, and the subjectivity is strong, the detection efficiency of ordinary image acquisition systems is not ideal, the maintenance personnel need to find the disease position twice, and higher detection requirements cannot be met.

[0005] The above technical problem of the present application is solved by the following technical scheme: an industrial tunnel disease detection positioning vehicle, comprising a vehicle body composed of a base and a push handle, and a guide wheel arranged at the bottom of the vehicle body and capable of running on a guide rail; a front image acquisition system and a side image acquisition system for acquiring tunnel disease conditions are arranged on the vehicle body; an adjusting device for adjusting the front-back distance of the front image acquisition system and a lifting device for adjusting the height of the side image acquisition system are further arranged on the vehicle body; an industrial computer and a display connected with the front image acquisition system and the side image acquisition system are arranged on the vehicle body, for controlling the operation of the whole system; a disease marking device cooperated with the side image acquisition system is further arranged on the vehicle body. First, the detection vehicle is pushed to the tunnel entrance, and the guide wheel is dropped on the track, and the vehicle body can run at a constant speed along the track; the front-back position of the front image acquisition system can be adjusted by the adjusting device, so as to move to the best shooting position; the height of the side image acquisition system can be adjusted by the lifting device at the same time, and the adjustment is adapted according to the height of the tunnel; during the running of the vehicle body, the front image acquisition system performs rapid and wide-range scanning, and the side image acquisition system performs high-definition and fine image acquisition on the tunnel lining; the industrial computer receives and processes the images returned by the side camera in real time, and automatically identifies diseases such as cracks and water seepage through the embedded image recognition algorithm; once the disease is identified, the disease marking device will accurately mark the disease position on the surface of the tunnel, which is convenient for subsequent unified repair.

[0006] As a preferred, the front image acquisition system comprises a front camera mounted on a three-axis stabilizer, and the front image acquisition system further comprises a front light source fixed on the vehicle body and cooperated with the front camera. During the running of the vehicle body, the front image acquisition system performs rapid and wide-range scanning, and the three-axis stabilizer effectively offsets the vibration of the vehicle body.

[0007] As a preferred, the front light source is an adjustable angle lighting bracket or a ring light source. The front light source can be adjusted according to the needs, and a ring light source with adjustable angle or several independent light sources are installed on the bracket.

[0008] As a preferred, the side image acquisition system comprises a circular guide frame mounted on the vehicle body, and a side camera and a side light source are slidingly mounted on the circular guide frame. A gear track is mounted on the inner side of the circular guide frame, and a sliding frame is mounted on the outer side of the circular guide frame, and the side camera and the side light source are fixedly mounted on the sliding frame; a driving gear meshing with the gear track is mounted in the sliding frame, and the driving gear is driven by a motor.

[0009] As preferred, the adjusting device comprises a sliding rail fixed on the vehicle body, and the three-axis stabilizer is slidingly installed on the sliding rail; the vehicle body is provided with an adjusting screw rod penetrating through the three-axis stabilizer, and the adjusting screw rod is threadedly matched with the frame body of the three-axis stabilizer. Before starting, the motor of the adjusting device is controlled to drive the adjusting screw rod to rotate, so that the front camera moves along the sliding rail and is adjusted to the optimal shooting position; the three-axis stabilizer can weaken the vibration during the driving of the disease detection vehicle, improve the shooting clarity of the front camera on the tunnel disease, and ensure the image acquisition quality.

[0010] As preferred, the lifting device comprises a lifting base fixed on the vehicle body, a threaded rod slidingly arranged in the lifting base, and a circular guide frame fixed on the end of the threaded rod; one side of the lifting base is provided with a lifting worm driven by a lifting motor, the outer side of the threaded rod is provided with a lifting worm wheel engaged with the lifting worm, and the lifting worm wheel is threadedly matched with the threaded rod. The operator is located at the driving position and starts the system through the display; the lifting motor of the lifting device is controlled by the industrial computer to drive the lifting worm to rotate, so as to drive the lifting worm wheel and the threaded rod to lift, thereby adjusting the circular guide frame of the side-placed image acquisition system to an appropriate height; the distance from the overhead image acquisition system to the lining is relatively consistent for tunnels with different radii, the size of the acquired lining image is consistent, and the error of image splicing in the later stage is reduced.

[0011] As preferred, the threaded rod is provided with a reinforcing frame and a counterweight for balancing the moment of force. The counterweight can balance the overturning moment during the lifting of the lifting device, and the stability of the whole vehicle is enhanced.

[0012] As preferred, the disease marking device comprises a fluorescent agent storage tank placed on the vehicle body, a nozzle rotating with the side-placed camera arranged on the circular guide frame, an electromagnetic injection valve arranged in the nozzle, and the nozzle is connected with the fluorescent agent storage tank through a conveying pipe; the electromagnetic injection valve is signal-connected with the industrial computer, and when the side-placed image acquisition system identifies a disease, the industrial computer triggers the injection instruction to accurately mark the disease. During the driving of the vehicle body, once a disease is identified, the industrial computer immediately sends an instruction to the electromagnetic injection valve of the fluorescent marking device, the electromagnetic valve is opened instantaneously, and the fluorescent agent is sprayed from the nozzle through the conveying pipe under the action of pressure, and is accurately marked at the disease position.

[0013] As preferred, the bottom of the vehicle body is provided with a plurality of foldable universal wheels, the universal wheel is composed of a fixing seat, a bolt, a shaft frame and a wheel, and the universal wheel is fixedly unfolded or folded by the bolt. First, the detection vehicle is pushed to the tunnel entrance, if it needs to run on the track, the universal wheels are folded and stored by the bolt, and if it is used on the flat ground, the universal wheels can be unfolded and driven on the flat ground.

[0014] As preferred, the industrial computer is integrated with a positioning module for recording the mileage position of the disease, and the industrial computer stores the disease image, the mileage position and the fluorescent marking action in association.

[0015] As preferred, the vehicle body is provided with a detachable mobile power supply and a display connected with the industrial computer.

[0016] As preferred, the vehicle body is provided with a driving position corresponding to the display.

[0017] As preferred, the bottom of the vehicle body is provided with a driving motor, and the driving shaft of the driving motor is connected with the guide wheel connecting rod through a gear and chain structure.

[0018] Therefore, the industrial tunnel disease detection positioning vehicle has the following advantages: the detection and marking of the tunnel disease can be effectively improved, the subsequent maintenance is greatly facilitated, the image acquisition quality and adaptability are improved, the operation experience and detection efficiency are optimized, and higher detection requirements can be met. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective structural schematic view of the industrial tunnel disease detection positioning vehicle.

[0020] Figure 2 is Figure 1 an enlarged view of A in FIG.

[0021] Figure 3 is Figure 1 a front view structural schematic view of the side image acquisition system.

[0022] Figure 4 is Figure 3 a right view structural schematic view of FIG.

[0023] Figure 5 is Figure 4 an enlarged view of B in FIG.

[0024] Figure 6 is Figure 1 a perspective view structural schematic view of the front image acquisition system.

[0025] Figure 7 is Figure 1 a structural schematic view of the vehicle body.

[0026] Figure 8 is Figure 1 a perspective structural schematic view of the universal wheel.

[0027] In the figure, base 1, push handle 2, guide wheel 3, drive motor 4, universal wheel 5, three-axis stabilizer 6, front camera 7, front light source 8, circular guide frame 9, side light source 10, side camera 11, slide rail 12, adjusting screw 13, threaded rod 14, lifting worm gear 15, counterweight 16, industrial computer 17, display 18, nozzle 19. DETAILED DESCRIPTION

[0028] The technical solutions of the application will be further specifically described below by examples in combination with the drawings.

[0029] Example: As Figure 1 and 2 and 3 and 4 and 5 and 6 and 7 and 8, an industrial tunnel disease detection positioning vehicle, comprising a vehicle body composed of a base 1 and a push handle 2, symmetrical guide wheels 3 are installed on the bottom of the vehicle body, which can travel on the guide rail, a drive motor 4 is installed on the bottom of the vehicle body, and the drive shaft of the drive motor 4 is connected with the connecting rod of the guide wheel 3 through a gear and chain structure.

[0030] Four foldable universal wheels 5 are installed on the bottom of the vehicle body, the universal wheel 5 is composed of a fixed seat, a bolt, an axle bracket and a wheel, and the fixed expansion or folding storage state of the universal wheel 5 is realized through the bolt.

[0031] A front image acquisition system and a side image acquisition system for collecting tunnel disease conditions are installed on the vehicle body; the front image acquisition system comprises a front camera 7 installed on a three-axis stabilizer 6, and the front image acquisition system further comprises a front light source 8 fixedly installed on the vehicle body and matched with the front camera 7.

[0032] The front light source 8 comprises six front illuminating lamps.

[0033] The side image acquisition system comprises a circular guide frame 9 installed on the vehicle body, the circular guide frame 9 is slidably installed with a side camera 11 and a side light source 10, and two side light sources 10 are installed on the left and right sides of the side camera 11; the side camera 11 is an ultra-high-pixel industrial area array camera.

[0034] The front light source 8 is installed on the front side of the circular guide frame 9.

[0035] The inside of the circular guide frame 9 is installed with a gear track, and the outside of the circular guide frame 9 is installed with a sliding frame, the side camera 11 and the side light source 10 are fixedly installed on the sliding frame; a driving gear meshing with the gear track is installed in the sliding frame, and the driving gear is driven by a motor.

[0036] The adjusting device for adjusting the front-back distance of the front image acquisition system and the lifting device for adjusting the height of the side image acquisition system are also installed on the vehicle body.

[0037] The adjustment device includes a slide rail 12 fixedly mounted on the vehicle body, and a three-axis stabilizer 6 slidably mounted on the slide rail 12; an adjustment screw 13 is provided on the vehicle body that passes through the frame of the three-axis stabilizer 6, and the adjustment screw 13 is driven by an electric motor; the adjustment screw 13 and the frame of the three-axis stabilizer 6 are connected by a thread.

[0038] The lifting device includes a lifting base 1 fixed on the mounting vehicle body, a threaded rod 14 slidably installed inside the lifting base 1, and a circular guide frame 9 fixedly installed at the end of the threaded rod 14.

[0039] A lifting worm gear driven by a lifting motor is provided on one side of the lifting base 1. A lifting worm wheel 15 that meshes with the lifting worm gear is mounted on the outside of the threaded rod 14. The lifting worm wheel 15 and the threaded rod 14 are connected by threads.

[0040] A reinforcing frame for balancing torque is mounted on the threaded rod 14, and a counterweight 16 is mounted on the reinforcing frame.

[0041] An industrial control computer 17 and a display 18 are installed on the vehicle body, which are connected to the front-view image acquisition system and the side-view image acquisition system, and are used to control the operation of the entire system.

[0042] The industrial computer 17 integrates a positioning module for recording the mileage location of the disease. The industrial computer 17 associates and stores the disease image, mileage location, and fluorescent marker action.

[0043] A detachable power bank is placed on the vehicle body, and the industrial control computer 17 and the display 18 are both connected to the power bank; a driver's seat corresponding to the display 18 is also installed on the vehicle body.

[0044] The vehicle body is equipped with a lesion marking device that can be used with the side-mounted image acquisition system. The lesion marking device includes a fluorescent agent storage tank placed on the vehicle body, and a nozzle 19 that rotates with the side-mounted camera 11 is installed on the circular guide frame 9. The nozzle 19 is installed on the rear side of the sliding frame. An electromagnetic injection valve is installed inside the nozzle 19. The nozzle 19 is connected to the fluorescent agent storage tank through a delivery pipe. The electromagnetic injection valve is connected to the industrial control computer 17 through a signal. When the side-mounted image acquisition system identifies a lesion, the industrial control computer 17 triggers an injection command to accurately mark the lesion.

[0045] First, push the inspection vehicle to the tunnel entrance. If it needs to run on the track, fold the casters 5 using the pins so that the guide wheels 3 fall on the track. Connect the detachable power supply, industrial computer 17 and display 18.

[0046] The operator is in the driver's seat and starts the system through the display 18; the lifting motor of the lifting device is controlled by the industrial control computer 17 to drive the lifting worm gear to rotate, thereby driving the lifting turbine and threaded rod 14 to rise and fall, thereby adjusting the circular guide frame 9 of the side-mounted image acquisition system to a suitable height.

[0047] At the same time, the motor of the adjusting device can be started to drive the adjusting screw 13 to rotate, so that the front camera 7 moves along the slide rail 12 to the optimal shooting position.

[0048] In operation, the driving motor 4 drives the guide wheel 3 to rotate through the gear and chain, so that the detection vehicle moves at a constant speed along the track; the front image acquisition system performs rapid and wide-range scanning, and the three-axis stabilizer 6 effectively offsets the vibration of the vehicle body.

[0049] The high-precision side camera 11 of the side image acquisition system rotates around the circular guide frame 9 to collect high-definition and fine images of the tunnel lining.

[0050] The industrial computer 17 receives and processes the images returned by the side camera 11 in real time, and automatically identifies diseases such as cracks and water seepage through the embedded image recognition algorithm.

[0051] Once the disease is identified, the industrial computer 17 immediately sends a command to the electromagnetic injection valve of the fluorescent marking device, the electromagnetic valve is opened instantly, and the fluorescent agent is sprayed from the nozzle 19 through the delivery pipe under the action of pressure, and is accurately marked at the disease position.

[0052] At the same time, the positioning module in the industrial computer 17 records the current mileage information, and saves the disease image, mileage coordinate, and marking action timestamp in association.

[0053] After the detection is completed, the associated data stored in the industrial computer 17 can be exported to generate a disease report with accurate position (mileage + fluorescent marking); based on the report, maintenance personnel can quickly locate the disease point emitting fluorescence in the tunnel, and perform efficient and unified maintenance work.

[0054] The specific embodiments described herein are merely illustrative of the present application. Those skilled in the art can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. An industrial tunnel defect detection and positioning vehicle, characterized in that: The vehicle body comprises a base and a push handle, with guide wheels at the bottom that allow it to travel on guide rails. The vehicle body is equipped with a front-view image acquisition system and a side-view image acquisition system for collecting tunnel defect information. It also features an adjustment device for adjusting the distance between the front-view image acquisition system and a lifting device for adjusting the height of the side-view image acquisition system. The vehicle body has an industrial control computer and a display connected to the front-view and side-view image acquisition systems to control the entire system's operation. Finally, the vehicle body includes a defect marking device that works in conjunction with the side-view image acquisition system.

2. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The aforementioned front-view image acquisition system includes a front-view camera mounted on a three-axis stabilizer, and also includes a front-view light source fixed to the vehicle body and used in conjunction with the front-view camera.

3. The industrial tunnel defect detection and positioning vehicle according to claim 2, characterized in that: The aforementioned front light source is an adjustable-angle lighting bracket or a ring light source.

4. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The side-mounted image acquisition system includes a circular guide frame mounted on the vehicle body, on which a side-mounted camera and a side-mounted light source are slidably mounted.

5. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The adjustment device includes a slide rail fixed to the vehicle body, and a three-axis stabilizer slidably mounted on the slide rail; the vehicle body is provided with an adjustment screw that passes through the three-axis stabilizer, and the adjustment screw is threadedly engaged with the frame of the three-axis stabilizer.

6. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The lifting device includes a lifting base fixed to the vehicle body, a threaded rod slidably disposed inside the lifting base, and a circular guide frame fixed to the end of the threaded rod; a lifting worm gear driven by a lifting motor is provided on one side of the lifting base, and a lifting worm wheel meshing with the lifting worm gear is mounted on the outside of the threaded rod, and the lifting worm wheel and the threaded rod are connected by threads.

7. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The disease marking device includes a fluorescent agent storage tank placed on the vehicle body, a nozzle that rotates with the side-mounted camera on a circular guide frame, an electromagnetic spray valve inside the nozzle, and the nozzle connected to the fluorescent agent storage tank through a delivery pipe; the electromagnetic spray valve is connected to the industrial control computer via a signal, and when the side-mounted image acquisition system identifies a disease, the industrial control computer triggers a spray command to accurately mark the disease.

8. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The bottom of the vehicle body is equipped with several foldable casters. Each caster consists of a fixed base, a pin, an axle, and a wheel. The pins enable the casters to be fixed in an unfolded or folded state for storage.

9. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The industrial control computer integrates a positioning module for recording the mileage location of the disease. The industrial control computer associates and stores the disease image, mileage location, and fluorescent marker action.

10. The industrial tunnel defect detection and positioning vehicle according to claim 1, characterized in that: The vehicle body is equipped with a detachable power bank and a display that connects to an industrial control computer.

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