Tunnel face crack information acquisition device and tunnel water inflow prediction equipment

Abstract

This invention provides a device for collecting information on cracks at the tunnel face and a device for predicting tunnel water inflow. Because the information collection device includes a camera, an adjustment unit for adjusting the orientation of the camera, and a moving unit for moving the adjustment unit and the camera, the device can move within the tunnel construction area and adjust the orientation of the camera to face the tunnel face and capture images, obtaining information about the rock mass at the tunnel face, including information about cracks in the rock mass. In particular, because the camera is mounted on the end joint of the robotic arm, and the movable range of the end joint corresponds to the tunnel diameter, the camera's shooting range can completely cover the tunnel face, collecting relatively more complete information. Due to the moving unit, the device can move accordingly with the tunnel excavation progress, maintaining image capture of the tunnel face. Through this invention, information about the rock mass at the tunnel face can be collected conveniently and efficiently.

Description

Technical Field

[0001] This utility model belongs to the field of data acquisition device technology, specifically relating to a tunnel face crack information acquisition device and a tunnel water inflow prediction device. Background Technology

[0002] In tunnel engineering, the permeability coefficient of the surrounding rock is a key parameter affecting the tunnel's water inflow. Considering the complex and variable geological conditions of the surrounding rock in the tunnel crossing sections, it is necessary to correct and adjust the permeability coefficient calculated earlier based on the surrounding rock information at the tunnel face, so as to facilitate the subsequent prediction and calculation of tunnel water inflow. Accurately correcting the surrounding rock permeability coefficient and accurately predicting the tunnel water inflow based on this is of great significance. Therefore, it is necessary to collect tunnel surrounding rock information.

[0003] Currently, information on tunnel surrounding rock is typically collected manually. In this traditional method, personnel must carry scanners, cameras, and measuring tools into the tunnel construction area. They then need to set markers at the tunnel excavation face and measure these markers to obtain dimensional information about the rock mass at the tunnel face, including the presence and size of any cracks. This manual method is inefficient, time-consuming, and inconvenient to operate in the relatively confined space of the tunnel. Furthermore, prolonged manual measurement and marker setting at the excavation face in the tunnel construction area pose certain safety hazards to the personnel involved. Utility Model Content

[0004] This utility model is designed to solve the above-mentioned problems, and aims to provide an information acquisition device that can more conveniently and efficiently collect information on the rock mass at the tunnel face, as well as a corresponding tunnel water inflow prediction device. The utility model adopts the following technical solution:

[0005] This utility model provides a tunnel face crack information acquisition device for collecting crack information on the rock mass at the tunnel face in a tunnel construction area. The device comprises: a camera unit for photographing the tunnel face; an adjustment unit for adjusting the position and orientation of the camera unit so that it faces the tunnel face; and a moving unit for moving the adjustment unit and the camera unit. The adjustment unit includes a robotic arm, and the camera unit is mounted on the end joint of the robotic arm. The movable range of the end joint corresponds to the diameter of the tunnel.

[0006] The tunnel face crack information acquisition device provided by this utility model may also have the following technical features: the imaging unit includes a high-resolution two-dimensional camera, which is fixed to the end joint of the robotic arm by a fixing component; the resolution of the two-dimensional camera is greater than 20 million pixels; and the robotic arm is a six-axis robotic arm.

[0007] The tunnel face crack information acquisition device provided by this utility model may also have the following technical features: the moving part is an AGV trolley, the adjusting part further includes a base fixed on the body of the AGV trolley, and one end of the robotic arm is fixed on the base.

[0008] The tunnel face crack information acquisition device provided by this utility model may also have the following technical feature: the device further includes a controller disposed on the moving part, used to control the movement of the moving part and the movement of the robotic arm. The controller includes: a control chip connected to the two-dimensional camera for acquiring images captured by the two-dimensional camera; a wireless communication module connected to the control chip for transmitting the images; and multiple drive modules, each connected to the control chip, for driving the moving part and the robotic arm respectively.

[0009] The tunnel face crack information acquisition device provided by this utility model may also have the following technical features: the imaging unit further includes a camera module, which is fixed to the end joint of the robotic arm or the two-dimensional camera by a fixing component; the control chip is also connected to the camera module for acquiring the images it captures; and the wireless communication module is also used to transmit the images.

[0010] The tunnel face crack information acquisition device provided by this utility model may also have the following technical features: the AGV trolley includes multiple wheels, which are either off-road tires or Mecanum wheels.

[0011] The tunnel face crack information acquisition device provided by this utility model may also have the following technical features, wherein the moving part includes an AGV trolley and a lifting platform, the lifting platform is mounted on the body of the AGV trolley, and one end of the robotic arm is fixed on the lifting platform.

[0012] The tunnel face crack information acquisition device provided by this utility model may also have the following technical feature: the lifting height of the lifting platform corresponds to the height of the tunnel.

[0013] This utility model provides a tunnel water inflow prediction device, which has the following technical features: the device includes: a tunnel face crack information acquisition device for collecting information on cracks in the rock mass at the tunnel face in the tunnel construction area; a remote control device for controlling the tunnel face crack information acquisition device; and a calculation and analysis device for obtaining the information from the tunnel face crack information acquisition device and calculating the predicted tunnel water inflow based on the information. The tunnel face crack information acquisition device can be any of the aforementioned tunnel face crack information acquisition devices.

[0014] Functions and effects of utility models

[0015] According to the tunnel face fissure information acquisition device and tunnel water inflow prediction device provided by this utility model, since the information acquisition device has a shooting unit, an adjustment unit (mechanical arm) for adjusting the position and posture of the shooting unit, and a moving unit for moving the adjustment unit and the shooting unit as a whole, the device can move in the tunnel construction area and adjust the posture of the shooting unit to face the tunnel face and take pictures of it, thereby obtaining information on the tunnel face rock mass, including information on fissures in the rock mass. In particular, since the shooting unit is set on the end joint of the mechanical arm, and the movable range of the end joint of the mechanical arm corresponds to the tunnel diameter, the shooting range of the shooting unit can completely cover the tunnel face, thereby collecting relatively more complete information; due to the configuration of the moving unit, the device can move accordingly with the tunnel excavation progress to keep taking pictures of the tunnel face. The tunnel water inflow prediction device can predict the tunnel water inflow based on the acquired information. Through the device and equipment of this utility model, information on the tunnel face rock mass can be collected conveniently and efficiently, and the safety risks of manual measurement methods are avoided. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the tunnel face crack information acquisition device in Embodiment 1 of this utility model;

[0017] Figure 2 This is a structural block diagram of the tunnel water inflow prediction device in Embodiment 1 of this utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the tunnel face crack information acquisition device in Embodiment 2 of this utility model;

[0019] Figure 4 This is a schematic diagram of the tunnel face crack information acquisition device in Embodiment 3 of this utility model.

[0020] Figure label:

[0021] Tunnel water inflow prediction equipment 100; information acquisition device 10; imaging unit 11; two-dimensional camera 111; camera module 112; adjustment unit 12; robotic arm 121; base 122; end joint 1211; moving part 13; vehicle body 131; wheels 132; lifting platform 133; controller 14; remote control device 30; calculation and analysis device 40. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this utility model easy to understand, the following describes in detail the tunnel face crack information acquisition device and tunnel water inflow prediction device of this utility model with reference to the embodiments and accompanying drawings.

[0023] <Example 1>

[0024] Figure 1 This is a schematic diagram of the tunnel face crack information acquisition device in this embodiment.

[0025] like Figure 1 As shown, the tunnel face crack information acquisition device 10 (hereinafter referred to as the information acquisition device 10) of this embodiment is used to acquire images of the tunnel face in the tunnel construction area so as to obtain information on the cracks on the tunnel face. The information acquisition device 10 includes an imaging unit 11, an adjustment unit 12, a moving unit 13, and a controller 14.

[0026] The imaging unit 11 is used to take close-up photos of the tunnel face. In this embodiment, the imaging unit 11 includes a high-resolution digital camera, namely a two-dimensional camera 111, with a resolution of more than 20 million pixels, more preferably more than 40 million pixels.

[0027] The adjustment unit 12 is used to adjust the pose of the imaging unit 11 (2D camera) relative to the tunnel face, so that the imaging unit 11 can better capture images of the tunnel face and capture the entire view of the tunnel face. In this embodiment, the adjustment unit 12 includes a robotic arm 121 and a base 122. The robotic arm 121 can be an existing six-axis industrial robotic arm, with one end fixed to the base 122 and the other end being the end joint 1211 of the robotic arm. The imaging unit 11 (2D camera) is mounted on the end joint 1211 of the robotic arm 121 through a corresponding fixing component, and can move and rotate with the movement of the robotic arm 121, thereby adjusting the distance and / or orientation of the 2D camera relative to the tunnel face. In an alternative embodiment, the end joint 1211 of the robotic arm 121 can also be provided with a clamping component for clamping and fixing the 2D camera 111. The movable range of the end joint 121 of the robotic arm 121 corresponds to the diameter of the target tunnel, for example, 1 / 3 to 1 / 2 of the tunnel diameter.

[0028] The moving part 13 is used to move the shooting part 11 and the adjusting part 12, thereby enabling a wider range of adjustment of the distance between the shooting part 11 and the tunnel face, and allowing the shooting part 11 to move along with the excavation of the tunnel face. In this embodiment, the moving part 13 is an AGV trolley, having a body 131 and multiple wheels 132. The base 121 of the adjusting part 12 (mechanical arm) is fixed to the middle of the upper surface of the body 131 of the moving part 13, thereby enabling the trolley to move the mechanical arm and the two-dimensional camera. Preferably, the wheels 132 are off-road tires or Mecanum wheels, so as to better move in tunnel construction areas with debris, uneven ground, etc.

[0029] Since the robotic arm is relatively heavy, it may extend a long distance from the cart as the robotic arm moves. Therefore, the moving part 13 may optionally include one or more counterweights, which can be fixed to the bottom or side of the cart so that the cart can remain stable even when the robotic arm extends a long distance.

[0030] The controller 14 is fixed to the moving part 13, or it can be placed inside the vehicle body 131. The controller 14 is used to transmit the images captured by the imaging part 11 to a remote device, and to control the movement of the moving part 13 and the pose adjustment of the adjustment part 12 according to the control commands received from the remote device, so that the imaging part 11 is better oriented towards the tunnel face. The controller 14 may include, for example, a control chip, a wireless communication module connected to the control chip, and multiple drive modules connected to the control chip. The wireless communication module can be a 4G or 5G communication module. The control chip is also connected to the imaging part 11 (two-dimensional camera), and can acquire the image data captured by the two-dimensional camera, and send the image data to the remote device through the wireless communication module. According to the received remote control commands, the controller 14 can drive the moving part 13 (cart) to move through the corresponding drive modules, and can drive the adjustment part 12 (robotic arm) to change the position and orientation of the imaging part 11 relative to the tunnel face through the corresponding drive modules. The control chip, wireless communication module, drive module, etc. of the controller 14 can adopt corresponding modules in the prior art, so they will not be described in detail.

[0031] Optionally, the controller 14 can also control the imaging unit 11 according to corresponding remote control commands, such as controlling the 2D camera 111 to capture images or controlling the 2D camera 111 to adjust parameters. Alternatively, the 2D camera 111 can continuously capture images at a predetermined frequency after startup.

[0032] The information acquisition device 10 also includes conventional components such as a battery and a protective housing for the 2D camera.

[0033] Figure 2This is a structural block diagram of the tunnel water inflow prediction device in this embodiment.

[0034] like Figure 2 As shown, the tunnel water inflow prediction device 100 includes the aforementioned information acquisition device 10, remote control device 30, and calculation and analysis device 40. These three can be connected to the same network to achieve wireless communication.

[0035] The remote control device 30 is used to remotely control the information acquisition device 10, that is, to control the movement of the trolley and to control the robotic arm to adjust the position and posture of the two-dimensional camera. For example, it may include a display and control components, such as buttons and joysticks. The display can refresh and show the images captured by the information acquisition device 10 in real time or periodically, so that the operator can know the current position of the information acquisition device 10 and the current posture of the imaging unit 11. Then, the operator can control the moving unit 13 and the adjusting unit 12 through the control components according to the needs of the next shooting step.

[0036] The calculation and analysis device 40 is used to acquire images captured by the information acquisition device 10 and calculate the tunnel water inflow based on the images and a predetermined calculation program. For example, the calculation and analysis device 40 can perform image recognition on the images to identify cracks in the images, and can use digital close-range photogrammetry (DPM) technology to acquire geometric data such as the size and distribution of the cracks. Based on the measured crack distribution and size, the permeability coefficient in the predetermined tunnel drainage and seepage model is corrected, and then the corrected permeability coefficient and other measurement data of the tunnel are substituted into the predetermined tunnel water inflow calculation formula to calculate the predicted tunnel water inflow.

[0037] Both the remote control device 30 and the calculation and analysis device 40 can be corresponding devices in the prior art, so they will not be described in detail here.

[0038] Functions and effects of Example 1

[0039] According to the tunnel face fissure information acquisition device and tunnel water inflow prediction device provided in this embodiment, since the information acquisition device has an imaging unit, an adjustment unit (mechanical arm) for adjusting the position and posture of the imaging unit, and a moving unit for moving the adjustment unit and the imaging unit as a whole, the device can move in the tunnel construction area and adjust the posture of the imaging unit to face the tunnel face and capture images of it, thereby obtaining information about the tunnel face rock mass, including information about fissures in the rock mass. In particular, since the imaging unit is located on the end joint of the mechanical arm, and the movable range of the end joint of the mechanical arm corresponds to the tunnel diameter, the imaging range of the imaging unit can completely cover the tunnel face, thereby acquiring relatively more complete information; due to the presence of the moving unit, the device can move accordingly with the tunnel excavation progress, maintaining the capture of images of the tunnel face. The tunnel water inflow prediction device can predict the tunnel water inflow based on the acquired information. Through the device and equipment of this utility model, information about the tunnel face rock mass can be acquired conveniently and efficiently, while also avoiding the safety risks of manual measurement methods.

[0040] In this embodiment, the imaging unit includes a high-resolution two-dimensional camera, which can capture high-resolution images. Based on the high-resolution images, more accurate crack-related data can be obtained. The robotic arm adopts a six-axis industrial robotic arm, which provides high flexibility and reliability.

[0041] Furthermore, the mobile unit is an AGV (Automated Guided Vehicle) trolley, with the robotic arm fixed in the middle of the trolley. Due to its small size, the AGV trolley is very suitable for narrow tunnel scenarios, allowing it to move flexibly and conveniently within the tunnel as needed. Moreover, the trolley's wheels are equipped with off-road tires or Mecanum wheels, ensuring stable movement even in uneven terrain or with debris in the tunnel construction area.

[0042] <Example 2>

[0043] This embodiment provides a tunnel face crack information acquisition device and a tunnel water inflow prediction device. In this embodiment, the same symbols are assigned to the same constituent elements as in Embodiment 1 and the corresponding descriptions are omitted.

[0044] Compared with Embodiment 1, the difference lies in the structure of the imaging unit 11 in the tunnel face crack information acquisition device 10 of this embodiment.

[0045] Figure 3 This is a schematic diagram of the tunnel face crack information acquisition device in this embodiment.

[0046] like Figure 3As shown, in the information acquisition device 10 of this embodiment, the imaging unit 11 includes a high-resolution two-dimensional camera 111 and a relatively low-resolution conventional camera module 112. The camera module 112 is also fixed to the end joint 1211 of the robotic arm 121 by corresponding fixing components, or fixed to the two-dimensional camera 111. The image resolution of the image captured by the camera module 112 is relatively lower, or the image size is also relatively smaller, but since its relative position with the two-dimensional camera 111 is fixed, the images captured by the two are basically corresponding.

[0047] The camera module 112 is also connected to the control chip of the controller 14. The controller 14 can also acquire the images captured by the camera module 112 and transmit them to the remote control device 30. The operator can then control the device based on the real-time images displayed on the monitor of the remote control device 30.

[0048] In this embodiment, the other structures are the same as in Embodiment 1, so they will not be described again.

[0049] Example 2: Function and Effect

[0050] Based on the function and effect of the tunnel face crack information acquisition device and tunnel water inflow prediction device provided in this embodiment, since the imaging unit also has a low-resolution conventional camera module, the camera module can provide relatively low-resolution real-time images for remote control, so that the operator can better control the position and attitude of the two-dimensional camera, and there is no need to continuously transmit images captured by high-resolution digital cameras in real time, which reduces the system burden.

[0051] <Example 3>

[0052] This embodiment provides a tunnel face crack information acquisition device and a tunnel water inflow prediction device. In this embodiment, the same symbols are assigned to the same constituent elements as in Embodiment 1 and the corresponding descriptions are omitted.

[0053] Compared with Embodiment 1, the difference lies in the structure of the moving part 13 in the tunnel face crack information acquisition device 10 of this embodiment.

[0054] Figure 4 This is a schematic diagram of the tunnel face crack information acquisition device in this embodiment.

[0055] like Figure 4As shown, compared to Embodiment 1, in this embodiment, the information acquisition device 10 includes a lifting platform 133 mounted on the vehicle body 131, with the moving part 13 further comprising the lifting unit 13. The base 121 of the adjusting part 12 is fixed to the middle of the lifting platform 133, and the lifting platform 133 can drive the adjusting part 12 and the imaging part 11 to move up and down. The maximum stroke (maximum liftable height) of the lifting platform 133 corresponds to the height of the target tunnel. For example, when the lifting platform 133 is raised to its highest point and the robotic arm 121 is extended upwards to its highest point, the imaging part 11 is located near the top of the tunnel.

[0056] The lifting platform 133 can adopt the lifting structure in the prior art, such as including a platform plate, multiple lifting guide rods, and a lifting drive mechanism. The lifting guide rods are, for example, telescopic rods or guide rail structures, and the lifting drive mechanism is, for example, a cylinder, a motor, and a lead screw assembly.

[0057] In this embodiment, the other structures are the same as in Embodiment 1, so they will not be described again. Furthermore, the solution in this embodiment can also be combined with the solution in Embodiment 2.

[0058] Functions and effects of Example 3

[0059] Based on the function and effect of the tunnel face crack information acquisition device and tunnel water inflow prediction device provided in this embodiment, since the moving part also includes a lifting platform, it can not only drive the shooting part to move horizontally, but also drive the shooting part to move up and down, so that the shooting range of the shooting part is larger. For example, when the tunnel is high, the shooting part can be moved up and down to a position close to the top of the tunnel, so as to capture the complete tunnel face.

[0060] The above embodiments are merely illustrative of specific implementations of this utility model, and the utility model is not limited to the scope of the above embodiments. Those skilled in the art should understand that the utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are only for illustrating the principles of the utility model. Various changes and modifications can be made to the utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the utility model as claimed. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A tunnel face fracture information acquisition device, used to acquire information on fractures in the rock mass at the tunnel face in the tunnel construction area, characterized in that, include: The camera unit is used to photograph the tunnel face. An adjustment unit is used to adjust the position and orientation of the camera unit so that the camera unit faces the tunnel face; as well as The moving part is used to move the adjusting part and the shooting part. The adjustment unit includes a robotic arm. The camera unit is mounted on the end joint of the robotic arm, and the movable range of the end joint corresponds to the diameter of the tunnel.

2. The tunnel face crack information acquisition device according to claim 1, characterized in that: wherein The imaging unit includes a high-resolution two-dimensional camera, which is fixed to the end joint of the robotic arm by a fixing component. The resolution of the 2D camera is greater than 20 megapixels. The robotic arm is a six-axis robotic arm.

3. The tunnel face crack information acquisition device according to claim 2, characterized in that: wherein The moving part is an AGV (Automated Guided Vehicle). The adjustment unit also includes a base fixed to the body of the AGV, and one end of the robotic arm is fixed to the base.

4. The tunnel face fracture information acquisition apparatus according to claim 3, characterized by Also includes: A controller, mounted on the moving part, is used to control the movement of the moving part and the motion of the robotic arm. The controller includes: A control chip, connected to the 2D camera, is used to acquire images captured by the 2D camera; A wireless communication module, connected to the control chip, is used to transmit the image; and Multiple drive modules are connected to the control chip and are used to drive the moving part and the robotic arm, respectively.

5. The tunnel face crack information acquisition device according to claim 4, characterized in that: wherein, The imaging unit also includes a camera module, which is fixed to the end joint of the robotic arm or the two-dimensional camera by a fixing component. The control chip is also connected to the camera module for acquiring the images it captures. The wireless communication module is also used to transmit the image.

6. The tunnel face crack information acquisition device according to claim 3, characterized in that: wherein, The AGV also includes multiple wheels. The wheels are either off-road tires or Mecanum wheels.

7. The tunnel face crack information acquisition device according to claim 2, characterized in that: wherein The moving part includes an AGV trolley and a lifting platform. The lifting platform is mounted on the body of the AGV, and one end of the robotic arm is fixed to the lifting platform.

8. The tunnel face crack information acquisition device according to claim 7, characterized in that: wherein, The lifting height of the lifting platform corresponds to the height of the tunnel.

9. A tunnel inflow prediction device characterized by comprising: include: The tunnel face crack information acquisition device is used to collect information on cracks in the rock mass at the tunnel face in the tunnel construction area. A remote control device is used to control the tunnel face crack information acquisition device; as well as The calculation and analysis device is used to acquire the information from the tunnel face crack information acquisition device and calculate the predicted tunnel water inflow based on the information. The tunnel face crack information acquisition device is the same as the tunnel face crack information acquisition device according to any one of claims 1-8.

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