CN105004732A - Tunnel crack rapid detection device and method - Google Patents
Tunnel crack rapid detection device and method Download PDFInfo
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- CN105004732A CN105004732A CN201510418537.4A CN201510418537A CN105004732A CN 105004732 A CN105004732 A CN 105004732A CN 201510418537 A CN201510418537 A CN 201510418537A CN 105004732 A CN105004732 A CN 105004732A
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Abstract
The invention relates to a tunnel crack rapid detection device including a conveying vehicle, a computer, a main control machine, a detection module and a mileage counter; the computer, the main control machine and the detection module are arranged in the conveying vehicle; the mileage counter is arranged on an idler wheel of the conveying vehicle; the detection module includes a camera, a laser fracture surface scanner, an infrared imager, an inertial navigator and a lamplight stroboscopic device; all communication terminals of the main control machine are connected with communication terminals of the camera, the laser fracture surface scanner, the infrared imager, the inertial navigator, the lamplight stroboscopic device and the mileage counter through corresponding cables respectively; the data communication terminal of the main control machine is connected with the data communication terminal of the computer. The tunnel crack rapid detection device can automatically rapidly detect whether a channel has lining cracks, lining water seepage, water leakage, peeling, disengaging and lining deformation or not.
Description
Technical field
The present invention relates to civil engineering work uses photogrammetry to carry out the detection technique field of tunnel maintenance, is specifically related to a kind of tunnel slot device for fast detecting and method.
Background technology
China has been the country that tunnel is maximum, with the fastest developing speed in the world, due to the impact of various factors in geologic condition, topographic condition, weather conditions and design, construction, operation process, tunnel is easier than ordinary road in long-term use procedure there is disease, as Lining cracks, Tunnel Water Leakage, freezing damage in tunnel, lining corrosion etc.These diseases both have impact on the function of tunnel as fast and safely traffic aisle, seriously jeopardized traffic safety again.
At present, the domestic Defect inspection to tunnel takes manual detection mostly, by artificial visually examine's observational technique, tunnel is closed, then drive the car of a band lifter, people is raised on the top, tunnel of 6 ~ 7 meters high, strike bit by bit by hammer, listening or punching, having inside seeing does not have cavity, the tunnel of about 1 kilometer, 20 people just can complete detection in 4 hours consuming time.Artificial visually examine observes and is affected by human factors comparatively large, also exists that efficiency is low, poor accuracy, can not carry out the problems such as historical data contrast; These detection meanss are difficult to react tunnel entirety and each position quality comprehensively.
Summary of the invention
The object of the present invention is to provide a kind of tunnel slot device for fast detecting and method, whether these apparatus and method can exist Lining Crack to tunnel automatically fast, lining cutting is seeped water, leak, peel off, come to nothing, lining cutting deformation detects.
For solving the problems of the technologies described above, a kind of tunnel slot device for fast detecting disclosed by the invention, it is characterized in that: it comprises delivery vehicle, be arranged on computer in delivery vehicle and main control computer and detecting module, be arranged on the mileage register on the roller of delivery vehicle, wherein, described detecting module comprises camera, laser profile scanning device, infrared thermoviewer, inertial navigation device and light strobe, each communication ends of described main control computer connects camera respectively by corresponding cable, laser profile scanning device, infrared thermoviewer, inertial navigation device, the communication ends of light strobe and mileage register, described main control computer data communication end connects the data communication end of computer.
The method utilizing above-mentioned tunnel slot device for fast detecting to carry out tunnel slot to detect fast, it comprises the steps:
Step 1: the delivery vehicle of tunnel slot device for fast detecting is placed on the ground in tunnel to be measured;
Step 2: camera, laser profile scanning device, infrared thermoviewer, inertial navigation device, light strobe and mileage register are carried out initialization process by main control computer by computer;
Step 3: computer running control software, controls camera, laser profile scanning device, infrared thermoviewer, inertial navigation device, light strobe and the work of mileage register by main control computer;
Step 4: operation delivery vehicle is in tunnel to be measured, axis along tunnel 8 to be measured at the uniform velocity travels, and making delivery vehicle cross the region to be measured in tunnel to be measured, computer obtains camera photographic data, the infrared imaging data in region to be measured, tunnel to be measured, the laser profile data in region to be measured, tunnel to be measured, the run trace data of delivery vehicle, the walking mileage of delivery vehicle in the to be measured tunnel to be measured region of delivery vehicle in traveling process by main control computer;
Step 5: computer is according to the run trace data of the laser profile data in the camera photographic data in region to be measured, above-mentioned tunnel to be measured, the infrared imaging data in region to be measured, tunnel to be measured, region to be measured, tunnel to be measured, delivery vehicle, the walking mileage of delivery vehicle generate corresponding tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map according to photogrammetry principle;
Step 6: carry out naked eyes identification to above-mentioned tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map, judges whether the region to be measured in tunnel to be measured exists crack and/or infiltration and/or leak and/or peel off and/or come to nothing and/or deformation form.
Application the present invention can realize tunnel slot, seeps water, leaks, peels off, comes to nothing, automatically the detecting fast of deformation.Compared to existing tunnel manual detection method, beneficial effect of the present invention is mainly manifested in:
(1) adopt the present invention, by the workflow of structurized data acquisition, analysis, make the more efficient and safety of the data acquisition that detects based on image.With snapshots in inspection vehicle traveling process, the image mosaic of camera is got up, and the deformation of tunnel surface and defect are all clapped be perfectly clear.Except image, also have laser, the means such as infrared.If metope has ponding, because temperature is different, not with punching or excavating, can distinguish easily with infrared ray.
(2) the present invention only needs a driver and technical operation personnel to the detection in tunnel, is completed the collecting work of tunnel integrated data by the mode of Non-Destructive Testing.Avoid in prior art and damage the tunnel that causes during Tunnel testing, detection efficiency, accuracy compare traditional manual detection mode all to be had significantly improve with precision.
Accompanying drawing explanation
Fig. 1 is using state structural drawing of the present invention;
Fig. 2 is integrated circuit part-structure block diagram of the present invention;
Fig. 3 is the structural representation that on middle frame of the present invention, erecting equipment is seen from back to front;
Fig. 4 is the structural representation that on middle frame of the present invention, erecting equipment is overlooked.
Wherein, 1-computer, 2-main control computer, 3-detecting module, 3.1-camera, 3.2-laser profile scanning device, 3.3-infrared thermoviewer, 3.4-inertial navigation device, 3.5-light strobe, 4-bracing frame, 4.1-framework, 5-delivery vehicle, 6-cable, 7-mileage register, 8-tunnel to be measured.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Tunnel slot device for fast detecting of the present invention, as as described in Fig. 1 ~ 4, it comprises delivery vehicle 5, be arranged on computer 1 in delivery vehicle 5 and main control computer 2 and detecting module 3, be arranged on the mileage register 7 on the roller of delivery vehicle 5, wherein, described detecting module 3 comprises camera 3.1, laser profile scanning device 3.2, infrared thermoviewer 3.3, inertial navigation device 3.4 and light strobe 3.5, each communication ends of described main control computer 2 connects camera 3.1 respectively by corresponding cable 6, laser profile scanning device 3.2, infrared thermoviewer 3.3, inertial navigation device 3.4, the communication ends of light strobe 3.5 and mileage register 7, described main control computer 2 data communication end connects the data communication end of computer 1.
Above-mentioned camera 3.1 is for obtaining tunnel to be measured camera photographic data, laser profile scanning device 3.2 is for obtaining the laser profile data in tunnel to be measured, infrared thermoviewer 3.3 is for obtaining tunnel to be measured infrared imaging data, inertial navigation device 3.4 is for obtaining the run trace data of delivery vehicle, light strobe 3.5 is used as the flashlamp of camera 3.1, and mileage register 7 is for obtaining the walking mileage of delivery vehicle.
In technique scheme, described delivery vehicle 5 is provided with bracing frame 4, support frame as described above 4 is fixed with framework 4.1 and light strobe 3.5, described laser profile scanning device 3.2 is arranged on the front end face of framework 4.1, described infrared thermoviewer 3.3 is arranged on the rear end face of framework 4.1, upward, the imaging lens of described infrared thermoviewer 3.3 upward for the scanning lens of described laser profile scanning device 3.2.Such design is because important safety position, tunnel is top, detects and namely will detect tunnel top.
In technique scheme, it is inner that described inertial navigation device 3.4 is arranged on framework 4.1.Described inertial navigation device 3.4 is for obtaining the run trace data of delivery vehicle 5 in traveling process.
In technique scheme, photosensitive imaging device and the generating laser of laser profile scanning device 3.2 of described infrared thermoviewer 3.3 are coaxial setting.Laser profile scanning device 3.2 is survey instruments, and the infrared photo of infrared thermoviewer 3.3 one-tenth is exactly the distance of laser measurement thing, and the mode of above-mentioned coaxial setting can improve the accuracy that survey instrument carries out measuring on infrared photo.
In technique scheme, described camera 3.1 has three, a camera 3.1 is arranged on framework 4.1 end face, and all the other two cameras 3.1 are arranged on framework 4.1 two sides respectively, and the lens axis intersection point of three cameras 3.1 is on the generating laser axis of laser profile scanning device 3.2.Laser profile scanning device 3.2 is survey instruments, the photograph of 3.1 one-tenth, camera is exactly the distance of laser measurement thing, and above-mentioned set-up mode (the lens axis intersection point of three cameras 3.1 is on the generating laser axis of laser profile scanning device 3.2) can improve the accuracy that survey instrument carries out measuring on the photograph of camera.
In technique scheme, described framework 4.1 is apart from the end face 0.8 ~ 1.3 meter of delivery vehicle 5.Arrange like this and the running orbit of detecting module 3 can be made on the axis in tunnel to be measured (to make the equipment of various imaging to tunnel surface apart from identical as far as possible), improve the accuracy that data calculate.
The method utilizing above-mentioned tunnel slot device for fast detecting to carry out tunnel slot to detect fast, it comprises the steps:
Step 1: the delivery vehicle 5 of tunnel slot device for fast detecting is placed in (if there is track in tunnel to be measured 8, then delivery vehicle 5 travels in orbit) on the ground in tunnel 8 to be measured;
Step 2: camera 3.1, laser profile scanning device 3.2, infrared thermoviewer 3.3, inertial navigation device 3.4, light strobe 3.5 and mileage register 7 are carried out initialization process by main control computer 2 by computer 1;
Step 3: computer 1 running control software, controls camera 3.1, laser profile scanning device 3.2, infrared thermoviewer 3.3, inertial navigation device 3.4, light strobe 3.5 and mileage register 7 by main control computer 2 and works;
Step 4: operation delivery vehicle 5 is in tunnel 8 to be measured, axis along tunnel 8 to be measured at the uniform velocity travels, and make delivery vehicle 5 cross the region to be measured in tunnel 8 to be measured, computer 1 obtains camera photographic data, the infrared imaging data in region to be measured, tunnel to be measured, the laser profile data in region to be measured, tunnel to be measured, the run trace data of delivery vehicle, the walking mileage of delivery vehicle in the to be measured tunnel to be measured region of delivery vehicle 5 in traveling process by main control computer 2, and above-mentioned data form the correlation measurement data in tunnel 8;
Step 5: computer 1 is according to the run trace data of the laser profile data in the camera photographic data in region to be measured, above-mentioned tunnel to be measured, the infrared imaging data in region to be measured, tunnel to be measured, region to be measured, tunnel to be measured, delivery vehicle, the walking mileage of delivery vehicle generate corresponding tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map according to photogrammetry principle;
Step 6: carry out naked eyes identification to above-mentioned tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map, judges whether the region to be measured in tunnel 8 to be measured exists crack and/or infiltration and/or leak and/or peel off and/or come to nothing and/or deformation form.
In described step 6, if there is crack and/or infiltration in the region to be measured in tunnel 8 to be measured and/or leak and/or peel off and/or come to nothing and/or deformation form, then judge crack and/or infiltration according to the coordinate in tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map and/or leak and/or peel off and/or come to nothing and/or the particular location of deformation form in tunnel 8.
In technique scheme, the described velocity range at the uniform velocity travelled be 1 ~ 30 kilometer/hour (camera take pictures the speed of process and tunnel diameter larger, the object distance of taking a picture is longer, then photo to take the photograph phase area larger, but each photo must have again more than 2/3rds overlaps, and therefore the travel speed of delivery vehicle 5 has above requirement).Fracture detection precision of the present invention can reach 0.2 millimeter,
The content that this instructions is not described in detail belongs to the known prior art of professional and technical personnel in the field.
Claims (9)
1. a tunnel slot device for fast detecting, it is characterized in that: it comprises delivery vehicle (5), be arranged on computer (1) in delivery vehicle (5) and main control computer (2) and detecting module (3), be arranged on the mileage register (7) on the roller of delivery vehicle (5), wherein, described detecting module (3) comprises camera (3.1), laser profile scanning device (3.2), infrared thermoviewer (3.3), inertial navigation device (3.4) and light strobe (3.5), each communication ends of described main control computer (2) connects camera (3.1) respectively by corresponding cable (6), laser profile scanning device (3.2), infrared thermoviewer (3.3), inertial navigation device (3.4), the communication ends of light strobe (3.5) and mileage register (7), described main control computer (2) data communication end connects the data communication end of computer (1).
2. tunnel slot device for fast detecting according to claim 1, it is characterized in that: described delivery vehicle (5) is provided with bracing frame (4), support frame as described above (4) is fixed with framework (4.1) and light strobe (3.5), described laser profile scanning device (3.2) is arranged on the front end face of framework (4.1), described infrared thermoviewer (3.3) is arranged on the rear end face of framework (4.1), upward, the imaging lens of described infrared thermoviewer (3.3) upward for the scanning lens of described laser profile scanning device (3.2).
3. tunnel slot device for fast detecting according to claim 2, is characterized in that: it is inner that described inertial navigation device (3.4) is arranged on framework (4.1).
4. tunnel slot device for fast detecting according to claim 2, is characterized in that: the photosensitive imaging device of described infrared thermoviewer (3.3) is arranged for coaxial with the generating laser of laser profile scanning device (3.2).
5. tunnel slot device for fast detecting according to claim 4, it is characterized in that: described camera (3.1) has three, a camera (3.1) is arranged on framework (4.1) end face, all the other two cameras (3.1) are arranged on framework (4.1) two sides respectively, and the lens axis intersection point of three cameras (3.1) is on the generating laser axis of laser profile scanning device (3.2).
6. tunnel slot device for fast detecting according to claim 2, is characterized in that: the end face 0.8 ~ 1.3 meter of described framework (4.1) distance delivery vehicle (5).
7. the method utilizing tunnel slot device for fast detecting described in claim 1 to carry out tunnel slot to detect fast, it is characterized in that, it comprises the steps:
Step 1: the delivery vehicle (5) of tunnel slot device for fast detecting is placed on the ground of tunnel to be measured (8);
Step 2: camera (3.1), laser profile scanning device (3.2), infrared thermoviewer (3.3), inertial navigation device (3.4), light strobe (3.5) and mileage register (7) are carried out initialization process by main control computer (2) by computer (1);
Step 3: computer (1) running control software, controls the work of camera (3.1), laser profile scanning device (3.2), infrared thermoviewer (3.3), inertial navigation device (3.4), light strobe (3.5) and mileage register (7) by main control computer (2);
Step 4: operation delivery vehicle (5) is in tunnel to be measured (8), axis along tunnel to be measured (8) at the uniform velocity travels, and making delivery vehicle (5) cross the region to be measured in tunnel to be measured (8), computer (1) obtains camera photographic data, the infrared imaging data in region to be measured, tunnel to be measured, the laser profile data in region to be measured, tunnel to be measured, the run trace data of delivery vehicle, the walking mileage of delivery vehicle in delivery vehicle (5) region to be measured, tunnel to be measured in traveling process by main control computer (2);
Step 5: computer (1) is according to the run trace data of the laser profile data in the camera photographic data in region to be measured, above-mentioned tunnel to be measured, the infrared imaging data in region to be measured, tunnel to be measured, region to be measured, tunnel to be measured, delivery vehicle, the walking mileage of delivery vehicle generate corresponding tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map according to photogrammetry principle;
Step 6: carry out naked eyes identification to above-mentioned tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map, judges whether the region to be measured in tunnel to be measured (8) exists crack and/or infiltration and/or leak and/or peel off and/or come to nothing and/or deformation form.
8. the method that detects fast of tunnel slot according to claim 7, it is characterized in that: in described step 6, if there is crack and/or infiltration in the region to be measured of tunnel to be measured (8) and/or leak and/or peel off and/or come to nothing and/or deformation form, then judge crack and/or infiltration according to the coordinate in tunnel tomograph, tunnel three-dimensional imaging figure, tunnel top infrared temperature figure and delivery vehicle route map and/or leak and/or peel off and/or come to nothing and/or the particular location of deformation form in tunnel (8).
9. the method that detects fast of tunnel slot according to claim 7, is characterized in that: the described velocity range at the uniform velocity travelled is 1 ~ 30 kilometer/hour.
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