Wheel-loaded laser radar-television camera shooting integrated comprehensive intelligent monitoring device

Abstract

The utility model discloses a wheel load laser radar-television camera shooting integrated comprehensive intelligent monitoring device, and relates to the technical field of geotechnical engineering disaster monitoring. The device comprises a wheel type crawler crawling robot and a combined type multifunctional probe assembly which is connected with the front end of the wheel type crawler crawling robot and composed of a high-definition wide-angle camera and a plurality of laser radar probes. The upper portion and the lower portion of the robot are each provided with an equal-width crawler belt, a driving lifting arm capable of lifting and descending is arranged between the upper crawler belt and the lower crawler belt, the front end and the rear end of the lower crawler belt are each of a wheel type structure, and the distance between two wheels at each end is larger than the width of the crawler belt. Two wheels at the front and rear ends of the upper crawler belt and the lower crawler belt respectively form stable triangular structures; a pressure sensor, an attitude sensor and a controller are arranged in the robot; the rear end of the robot is connected to the industrial personal computer through a cable and a cable winch; a wire arrangement part of the cable winch is of a positive and negative spiral wire structure, and a single-layer multi-circle wire twisting mode is adopted; and the industrial personal computer is in communication connection with a special controller in a tunnel main pipe room.

Description

Technical Field

[0001] The utility model belongs to the technical field of geotechnical engineering disaster monitoring, and specifically relates to a wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring device. Background Art

[0002] The number of engineering disasters during the construction of many technically difficult tunnels and roadways is gradually increasing, especially in deep tunnels, where the rock mass has high ground stress and extremely complex geological conditions, which can easily induce engineering geological disasters such as rock bursts, spalling, and landslides. How to obtain rock mass geological information in real time is one of the important links to ensure the smooth construction and safe operation of deep projects.

[0003] Although the two devices provided by the Chinese patent application "Engineering rock drilling fracture, deformation, wave velocity comprehensive intelligent sensing device and method" with document number CN116575854A and the Chinese patent application "A long-term unmanned continuous monitoring device and method for rock hole wall fracture and deformation" with document number CN116626045A can monitor and warn engineering geological disasters well, they still have the following shortcomings during application: 1) The crawling robots in the two devices are double-tracked walking mechanisms. Since the upper and lower tracks are of the same and narrow width, they may deviate or even roll over when crawling, and cannot adapt well to the complex terrain and aperture changes in the rock hole, and cannot complete the monitoring task well. They lack stability during the monitoring process in the hole. 2) The metering method of the two devices is relatively simple, and can only be measured from the cable release position of the cable winch, which cannot avoid the errors that occur during the cable retraction and release process, thereby affecting the measurement accuracy; at the same time, the volume and weight of the winch equipment are large and not conducive to movement and carrying. 3) The integrated intelligent sensing device for rock mass drilling fracture, deformation and wave velocity still requires manual collaboration when monitoring wave velocity, and the work of plugging and injecting water into the borehole and removing the plug is rather cumbersome; at the same time, the wave velocity monitoring data only plays an auxiliary role in the monitoring of fracture and deformation, and is not a necessary means. Utility Model Content

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide a wheel-mounted laser radar-television camera integrated intelligent monitoring device to achieve the optimization and upgrading of the long-term, synchronous, unmanned continuous monitoring equipment for drilling fractures and deformation of engineering rock masses, and meet the higher requirements of integrated intelligent monitoring of multi-information integration.

[0005] The technical solution of the utility model is:

[0006] A wheel-mounted laser radar-television camera integrated intelligent monitoring device, which includes a wheeled crawler robot and a combined multifunctional probe assembly consisting of a high-definition wide-angle camera and multiple laser radar probes connected to its front end;

[0007] The upper and lower parts of the wheeled crawler crawling robot each have a crawler of equal width, a driving lifting arm is provided between the upper and lower crawlers to enable the upper crawler to be lifted and lowered, the front and rear ends of the lower crawler are both wheel structures composed of two self-propelled crawler wheels, and the distance between the two self-propelled crawler wheels at each end is greater than the crawler width, so that the two self-propelled crawler wheels at the front and rear ends of the upper crawler and the lower crawler respectively form a stable triangular structure; a control chamber is provided at the bottom of the lower crawler, and a pressure sensor, a posture sensor, a motor and a controller are built in the control chamber;

[0008] The rear end of the wheeled crawler robot is connected to the industrial computer through a cable and a cable winch; the reeling and unreeling speed of the cable winch matches the travel speed of the wheeled crawler robot; the cable arrangement part of the cable winch is a positive and negative spiral wire structure, and the twisting method is single-layer multi-turn; the cable winch and the industrial computer are both arranged in an equipment cabinet on the tunnel floor; the industrial computer is communicatively connected to a dedicated controller in the tunnel main room.

[0009] Furthermore, according to the wheel-mounted laser radar-television camera integrated intelligent monitoring device, the male end of the quick connector is fixedly installed on the high-definition wide-angle camera, and the female end of the quick connector is fixedly installed on the front end of the wheeled crawler robot; the high-definition wide-angle camera is sealed in a transparent protective cover; the laser radar probe is fixed on the front end of the transparent protective cover.

[0010] Furthermore, according to the wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring device, the high-definition wide-angle camera is equipped with an in-hole lighting lamp and a counterweight.

[0011] Furthermore, according to the wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring device, the winch is an electric winch.

[0012] Furthermore, according to the wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring device, the multiple laser radar probes are 4 laser radar probes to cover a 360° detection range.

[0013] Furthermore, according to the wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring device, the driving lifting arm is composed of three groups of support arms, and the three groups of support arms are lifted and lowered under the drive of the built-in track rollers of the track.

[0014] Furthermore, according to the wheel-mounted laser radar-television camera integrated intelligent monitoring device, the self-propelled track wheel is an outward-turned form with a large outer ring and a small inner ring.

[0015] Furthermore, according to the wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring device, the device has two switchable meter counting modes: one is to start measuring at the cable release position of the cable winch; the other is to start measuring at the drilling hole mouth.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] (1) Improve the double-track crawling robot to a wheeled crawler crawling robot: the front and rear ends of the lower crawler adopt a wheeled structure, and the distance between the two wheels, i.e., the self-propelled crawler wheels, is 4 times the width of the belt. The upper crawler and the self-propelled crawler wheels at the front and rear ends of the lower crawler form a stable triangular structure. By utilizing the principle of stability of the triangle, the crawling robot can crawl without being pressed against the hole and will not tip over. The self-propelled crawler wheels are designed in an outward-flipped form, with a large outer circle and a small inner circle, so that the overall center of gravity of the crawling robot is more concentrated and moves downward, thereby greatly reducing the probability of rollover. When moving, the lower crawler is suspended in the air, reducing the friction between the crawling robot and the inner wall of the borehole, and greatly improving its climbing ability. At the same time, the power of the motor driving the lifting arm is limited to avoid the problem of being stuck in the borehole due to excessive lifting.

[0018] (2) The traditional cable winch is transformed and upgraded into a new type of cable winch: the motor drives the forward and reverse rotation of the cable drum shaft through gear meshing, thereby realizing the winding and releasing of the cable; an electronic component placement frame is provided in the lower part of the cable winch, which acts as the host and can control the power switch, emergency stop, meter switching, etc.; the cable twisting method is changed from the original multi-layer and few turns to a single-layer and many turns, which can greatly reduce the length and width of the cable winch body, and eliminate the reciprocating screw rod and guide rod for arranging the cable. The cable winch is driven by the motor gear direct drive, and the cable winding and releasing rate is more compatible with the crawling robot, and the chain and tension pulley are eliminated. At the same time, the motor with lighter volume and weight is replaced, which greatly reduces the overall weight and volume of the cable drum.

[0019] (3) Two more metering methods have been added: one is to start measuring from the cable release position of the cable winch, and the other is to start measuring from the borehole mouth. The two methods can be switched to maximize measurement accuracy;

[0020] (4) Upgrading and optimizing the monitoring means: optimizing the rupture-deformation-wave velocity monitoring to rupture-deformation monitoring, removing the auxiliary means of wave velocity monitoring, that is, the device does not contain an acoustic emission probe component, and upgrading the deformation and rupture monitoring means to high-precision laser radar and television camera monitoring; while improving the measurement accuracy, it also achieves the goal of eliminating human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a structural schematic diagram of the information acquisition unit in this embodiment;

[0022] Figure 2 is a schematic structural diagram of a combined multifunctional probe assembly according to the present embodiment;

[0023] Figure 3 is a schematic structural diagram of a driving lifting arm of this embodiment;

[0024] Figure 4 1 is a left side view of the wheeled crawler robot of this embodiment;

[0025] Figure 5 is a schematic diagram of the interior of the cable winch of the present embodiment;

[0026] Figure 6 is an external schematic diagram of the cable winch of this embodiment;

[0027] Wherein, the accompanying drawings are described as follows:

[0028] 1-wheeled crawler robot, 2-self-propelled crawler wheel, 3-driven lifting arm, 4-laser module, 5-camera probe, 6-combined multi-functional probe assembly, 7-photoelectric encoder, 8-cable, 9-DC motor, 10-cable winch. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of this application, the following Figure 1-6 The present application is described more fully.

[0030] The wheel-mounted laser radar-television camera integrated intelligent monitoring device of this embodiment includes an information collection unit, an information transmission unit, and an information processing unit.

[0031] like Figure 1 , Figure 2 and Figure 3 As shown, the information acquisition unit includes a wheeled crawler robot 1 and a combined multifunctional probe assembly 6 connected to its front end.

[0032] The wheeled crawler robot 1 has a crawler of equal width at the upper and lower parts, and a driving lifting arm 3 is provided between the upper and lower crawlers to lift and lower the upper crawler. The front and rear ends of the lower crawler are both wheeled structures, and the distance between the two self-propelled crawler wheels 2 at each end is greater than the crawler width. In this embodiment, the distance between the two wheels is 4 times the belt width. The self-propelled crawler wheels at the front and rear ends of the upper crawler and the lower crawler respectively form a stable triangular structure, such as Figure 4As shown, by utilizing the principle of stability of a triangle, the crawling robot can crawl without being pressed against the hole and will not tip over; and the self-propelled track wheels are designed in an outward-flip form, with a large outer circle and a small inner circle, so that the overall center of gravity of the crawling robot is more concentrated and moves downward, thereby greatly reducing the probability of rollover; a control cavity is provided at the bottom of the lower track, and the control cavity has built-in pressure sensors, attitude sensors, motors and controller motherboards.

[0033] The combined multifunctional probe assembly 6 includes a laser module 4 and a high-definition wide-angle camera probe 5; the laser module 4 is composed of four laser radar probes to achieve a detection range covering 360°;

[0034] The male end of the quick connector is fixedly mounted on the high-definition wide-angle camera probe 5, and the female end of the quick connector is fixedly mounted on the front end of the wheeled crawler robot 1; the high-definition wide-angle camera 5 is sealed and installed in a transparent protective cover; the laser module 4 is fixed to the front end of the transparent protective cover of the high-definition wide-angle camera 5 through an adapter. The combined multifunctional probe assembly 6 is connected to the front end of the wheeled crawler robot 1 through a quick connector, and the rear end of the wheeled crawler robot 1 is connected to the cable 8.

[0035] The information transmission unit includes a cable winch 10 and a communication network; an AC-DC power supply is installed on the cable winch 10 and connected to an external UPS; the cable winch 10 is installed with a photoelectric encoder 7, such as Figure 5 As shown, the photoelectric encoder 7 matches the travel speed of the wheeled crawler robot 1; the cable winch 10 is an electric winch, which is equipped with a DC motor 9; the wiring part of the cable winch 10 is a positive and negative spiral wire structure; the cable winch 10 is customized with a special cable 8 and a cable connector.

[0036] The information processing unit includes an industrial computer and a dedicated controller. The industrial computer is installed in a special equipment cabinet and is equipped with a wireless data transmission module. The industrial computer is connected to the cable winch 10 of the information transmission unit by a dedicated cable 8. The industrial computer is remotely connected to the dedicated controller in the tunnel main chamber through the wireless data transmission module; the data generated by the wheeled crawler robot 1 and the combined multifunctional probe assembly 6 are transmitted to the industrial computer through the dedicated cable 8, wherein the data generated by the wheeled crawler robot 1 include the pressure of the control chamber in the wheeled crawler robot 1, the lifting power of the driving lifting arm; the heading angle, pitch angle, roll angle; the travel speed, travel distance, and the cable retraction length. After the industrial computer obtains the data, it is remotely transmitted to the dedicated controller in the tunnel main chamber through wireless transmission, and the dedicated controller collects and analyzes the data. The dedicated controller can set the working time of the device and the data collection method, and the collection method includes but is not limited to timed collection, equal-interval collection, and random collection; the dedicated controller has built-in video collection and analysis software, which can realize real-time display and storage functions; when the dedicated controller detects rock hole defects, it has an early warning function; the dedicated controller can automatically transmit data wirelessly to the work platform. After the data is transmitted to the work platform, professionals will process and analyze the data to obtain monitoring results, such as the increase of rock cracks, the aggravation of deformation, and the trend of instability, which requires timely support pretreatment.

[0037] Furthermore, the driving lifting arm is composed of three groups of arms, which can be lifted and lowered by the three groups of arms under the drive of the conveyor belt rollers built into the crawler. The pressure sensor and attitude sensor built into the control chamber of the wheeled crawler robot 1 detect the complex terrain in the borehole in real time, and use a three-support mechanism to adapt to the changes in the borehole diameter and terrain;

[0038] Furthermore, the driving lifting arm 3 is acted upon by the rear end top block, so that each arm forms a certain expansion angle under the action of force, so that the self-propelled track wheel always keeps close contact with the hole wall, so that the wheeled crawler robot 1 keeps balance when moving forward;

[0039] Furthermore, the high-definition wide-angle camera 5 is installed in a transparent sealed protective cover, and the high-definition wide-angle camera 5 is equipped with an in-hole lighting lamp and a counterweight, so that after entering the borehole, the forward shooting direction of the high-definition wide-angle camera 5 can be ensured to be always perpendicular to the direction of the earth's plumb line;

[0040] Furthermore, the laser module 4 is fixed to the front end of the transparent protective cover of the high-definition wide-angle camera 5 through an adapter. The laser module 4 is composed of four laser radar probes and can be rotated 360° to measure without dead angles, so as to obtain comprehensive and accurate geological information in the hole;

[0041] Furthermore, there are two ways of measuring meters: one is to start measuring from the cable release position of the cable winch; the other is to start measuring at the drilling mouth; the two ways are switchable.

[0042] Furthermore, the cable winch 10 is driven by a motor gear direct drive, specifically, the gear meshing of the DC motor 9 drives the reel shaft to rotate forward and reverse, thereby realizing the winding and unwinding of the line. At the same time, an electronic component placement frame is provided in the lower part of the cable winch 10, which acts as a host and can control the power switch, emergency stop, meter counting mode switching, etc.

[0043] Furthermore, the cable twisting method is single-layer multi-turn, such as Figure 6 As shown, in this embodiment, the cable is arranged in a single layer with multiple turns of 18 meters, and the cable winch is driven by a motor gear direct drive to rotate, so that the cable retraction and release rate is more compatible with the wheeled crawler robot 1, while greatly reducing the size and weight of the equipment.

[0044] The wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring method using the above-mentioned wheel-mounted laser radar-television camera integrated comprehensive intelligent monitoring device comprises the following steps:

[0045] Step 1: drilling a hole on the tunnel side wall, then laying a plurality of cable guide pulleys in the height direction on the tunnel side wall directly below the hole, then installing an equipment cabinet on the tunnel floor directly below the hole, and then installing an industrial computer and a cable winch 10 in the equipment cabinet;

[0046] Step 2: Connect one end of the cable 8 to the rear end of the wheeled crawler robot 1, connect the other end of the cable 8 to the industrial computer through the cable winch 10, and then install the combined multifunctional probe assembly 6 to the front end of the wheeled crawler robot 1;

[0047] Step 3: Turn on the power supply, debug the industrial computer, the wheeled crawler robot 1 and the combined multifunctional probe assembly 6 to ensure that they work properly, and ensure that the industrial computer can be remotely connected to the dedicated controller in the tunnel main room normally;

[0048] Step 4: Place the wheeled crawler robot 1 equipped with the combined multifunctional probe assembly 6 into the borehole, and the dedicated controller sends instructions to the controller built into the control chamber to control the driving lifting arm 3 on the wheeled crawler robot 1 to expand radially until the wheeled crawler robot 1 is stably supported on the borehole wall by friction;

[0049] Step 5: The dedicated controller in the tunnel main room remotely sends a monitoring start command to the controller built in the control chamber. After receiving the command, the controller built in the control chamber drives the wheeled crawler robot 1 to start moving forward at a uniform speed along the borehole axis. During the movement, the high-definition wide-angle camera 5 is used to monitor the borehole fracture. When the wheeled crawler robot 1 is about to move to the bottom of the hole, the dedicated controller determines that the wheeled crawler robot 1 has reached the end point based on the image sent back by the industrial computer, and then sends a stop command to the controller built in the control chamber. The wheeled crawler robot 1 stops moving forward, and the acquisition of the borehole fracture image information is completed; at this time, the laser module 4 is started to start monitoring the borehole deformation. The dedicated controller sends a command to the controller built in the control chamber through the industrial computer to control the wheeled crawler robot 1 to retreat. When it reaches the hole mouth, the monitoring information acquisition is completed;

[0050] Step 6: The dedicated controller sends instructions to the controller built into the control chamber through the industrial computer to control the driving lifting arm of the wheeled crawler robot 1 to retract radially, release the support between the wheeled crawler robot 1 and the borehole wall, and then move the wheeled crawler robot 1 together with the combined multifunctional probe assembly 6 out of the borehole. Finally, the dedicated controller in the tunnel main chamber analyzes and processes the collected data.

[0051] It should be understood that, inspired by the technical concept of the present invention, those skilled in the art may make various improvements or changes based on the above content without departing from the content of the present invention, which still fall within the protection scope of the present invention.

Claims

1. Wheel-mounted laser radar-television camera integrated intelligent monitoring device, characterized in that: The device comprises a wheeled crawler robot and a combined multifunctional probe assembly consisting of a high-definition wide-angle camera and a plurality of laser radar probes connected to its front end; The upper and lower parts of the wheeled crawler crawling robot each have a crawler of equal width, a driving lifting arm is provided between the upper and lower crawlers to enable the upper crawler to be lifted and lowered, the front and rear ends of the lower crawler are both wheeled structures, and the distance between the two wheels at each end is greater than the width of the crawler, so that the two wheels at the front and rear ends of the upper crawler and the lower crawler respectively form a stable triangular structure; a control chamber is provided at the bottom of the lower crawler, and the control chamber has a built-in pressure sensor, a posture sensor and a controller; The rear end of the wheeled crawler robot is connected to the industrial computer through a cable and a cable winch; the reeling and unreeling speed of the cable winch matches the travel speed of the wheeled crawler robot; the cable arrangement part of the cable winch is a positive and negative spiral wire structure, and the twisting method is single-layer multi-turn; the cable winch and the industrial computer are both arranged in an equipment cabinet on the tunnel floor; the industrial computer is communicatively connected to a dedicated controller in the tunnel main room.

2. The wheel-mounted laser radar-television camera integrated intelligent monitoring device according to claim 1 is characterized in that: The male end of the quick connector is fixedly mounted on the high-definition wide-angle camera, and the female end of the quick connector is fixedly mounted on the front end of the wheeled crawler robot; the high-definition wide-angle camera is sealed and installed in a transparent protective cover; the laser radar probe is fixed on the front end of the transparent protective cover.

3. The wheel-mounted laser radar-television camera integrated intelligent monitoring device according to claim 1 is characterized in that: The high-definition wide-angle camera is equipped with an in-hole lighting lamp and a counterweight.

4. The wheel-mounted laser radar-television camera integrated intelligent monitoring device according to claim 1 is characterized in that: The winch is an electric winch.

5. The wheel-mounted laser radar-television camera integrated intelligent monitoring device according to claim 1 is characterized in that: The multiple laser radar probes are 4 laser radar probes to cover a 360° detection range.

6. The wheel-mounted laser radar-television camera integrated intelligent monitoring device according to claim 1 is characterized in that: The driving lifting arm is composed of three groups of supporting arms, and the three groups of supporting arms are lifted and lowered under the drive of the built-in track rollers of the track.

7. The wheel-mounted laser radar-television camera integrated intelligent monitoring device according to claim 1 is characterized in that: The wheel is in an outward-turned form with a large outer ring and a small inner ring.

8. The wheel-mounted laser radar-television camera integrated intelligent monitoring device according to claim 1 is characterized in that: The device has two switchable meter counting modes: one is to start measuring at the cable release position of the cable winch; the other is to start measuring at the borehole mouth.

Images