Bridge tunnel construction quality rapid detection device based on laser radar

Abstract

The application provides a kind of bridge and tunnel construction quality rapid detection device based on laser radar, relating to engineering surveying equipment technical field, including fuselage, the both sides of fuselage are symmetrically installed with track, the top of fuselage is fixedly connected with base, first rotary motor is installed on base, the output shaft of first rotary motor is fixedly connected with support, one end of support is installed with second rotary motor, the output shaft of second rotary motor is fixedly connected with electric telescopic arm, third rotary motor is installed on the outer side wall of electric telescopic arm, the output shaft of third rotary motor is fixedly connected with bottom plate, one side of bottom plate is fixedly connected with mounting seat, camera and laser radar array are installed on mounting seat.The application can simultaneously collect high-definition image and obtain three-dimensional point cloud data on the surface of bridge and tunnel structure by setting camera and laser radar array on mounting seat, and realize rapid and high-precision detection of bridge and tunnel construction quality.

Description

Technical Field

[0001] This invention relates to the field of engineering surveying equipment technology, and in particular to a rapid detection device for bridge and tunnel construction quality based on lidar. Background Technology

[0002] As a core component of modern transportation networks, the construction quality of bridges and tunnels directly affects the safety and reliability of transportation systems. With the rapid development of transportation infrastructure construction in my country, the scale and number of bridge and tunnel projects continue to grow, placing higher demands on the efficiency and accuracy of construction quality inspection. However, in actual projects, quality problems frequently occur due to the influence of various factors such as design, construction, materials, and management.

[0003] Currently, bridge and tunnel construction quality inspection mainly relies on traditional manual inspection methods. Regular tunnel inspections often involve visual inspection, mapping damaged lining areas, and taking photographs for subsequent comparison. This traditional post-construction sampling inspection model not only suffers from monitoring delays and missing parameters, but also relies heavily on manual experience, leading to significant human error and a sampling rate of less than 20%, which impacts construction progress and creates safety hazards. Furthermore, the complex structures of bridges and tunnels and the limited inspection space make it difficult for traditional inspection equipment to flexibly reach all inspection points, resulting in numerous blind spots. Existing inspection devices generally suffer from difficulties in adjusting measurement positions and adapting to different inspection angles and heights. Therefore, this paper proposes a rapid bridge and tunnel construction quality inspection device based on lidar. Summary of the Invention

[0004] In view of this, the present invention provides a rapid detection device for bridge and tunnel construction quality based on lidar, so as to solve or alleviate one of the technical problems existing in the prior art, and at least provide a beneficial option.

[0005] The technical solution of this invention is implemented as follows: A rapid detection device for bridge and tunnel construction quality based on lidar includes a body, with tracks symmetrically installed on both sides of the body, a base fixedly connected to the top of the body, a first rotary motor installed on the base, the output shaft of the first rotary motor fixedly connected to a bracket, a second rotary motor installed at one end of the bracket, the output shaft of the second rotary motor fixedly connected to an electric telescopic arm, a third rotary motor installed on the outer wall of the electric telescopic arm, the output shaft of the third rotary motor fixedly connected to two base plates, a mounting base fixedly connected to one side of the base plate, and a camera and a lidar array installed on the mounting base.

[0006] A further preferred embodiment: the device is equipped with a power module and a control module.

[0007] A further preferred embodiment: the camera and lidar array are signal-connected to the control module.

[0008] A further preferred embodiment: a gas storage tank is fixedly connected to one side of the base plate, and gas outlet pipes are connected to both ends of the gas storage tank. An electric valve is installed on the gas outlet pipe, and a connecting pipe is connected to the outer side wall of the gas outlet pipe.

[0009] A further preferred embodiment: an ear seat is fixedly connected to one side of the base plate, and a drive motor is installed on the top of the ear seat.

[0010] A further preferred embodiment: the output shaft of the drive motor is fixedly connected to one end of the fixed shaft, and a connecting plate is fixedly connected to the outer side wall of the fixed shaft.

[0011] A further preferred embodiment: air blowing nozzles are evenly installed on the connecting plate.

[0012] A further preferred embodiment: the air nozzle is connected to the connecting pipe.

[0013] A further preferred embodiment: the control module is electrically connected to the first rotary motor, the second rotary motor, the third rotary motor, the electric valve, and the drive motor.

[0014] The embodiments of the present invention have the following advantages due to the adoption of the above technical solutions: I. This invention utilizes symmetrically mounted tracks on both sides of the machine body, enabling the device to move stably in complex terrain at bridge and tunnel construction sites. It possesses excellent passability and obstacle-crossing capabilities, adapting to various terrain conditions for bridge and tunnel inspection. Multiple rotary motors allow for flexible adjustment of the inspection components with multiple degrees of freedom, enabling comprehensive scanning and inspection of bridge and tunnel structures, thus improving the inspection coverage and flexibility.

[0015] II. This invention, by installing a camera and a lidar array on the mounting base, can simultaneously acquire high-definition images and three-dimensional point cloud data of the bridge and tunnel structure surface. The lidar array can quickly acquire high-precision three-dimensional spatial data, and combined with the image information from the camera, it can identify the location, size, and shape of defects such as lining spalling, cracks, and water leakage, achieving rapid and high-precision detection of bridge and tunnel construction quality.

[0016] Third, this invention uses an air tank, an air outlet pipe, an electric valve, a connecting pipe, and an air blowing nozzle to clean the surface of bridge and tunnel structures by blowing air, removing dust and other attached debris from the detection surface, avoiding interference from debris with the detection accuracy of the lidar and camera, and ensuring the accuracy and reliability of the detection data.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural diagram of the present invention; Figure 2 This is a structural diagram from another perspective of the present invention; Figure 3 This is a structural diagram of the base plate and mounting base of the present invention; Figure 4 This is a structural diagram of the base plate and gas storage tank of the present invention; Figure 5 This is an enlarged structural diagram of the base plate of the present invention.

[0020] Reference numerals: 1. Body; 2. Track; 3. Power module; 4. Control module; 5. Base; 6. First rotary motor; 7. Bracket; 8. Second rotary motor; 9. Electric telescopic boom; 10. Third rotary motor; 11. Base plate; 12. Mounting seat; 13. Camera; 14. LiDAR array; 15. Air tank; 16. Air outlet pipe; 17. Electric valve; 18. Connecting pipe; 19. Ear seat; 20. Drive motor; 21. Fixed shaft; 22. Connecting plate; 23. Air nozzle. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0022] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0023] like Figures 1-5As shown, this embodiment of the invention provides a rapid detection device for bridge and tunnel construction quality based on lidar, including a body 1. The body 1, serving as the load-bearing foundation of the entire device, is made of high-strength metal material and has sufficient structural rigidity to support the upper functional components. Tracks 2 are symmetrically installed on both sides of the body 1. The tracks 2 are made of rubber or metal track plates and consist of built-in drive wheels, guide wheels, and tensioning devices. Driven by a walking motor within the body 1, the device can move smoothly through complex terrain such as gravel, mud, and slopes at bridge and tunnel construction sites, possessing good passability and obstacle-crossing capabilities, and can adapt to the movement needs of uneven road surfaces such as tunnel arches and the area around bridge piers.

[0024] In this embodiment, specifically, a base 5 is fixedly connected to the top of the body 1. The base 5 is a slewing support, on which a first slewing motor 6 is mounted. The first slewing motor 6 is a high-precision servo motor, with its output shaft arranged vertically and fixedly connected to the lower end of the bracket 7. The bracket 7 has an L-shaped or arc-shaped arm structure, with a second slewing motor 8 mounted at one end. The second slewing motor 8 is also a servo motor, with its output shaft arranged horizontally and fixedly connected to the root of the electric telescopic arm 9. Driven by the first slewing motor 6 and the second slewing motor 8, the electric telescopic arm 9 can pitch and swing in the vertical plane, thereby enabling the detection component to perform a wide range of height adjustments from low to high, achieving flexible adjustment of the longitudinal detection position. The electric telescopic arm 9 itself is a multi-stage sleeve-type electric push rod structure, which has a built-in screw and nut transmission pair and a drive motor. Under the command of the control module 4, it can perform telescopic movement along its own axis. The telescopic stroke is designed according to the cross-sectional dimensions of the bridge and tunnel, further expanding the radial working range of the detection component.

[0025] Specifically, a third rotary motor 10 is installed on the outer wall of the electric telescopic boom 9. The output shaft of the third rotary motor 10 is arranged along the axial direction of the electric telescopic boom 9, and its output end is fixedly connected to the base plate 11. The third rotary motor 10 is used to drive the base plate 11 to rotate around its own axis, thereby adjusting the orientation of the detection components on both sides of the base plate 11, so that the camera 13 and the lidar array 14 can be aligned with the surface to be detected of the bridge and tunnel structure at the optimal angle.

[0026] Specifically, a mounting base 12 is fixedly connected to the base plate 11, and each mounting base 12 is equipped with a set of cameras 13 and a lidar array 14. The cameras 13 are industrial-grade high-definition digital cameras with autofocus and low-light enhancement functions, used to collect visible light image information of the bridge and tunnel structure surface, recording the appearance, color, and texture characteristics of defects. The lidar array 14 consists of multiple solid-state lidar units or a multi-line scanning lidar, capable of emitting laser pulses towards the detection surface and receiving echoes, quickly acquiring three-dimensional point cloud data of the detection surface. Its ranging accuracy can reach millimeter level, and the scanning frequency is no less than 100,000 points per second. With a set of cameras 13 and lidar arrays 14 on each side, data can be simultaneously collected from both sides of the bridge and tunnel cross-section, allowing the device to complete a larger scanning coverage after a single positioning, improving detection efficiency, and is particularly suitable for double-sided detection scenarios such as full-section tunnels and double-span bridge piers. Both the camera 13 and the lidar array 14 are connected to the control module 4. The image data and point cloud data collected by the two are transmitted to the control module 4 in real time. The data processing unit built into the control module 4 performs fusion processing and generates a three-dimensional color point cloud model with texture information through point cloud registration and image mapping algorithms. This allows for the accurate identification of the location, geometric size, and spatial distribution of construction quality defects such as lining spalling, crack width, water leakage area, and honeycomb surface defects.

[0027] Specifically, the main body 1 is also equipped with a power module 3 and a control module 4. The power module 3 uses a high-capacity lithium battery pack or an external power interface to provide a stable power supply to all electrical components of the vehicle, and is equipped with overload protection and power monitoring functions. The control module 4 is an embedded industrial computer with built-in memory, processor, and communication interface. It receives detection data from the camera 13 and the lidar array 14, stores preset detection path programs, and outputs control signals to various actuators according to program logic or external remote control commands. The control module 4 can also integrate a wireless communication module, facilitating real-time control and data transmission by operators via handheld terminals or remote monitoring stations.

[0028] Specifically, an air storage tank 15 is fixedly connected to one side of the base plate 11. The air storage tank 15 is a pressure vessel that stores compressed air or inert gas, with a working pressure of 0.4-0.8 MPa. Air outlet pipes 16 are connected to both ends of the air storage tank 15 to discharge the compressed gas inside. An electric valve 17 is installed on the air outlet pipe 16. The electric valve 17 is a normally closed solenoid valve, and its opening degree is controlled by an electrical signal output from the control module 4. When air blowing cleaning is required, the electric valve 17 opens, allowing compressed gas to pass through. A connecting pipe 18 is connected to the outer wall of the air outlet pipe 16. The connecting pipe 18 is a branch pipe used to divert the gas in the air outlet pipe 16 to each air blowing nozzle 23. A lug 19 is also fixedly connected to one side of the base plate 11. The lug 19 is a pair of support lugs with bearing seats, and a drive motor 20 is installed on its top. The output shaft of the drive motor 20 is fixedly connected to one end of the fixed shaft 21. The fixed shaft 21 is a long, cylindrical shaft, with both ends supported on the lugs 19 by bearings. It can reciprocate around its own axis under the drive of the drive motor 20. A connecting plate 22 is fixedly connected to the outer wall of the fixed shaft 21. The connecting plate 22 is an arc-shaped or flat mounting bracket that swings synchronously with the fixed shaft 21. Multiple air-blowing nozzles 23 are evenly installed on the connecting plate 22 along its length. The air inlet of the air-blowing nozzle 23 is connected to the connecting pipe 18 through a hose or quick-connect fitting. Thus, when the electric valve 17 is opened, the compressed gas in the air tank 15 reaches each air-blowing nozzle 23 through the air outlet pipe 16, the electric valve 17, and the connecting pipe 18, and sprays a high-speed airflow onto the detection surface to blow away dust, mud, slurry, and other debris adhering to the detection surface.

[0029] Specifically, before air cleaning, the drive motor 20 drives the connecting plate 22 to swing, so that the air outlets of each air nozzle 23 are precisely aligned with the current field of view of the camera 13 and the lidar array 14. This ensures that the high-speed airflow can be concentrated on the field of view coverage area of ​​the detection components, achieving precise cleaning. When the camera 13 and lidar array 14 are acquiring data, the drive motor 20 drives the connecting plate 22 to swing to a clearance position, so that the air nozzles 23 and their connecting pipes are moved out of the field of view of the camera 13 and the lidar array 14. This avoids physical obstruction or interference to the lens field of view and the laser beam path, thereby ensuring that the acquired image data and point cloud data are complete, clear, and unobstructed. The position switching of the air nozzles 23 in both the cleaning and acquisition stages is automatically controlled by the control module 4 according to a preset timing sequence, without manual intervention.

[0030] Specifically, the control module 4 is electrically connected to the first rotary motor 6, the second rotary motor 8, the third rotary motor 10, the electric valve 17, and the drive motor 20 via signal lines and power lines, respectively. Following a preset detection procedure, control module 4 first controls the first rotary motor 6, the second rotary motor 8, the third rotary motor 10, and the electric telescopic arm 9 to work together to move the detection components on both sides of the base plate 11 to the target detection position and adjust them to the optimal detection posture. Then, it controls drive motor 20 to swing the air nozzle 23 to align with the field of view, and simultaneously opens electric valve 17 to clean the detection surface with air for 2-5 seconds. After cleaning, electric valve 17 is closed, and drive motor 20 is controlled to swing the air nozzle 23 to a clearance position, ensuring that the air nozzle 23 and its piping do not obstruct the field of view of camera 13 and lidar array 14. Then, camera 13 and lidar array 14 are activated to collect data. After data collection, control module 4 controls each rotary motor and electric telescopic arm 9 to move the detection components to the next detection point, repeating the above operations until the scanning of all preset detection paths is completed. The entire process is highly automated, enabling rapid, comprehensive, and accurate on-site inspection of bridge and tunnel construction quality without relying on manual climbing operations.

[0031] In operation, the operator sets the detection parameters through the control module 4. The control module 4 automatically plans the detection path and drives the machine body 1 to move along the track 2 to the first detection point. Upon arrival, the first rotary motor 6, the second rotary motor 8, the third rotary motor 10, and the electric telescopic arm 9 work together to precisely adjust the cameras 13 and the lidar array 14 on both sides of the base plate 11 to the optimal acquisition posture of the target detection surface.

[0032] After positioning is complete, the control module 4 controls the drive motor 20 to swing the connecting plate 22, aligning the air nozzles 23 with the current field of view of the camera 13 and the lidar array 14. Then, the electric valve 17 is opened, and compressed gas from the air tank 15 is delivered to each air nozzle 23 via the air outlet pipe 16 and connecting pipe 18, spraying a high-speed airflow onto the detection surface to remove dust, mud, and other adhering debris for 2-5 seconds. After cleaning, the electric valve 17 is closed, and the drive motor 20 swings in the opposite direction, moving the air nozzles 23 to a position outside the field of view to avoid obstructing the lens and laser beam.

[0033] The cameras 13 and lidar array 14 on both sides are activated simultaneously to collect high-definition images and three-dimensional point cloud data of the detection surface, respectively, and transmit them to the control module 4 in real time. The control module 4 performs fusion processing on the two types of data to generate a three-dimensional color point cloud model with texture information, based on which the location, size and spatial distribution of defects such as lining spalling, cracks, water leakage, and honeycomb surface defects are identified.

[0034] After data acquisition at one location is completed, control module 4 retracts the detection component to a safe position and drives track 2 to the next detection location, repeating the positioning, cleaning, and data acquisition procedures until the entire preset detection path is completed. All data is stored in control module 4 and can be transmitted back or exported in real time via wireless communication module for generating inspection reports. The entire process is automated, requiring no manual work at heights, and can quickly and accurately complete quality inspections in complex environments such as bridges and tunnels.

[0035] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and these should all be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A rapid detection device for bridge and tunnel construction quality based on lidar, comprising a body (1), characterized in that: Tracks (2) are symmetrically installed on both sides of the fuselage (1). A base (5) is fixedly connected to the top of the fuselage (1). A first rotary motor (6) is installed on the base (5). The output shaft of the first rotary motor (6) is fixedly connected to the bracket (7). A second rotary motor (8) is installed at one end of the bracket (7). The output shaft of the second rotary motor (8) is fixedly connected to the electric telescopic arm (9). A third rotary motor (10) is installed on the outer wall of the electric telescopic arm (9). The output shaft of the third rotary motor (10) is fixedly connected to two base plates (11). A mounting seat (12) is fixedly connected to one side of the base plate (11). A camera (13) and a laser radar array (14) are installed on the mounting seat (12).

2. The rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: The fuselage (1) is equipped with a power module (3) and a control module (4).

3. The rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: The camera (13) and the lidar array (14) are connected to the control module (4) via signals.

4. The rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: A gas storage tank (15) is fixedly connected to one side of the base plate (11). Both ends of the gas storage tank (15) are connected to an outlet pipe (16). An electric valve (17) is installed on the outlet pipe (16). A connecting pipe (18) is connected to the outer wall of the outlet pipe (16).

5. A rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: A lug (19) is fixedly connected to one side of the base plate (11), and a drive motor (20) is installed on the top of the lug (19).

6. The rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: The output shaft of the drive motor (20) is fixedly connected to one end of the fixed shaft (21), and a connecting plate (22) is fixedly connected to the outer side wall of the fixed shaft (21).

7. The rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: Air nozzles (23) are evenly installed on the connecting plate (22).

8. The rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: The air nozzle (23) is connected to the connecting pipe (18).

9. A rapid detection device for bridge and tunnel construction quality based on lidar according to claim 1, characterized in that: The control module (4) is electrically connected to the first rotary motor (6), the second rotary motor (8), the third rotary motor (10), the electric valve (17), and the drive motor (20).

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