CN111076061A - Automatic detection equipment for rock mass structure - Google Patents
Automatic detection equipment for rock mass structure Download PDFInfo
- Publication number
- CN111076061A CN111076061A CN201911421781.0A CN201911421781A CN111076061A CN 111076061 A CN111076061 A CN 111076061A CN 201911421781 A CN201911421781 A CN 201911421781A CN 111076061 A CN111076061 A CN 111076061A
- Authority
- CN
- China
- Prior art keywords
- processing unit
- central processing
- rock mass
- module
- frame body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011435 rock Substances 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000012545 processing Methods 0.000 claims abstract description 42
- 239000000725 suspension Substances 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 238000010276 construction Methods 0.000 claims description 12
- 238000005286 illumination Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000011241 protective layer Substances 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 8
- 239000003570 air Substances 0.000 description 7
- 239000000428 dust Substances 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000000670 limiting effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000002829 reductive effect Effects 0.000 description 4
- 230000001502 supplementing effect Effects 0.000 description 4
- 230000035558 fertility Effects 0.000 description 3
- 239000000411 inducer Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000010963 304 stainless steel Substances 0.000 description 2
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 238000012954 risk control Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229920000877 Melamine resin Polymers 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000012080 ambient air Substances 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000005187 foaming Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- JDSHMPZPIAZGSV-UHFFFAOYSA-N melamine Chemical compound NC1=NC(N)=NC(N)=N1 JDSHMPZPIAZGSV-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides automatic detection equipment for a rock mass structure, which comprises a frame body, wherein a driving module, a speed allocation module and a data acquisition module are arranged on the frame body, and the driving module, the speed allocation module and the data acquisition module are all connected with a central processing unit; the speed allocation module comprises an infrared distance measuring sensor, and the infrared distance measuring sensor is used for sensing the terrain height around the frame body relative to a preset horizontal plane and the distance relative to the frame body and transmitting the terrain height and the distance to the central processing unit; the central processing unit is used for dividing the danger level of the current area according to the received terrain height relative to the preset horizontal plane and the distance relative to the frame body, and further controlling the driving module to operate to allocate the travelling speed; the data acquisition module comprises a sealed cabin capable of being opened and closed, three-dimensional laser scanning equipment is arranged in the cabin, the three-dimensional laser scanning equipment is connected with a lifting mechanism, and the lifting mechanism is connected with the central processing unit.
Description
Technical Field
The invention belongs to the field of rock mass structure detection, and particularly relates to automatic rock mass structure detection equipment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The rock mass structure exploration work is basic work for geological disaster prediction and early warning in tunnels and underground engineering, and has important guiding significance in underground engineering construction. Geological logging and risk evaluation are carried out according to the collected high-precision rock mass structure information, and rock mass structure plane extension prediction is carried out through rock mass three-dimensional structure information, so that work such as dangerous block occurrence prediction and dangerous block stability analysis can be carried out to guide tunnel risk control to a certain extent. Indexes such as dimension, precision and timeliness of rock mass structure exploration directly influence effectiveness of construction risk control.
The existing rock mass structure information acquisition method comprises the following steps: 1) and (3) adopting a geological compass method, holding the geological compass by an operator, pressing close to the area to be measured, and measuring the structure surface trace, wherein the inclination, the inclination angle or the trend of the geological compass is mainly measured. During measurement, measurement must be carried out on an outcrop, and if the surface flatness is poor or the structural surface is exposed incompletely, great interference is caused to the precision. In addition, the inventor finds that the geological compass can only measure the approximate attitude due to low precision, needs manual reading, and has low speed and poor stability. 2) Photogrammetry, comprising the following steps: the method comprises the steps of reference point measurement → construction of a light supplement lamp → arrangement of mark points → manual shooting, and the inventor finds that the method has the problems of low precision, weak adaptability and complex operation. 3) The laser scanning technology has wider application in the construction field; the laser scanning technology has high modeling precision, simple operation and strong dusty environment adaptability, and is the most suitable rock mass structure information acquisition method at present. However, the inventors have found that the laser scanner and the associated equipment are difficult to transport; personnel and equipment are positioned below the exposed surrounding rock and are extremely dangerous.
Disclosure of Invention
In order to solve the problems, the invention provides automatic detection equipment for a rock mass structure, which realizes unmanned, intelligent and rapid acquisition of surface information of the rock mass structure.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automated rock mass structure detection apparatus comprising:
the bicycle frame comprises a bicycle frame body, wherein a driving module, a speed allocation module and a data acquisition module are arranged on the bicycle frame body, and the driving module, the speed allocation module and the data acquisition module are all connected with a central processing unit;
the speed allocation module comprises an infrared distance measuring sensor capable of forming a panoramic infrared sensing network, and the infrared distance measuring sensor is used for sensing the terrain height around the frame body relative to a preset horizontal plane and the distance relative to the frame body and transmitting the terrain height and the distance to the central processing unit; the central processing unit is used for dividing the danger level of the current area according to the received terrain height relative to the preset horizontal plane and the distance relative to the frame body, and further controlling the driving module to operate to allocate the travelling speed so as to realize intelligent travelling;
the data acquisition module comprises a sealed cabin capable of being opened and closed, three-dimensional laser scanning equipment is arranged in the cabin and connected with a lifting mechanism, the lifting mechanism is connected with a central processing unit, and the central processing unit is used for controlling the lifting mechanism to move to realize the lifting of the three-dimensional laser scanning equipment.
As an implementation mode, a chassis frame is arranged at the bottom of the frame body, and crawler-type chassis are respectively arranged on two sides of the chassis frame; the crawler-type chassis comprises an independent bearing chassis suspension, and the independent bearing chassis suspension is of a Kries + Peimary structure.
The produced advantage of above-mentioned technical scheme lies in, and this embodiment adopts "fuse christmas maiteda" chassis suspension mechanism, and this chassis suspension mechanism has promoted organism heavy burden ability, can improve mobility under muddy and rubble road conditions to can filter the tiny vibrations from ground, the nimble area of contact who adjusts track and ground when meetting great fluctuation, increase the land fertility of grabbing.
As an implementation mode, the driving module is composed of a driving motor, a worm and gear speed reducer and a chain wheel transmission, the central processing unit is used for driving the motor to drive the worm and gear speed reducer to move by using an S-shaped acceleration curve algorithm, and the movable worm and gear speed reducer drives the crawler-type chassis to move through the chain wheel transmission, so that the forward and backward movement and the steering movement of the rock mass structure automatic detection equipment are realized.
The produced advantage of above-mentioned technical scheme lies in, through worm gear speed reducer and sprocket collocation, enlargies 45 times with the motor moment of torsion, has improved organism climbing, the ability of getting rid of poverty.
As an implementation mode, the active obstacle avoidance module includes a plurality of ultrasonic sensors, the ultrasonic sensors surround the frame body, can sense obstacles with a height exceeding a preset height threshold value within a preset distance range of the frame body, transmit position information of the obstacles to the central processing unit in real time, and output alarm information and an automatic braking instruction to the driving module by the central processing unit.
The produced advantage of above-mentioned technical scheme lies in, through ultrasonic sensor real-time transmission obstacle position information to central processing unit, sends out the police dispatch newspaper by central processing unit, reminds the operator to park, if the operator does not have the execution command, measures such as automatic braking, whistle will be taken to actuating mechanism, effectively prevents organism collision damage.
As an implementation mode, the sealed cabin comprises a cabin body, a door cover is arranged on the cabin body, and a sealing device is additionally arranged at the edges of the cabin body and the door cover to ensure the air tightness of the sealed cabin.
In one embodiment, the door cover is divided into a left door and a right door, and reinforcing ribs are arranged inside the door cover to increase the collision resistance; the hatch cover is also provided with a diversion trench for preventing water drops in the construction tunnel from invading into the vehicle body when the hatch cover is closed.
Or as an embodiment, a shock absorption protective layer is arranged in the sealed cabin.
As an embodiment, the lifting mechanism comprises:
the lifting base is provided with a guide rail, the guide rail is provided with a sliding block, the sliding block and a lifting rod are arranged on the lifting base, the lifting rod is provided with a three-dimensional laser scanning device, the sliding block is provided with a ball screw, the other end of the ball screw is hinged to a support arm, and the ball screw is connected with a stepping motor.
As an embodiment, the data acquisition module further includes:
the image acquisition equipment is carried on the three-dimensional laser scanning equipment, and automatically adjusts white balance according to light intensity by adopting an automatically adjusted three-level exposure mode;
the relative coordinate centers of the image acquisition equipment and the three-dimensional laser scanning equipment are overlapped, and the panoramic image pixel point coordinates acquired through rotation are directly matched with the three-dimensional laser point cloud coordinates without translation and rotation transformation.
As an embodiment, the data acquisition module further includes:
the illumination compensation module comprises an LED lamp panel and a flash lamp, and the flash lamp is arranged on the frame body in a surrounding manner; the LED lamp panel is connected with a rotating mechanism, and the rotating mechanism is connected with the central processing unit.
As an embodiment, the data acquisition module further includes:
the automatic balancing module is arranged on an installation platform of the three-dimensional laser scanning equipment;
the automatic balancing module consists of a three-dimensional gyroscope, an X-axis leveling mechanism and a Y-axis leveling mechanism;
the three-dimensional gyroscope is used for detecting the current position of the three-dimensional laser scanning equipment and transmitting the current position to the central processing unit, the central processing unit is used for calculating an angle to be adjusted after Kalman filtering is carried out on the received current position of the three-dimensional laser scanning equipment, and the X-axis leveling mechanism and the Y-axis leveling mechanism are respectively controlled after corresponding angle values are converted, so that the mounting platform of the three-dimensional laser scanning equipment is stable.
The invention has the beneficial effects that:
(1) the automatic detection equipment for the rock mass structure integrates the driving module, the speed allocation module and the data acquisition module, and realizes unmanned, intelligent and rapid acquisition of the surface information of the rock mass structure.
(2) The data acquisition module comprises a sealed cabin capable of being opened and closed, wherein three-dimensional laser scanning equipment is arranged in the cabin and connected with a lifting mechanism, so that the safety risks of operators and precision instruments are reduced, and the detection accuracy of a rock mass structure is improved; the automatic detection equipment for the rock mass structure saves 83% of manpower per working cycle, saves 80% of time window, shortens over 85% of rock mass structure analysis time, and greatly improves the detection efficiency of the rock mass structure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic circuit diagram of an automatic rock mass structure detection device provided by an embodiment of the invention;
FIG. 2 is a schematic structural view of a tracked undercarriage provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The automatic detection equipment of rock mass structure of this embodiment includes:
the vehicle frame comprises a vehicle frame body, wherein a driving module, a speed allocation module and a data acquisition module are arranged on the vehicle frame body, and the driving module, the speed allocation module and the data acquisition module are all connected with a central processing unit, as shown in figure 1.
In one or more embodiments, a chassis frame is arranged at the bottom of the frame body, and crawler-type chassis are respectively arranged on two sides of the chassis frame; the crawler-type chassis comprises an independent bearing chassis suspension, and the independent bearing chassis suspension is of a Kries + Peimary structure.
Because tunnel and underground works job site muddy highway section are more, and the equipment weight that needs to carry exceeds 100 kilograms and is heavy, wheeled actuating mechanism grabs the land fertility poor, and difficult realization rotation in place, the removal mode is inflexible, and the design is loaded down with trivial details, for the good trafficability characteristic of guarantee organism, the crawler-type chassis design that road conditions strong adaptability was selected for use to this embodiment.
A driving motor of the crawler-type chassis drives a reduction gear and drives a chassis driving wheel through a hinge. The driving wheel is meshed with the driving wheel hole on the inner side of the crawler belt to provide power for the crawler belt. The chassis suspension adopts a 'fusion Kristi Martimida' design, is positioned on two sides of a chassis frame and is an independent bearing type suspension structure.
As shown in fig. 2, the crawler-type chassis comprises a crawler 1, the crawler 1 is provided with a chassis suspension, the chassis suspension is provided with a driving wheel 2, an inducer 3, a tension wheel 4 and a thrust wheel 5, and the driving wheel 2, the inducer 3, the tension wheel 4 and the thrust wheel 5 are all attached to the inner side of the crawler 1; the driving wheel 2 is connected with the chassis suspension through a first buffer mechanism, and the inducer 3 is connected with the chassis suspension through a second buffer mechanism; the first buffer mechanism and the second buffer mechanism are both of the existing structure and can be realized by adopting a spring mechanism.
Specifically, the chassis frame is made of a 304 stainless steel 5 mm-thick plate through welding and is used for mounting a suspension and driving module lifting mechanism and fixing a platform body metal plate part.
Rubber integrated into one piece track is selected for use to the track, and the rubber track is one kind and has metal and steel cord thread crawler-type running member of a certain amount in inlaying in the rubber band, and it compares with the metal track, has following advantage:
(1) the speed is high; (2) the noise is low; (3) the vibration is small; (4) the traction force is large; (5) the damage to the road surface is small; (6) the grounding voltage is small; (7) the machine body is light in weight.
The current commonly used crawler-type chassis suspension mechanisms are mainly a Kristi suspension and a Madieda suspension. Both types of suspensions have advantages and disadvantages. The Kreisti suspension is a spring mechanism which transfers the road surface fluctuation to be vertical, has simple and reliable structure, good trafficability, but poor maneuverability, and can generate large-amplitude swing when the machine body passes through a rugged road surface, so that the safety of precise instruments in the machine body cannot be guaranteed; the structure of the Martida suspension is more complex than that of the Kreisti suspension, the maneuverability is stronger, but the road vibration filtering capability is poor, and the safety of instruments cannot be protected.
Because the organism has carried precision equipment such as three-dimensional laser scanner, for guaranteeing instrument safety and great load-carrying capacity, this embodiment adopts "fuse christmas mai teda" chassis suspension mechanism, and this chassis suspension mechanism has promoted organism heavy burden ability, can improve mobility under muddy and rubble road conditions to can filter the tiny vibrations from ground, the area of contact of nimble adjustment track and ground when meetting great fluctuation, the increase is grabbed the land fertility.
Table 1: track accessory
The automatic detection of rock mass structure of this embodiment is equipped and can be realized tunnel and underground works job site safety and stability under the complicated road conditions environment current, still can guarantee good trafficability characteristic in the face of extreme road conditions such as wet and slippery, ponding, mire, abrupt slope, narrow bridge, rubble.
In another embodiment, the driving module is composed of a driving motor, a worm and gear speed reducer and a chain wheel transmission, the central processing unit is used for driving the motor to drive the worm and gear speed reducer to move by using an S-shaped acceleration curve algorithm, and the movable worm and gear speed reducer drives the crawler-type chassis to move through the chain wheel transmission, so that the forward, backward and steering movement of the rock mass structure automatic detection equipment is realized.
Through the matching of the worm gear speed reducer and the chain wheel, the torque of the motor is amplified by 45 times, and the climbing and escaping capability of the machine body is improved.
The working mode of the motor when the machine body advances:
(1) the straight-going working mode comprises the following steps: the two motors synchronously rotate anticlockwise or clockwise in opposite directions, the rotating speeds of the motors are kept consistent and are determined by the required speed, and the maximum rotating speed is 3000 r/min.
(2) Turning working mode: the two motors rotate oppositely, the rotating speed of the motor at the inner side of the turn is reduced, and the rotating speed of the motor at the outer side of the turn is increased. The rotational speed variation value is determined by the desired turning radius.
(3) The in-situ rotation working mode comprises the following steps: the two motors synchronously rotate clockwise or anticlockwise in the same direction, and the rotating speeds of the two motors are kept consistent.
In one or more embodiments, the speed allocating module comprises an infrared distance measuring sensor capable of forming a panoramic infrared sensing network, wherein the infrared distance measuring sensor is used for sensing the terrain height around the frame body relative to a preset horizontal plane and the distance relative to the frame body and transmitting the terrain height and the distance to the central processing unit; the central processing unit is used for dividing the danger level of the current area according to the received terrain height relative to the preset horizontal plane and the distance relative to the frame body, and further controlling the driving module to operate to allocate the traveling speed so as to realize intelligent traveling.
Because dangerous areas such as inverted arches or pits are to be poured in construction sites of tunnels and underground projects, if the machine body falls, the machine body can be directly scrapped. The body is controlled to advance through a remote place, observation is incomplete, dangerous areas are difficult to neglect, and serious safety threats are caused to the body. Large stones and engineering machinery are easy to collide on the machine body on a construction site, and the safety of the machine body can be threatened if the observation is not timely.
The speed allocation module forms a panoramic infrared sensing network through 6 groups of infrared distance measuring sensors arranged around the machine body, senses a dangerous area with the depth exceeding 200mm around the machine body, and monitors the gradient of a dangerous pit. And dividing the current region danger level according to the gradient of the dangerous region and the position between the dangerous region and the machine body, and intelligently allocating the advancing speed according to the danger level to realize intelligent advancing.
TABLE 2 body danger zone traveling speed (m/s)
In another embodiment, the active obstacle avoidance module includes a plurality of ultrasonic sensors, the ultrasonic sensors surround the frame body, can sense obstacles with a height exceeding a preset height threshold value within a preset distance range of the frame body, transmit position information of the obstacles to the central processing unit in real time, and output alarm information and an automatic braking instruction to the driving module by the central processing unit.
Specifically, the active obstacle avoidance module adopts a full scene ultrasonic sensing design, 8 groups of ultrasonic sensors are utilized, obstacles with the height exceeding 200mm in the range of 500mm of the body of the sensing machine are sensed, obstacle position information is transmitted to the central processing unit in real time, the central processing unit gives an alarm to remind an operator of parking, if the operator does not have an execution instruction, the execution mechanism takes measures such as automatic braking, whistle and the like, and the collision damage of the body is effectively prevented.
In one or more embodiments, the data acquisition module comprises an openable and closable sealed cabin, wherein a three-dimensional laser scanning device is arranged in the cabin, the three-dimensional laser scanning device is connected with a lifting mechanism, the lifting mechanism is connected with a central processing unit, and the central processing unit is used for controlling the lifting mechanism to move to realize the lifting of the three-dimensional laser scanning device.
Specifically, the three-dimensional laser scanning device is a 5010C type three-dimensional laser scanner produced by Germany Z + F company, the scanner is one of the most advanced scanning instruments in the world, and compared with other scanners, the fastest scanning speed, the measurement distance of 187m and the lightest system weight have obvious advantages in the aspect of rock mass structure detection. The instrument adopts a phase/pulse type laser ranging mode, and the measuring precision can reach 0.5 mm; the first-level safety laser is used, so that the personnel cannot be injured; the device has a dynamic level compensation function, and can correct the inclination angle of each point in the scanning process within the inclination range of 1 degree. Adopt durable's almag shell to dispel the heat, do not have traditional radiator fan, reduced the harm of dust to the organism.
Specifically, as shown in fig. 3, the lifting mechanism includes:
lift base 8, lift and install guide rail 9 on the base 8, be provided with slider 10 on the guide rail 9, slider 10 and lifter 11, install three-dimensional laser scanning equipment on the lifter 11, install ball screw 12 on the slider 10, ball screw 12's the other end still is connected with support arm 13 is articulated, ball screw 12 links to each other with step motor 14.
The data acquisition module is the core of the whole set of system and is responsible for the task of rock mass structure information acquisition. Because the data acquisition instrument is accurate expensive, directly expose in the tunnel adverse circumstances and produce great risk to instrument safety and stability. Therefore, the present embodiment employs an openable and closable totally enclosed cabin for placing the three-dimensional laser scanning apparatus.
In specific implementation, the sealed cabin comprises a cabin body, a door cover is arranged on the cabin body, and a sealing device is additionally arranged at the edges of the cabin body and the door cover to ensure the air tightness of the sealed cabin.
In another embodiment, the hatch cover is divided into a left hatch cover and a right hatch cover, and reinforcing ribs are arranged inside the hatch cover to increase the anti-collision strength; the hatch cover is also provided with a diversion trench for preventing water drops in the construction tunnel from invading into the vehicle body when the hatch cover is closed.
In another embodiment, a shock absorbing protective layer is disposed within the sealed nacelle.
For example: the cabin and the cover plate are designed in a totally-enclosed structure, a 304 stainless steel sheet metal process with the thickness of 1.5mm is selected, surface plastic spraying is carried out, certain collision resistance and smashing and falling resistance are achieved, rubber sealing strips are additionally arranged at the lap joint of the steel plates and the edge of the cabin door, air tightness is guaranteed, and the cabin and the cover plate are used for dealing with the environment with water seepage in the construction site of tunnels and underground engineering. The safety of the instrument on a construction site is improved. The melamine foaming sponge is arranged in the cabin to serve as a damping protection pad, so that vibration can be buffered and absorbed, and the instrument can be partially wrapped when being withdrawn into the cabin, so that the stability of the instrument is guaranteed. The mounting positions of the high-definition infrared inspection cloud deck and part of the high-reduction degree light supplementing equipment are reserved above and behind the engine room.
In another embodiment, the data acquisition module further includes:
the image acquisition equipment is carried on the three-dimensional laser scanning equipment, and automatically adjusts white balance according to light intensity by adopting an automatically adjusted three-level exposure mode;
the relative coordinate centers of the image acquisition equipment and the three-dimensional laser scanning equipment are overlapped, and the panoramic image pixel point coordinates acquired through rotation are directly matched with the three-dimensional laser point cloud coordinates without translation and rotation transformation.
For example: the image acquisition equipment adopts an I-cam camera of Germany Z + F company, the camera can shoot 42 pictures at different angles and splice to acquire a 8000 ten thousand pixel panoramic image, and an automatic adjustment three-level exposure mode is adopted to automatically adjust a white balance scheme according to light intensity. The panoramic image point cloud coordinate system can be carried on the laser scanner, the camera CCD chip coincides with the relative coordinate center of the scanner, the panoramic image pixel point coordinates obtained through rotation do not need translation and rotation transformation, and are directly matched with the three-dimensional laser point cloud coordinates, so that the fusion precision is greatly improved, and the calculation workload is reduced.
In another embodiment, the data acquisition module further includes:
the illumination compensation module comprises an LED lamp panel and a flash lamp, and the flash lamp is arranged on the frame body in a surrounding manner; the LED lamp panel is connected with a rotating mechanism, and the rotating mechanism is connected with the central processing unit.
For example:
the illumination compensation module consists of 8 LED lamp panels, 5 sets of high-brightness ultrahigh stroboscopic lamps and corresponding transmission mechanisms. 8 LED lamp plates constitute a two-stage four-way illumination enhancement system, and the two-stage four-way illumination enhancement system is arranged on the inner side of a cabin cover plate, and when the cabin cover plate is unfolded, the illumination enhancement system is turned out, and meanwhile, the two-stage lamp plate is unfolded. According to the environmental requirement, the illumination intensity can be flexibly adjusted, the light supplementing direction and angle are controlled by a motor, a transmission mechanism, a limiting sensor and the like, and the multi-brightness, multi-angle and multi-azimuth illumination enhancement scheme is realized. The 5 sets of high-brightness ultrahigh stroboscopic lamps are fixed on the machine body in multiple directions and respectively irradiate the upper part, the upper left part, the upper right part and the upper rear part of the machine body, so that the ambient brightness is enhanced, and the external light interference is balanced. When the light supplementing system is opened by the machine body, the system has stable light supplementing effect on the tunnel face, the upper side wall and the side wall, and image acquisition under severe tunnel environment is realized.
In another embodiment, the data acquisition module further includes: high definition infrared module of patrolling and examining.
In specific implementation, the high-definition infrared inspection module is manufactured by modifying an HDH5904-H73-R21 type infrared high-definition dome camera. The monitoring ball machine is installed in an inverted hanging mode, the camera shooting assembly of the ball machine is installed reversely, and vertical installation is achieved.
The high-definition infrared inspection module can flexibly adjust the direction of the camera according to instructions of the control end, the horizontal rotating range is 0-360 degrees, the vertical rotating range is 0-90 degrees, and the camera can rotate continuously. The lens is a variable 18-time focal length optical zoom lens, and the aperture is automatically adjusted. Under the better environment of illumination condition, transmit 1080P high definition true color video signal, in dim environment, automatic switch into 1080P infrared video signal. The high-definition infrared inspection module is also provided with a wiper, so that the tunnel mud is prevented from shielding the camera to cause the equipment to be out of control.
In another embodiment, the data acquisition module further includes:
an automatic balancing module installed on the installation platform 15 of the three-dimensional laser scanning apparatus;
the automatic balancing module consists of a three-dimensional gyroscope, an X-axis leveling mechanism and a Y-axis leveling mechanism;
the three-dimensional gyroscope is used for detecting the current position of the three-dimensional laser scanning equipment and transmitting the current position to the central processing unit, the central processing unit is used for calculating an angle to be adjusted after Kalman filtering is carried out on the received current position of the three-dimensional laser scanning equipment, and the X-axis leveling mechanism and the Y-axis leveling mechanism are respectively controlled after corresponding angle values are converted, so that the mounting platform of the three-dimensional laser scanning equipment is stable.
As shown in fig. 3, the automatic balancing module is composed of a three-dimensional gyroscope 16, an X-axis leveling mechanism 17 and a Y-axis leveling mechanism 18; the X-axis leveling mechanism is positioned on the scanner mounting platform, and a worm gear reducer is used for directly driving the platform rotating shaft to control and adjust. The speed ratio of the worm gear speed reducer is 1: 90, using 57 step motor to drive, adjusting the range + -20 deg.
The Y-axis leveling mechanism is combined with a lifting mechanism of the machine body, and front and back balance adjustment is realized through the control of the connecting rod sliding block mechanism.
In specific implementation, the X-axis leveling mechanism and the Y-axis leveling mechanism can be realized by adopting a drive.
In another embodiment, the data acquisition module further includes: and an environment monitoring module.
Specifically, the environment monitoring module monitors the following contents: dust concentration, air humidity, air temperature.
The dust concentration monitoring adopts a Sharp optical dust sensor (GP2Y1010AU0F) for detecting the dust particle concentration with the diameter larger than 0.8 mu m, ambient air is sucked through a vent hole, when light rays enter the air, the light rays are interfered by particles, and the energy of the light beams is attenuated. The dust concentration is reflected by the decay rate.
The humidity and temperature monitoring of the air is realized by a DHT11 type digital temperature and humidity sensor. The sensor comprises a temperature and humidity composite sensor with calibrated digital signal output, and a special digital module acquisition technology and a temperature and humidity sensing technology are adopted, so that the reliability and the stability are ensured. The sensor comprises a resistance type humidity sensing element and an NTC temperature measuring element, and is connected with a high-performance 8-bit singlechip.
The ground of the construction site of the tunnel and the underground engineering is rugged and uneven, and the machine body inevitably inclines when reaching the area to be measured. When the inclination range is less than 1 degree, the measuring instrument can automatically compensate the angle, but when the inclination range is larger, the instrument cannot operate.
The lifting rod 11 is also provided with a dust concentration monitoring module 19 and a humidity monitoring module 20.
When the laser scanner and the panoramic camera reach the designated working position, the automatic leveling button is pressed at the control end, and the automatic balancing device automatically runs. The central processing unit receives data of the three-axis gyroscope module through asynchronous serial port communication (UART, baud rate 9600), calculates an angle to be adjusted after Kalman filtering, drives two groups of two-phase four-wire stepping motors through a special stepping motor driver after converting a corresponding angle value, and stabilizes a scanner platform through the front and back adjustment of an x axis and the left and right adjustment of a y axis. The stepping angle of the stepping motor is 1.8 degrees, and the stepping motor can ensure that the platform is stabilized within 0.1 degree after being subdivided by the driver 32, so that the automatic compensation angle range of the instrument is met.
The central processing unit records the data of each step in the process, and the scanner carried by the platform can not collide with the machine body due to overlarge inclination angle through real-time multiple calculations when the scanner is withdrawn. The initial value of the first time is saved, and the calibration is carried out before the scanner is recovered, so that the accuracy of the recovery of the equipment such as the laser scanner every time is guaranteed.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. Automatic detection of rock mass structure is equipped, its characterized in that includes:
the bicycle frame comprises a bicycle frame body, wherein a driving module, a speed allocation module and a data acquisition module are arranged on the bicycle frame body, and the driving module, the speed allocation module and the data acquisition module are all connected with a central processing unit;
the speed allocation module comprises an infrared distance measuring sensor capable of forming a panoramic infrared sensing network, and the infrared distance measuring sensor is used for sensing the terrain height around the frame body relative to a preset horizontal plane and the distance relative to the frame body and transmitting the terrain height and the distance to the central processing unit; the central processing unit is used for dividing the danger level of the current area according to the received terrain height relative to the preset horizontal plane and the distance relative to the frame body, and further controlling the driving module to operate to allocate the travelling speed so as to realize intelligent travelling;
the data acquisition module comprises a sealed cabin capable of being opened and closed, three-dimensional laser scanning equipment is arranged in the cabin and connected with a lifting mechanism, the lifting mechanism is connected with a central processing unit, and the central processing unit is used for controlling the lifting mechanism to move to realize the lifting of the three-dimensional laser scanning equipment.
2. The automatic detection equipment of a rock mass structure as claimed in claim 1, wherein a chassis frame is arranged at the bottom of the frame body, and crawler-type chassis are respectively arranged on two sides of the chassis frame; the crawler-type chassis comprises an independent bearing chassis suspension, and the independent bearing chassis suspension is of a Kries + Peimary structure.
3. The automatic detection equipment of rock mass structure as claimed in claim 1, wherein the driving module is composed of a driving motor, a worm and gear reducer and a chain wheel transmission, the central processor is used for driving the motor to drive the worm and gear reducer to move by using an S-shaped acceleration curve algorithm, and the moving worm and gear reducer drives the crawler-type chassis to move through the chain wheel transmission, so that the forward and backward movement and the steering movement of the automatic detection equipment of rock mass structure are realized.
4. The automatic detection equipment of rock mass structure of claim 1, characterized in that the initiative obstacle avoidance module comprises a plurality of ultrasonic sensors, the ultrasonic sensors surround the frame body, can sense the obstacle whose height exceeds the preset height threshold value within the preset distance range of the frame body, and transmit the position information of the obstacle to the central processing unit in real time, and the central processing unit outputs alarm information and an automatic braking instruction to the driving module.
5. The automatic detection equipment of rock mass structure of claim 1, characterized in that the sealed cabin comprises a cabin body, a door cover is arranged on the cabin body, and sealing devices are additionally arranged at the edges of the cabin body and the door cover to ensure the air tightness of the sealed cabin.
6. The automatic detection equipment of a rock mass structure as claimed in claim 5, wherein the hatch cover is divided into a left hatch cover and a right hatch cover, and reinforcing ribs are arranged inside the hatch cover to increase the anti-collision strength; the hatch cover is also provided with a diversion trench for preventing water drops in the construction tunnel from invading into the vehicle body when the hatch cover is closed;
or
And a damping protective layer is arranged in the sealed cabin.
7. An automated rock mass structure detection apparatus as claimed in claim 1, wherein the lifting mechanism comprises:
the lifting base is provided with a guide rail, the guide rail is provided with a sliding block, the sliding block and a lifting rod are arranged on the lifting base, the lifting rod is provided with a three-dimensional laser scanning device, the sliding block is provided with a ball screw, the other end of the ball screw is hinged to a support arm, and the ball screw is connected with a stepping motor.
8. The automated rock mass structure detection equipment of claim 1, wherein the data acquisition module further comprises:
the image acquisition equipment is carried on the three-dimensional laser scanning equipment, and automatically adjusts white balance according to light intensity by adopting an automatically adjusted three-level exposure mode;
the relative coordinate centers of the image acquisition equipment and the three-dimensional laser scanning equipment are overlapped, and the panoramic image pixel point coordinates acquired through rotation are directly matched with the three-dimensional laser point cloud coordinates without translation and rotation transformation.
9. The automated rock mass structure detection equipment of claim 1, wherein the data acquisition module further comprises:
the illumination compensation module comprises an LED lamp panel and a flash lamp, and the flash lamp is arranged on the frame body in a surrounding manner; the LED lamp panel is connected with a rotating mechanism, and the rotating mechanism is connected with the central processing unit.
10. The automated rock mass structure detection equipment of claim 1, wherein the data acquisition module further comprises:
the automatic balancing module is arranged on an installation platform of the three-dimensional laser scanning equipment;
the automatic balancing module consists of a three-dimensional gyroscope, an X-axis leveling mechanism and a Y-axis leveling mechanism;
the three-dimensional gyroscope is used for detecting the current position of the three-dimensional laser scanning equipment and transmitting the current position to the central processing unit, the central processing unit is used for calculating an angle to be adjusted after Kalman filtering is carried out on the received current position of the three-dimensional laser scanning equipment, and the X-axis leveling mechanism and the Y-axis leveling mechanism are respectively controlled after corresponding angle values are converted, so that the mounting platform of the three-dimensional laser scanning equipment is stable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911421781.0A CN111076061A (en) | 2019-12-31 | 2019-12-31 | Automatic detection equipment for rock mass structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911421781.0A CN111076061A (en) | 2019-12-31 | 2019-12-31 | Automatic detection equipment for rock mass structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111076061A true CN111076061A (en) | 2020-04-28 |
Family
ID=70321381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911421781.0A Pending CN111076061A (en) | 2019-12-31 | 2019-12-31 | Automatic detection equipment for rock mass structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111076061A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111579405A (en) * | 2020-05-20 | 2020-08-25 | 河南工程学院 | Multifunctional rock test system |
| CN112539083A (en) * | 2020-10-30 | 2021-03-23 | 郭玉红 | Using method of tunnel excavation section marking robot |
| CN112945134A (en) * | 2020-12-10 | 2021-06-11 | 兰州大学 | A intelligent scanner for cave monitoring |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4186388A (en) * | 1977-11-18 | 1980-01-29 | Robinson Donald W | Proximity detector |
| CN110609551A (en) * | 2019-09-11 | 2019-12-24 | 北京乂斯科技有限公司 | Intelligent precision measuring room system |
-
2019
- 2019-12-31 CN CN201911421781.0A patent/CN111076061A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4186388A (en) * | 1977-11-18 | 1980-01-29 | Robinson Donald W | Proximity detector |
| CN110609551A (en) * | 2019-09-11 | 2019-12-24 | 北京乂斯科技有限公司 | Intelligent precision measuring room system |
Non-Patent Citations (1)
| Title |
|---|
| 秦承帅: "隧道揭露围岩岩体结构探测与分析方法及工程应用", 《中国优秀硕士论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111579405A (en) * | 2020-05-20 | 2020-08-25 | 河南工程学院 | Multifunctional rock test system |
| CN112539083A (en) * | 2020-10-30 | 2021-03-23 | 郭玉红 | Using method of tunnel excavation section marking robot |
| CN112539083B (en) * | 2020-10-30 | 2022-11-29 | 中桥安科交通科技(浙江)有限公司 | Using method of tunnel excavation section marking robot |
| CN112945134A (en) * | 2020-12-10 | 2021-06-11 | 兰州大学 | A intelligent scanner for cave monitoring |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111161252B (en) | Rock mass structure detection and dangerous stone detection system and method | |
| CN111076061A (en) | Automatic detection equipment for rock mass structure | |
| US10640146B2 (en) | Moving vehicle | |
| WO2021068846A1 (en) | Multi-arm robot for tunnel lining detection and disease diagnosis in operating period | |
| CN103672289B (en) | Pipeline robot with adjustable crawler belt angle | |
| CN103672293B (en) | The amphibious working pipe pipeline robot of a kind of multi-dimensions test | |
| CN205220844U (en) | Transformer substation independently gets over barrier and patrols and examines robot | |
| CN107856753B (en) | Tunnel infiltration detection robot based on multisensor fuses | |
| CN105564333B (en) | A kind of Intelligent unattended car that can be used for shooting | |
| CN105835978A (en) | Crawler-type magnetic-adsorption wall climbing robot | |
| CN103672296A (en) | Integrated frame type pipeline robot | |
| CN106774366A (en) | A kind of bionical unmanned vehicle control and its control method | |
| CN108248707A (en) | Adapt to the modularization robot of small space | |
| CN110014440A (en) | A kind of underground garage security protection crusing robot | |
| JP6909051B2 (en) | Mobile vehicle | |
| CN114454196A (en) | Track inspection robot | |
| CN206475957U (en) | A kind of modularization robot for adapting to small space | |
| CN107416062A (en) | The climbing robot and its detection method of a kind of restructural | |
| CN213106871U (en) | Search and rescue robot for coal mine | |
| CN117163260A (en) | Novel crawler-type underwater detection robot and control method thereof | |
| JPH04232186A (en) | Car with motor-driven propulsion device | |
| CN210571039U (en) | Tunnel infiltration detects omnidirectional movement robot based on binocular vision | |
| CN213828948U (en) | Inspection robot | |
| JP2591531B2 (en) | A work vehicle that can handle uneven terrain | |
| CN111776096A (en) | Triangular crawler type inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200428 |