CN105511463A - Railway tunnel lining detection system - Google Patents
Railway tunnel lining detection system Download PDFInfo
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- CN105511463A CN105511463A CN201510863729.6A CN201510863729A CN105511463A CN 105511463 A CN105511463 A CN 105511463A CN 201510863729 A CN201510863729 A CN 201510863729A CN 105511463 A CN105511463 A CN 105511463A
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- climbing robot
- tunnel lining
- railway tunnel
- vacuum cup
- detection system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention provides a railway tunnel lining detection system, and the system comprises a detection device, an auxiliary device, and a ground moving device. The detection device comprises a wall-climbing robot and a geological radar, wherein the geological radar is disposed at a belly part of the wall-climbing robot. The auxiliary device is placed on the ground moving device, and the ground moving device can follow the detection device to move. The system provided by the invention can effectively avoid an obstacle during detection, and improves the work efficiency.
Description
Technical field
The present invention relates to railway tunnel lining detection technique field, in particular to a kind of railway tunnel lining detection system.
Background technology
Railway tunnel lining sets up along the railway tunnel wall of excavation, in order to prevent surrouding rock deformation and stratum landslide, and stops the buildings of underground water seepage.The detected object of railway tunnel lining comprises tunnel vault, haunch and abutment wall.In order to ensure railway operation safety, railroader needs regularly to check railway tunnel lining.
Present stage is mostly adopt tunnel state inspection trolley to detect railway tunnel lining, and railway tunnel status checking car utilizes five mechanical arm carrying geological radars to be stretched over target location, detects afterwards with travelled by vehicle.
But, in the process detected, when running into the barrier such as contact net and support, the position of continuous adjusting mechanical arm is needed to carry out avoiding obstacles, in the process of adjusting mechanical arm, owing to being subject to the control accuracy of mechanical arm, sensitivity and the impact of response time, need repeatedly to stop adjusting mechanical arm, this just causes work efficiency low, and especially for the high ferro tunnel that the barriers such as direction of travel contact net and support are comparatively complicated, work efficiency is low especially.
Summary of the invention
In view of this, the invention provides a kind of railway tunnel lining detection system, for solving in prior art, needing parking adjusting mechanical arm when running into barrier in testing process and the low problem of the work efficiency caused.
First aspect, embodiments provides a kind of railway tunnel lining detection system, comprising: pick-up unit, servicing unit and ground mobile device;
Described pick-up unit comprises climbing robot and geological radar, and described geological radar is arranged on the belly of described climbing robot;
Described servicing unit is placed on described ground mobile device, and described ground mobile device can be followed described pick-up unit and be moved.
In conjunction with first aspect, embodiments provide the first possible implementation of above-mentioned first aspect, wherein, described climbing robot comprises cross frame walking structure;
Described cross frame walking structure comprises cross bar and montant, for being slidably connected between described cross bar and described montant.
In conjunction with the first possible implementation of first aspect, embodiments provide the implementation that the second of above-mentioned first aspect is possible, wherein, the two ends of described cross bar and described montant are all provided with vacuum cup, and described vacuum cup is provided with pipe interface.
In conjunction with the implementation that the second of first aspect is possible, embodiments provide the third possible implementation of above-mentioned first aspect, wherein, described vacuum cup is provided with sensor.
In conjunction with first aspect, embodiments provide the 4th kind of possible implementation of above-mentioned first aspect, wherein, described geological radar top is provided with illuminating lamp and camera.
In conjunction with first aspect, embodiments provide the 5th kind of possible implementation of above-mentioned first aspect, wherein, described servicing unit comprises vacuum pump, power supply and computing machine;
Described vacuum pump is connected by gas circuit with the pipe interface on vacuum cup;
Described power supply is electrically connected with described pick-up unit;
Described computing machine respectively with described geological radar, sensor and camera wireless connections, receive described geological radar transmission detection data, receive the vacuum cup adsorbed state data of described sensor transmissions, receive the image of described thecamera head.
In conjunction with first aspect, embodiments provide the 6th kind of possible implementation of above-mentioned first aspect, wherein, described railway tunnel lining detection system also comprises telepilot, described telepilot and described climbing robot wireless connections, to control the movement of described climbing robot.
In conjunction with first aspect, embodiments provide the 7th kind of possible implementation of above-mentioned first aspect, wherein, described climbing robot tail end is provided with transversal stretching bar, and described transversal stretching bar is provided with dish coil holder.
In conjunction with first aspect, embodiments provide the 8th kind of possible implementation of above-mentioned first aspect, wherein, described ground mobile device is provided with transversal stretching bar, described transversal stretching bar is provided with dish coil holder.
In conjunction with first aspect, embodiments provide the 9th kind of possible implementation of above-mentioned first aspect, wherein, described climbing robot is provided with catch net.
Railway tunnel lining detection system provided by the invention, comprise pick-up unit, servicing unit and ground mobile device, pick-up unit comprises climbing robot and geological radar, geological radar is arranged on the belly of climbing robot, detected by the movement of climbing robot, and servicing unit is placed on ground mobile device, ground mobile device is followed pick-up unit and is moved, the weight of climbing robot can be alleviated, make climbing robot lighter, be convenient to manipulation, can effective avoiding obstacles, improve work efficiency.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows the structural representation of a kind of railway tunnel lining detection system that the embodiment of the present invention provides;
Fig. 2 shows the cross frame walking structure schematic diagram of climbing robot in a kind of railway tunnel lining detection system that the embodiment of the present invention provides;
Fig. 3 shows the relation schematic diagram of the dish coil holder in a kind of railway tunnel lining detection system that the embodiment of the present invention provides on climbing robot and the dish coil holder on ground mobile device.
Accompanying drawing 1 description of symbols:
Climbing robot 100, geological radar 110, servicing unit 120, ground mobile device 130;
Accompanying drawing 2 description of symbols:
Cross bar 101, montant 102;
Accompanying drawing 3 description of symbols:
First expansion link 301, second expansion link 302, first dish coil holder 303, second coils coil holder 304, handle 305.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Consider in prior art, railway tunnel status checking car is adopted to detect railway tunnel lining, when running into the barrier such as contact net and support, the position of continuous adjusting mechanical arm is needed to carry out avoiding obstacles, and in the process of adjusting mechanical arm, owing to being subject to the control accuracy of mechanical arm, sensitivity and the impact of response time, needing repeatedly to stop adjusting mechanical arm, thus cause work efficiency low.Based on this, embodiments provide a kind of railway tunnel lining detection system.Be described below by embodiment.
Embodiment
Embodiments provide a kind of railway tunnel lining detection system.Wherein, railway tunnel lining builds along the railway tunnel wall of excavation, in order to prevent surrouding rock deformation and stratum landslide, and stops the buildings of groundwater seepage.The detected object of railway tunnel lining comprises tunnel vault, haunch and abutment wall.And railway tunnel lining detection detects mainly for railway tunnel lining inside, mainly comprise lining thickness, reinforcing bar distribution, behind compaction rate and cavity etc.When quality problems appear in railway tunnel lining, the normal operation of railway may be affected, time serious, tunnel accident dangerous situation may be caused, therefore need to carry out regularly, accurately detecting to railway tunnel lining.
As shown in Figure 1, the railway tunnel lining detection system that the embodiment of the present invention provides, comprising: pick-up unit, servicing unit 120 and ground mobile device 130;
Pick-up unit comprises climbing robot 100 and geological radar 110, and geological radar 110 is arranged on the belly of climbing robot 100;
Above-mentioned servicing unit 120 is placed on ground mobile device 130, and this ground mobile device 130 can be followed pick-up unit and be moved.
Climbing robot 100 can be creeped on wall, therefore geological radar 110 is placed on the belly of climbing robot 100, and geological radar 110 can move along with climbing robot 100 and detect on tunnel-liner tested surface.
Geological radar 110 is abbreviations of Underground material radar, the antenna of the geological radar 110 that the embodiment of the present invention adopts comprises emitting antenna and receiving antenna, above-mentioned emitting antenna and receiving antenna are built-in aerial, the main frame of emitting antenna and receiving antenna and geological radar 110 is combined together, when detecting tunnel-liner, geological radar 110 can to tunnel-liner tested surface electromagnetic signals by emitting antenna, this electromagnetic wave signal is in the inside of tunnel-liner tested surface and can reflect behind, produce echoed signal, geological radar 110 can receive this echoed signal by receiving antenna, and this echoed signal is changed into digital quantity signal, and this digital quantity signal is transferred to computing machine, this digital quantity signal can be saved as detection data by such staff, and by computer software, Treatment Analysis is carried out to these detection data.Connection between above-mentioned geological radar 110 and computing machine is wireless connections, above-mentioned digital quantity signal can be transferred to computing machine by wireless network by geological radar 110, this wireless network can be Wi-Fi (Wireless-Fidelity, Wireless Fidelity).
Above-mentioned climbing robot 100 is a kind of automatic machinery people that can climb movement on wall, smaller and more exquisite, flexible, can move, and effectively can avoid the barrier on tunnel, therefore can also be used for the detection of high ferro tunnel-liner in tunnel-liner.The size of climbing robot 100 can be 0.8m × 0.8m, and the embodiment of the present invention just gives above-mentioned climbing robot 100 wherein a kind of size, and the embodiment of the present invention does not limit the size of above-mentioned climbing robot 100.
Geological radar 110 is arranged on the belly of climbing robot 100, follows climbing robot 100 moving and detecting on tested surface, wherein, geological radar 110 remains within 5cm with the distance of tested surface, and the quality of data detected like this is best.
When pick-up unit starts to detect tested surface, can have two kinds of modes, one is that distance triggers, and one is time triggered.
So-called distance triggers, and is also called displacement and triggers, as long as climbing robot 100 moves at the beginning, geological radar 110 will electromagnetic signals, starts to detect.
So-called time triggered, then controlled by instruction, as long as send the command signal starting to detect to geological radar 110, after geological radar 110 receives this command signal, will electromagnetic signals, and start to detect.
In embodiments of the present invention, both can adopt time triggering mode, also can adopt distance triggering mode, staff according to the road conditions of tested surface, can select suitable triggering mode.
In order to alleviate the weight of pick-up unit, can be placed on ground mobile device 130 by above-mentioned servicing unit 120, in time detecting, ground mobile device 130 can move along with the movement of pick-up unit.
Above-mentioned ground mobile device 130 can be ground small handcart.
The railway tunnel lining detection system that the embodiment of the present invention provides, geological radar is arranged on climbing robot, can moving of climbing robot be followed by and detect, and servicing unit is placed on ground mobile device, follows pick-up unit and move, the weight of climbing robot can be alleviated, make climbing robot lighter, be convenient to manipulation, effectively can avoid the barrier on tunnel, improve work efficiency.
Wherein, above-mentioned climbing robot 100 can comprise cross frame walking structure.
As shown in Figure 2, above-mentioned cross frame walking structure comprises cross bar 101 and montant 102, for being slidably connected between cross bar 101 and montant 102.
Walking structure is that climbing robot 100 is used for creeping a kind of structure of movement, what the walking structure of the climbing robot 100 in the embodiment of the present invention adopted is cross frame walking structure, this structure comprises cross bar 101 and montant 102, for being slidably connected between cross bar 101 and montant 102, that is contact between cross bar 101 with montant 102, but do not fix, and can relative sliding between cross bar 101 and montant 102, such cross bar 101 can alternately travel forward with montant 102, and then realizes moving ahead of climbing robot 100.
In addition, above-mentioned cross bar 101 can also rotate with montant 102, when carrying out railway tunnel lining and detecting, generally the angle between cross bar 101 and montant 102 is arranged in 90 °, when railway tunnel 3 in Curve Segment being detected, can rotary bar 101 and montant 102, make climbing robot 100 change direction along with the bending of railway tunnel.
The two ends of above-mentioned cross bar 101 and montant 102 are all provided with vacuum cup, and this vacuum cup is provided with pipe interface.
What this vacuum cup adopted is that the mode of negative pressure of vacuum is adsorbed on railway tunnel lining tested surface, and so-called negative pressure is then lower than an atmospheric gaseous tension state.Pipe interface on above-mentioned vacuum cup is connected with vacuum pump by gas circuit, air in vacuum cup can be taken away by vacuum pump, thus make vacuum cup inside form a vacuum state, now, the air pressure of vacuum cup inside is atmospheric lower than outside, therefore vacuum cup can be adsorbed onto on tested surface, and the vacuum tightness in vacuum cup is higher, and that then pastes between vacuum cup and tested surface is tighter.
Be provided with vacuum cup at the two ends of above-mentioned cross bar 101 and the two ends of montant 102, siphoned away the air in vacuum cup by vacuum pump, can vacuum cup is adsorbed on tested surface, carry out climbing robot 100 is adsorbed on tested surface.
Can better be adsorbed on tested surface to make climbing robot 100, multiple vacuum cup can be set in every one end in the two ends of the two ends of cross bar 101 and montant 102, such as, the every one end in the two ends of the two ends of cross bar 101 and montant 102 can arrange 3 or 5 vacuum cups.Certainly, above-mentioned multiple any number for being greater than 1, the embodiment of the present invention does not limit the concrete numerical value of above-mentioned multiple vacuum cup.
What the edge of the vacuum cup in the embodiment of the present invention adopted is soft silica gel sealing film, this soft silica gel sealing film has certain deformability, make like this when more coarse on tested surface or there is less hole recess time, the edge of above-mentioned vacuum cup also can be fitted on tested surface well, edge is prevented to occur gap and leak gas, the adsorbability of vacuum cup on tested surface can be strengthened, make climbing robot 100 be not easy to fall down.
The pipe interface that above-mentioned vacuum cup is arranged, can be used for connecting gas circuit, the other end of gas circuit is then connected with vacuum pump, for extracting the air in vacuum cup out, making to keep vacuum state in vacuum cup, realizing the absorption of vacuum cup.
Above-mentioned vacuum cup is also provided with sensor.
The sensor can detect the adsorbed state information between vacuum cup and tested surface, and be that adsorbed state data are transferred to computing machine by this adsorbed state convert information, such staff can observe the adsorbed state of vacuum cup by computing machine, and then can know the adsorbed state of climbing robot 100 at any time.
Wherein, above-mentioned railway tunnel lining detection system also comprises telepilot, and this telepilot and climbing robot 100 wireless connections, to control the movement of climbing robot 100.
Above-mentioned telepilot is provided with transmitter module, by transmitter module to climbing robot 100 emission instruction signal, after climbing robot 100 receives the command signal of telepilot transmitting, can carry out corresponding action according to this command signal.
When climbing robot 100 needs to move forward, first staff closes the vacuum pump be connected with the vacuum cup on cross bar 101 two ends, and open air intake opening, in above-mentioned vacuum cup, be filled with air, thus the vacuum cup on cross bar 101 two ends is come off from tested surface, pass through telepilot afterwards, the command signal that cross bar 101 moves forward is sent to climbing robot 100, after climbing robot 100 receives this command signal, can move forward, after mobile certain distance, staff sends the command signal stopping movement to climbing robot 100 by telepilot, after climbing robot 100 receives this command signal, then stop mobile, then staff sends the command signal of cross bar 101 decline to climbing robot 100 by telepilot, the cross bar 101 of climbing robot 100 is dropped to contact with tested surface, after the cross bar 101 of climbing robot 100 drops to and contacts with tested surface, then staff sends the command signal stopping declining to climbing robot 100 by telepilot, close the air intake opening in the gas circuit be connected with the vacuum cup on cross bar 101 two ends afterwards, open the vacuum pump be connected with the vacuum cup on cross bar 101 two ends simultaneously and extract air in above-mentioned vacuum cup, above-mentioned vacuum cup is made to be adsorbed on tested surface, at this moment, the adsorbed state information of above-mentioned vacuum cup can be detected by sensor, this adsorbed state information can be the vacuum tightness in vacuum cup, vacuum tightness in the vacuum cup detected is transferred to computing machine by sensor, after vacuum tightness reaches the value that vacuum cup can adsorb, computing machine can send prompting, staff is pointed out to carry out next step operation, if staff does not make next step operation, this prompting can be carried out always, until staff makes next step operation, if the vacuum tightness in vacuum cup does not also reach the value that vacuum cup can adsorb, and staff just starts the operation carrying out next step, so computing machine can give the alarm, and stops staff to carry out next step operation,
When computing machine sends prompting, after prompting staff carries out next step operation, staff then closes the vacuum pump be connected with the vacuum cup on montant 102 two ends, and open air intake opening, air is filled with in this vacuum cup, thus the vacuum cup on montant 102 two ends is come off from tested surface, afterwards, send to climbing robot 100 command signal that montant 102 moves forward by telepilot, after climbing robot 100 receives this command signal, can move forward, then stop mobile when moving to the position that montant 102 before cross bar 101 moves contacts with cross bar 101, then staff sends the command signal of montant 102 decline to climbing robot 100 by telepilot, the montant 102 of climbing robot 100 is dropped to contact with tested surface, after the montant 102 of climbing robot 100 drops to and contacts with tested surface, then staff sends the command signal stopping declining to climbing robot 100 by telepilot, close the air intake opening of the gas circuit be connected with the vacuum cup on montant 102 two ends afterwards, open the vacuum pump be connected with the vacuum cup on montant 102 two ends simultaneously and extract air in this vacuum cup, this vacuum cup is adsorbed on tested surface.Now, climbing robot 100 completes and moves forward.
The movement of above-mentioned climbing robot 100 can also be realized by following manner:
When climbing robot 100 needs to move forward, first staff closes the vacuum pump be connected with the vacuum cup on cross bar 101 two ends, and open air intake opening, in above-mentioned vacuum cup, be filled with air, thus the vacuum cup on cross bar 101 two ends is come off from tested surface, pass through telepilot afterwards, the command signal that cross bar 101 moves forward is sent to climbing robot 100, the instruction that the cross bar 101 that can comprise climbing robot 100 in this command signal moves forward and the distance moved forward, after climbing robot 100 receives this command signal, then move forward the distance specified in this command signal, after completing the distance that this command signal specifies, cross bar 101 stops mobile, then staff sends the command signal of cross bar 101 decline to climbing robot 100 by telepilot, the cross bar 101 of climbing robot 100 is dropped to contact with tested surface, after the cross bar 101 of climbing robot 100 drops to and contacts with tested surface, then staff sends the command signal stopping declining to climbing robot 100 by telepilot, close the air intake opening in the gas circuit be connected with the vacuum cup on cross bar 101 two ends afterwards, open the vacuum pump be connected with the vacuum cup on cross bar 101 two ends simultaneously and extract air in above-mentioned vacuum cup, above-mentioned vacuum cup is made to be adsorbed on tested surface, at this moment, the adsorbed state information of above-mentioned vacuum cup can be detected by sensor, this adsorbed state information can be the vacuum tightness in vacuum cup, vacuum tightness in the vacuum cup detected is transferred to computing machine by sensor, after vacuum tightness reaches the value that vacuum cup can adsorb, computing machine can send prompting, staff is pointed out to carry out next step operation, if staff does not make next step operation, this prompting can be carried out always, until staff makes next step operation, if the vacuum tightness in vacuum cup does not also reach the value that vacuum cup can adsorb, and staff just starts the operation carrying out next step, so computing machine can give the alarm, and stops staff to carry out next step operation,
When computing machine sends prompting, after prompting staff carries out next step operation, staff then closes the vacuum pump be connected with the vacuum cup on montant 102 two ends, and open air intake opening, air is filled with in this vacuum cup, thus the vacuum cup on montant 102 two ends is come off from tested surface, afterwards, send to climbing robot 100 command signal that montant 102 moves forward by telepilot, the instruction that the montant 102 that can comprise climbing robot 100 in this command signal moves forward and the distance moved forward, and the distance that this Distance geometry cross bar 101 moves forward is identical, after climbing robot 100 receives this command signal, the distance specified in this command signal can be moved forward, after montant 102 has moved the distance specified in this command signal, montant 102 stops mobile, then staff sends the command signal of montant 102 decline to climbing robot 100 by telepilot, the montant 102 of climbing robot 100 is dropped to contact with tested surface, after the montant 102 of climbing robot 100 drops to and contacts with tested surface, then staff sends the command signal stopping declining to climbing robot 100 by telepilot, staff closes the air intake opening of the gas circuit be connected with the vacuum cup on montant 102 two ends afterwards, open the vacuum pump be connected with the vacuum cup on montant 102 two ends simultaneously and extract air in this vacuum cup, this vacuum cup is adsorbed on tested surface.Now, climbing robot 100 completes and moves forward.
The maximal rate that climbing robot 100 in the embodiment of the present invention moves forward can reach 0.5m/s.
The top of the geological radar in the railway tunnel lining detection system that the embodiment of the present invention provides can also arrange illuminating lamp and camera.
When using pick-up unit to detect railway tunnel lining, can be illuminated the wall in climbing robot 100 front by illuminating lamp, the wall status information in front can be taken into picture by above-mentioned camera simultaneously, is transferred to computing machine.
Wherein, in order to reduce the connection between pick-up unit and computing machine, the connection between above-mentioned camera and computing machine is wireless connections, and this radio connection can connect for Wi-Fi.
Above-mentioned servicing unit 120 can comprise vacuum pump, power supply and computing machine;
Wherein, vacuum pump is connected by gas circuit with the pipe interface on vacuum cup;
Above-mentioned power supply is electrically connected with pick-up unit;
Computing machine respectively with geological radar 110, sensor and camera wireless connections, receive the detection data that geological radar 110 transmits, the sucker suction status data of receiving sensor transmission, receives the image of thecamera head.
Above-mentioned vacuum pump is connected by gas circuit with the vacuum cup on the vacuum cup on cross bar 101 two ends and montant 102 two ends, the air in above-mentioned vacuum cup can be pumped, thus make vacuum cup be adsorbed on tested surface, simultaneously, air intake opening can also be passed through, in above-mentioned vacuum cup, be filled with air, this vacuum cup is come off from tested surface, thus cross bar 101 or montant 102 are moved forward.
Above-mentioned power supply can be jumbo accumulator, also can be generator, above-mentioned power supply is electrically connected with pick-up unit, concrete, be electrically connected with climbing robot 100 and geological radar 110 respectively, to climbing robot 100 and geological radar 110 transferring electric power, work for climbing robot 100 and geological radar 110.
Above-mentioned generator can be small-sized 3kw generator, and take up an area less, lighter in weight, be placed on like this on ground mobile device 130, the space taken is less, can also alleviate the weight of ground mobile device 130.
Like this, a staff just can move the detection data of this ground mobile device and the transmission of operation computing machine reception geological radar 110, these detection data are digital quantity signal, another one staff handles climbing robot 100 and observes front railway tunnel lining surface state, two staff just can complete the detection of railway tunnel lining, save human resources.
Certainly, the embodiment of the present invention does not limit size and the model of above-mentioned generator, as long as can reach the effect of powering to climbing robot 100 and geological radar 110.
Above-mentioned power supply is electrically connected with pick-up unit, and wherein, this electrical connection can connect for electric wire, can connect for cable.
Geological radar 110 is when detecting railway tunnel lining, geological radar 110 can to tunnel-liner tested surface electromagnetic signals by emitting antenna, when this electromagnetic wave signal is in the inside of tunnel-liner tested surface and can reflect behind, produce echoed signal, geological radar 110 can receive this echoed signal by receiving antenna, and this echoed signal is changed into digital quantity signal, and this digital quantity signal is transferred to computing machine, this digital quantity signal can be saved as detection data by such staff, and by computer software, Treatment Analysis is carried out to these detection data.
In order to reduce the connecting line between pick-up unit and servicing unit 120, can be wireless connections between above-mentioned geological radar 110 and computing machine, these wireless connections can connect for Wi-Fi.
Vacuum cup on cross bar 101 two ends and montant 102 two ends is all provided with sensor, for detecting the adsorbed state information of this vacuum cup, and is that adsorbed state data are transferred to computing machine by this adsorbed state convert information.
In order to reduce the connecting line between pick-up unit and servicing unit 120, can be wireless connections between the sensor and computing machine, these wireless connections can connect for Wi-Fi.
On the top of climbing robot 100, camera is installed, this camera can take the wall state of the tested surface in climbing robot 100 front, and this wall status image is transferred to computing machine, staff can observe the wall state of front tested surface by computing machine, be convenient to manipulate climbing robot 100.
In order to reduce the connecting line between pick-up unit and servicing unit 120, can be wireless connections between above-mentioned camera and computing machine, these wireless connections can connect for Wi-Fi.
Wherein, the tail end of above-mentioned climbing robot 100 is provided with transversal stretching bar, and this transversal stretching bar is provided with dish coil holder.
Above-mentioned dish coil holder can be one, connecting line between power supply and pick-up unit and the gas circuit between vacuum cup and vacuum pump are wrapped on a dish coil holder, above-mentioned dish coil holder can also be two, one is used for being wound around the connecting line between power supply and pick-up unit, another is used for being wound around the gas circuit between vacuum cup and vacuum pump, certainly, the embodiment of the present invention does not limit the concrete number of above-mentioned dish coil holder.
Connecting line between power supply and pick-up unit and the gas circuit between vacuum cup and vacuum pump are wrapped in dish coil holder on, when detect process in run into barrier time, can by the transversal stretching bar for holding tray coil holder flexible come avoiding barrier.
Wherein, above-mentioned ground mobile device 130 is provided with transversal stretching bar, this transversal stretching bar is provided with dish coil holder.
Above-mentioned dish coil holder can be one, connecting line between power supply and pick-up unit and the gas circuit between vacuum cup and vacuum pump are wrapped on a dish coil holder, above-mentioned dish coil holder can also be two, one is used for being wound around the connecting line between power supply and pick-up unit, another is used for being wound around the gas circuit between vacuum cup and vacuum pump, certainly, the embodiment of the present invention does not limit the concrete number of above-mentioned dish coil holder.
Connecting line between power supply and pick-up unit and the gas circuit between vacuum cup and vacuum pump are wrapped in dish coil holder on, when detect process in run into barrier time, can by the transversal stretching bar for holding tray coil holder flexible come avoiding barrier.
Wherein, the dish coil holder that transversal stretching bar on the dish coil holder that the transversal stretching bar of climbing robot 100 afterbody is installed and ground mobile device 130 is installed is in the same side, like this when running into barrier, dish coil holder on climbing robot 100 and the dish coil holder on ground mobile device 130 can be moved to the same side, with avoiding barrier simultaneously.
The cross bar 101 that gas circuit between vacuum pump and vacuum cup, the connecting line between power supply and pick-up unit can be adjacent to cross frame walking structure on climbing robot 100 connects up with montant 102, make wiring in good order, the gas circuit between final vacuum pump and vacuum cup that connected up and the connecting line between power supply and pick-up unit all can be pooled to a place, the top of climbing robot 100 can be pooled to, and then through the dish coil holder on climbing robot 100, eventually pass through the dish coil holder on ground mobile device 130, be connected with vacuum pump and power supply respectively.Certainly, the connecting line between above-mentioned two dish coil holders is securable, also can relax.
Next, climbing robot 100 and ground mobile device 130 respectively to be arranged a dish coil holder, the dish coil holder in the embodiment of the present invention is introduced in detail.As shown in Figure 3, climbing robot 100 is provided with the first expansion link 301, first expansion link 301 is provided with the first dish coil holder 303, and on ground mobile device 130, be provided with the second expansion link 302, this second expansion link 302 is provided with the second dish coil holder 304, second dish coil holder 304 is provided with handle 305, the first dish coil holder 303 and second can be regulated to coil the tensioning of connecting line between coil holder 304 or relax by turning handle 305, and above-mentioned first dish coil holder 303 and second coils coil holder 304 and is arranged on the same side, can also by controlling the flexible position adjusting the first dish coil holder 303 of the first expansion link 301, by controlling the flexible position adjusting the second dish coil holder 304 of the second expansion link 302, when carrying out railway tunnel lining and detecting, when running into barrier, avoiding barrier can be carried out by regulating above-mentioned first expansion link 301 and the second expansion link 302.
Wherein, above-mentioned climbing robot 100 is also provided with catch net.
At the side erection curved bar of climbing robot 100 away from tested surface; catch net is covered afterwards on this curved bar; like this when running into fortuitous event; such as; power-off or equipment catastrophic failure etc.; when climbing robot 100 drops to ground, the catch net of climbing robot 100 periphery first lands, and can not injure climbing robot 100.
In order to the state enabling staff observe climbing robot 100 at any time; above-mentioned catch net can be transparent; in addition; above-mentioned catch net can for having the material of stronger toughness, larger rigidity, higher elasticity and ratio of damping; such as nylon, like this when running into fortuitous event, when climbing robot drops on the ground; the effect of damping can be played, thus the effect of protection climbing robot 100 and geological radar 110 can be played.Certainly, the embodiment of the present invention does not limit the material of above-mentioned catch net, as long as can protect climbing robot 100 and geological radar 110.
In some specific embodiment, the pick-up unit that can adopt, comprise climbing robot 100 and geological radar 110, and the gross weight of climbing robot 100 and geological radar is preferably 18Kg, and the load-bearing of the vacuum cup on the cross bar 101 of the cross travel mechanism of climbing robot 100 or montant 102 is 30 ~ 40Kg, pick-up unit can be made so to be better adsorbed on railway tunnel lining, in addition, geological radar 110 can adopt centre frequency to be emitting antenna and the receiving antenna of 800MHz or 900MHz, guaranteeing to detect on the basis of the degree of depth needing the railway tunnel lining detected like this, improve the resolution of geological radar 110.
Above-mentionedly just give one of them specific embodiment, these parameters of centre frequency of the gross weight of above-mentioned detection device, the load-bearing of vacuum cup and reflecting antenna and receiving antenna can also be other numerical value, and the present invention does not limit the occurrence of above-mentioned parameter.
The railway tunnel lining detection system that the embodiment of the present invention provides, comprise pick-up unit, servicing unit and ground mobile device, pick-up unit comprises climbing robot and geological radar, geological radar is arranged on the belly of climbing robot, detected by the movement of climbing robot, and servicing unit is placed on ground mobile device, ground mobile device is followed pick-up unit and is moved, the weight of climbing robot can be alleviated, make climbing robot lighter, be convenient to manipulation, can effective avoiding obstacles, improve work efficiency.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. a railway tunnel lining detection system, is characterized in that, comprising: pick-up unit, servicing unit and ground mobile device;
Described pick-up unit comprises climbing robot and geological radar, and described geological radar is arranged on the belly of described climbing robot;
Described servicing unit is placed on described ground mobile device, and described ground mobile device can be followed described pick-up unit and be moved.
2. railway tunnel lining detection system according to claim 1, is characterized in that, described climbing robot comprises cross frame walking structure;
Described cross frame walking structure comprises cross bar and montant, for being slidably connected between described cross bar and described montant.
3. railway tunnel lining detection system according to claim 2, is characterized in that, the two ends of described cross bar and described montant are all provided with vacuum cup, and described vacuum cup is provided with pipe interface.
4. railway tunnel lining detection system according to claim 3, is characterized in that, described vacuum cup is provided with sensor.
5. railway tunnel lining detection system according to claim 1, is characterized in that, described geological radar top is provided with illuminating lamp and camera.
6. railway tunnel lining detection system according to claim 1, is characterized in that, described servicing unit comprises vacuum pump, power supply and computing machine;
Described vacuum pump is connected by gas circuit with the pipe interface on vacuum cup;
Described power supply is electrically connected with described pick-up unit;
Described computing machine respectively with described geological radar, sensor and camera wireless connections, receive described geological radar transmission detection data, receive the vacuum cup adsorbed state data of described sensor transmissions, receive the image of described thecamera head.
7. railway tunnel lining detection system according to claim 1, is characterized in that, described railway tunnel lining detection system also comprises telepilot, and described telepilot and described climbing robot wireless connections, to control the movement of described climbing robot.
8. railway tunnel lining detection system according to claim 1, is characterized in that, described climbing robot tail end is provided with transversal stretching bar, and described transversal stretching bar is provided with dish coil holder.
9. railway tunnel lining detection system according to claim 1, is characterized in that, described ground mobile device is provided with transversal stretching bar, and described transversal stretching bar is provided with dish coil holder.
10. railway tunnel lining detection system according to claim 1, is characterized in that, described climbing robot is provided with catch net.
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