A tunnel interior hanger post detection system

Abstract

The present application relates to a kind of tunnel inside hanging column detection system, detection system includes car body module, positioning module, position adjustment module and detection module, car body module is used to drive in tunnel along the track extension direction;Positioning module is used to position the position of car body module;Position adjustment module is installed on car body module, can rotate and can adjust position in vertical direction and horizontal direction, and position adjustment module includes manipulator;Detection module includes the visual theodolite being set on car body module and the visual detection unit being set on manipulator, visual theodolite is used to detect the inclination of hanging column in tunnel, and visual detection unit is used to detect the appearance of hanging column.The tunnel inside hanging column detection system provided in the present application is cooperated by positioning module, position adjustment module and detection module, realizes automatic positioning, driving and detection integration in tunnel, improves construction safety and detection precision.

Description

Technical Field

[0001] This invention relates to the field of tunnel column detection technology, and in particular to a tunnel column detection system. Background Technology

[0002] The overhead contact line is a special type of power transmission line erected above a railway. Inside tunnels, it is suspended by suspension columns installed at the tunnel ceiling. After installation, these columns must undergo rigorous quality inspections to ensure they meet design safety requirements and can operate reliably for an extended period. This includes checking the verticality of the columns and for any damage to their exterior. Traditional inspection methods rely on manual labor and are limited by the tunnel environment, resulting in low efficiency, poor accuracy, and insufficient safety. Summary of the Invention

[0003] The purpose of this invention is to solve the problems mentioned in the background art and to provide a tunnel hanging column detection system.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: A tunnel-mounted column detection system, the detection system comprising: The vehicle body module is used to travel along the track extension direction inside the tunnel; A positioning module is used to locate the position of the vehicle body module; A position adjustment module, mounted on the vehicle body module, is rotatable and can adjust its position in both the vertical and horizontal directions. The position adjustment module includes a robotic arm. The detection module includes a visual theodolite mounted on the vehicle body module and a visual detection unit mounted on the robotic arm. The visual theodolite is used to detect the inclination of the suspended column in the tunnel, and the visual detection unit is used to detect the appearance of the suspended column.

[0005] Understandably, the positioning module accurately locates the vehicle module so that it can precisely travel to the inspection position of the suspended column. Subsequently, a visual theodolite is used to detect the tilt of the suspended column, and the position adjustment module adjusts the visual inspection unit so that it can accurately move to the inspection position and inspect whether the suspended column is damaged. Through the cooperation of the positioning module, the position adjustment module, and the inspection module, automatic positioning, travel, and inspection are integrated in the tunnel, improving construction safety and inspection accuracy.

[0006] In one embodiment, the positioning module includes a data analysis unit that can receive engineering data and locate the position of the suspended column based on the engineering data.

[0007] Understandably, setting up a data analysis unit to accurately locate the vehicle module enables the detection system to precisely locate the vehicle module both inside and outside the tunnel, facilitating the positioning and implementation of the optimal path planning.

[0008] In one embodiment, the engineering data includes CPII, CPIII, and construction drawings.

[0009] In one embodiment, the detection system further includes a control module having an interlocking safety mechanism.

[0010] Understandably, interlocking safety mechanisms can improve the operational safety of detection systems and prevent collisions caused by human error.

[0011] In one embodiment, the control module includes a data storage unit and a data transmission unit. The data storage unit is capable of storing the data collected by the detection system, and the data transmission unit is capable of transmitting the data collected by the detection system.

[0012] In one embodiment, the control module includes a remote monitoring unit that is based on a 4G / GSM network and is capable of remotely monitoring the tunnel column detection system in real time.

[0013] Understandably, the development of remote monitoring units is based on 4G / GSM basic networks, centrally integrated into smart construction site management terminals, and supports remote real-time monitoring of devices, facilitating equipment maintenance.

[0014] In one embodiment, the control module further includes a remote control unit.

[0015] Understandably, the development of remote control units is based on short-range wireless communication, which supports remote control of devices on-site, reduces the labor intensity of on-site construction personnel, and improves construction safety.

[0016] In one embodiment, the position adjustment module includes a rotating mechanism, a lifting mechanism, a lateral movement mechanism, and the robotic arm. The rotating mechanism is mounted on the vehicle body module, one end of the lifting mechanism is connected to the rotating mechanism, the other end of the lifting mechanism is connected to the lateral movement mechanism, and the robotic arm is mounted on the lateral movement mechanism.

[0017] In one embodiment, the detection module further includes an ultrasonic flaw detection unit and an electromagnetic ultrasonic detection unit, which are mounted on the robotic arm. The ultrasonic flaw detection unit is used to detect internal damage to the bolts of the suspension column, and the electromagnetic ultrasonic detection unit is used to detect the preload of the nut of the suspension column.

[0018] In one embodiment, the vehicle module has a driver's cab and a control room.

[0019] Effects of the invention: This invention claims a tunnel suspended column inspection system. It uses a positioning module to accurately locate a vehicle module, enabling the module to precisely travel to the inspection position. Subsequently, a visual theodolite is used to detect the column's inclination. A position adjustment module adjusts the visual inspection unit to accurately move to the inspection position and detect any damage to the column's appearance. Through the coordinated operation of the positioning module, position adjustment module, and inspection module, the system achieves integrated automatic positioning, movement, and inspection within the tunnel, improving construction safety and inspection accuracy. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the detection system provided in an embodiment of the present invention from a perspective inside a tunnel; Figure 2 This is a perspective view of a detection system provided in an embodiment of the present invention; Figure 3 This is a magnified view of point P.

[0022] Reference numerals: 100, Detection system; 10, Vehicle body module; 20, Position adjustment module; 21, Robotic arm; 22, Rotation mechanism; 23, Lifting mechanism; 24, Lateral movement mechanism; 30, Detection module; 31, Visual inspection unit; 32, Ultrasonic flaw detection unit; 33, Electromagnetic ultrasonic inspection unit; 200, Hanging column; 300, Tunnel. Detailed Implementation

[0023] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this specification are for illustrative purposes only and do not represent the only possible implementation.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0028] Please see Figures 1 to 3An embodiment of the present invention provides a tunnel suspended column detection system 100. The detection system 100 includes a vehicle module 10, a positioning module, a position adjustment module 20, and a detection module 30. The vehicle module 10 is used to travel along the track extension direction in the tunnel 300. The positioning module is used to locate the position of the vehicle module 10. The position adjustment module 20 is installed on the vehicle module 10 and can rotate and adjust its position in the vertical and horizontal directions. The position adjustment module 20 includes a manipulator 21. The detection module 30 includes a visual theodolite set on the vehicle module 10 and a visual detection unit 31 set on the manipulator 21. The visual theodolite is used to detect the inclination of the suspended column 200 in the tunnel 300, and the visual detection unit 31 is used to detect the appearance of the suspended column 200.

[0029] It is understood that the positioning module accurately positions the vehicle module 10 so that it can precisely drive to the detection position of the suspended column 200. Subsequently, a visual theodolite is used to detect the tilt of the suspended column 200. The position adjustment module 20 adjusts the visual detection unit 31 so that the visual detection unit 31 can accurately move to the detection position and detect whether the appearance of the suspended column 200 is damaged. Through the cooperation of the positioning module, the position adjustment module 20 and the detection module 30, automatic positioning, driving and detection are integrated in the tunnel 300, improving construction safety and detection accuracy.

[0030] In one embodiment, the positioning module includes a data analysis unit capable of receiving engineering data and locating the position of the suspension column 200 based on the engineering data. By configuring the data analysis unit to accurately locate the vehicle module, the detection system 100 gains the ability to precisely locate the vehicle module both inside and outside the tunnel 300, facilitating the positioning and implementation of the optimal path planning.

[0031] The positioning module also includes multiple visual theodolites placed at the entrance of tunnel 300 and inside tunnel 300. It should be noted that there are multiple visual theodolites. Among them, the visual theodolite installed on the vehicle body module 10 is used to detect the tilt of the hanging column 200. The other multiple visual theodolites placed at the entrance of tunnel 300 and inside tunnel 300 can cooperate with the visual theodolite installed on the vehicle body module 10 to locate the moving position of the vehicle body module 10.

[0032] In this embodiment, the engineering data includes CPII, CPIII, and construction drawings. CPII mainly provides a benchmark for surveying and offline engineering; CPIII mainly provides a benchmark for track laying and line maintenance; and the construction drawings provide track path information so that the data analysis unit can plan the optimal path based on the construction drawings, avoid detours, and improve detection efficiency.

[0033] In one embodiment, the detection system 100 further includes a control module with an interlock safety mechanism. The interlock safety mechanism enhances the operational safety of the detection system 100, preventing collisions caused by human error.

[0034] In one embodiment, the control module includes a data storage unit and a data transmission unit. The data storage unit can store the data collected by the detection system 100, and the data transmission unit can transmit the data collected by the detection system 100.

[0035] In one embodiment, the control module includes a remote monitoring unit. Based on a 4G / GSM network, the remote monitoring unit is capable of remotely monitoring the detection system 100 of the suspended column 200 within the tunnel 300 in real time. The development of the remote monitoring unit is based on the 4G / GSM network, centrally integrated into the intelligent construction site management terminal, and simultaneously supports remote real-time monitoring of the device, facilitating equipment maintenance.

[0036] In one embodiment, the control module further includes a remote control unit. The remote control unit is developed based on short-range wireless communication, supports remote control of equipment at the construction site, reduces the labor intensity of on-site construction personnel, and improves construction safety.

[0037] In one embodiment, the position adjustment module 20 includes a rotating mechanism 22, a lifting mechanism 23, a lateral movement mechanism 24, and a robotic arm 21. The rotating mechanism 22 is mounted on the vehicle body module 10. One end of the lifting mechanism 23 is connected to the rotating mechanism 22, and the other end of the lifting mechanism 23 is connected to the lateral movement mechanism 24. The robotic arm 21 is mounted on the lateral movement mechanism 24. The rotating mechanism 22 can drive the lifting mechanism 23 to rotate. The lifting mechanism 23 can extend or retract along its own height direction to drive the lateral movement mechanism 24 and the robotic arm 21 to perform lifting and lowering movements. The robotic arm 21 can also move laterally under the drive of the lateral movement mechanism 24. The robotic arm 21 itself has multiple joints, which can flexibly move and drive multiple functional components at the end of the robotic arm 21 to move. Adjusting the position through the position adjustment module 20 facilitates more accurate detection.

[0038] In one embodiment, the detection module 30 further includes an ultrasonic flaw detection unit 32 and an electromagnetic ultrasonic detection unit 33, which are mounted on the robot arm 21. The ultrasonic flaw detection unit 32 is used to detect internal damage to the bolts of the hanging column 200, and the electromagnetic ultrasonic detection unit 33 is used to detect the preload of the nut of the hanging column 200.

[0039] Among them, the ultrasonic flaw detection unit 32 adopts phased array full-focus 3D real-time imaging, which can intuitively display the internal damage of the bolt. The electromagnetic ultrasonic detection unit 33 adopts the dual-wave method of electromagnetic ultrasonic technology. It utilizes the characteristic that the sound velocity changes with stress when the ultrasonic wave propagates in the bolt. By measuring the time change of the ultrasonic wave propagation in the bolt, the preload of the bolt can be indirectly calculated.

[0040] In one embodiment, the vehicle module 10 has a driver's cab and a control room. The vehicle module 10 is a flatbed vehicle capable of automatic movement and has the function of automatic movement on track sections.

[0041] In addition, based on the ballastless track slab and the spacing between the two lines on site, it is ensured that 200mm hanging columns can be installed within a 4.5m x 4.5m area of ​​the machinery. The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the patent protection scope of the present invention should be determined by the appended claims.

Claims

1. A tunnel suspended column detection system, characterized in that, The detection system includes: The vehicle body module is used to travel along the track extension direction inside the tunnel; A positioning module is used to locate the position of the vehicle body module; A position adjustment module, mounted on the vehicle body module, is rotatable and can adjust its position in both the vertical and horizontal directions. The position adjustment module includes a robotic arm. The detection module includes a visual theodolite mounted on the vehicle body module and a visual detection unit mounted on the robotic arm. The visual theodolite is used to detect the inclination of the suspended column in the tunnel, and the visual detection unit is used to detect the appearance of the suspended column.

2. The tunnel suspended column detection system according to claim 1, characterized in that, The positioning module includes a data analysis unit, which can receive engineering data and locate the position of the suspended column based on the engineering data.

3. The tunnel suspended column detection system according to claim 2, characterized in that, The engineering data includes CPII, CPIII, and construction drawings.

4. The tunnel suspended column detection system according to claim 1, characterized in that, The detection system also includes a control module, which has an interlocking safety mechanism.

5. The tunnel suspension column detection system according to claim 4, characterized in that, The control module includes a data storage unit and a data transmission unit. The data storage unit can store the data collected by the detection system, and the data transmission unit can transmit the data collected by the detection system.

6. The tunnel suspended column detection system according to claim 4, characterized in that, The control module includes a remote monitoring unit, which is based on a 4G / GSM network and can remotely monitor the tunnel column detection system in real time.

7. The tunnel suspended column detection system according to claim 4, characterized in that, The control module also includes a remote control unit.

8. The tunnel suspended column detection system according to claim 1, characterized in that, The position adjustment module includes a rotating mechanism, a lifting mechanism, a lateral movement mechanism, and the robotic arm. The rotating mechanism is installed on the vehicle body module. One end of the lifting mechanism is connected to the rotating mechanism, and the other end of the lifting mechanism is connected to the lateral movement mechanism. The robotic arm is installed on the lateral movement mechanism.

9. The tunnel suspended column detection system according to claim 1, characterized in that, The detection module further includes an ultrasonic flaw detection unit and an electromagnetic ultrasonic detection unit, which are mounted on the robotic arm. The ultrasonic flaw detection unit is used to detect internal damage to the bolts of the suspension column, and the electromagnetic ultrasonic detection unit is used to detect the preload of the nut of the suspension column.

10. The tunnel suspended column detection system according to claim 1, characterized in that, The vehicle module has a driver's cab and a control room.

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