CN105511463B - A kind of railway tunnel lining detection system - Google Patents
A kind of railway tunnel lining detection system Download PDFInfo
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- CN105511463B CN105511463B CN201510863729.6A CN201510863729A CN105511463B CN 105511463 B CN105511463 B CN 105511463B CN 201510863729 A CN201510863729 A CN 201510863729A CN 105511463 B CN105511463 B CN 105511463B
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- tunnel lining
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- 238000001514 detection method Methods 0.000 title claims abstract description 90
- 230000009194 climbing Effects 0.000 claims abstract description 119
- 210000001015 abdomen Anatomy 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 description 15
- 230000007423 decrease Effects 0.000 description 7
- 238000012360 testing method Methods 0.000 description 5
- 239000000284 extract Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003673 groundwater Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of railway tunnel lining detection system, which includes: detection device, auxiliary device and ground mobile device；Wherein, detection device includes climbing robot and geological radar, and geological radar is mounted on the abdomen of climbing robot；Above-mentioned auxiliary device is placed on ground mobile device, and ground mobile device can follow detection device mobile.Railway tunnel lining detection system provided by the invention, detection when can effective avoiding obstacles, improve work efficiency.
Description
Technical field
The present invention relates to railway tunnel lining detection technique fields, detect in particular to a kind of railway tunnel lining
System.
Background technique
Railway tunnel lining is established along the railway tunnel wall surface excavated, to prevent surrouding rock deformation and stratum from caving in,
And stop the building of underground water leakage.The test object of railway tunnel lining includes tunnel vault, haunch and abutment wall.For
Guarantee railway operation safety, railroader need periodically to check railway tunnel lining.
It at this stage, is mostly to check that vehicle detects railway tunnel lining using tunnel state, the inspection of railway tunnel state
Looking into vehicle is to be stretched over target position using five mechanical arm carrying geological radars, is detected later with travelled by vehicle.
But during detection, when encountering the barriers such as contact net and bracket, continuous adjusting mechanical arm is needed
Position carry out avoiding obstacles, during adjusting mechanical arm, due to control precision, sensitivity and the sound by mechanical arm
Influence between seasonable, needs to stop repeatedly and carrys out adjusting mechanical arm, this results in working efficiency low, connects particularly with direction of travel
It touches net and the more complicated high-speed rail tunnel of barriers, the working efficiencies such as bracket is even more low.
Summary of the invention
In view of this, the present invention provides a kind of railway tunnel lining detection system, for solving detection in the prior art
Need to stop when encountering barrier in the process the low problem of working efficiency caused by adjusting mechanical arm.
In a first aspect, the embodiment of the invention provides a kind of railway tunnel lining detection systems, comprising: detection device, auxiliary
Help device and ground mobile device；
The detection device includes climbing robot and geological radar, and the geological radar is mounted on the climbing robot
Abdomen；
The auxiliary device is placed on the ground mobile device, and the ground mobile device can follow the detection to fill
Set movement.
With reference to first aspect, the embodiment of the invention provides the first possible implementation of above-mentioned first aspect,
In, the climbing robot includes cross frame walking structure；
The cross frame walking structure includes cross bar and vertical bar, is slidably connected between the cross bar and the vertical bar.
The possible implementation of with reference to first aspect the first, the embodiment of the invention provides the of above-mentioned first aspect
Two kinds of possible implementations, wherein the both ends of the cross bar and the vertical bar are mounted on vacuum chuck, the vacuum chuck
On be provided with pipe interface.
The possible implementation of second with reference to first aspect, the embodiment of the invention provides the of above-mentioned first aspect
Three kinds of possible implementations, wherein be equipped with sensor on the vacuum chuck.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible implementation of above-mentioned first aspect,
In, the geological radar top is provided with headlamp and camera.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible implementation of above-mentioned first aspect,
In, the auxiliary device includes vacuum pump, power supply and computer；
Pipe interface on the vacuum pump and vacuum chuck passes through air circuit connection；
The power supply is electrically connected with the detection device；
The computer is wirelessly connected with the geological radar, sensor and camera respectively, receives the geological radar
The detection data of transmission receives the vacuum chuck adsorbed state data of the sensor transmissions, receives the thecamera head
Image.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible implementation of above-mentioned first aspect,
In, the railway tunnel lining detection system further includes remote controler, and the remote controler and the climbing robot are wirelessly connected, with
Control the movement of the climbing robot.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible implementation of above-mentioned first aspect,
In, the climbing robot tail end is equipped with transversal stretching bar, is equipped with disk coil holder on the transversal stretching bar.
With reference to first aspect, the embodiment of the invention provides the 8th kind of possible implementation of above-mentioned first aspect,
In, transversal stretching bar is installed on the ground mobile device, disk coil holder is installed on the transversal stretching bar.
With reference to first aspect, the embodiment of the invention provides the 9th kind of possible implementation of above-mentioned first aspect,
In, catch net is installed on the climbing robot.
Railway tunnel lining detection system provided by the invention, including detection device, auxiliary device and ground mobile device,
Detection device includes climbing robot and geological radar, and geological radar is mounted on to the abdomen of climbing robot, by climbing wall machine
The movement of device people detects, and auxiliary device is placed on ground mobile device, and ground mobile device follows detection device
It is mobile, the weight of climbing robot can be mitigated, keep climbing robot lighter, convenient for manipulation, can effectively avoid obstacle
Object improves work efficiency.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structural schematic diagram of railway tunnel lining detection system provided in an embodiment of the present invention；
Fig. 2 shows the crosses of climbing robot in a kind of railway tunnel lining detection system provided in an embodiment of the present invention
Frame walking structure schematic diagram；
Fig. 3 shows the disk in a kind of railway tunnel lining detection system provided in an embodiment of the present invention on climbing robot
The relation schematic diagram of disk coil holder on coil holder and ground mobile device.
1 description of symbols of attached drawing:
Climbing robot 100, geological radar 110, auxiliary device 120, ground mobile device 130；
2 description of symbols of attached drawing:
Cross bar 101, vertical bar 102；
3 description of symbols of attached drawing:
First telescopic rod 301, the second telescopic rod 302, the first disk coil holder 303, the second disk coil holder 304, handle 305.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Usually
The component for the embodiment of the present invention being described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
In view of in the prior art, being detected using railway tunnel status checkout vehicle to railway tunnel lining, when encountering
When the barriers such as contact net and bracket, the position of continuous adjusting mechanical arm is needed to carry out avoiding obstacles, and mechanical adjusting
During arm, since control precision, sensitivity and the response time by mechanical arm are influenced, need to stop repeatedly to adjust
Mechanical arm is saved, it is low so as to cause working efficiency.Based on this, the embodiment of the invention provides a kind of railway tunnel lining detection systems
System.It is described below by embodiment.
Embodiment
The embodiment of the invention provides a kind of railway tunnel lining detection systems.Wherein, railway tunnel lining is along excavation
Railway tunnel wall surface build, preventing surrouding rock deformation and stratum from caving in, and stop the building of groundwater seepage.Iron
The test object of road tunnel-liner includes tunnel vault, haunch and abutment wall.And railway tunnel lining detection is mainly for railway
It is detected inside tunnel-liner, mainly includes lining thickness, reinforcing bar distribution, behind compaction rate and cavity etc..Work as railway
When quality problems occurs in tunnel-liner, the normal operation of railway may be will affect, may result in tunnel accident dangerous situation when serious,
Therefore it needs to carry out regular, accurate detection to railway tunnel lining.
As shown in Figure 1, railway tunnel lining detection system provided in an embodiment of the present invention, comprising: detection device, auxiliary dress
Set 120 and ground mobile device 130；
Detection device includes climbing robot 100 and geological radar 110, and geological radar 110 is mounted on climbing robot
100 abdomen；
Above-mentioned auxiliary device 120 is placed on ground mobile device 130, which can follow detection to fill
Set movement.
Climbing robot 100 can creep on wall, therefore geological radar 110 is placed on climbing robot 100
Abdomen, geological radar 110 can be detected as climbing robot 100 moves on tunnel-liner tested surface.
Geological radar 110 is the abbreviation of Underground substance radar, geological radar 110 used by the embodiment of the present invention
Antenna includes transmitting antenna and receiving antenna, and above-mentioned transmitting antenna and receiving antenna are built-in antenna, by transmitting antenna and is connect
The host for receiving antenna and geological radar 110 combines together, and when detecting to tunnel-liner, geological radar 110 passes through transmitting
Antenna can be to tunnel-liner tested surface electromagnetic signals, and the electromagnetic wave signal is in the inside and behind of tunnel-liner tested surface
It can reflect, generate echo-signal, geological radar 110 can receive this echo-signal by receiving antenna, and by the echo
Signal is converted to digital quantity signal, and the digital quantity signal is transferred to computer, and such staff can be by the digital quantity
Signal saves as detection data, and carries out processing analysis to the detection data by computer software.Above-mentioned geological radar 110 with
Connection between computer is to be wirelessly connected, and above-mentioned digital quantity signal can be transferred to by geological radar 110 by wireless network
Computer, the wireless network can be Wi-Fi (Wireless-Fidelity, Wireless Fidelity).
Above-mentioned climbing robot 100 is that one kind can climb mobile automatic machinery people on wall, more small and exquisite, clever
It is living, it can be moved in tunnel-liner, and can effectively avoid the barrier on tunnel, therefore can be also used for high-speed rail tunnel
The detection of lining cutting.The size of climbing robot 100 can be 0.8m × 0.8m, and the embodiment of the present invention has been merely given as above-mentioned climbing wall
One of size of robot 100, the embodiment of the present invention do not limit the size of above-mentioned climbing robot 100.
Geological radar 110 is mounted on to the abdomen of climbing robot 100, follows climbing robot 100 on tested surface
It moves and is detected, wherein is maintained within 5cm at a distance from geological radar 110 and tested surface, the quality of data detected in this way
It is best.
, can be there are two types of mode when detection device starts to detect tested surface, one kind is distance triggering, and one kind is to touch the time
Hair.
So-called distance triggering, also known as displacement triggering, as long as climbing robot 100 moves at the beginning, geological radar 110
Meeting electromagnetic signals, start to detect.
So-called time trigger is then to be controlled by instruction, as long as issuing the instruction letter for starting detection to geological radar 110
Number, after geological radar 110 receives this command signal, will electromagnetic signals, start to detect.
In embodiments of the present invention, time triggering mode can be both used, can also be using apart from triggering mode, work people
Member can select suitable triggering mode according to the road conditions of tested surface.
In order to mitigate the weight of detection device, above-mentioned auxiliary device 120 can be placed on ground mobile device 130,
When being detected, ground mobile device 130 can be moved with the movement of detection device.
Above-mentioned ground mobile device 130 can be ground small handcart.
Railway tunnel lining detection system provided in an embodiment of the present invention, geological radar is mounted on climbing robot,
Moving for climbing robot can be followed by and be detected, and auxiliary device is placed on ground mobile device, followed
Detection device and move, the weight of climbing robot can be mitigated, keep climbing robot lighter, convenient for manipulation, can be effective
The barrier on tunnel is avoided, is improved work efficiency.
Wherein, above-mentioned climbing robot 100 may include cross frame walking structure.
As shown in Fig. 2, above-mentioned cross frame walking structure includes cross bar 101 and vertical bar 102, cross bar 101 and vertical bar 102 it
Between to be slidably connected.
Walking structure is that climbing robot 100 is used to mobile a kind of structure of creeping, and climbs wall machine in the embodiment of the present invention
For the walking structure of device people 100 using cross frame walking structure, which includes cross bar 101 and vertical bar 102, cross bar 101
To be slidably connected between vertical bar 102, that is to say, that contacted between cross bar 101 and vertical bar 102, but and be not fixed, and
It opposite can be slided between cross bar 101 and vertical bar 102, such cross bar 101 can replace with vertical bar 102 to travel forward, Jin Ershi
Existing climbing robot 100 moves ahead.
In addition to this, above-mentioned cross bar 101 can also be rotated with vertical bar 102, when carrying out railway tunnel lining detection, generally
Angle setting between cross bar 101 and vertical bar 102 is in 90 °, it, can be with rotary bar when detecting railway tunnel 3 in Curve Segment
101 and vertical bar 102, so that climbing robot 100 is changed direction with the bending of railway tunnel.
The both ends of above-mentioned cross bar 101 and vertical bar 102 are mounted on vacuum chuck, are provided with pipeline on the vacuum chuck and connect
Mouthful.
The vacuum chuck is adsorbed on railway tunnel lining tested surface using the mode of negative pressure of vacuum, so-called negative pressure,
Then it is less than the gas pressure state an of atmospheric pressure.Pipe interface on above-mentioned vacuum chuck is connected by gas circuit and vacuum pump
It connects, vacuum pump can take the air in vacuum chuck away, to make to form a vacuum state inside vacuum chuck, at this point, very
The air pressure of empty suction cup interior is less than external atmospheric pressure, therefore vacuum chuck can be adsorbed on tested surface, vacuum
Vacuum degree in sucker is higher, and that then pastes between vacuum chuck and tested surface is tighter.
It is provided with vacuum chuck at the both ends of above-mentioned cross bar 101 and the both ends of vertical bar 102, is siphoned away very by vacuum pump
Vacuum chuck can be adsorbed on tested surface by the air in suction disk, carry out that climbing robot 100 is made to be adsorbed on tested surface
On.
It, can be at the both ends of cross bar 101 and perpendicular in order to enable climbing robot 100 to be preferably adsorbed on tested surface
Multiple vacuum chucks are arranged in every one end in the both ends of bar 102, such as, can cross bar 101 both ends and vertical bar 102 two
3 or 5 vacuum chucks are set on every one end in end.Certainly, above-mentioned multiple any numbers for greater than 1, the present invention are real
Apply the specific value that example does not limit above-mentioned multiple vacuum chucks.
The edge of vacuum chuck in the embodiment of the present invention is using soft silica gel sealing film, the soft silica gel sealing film
With certain deformability, so that when relatively rough on the tested surface or lesser hole recess of appearance, above-mentioned vacuum
The edge of sucker can be also fitted on tested surface well, it is therefore prevented that gas leakage occurs gap and in edge, can enhance vacuum suction
Adsorptivity of the disk on tested surface, makes climbing robot 100 be not easy to fall down.
The pipe interface being arranged on above-mentioned vacuum chuck can be used to connect gas circuit, and the other end of gas circuit is then and vacuum
Pump connection, so that keeping vacuum state in vacuum chuck, realizes the suction of vacuum chuck for extracting the air in vacuum chuck out
It is attached.
Sensor is also equipped on above-mentioned vacuum chuck.
The sensor is able to detect that the adsorbed state information between vacuum chuck and tested surface, and by the adsorbed state
Information is converted into adsorbed state data and is transferred to computer, and such staff is observed that vacuum chuck by computer
Adsorbed state, and then the adsorbed state of climbing robot 100 can be known at any time.
Wherein, above-mentioned railway tunnel lining detection system further includes remote controler, and the remote controler and climbing robot 100 are wireless
Connection, to control the movement of climbing robot 100.
Above-mentioned remote controler is provided with transmitting module, can by transmitting module to 100 emission instruction signal of climbing robot,
After climbing robot 100 receives the command signal of remote controler transmitting, it can be acted accordingly according to the command signal.
When climbing robot 100 needs to move forward, staff closes first inhales with the vacuum on 101 both ends of cross bar
The vacuum pump of disk connection, and air inlet is opened, it is filled with air into above-mentioned vacuum chuck, to make true on 101 both ends of cross bar
Suction disk falls off from tested surface；Later by remote controler, the instruction letter that cross bar 101 moves forward is issued to climbing robot 100
Number, after climbing robot 100 receives this command signal, it can move forward, after mobile a certain distance, staff
It is issued by remote controler to climbing robot 100 and stops mobile command signal, when climbing robot 100 receives this instruction
After signal, then stop moving, then staff issues the instruction that cross bar 101 declines to climbing robot 100 by remote controler
Signal, make the cross bar 101 of climbing robot 100 drop to tested face contact, when climbing robot 100 cross bar 101 decline
To with after tested face contact, then staff issues the command signal for stopping decline by remote controler to climbing robot 100, it
Close the air inlet in the gas circuit that connect with the vacuum chuck on 101 both ends of cross bar afterwards, open simultaneously on 101 both ends of cross bar
The vacuum pump of vacuum chuck connection extracts the air in above-mentioned vacuum chuck, is adsorbed on above-mentioned vacuum chuck on tested surface, this
When, the adsorbed state information of above-mentioned vacuum chuck can be detected by sensor, which can be vacuum chuck
Interior vacuum degree, the vacuum degree in vacuum chuck that sensor will test are transferred to computer, inhale when vacuum degree reaches vacuum
After the value that disk can adsorb, computer can issue prompt, prompt staff to carry out the operation of next step, if staff does not have
There is the operation for making next step, which can carry out always, until staff makes the operation of next step；If vacuum
The value that vacuum chuck can adsorb has not been reached yet in vacuum degree in sucker, and staff begins to carry out the behaviour of next step
Make, then computer can sound an alarm, staff is prevented to carry out the operation of next step；
It is prompted when computer issues, after prompting staff to carry out next step operation, staff then closes and vertical bar
The vacuum pump of vacuum chuck connection on 102 both ends, and air inlet is opened, it is filled with air into the vacuum chuck, to make to erect
Vacuum chuck on 102 both ends of bar falls off from tested surface, later, by remote controler to climbing robot 100 issue vertical bar 102 to
The command signal of preceding movement can move forward after climbing robot 100 receives this command signal, when being moved in cross
Then stop moving when the position that vertical bar 102 is contacted with cross bar 101 before bar 101 is mobile, then staff pass through remote controler to
Climbing robot 100 issues the command signal that vertical bar 102 declines, and drops to the vertical bar 102 of climbing robot 100 and tested surface
Contact, after the vertical bar 102 of climbing robot 100 drops to tested face contact, then staff is by remote controler to climbing wall
Robot 100 issues the command signal for stopping decline, closes the gas circuit connecting with the vacuum chuck on 102 both ends of vertical bar later
Air inlet opens simultaneously the vacuum pump connecting with the vacuum chuck on 102 both ends of vertical bar and extracts air in the vacuum chuck, makes
The vacuum chuck is adsorbed on tested surface.At this point, climbing robot 100 completes forward movement.
The movement of above-mentioned climbing robot 100 can also be accomplished in the following manner:
When climbing robot 100 needs to move forward, staff closes first inhales with the vacuum on 101 both ends of cross bar
The vacuum pump of disk connection, and air inlet is opened, it is filled with air into above-mentioned vacuum chuck, to make true on 101 both ends of cross bar
Suction disk falls off from tested surface；Later by remote controler, the instruction letter that cross bar 101 moves forward is issued to climbing robot 100
Number, may include in the command signal climbing robot 100 cross bar 101 move forward instruction and forward movement away from
From after climbing robot 100 receives this command signal, then distance specified in the command signal being moved forward, when complete
After distance as defined in the command signal, cross bar 101 then stops moving, and then staff passes through remote controler to climbing robot
100 issue the command signal that cross bars 101 decline, make the cross bar 101 of climbing robot 100 drop to tested face contact, when climbing
The cross bar 101 of wall robot 100 drops to after tested face contact, then staff passes through remote controler to climbing robot 100
The command signal for stopping decline being issued, closes the air inlet in the gas circuit connecting with the vacuum chuck on 101 both ends of cross bar later,
It opens simultaneously the vacuum pump connecting with the vacuum chuck on 101 both ends of cross bar and extracts air in above-mentioned vacuum chuck, make above-mentioned
Vacuum chuck is adsorbed on tested surface, at this moment, the adsorbed state information of above-mentioned vacuum chuck, the suction can be detected by sensor
Attached status information can be the vacuum degree in vacuum chuck, and the vacuum degree in vacuum chuck that sensor will test is transferred to meter
Calculation machine, after vacuum degree reaches the value that vacuum chuck can adsorb, computer can issue prompt, prompt staff to carry out next
The operation of step, if staff does not make the operation of next step, which can be carried out always, until staff makes down
Until the operation of one step；If the vacuum degree in vacuum chuck has not been reached yet the value that vacuum chuck can adsorb, and the people that works
Member begins to carry out the operation of next step, then computer can sound an alarm, staff is prevented to carry out the operation of next step；
It is prompted when computer issues, after prompting staff to carry out next step operation, staff then closes and vertical bar
The vacuum pump of vacuum chuck connection on 102 both ends, and air inlet is opened, it is filled with air into the vacuum chuck, to make to erect
Vacuum chuck on 102 both ends of bar falls off from tested surface, later, by remote controler to climbing robot 100 issue vertical bar 102 to
The command signal of preceding movement, may include in the command signal climbing robot 100 the instruction that moves forward of vertical bar 102 and
The distance of forward movement, and the distance that the distance and cross bar 101 move forward is identical, when climbing robot 100 receives this
After one command signal, distance specified in the command signal can be moved forward, vertical bar 102 is mobile to be completed to provide in the command signal
Distance after, vertical bar 102 stop movement, then staff by remote controler to climbing robot 100 issue vertical bar 102 decline
Command signal, make the vertical bar 102 of climbing robot 100 drop to tested face contact, when the vertical bar of climbing robot 100
102 drop to after tested face contact, then staff issues the instruction for stopping decline by remote controler to climbing robot 100
Signal, staff closes the air inlet for the gas circuit connecting with the vacuum chuck on 102 both ends of vertical bar later, opens simultaneously and erects
On 102 both ends of bar vacuum chuck connection vacuum pump extract the air in the vacuum chuck, make the vacuum chuck be adsorbed on by
On survey face.At this point, climbing robot 100 completes forward movement.
The maximum speed that climbing robot 100 in the embodiment of the present invention moves forward can achieve 0.5m/s.
Photograph can also be arranged in the top of geological radar in railway tunnel lining detection system provided in an embodiment of the present invention
Bright lamp and camera.
When detecting using detection device to railway tunnel lining, climbing robot can be illuminated by headlamp
The wall surface in 100 fronts, while above-mentioned camera can shoot the wall surface status information in front at picture, be transferred to computer.
Wherein, in order to reduce the connection between detection device and computer, between above-mentioned camera and computer
It is connected as being wirelessly connected, which can be Wi-Fi connection.
Above-mentioned auxiliary device 120 may include vacuum pump, power supply and computer；
Wherein, the pipe interface on vacuum pump and vacuum chuck passes through air circuit connection；
Above-mentioned power supply is electrically connected with detection device；
Computer is wirelessly connected with geological radar 110, sensor and camera respectively, is received geological radar 110 and is transmitted
Detection data, receiving sensor transmission sucker suction status data, receive the image of thecamera head.
The vacuum chuck on 102 both ends of vacuum chuck and vertical bar on above-mentioned vacuum pump and 101 both ends of cross bar passes through gas
Road connection, can pump the air in above-mentioned vacuum chuck, so that it is adsorbed on vacuum chuck on tested surface, at the same time it can also
By air inlet, it is filled with air in above-mentioned vacuum chuck, the vacuum chuck is made to fall off from tested surface, so that cross bar
101 or vertical bar 102 move forward.
Above-mentioned power supply can be the battery of large capacity, or generator, above-mentioned power supply are electrically connected with detection device,
Specifically, being electrically connected respectively with climbing robot 100 and geological radar 110, passed to climbing robot 100 and geological radar 110
Transmission of electricity power, works for climbing robot 100 and geological radar 110.
Above-mentioned generator can be small-sized 3kw generator, take up an area smaller, lighter in weight, be arranged so that and fill in ground moving
It sets on 130, the space occupied is smaller, additionally it is possible to mitigate the weight of ground mobile device 130.
In this way, a staff can move the ground mobile device and operation computer receives geological radar
110 transmission detection datas, the detection data be digital quantity signal, another staff manipulate climbing robot 100 with
And observation front railway tunnel lining surface state, two staff can complete the detection of railway tunnel lining, save
Human resources.
Certainly, the embodiment of the present invention does not limit the size and model of above-mentioned generator, as long as can achieve to climbing wall
The effect that robot 100 and geological radar 110 are powered.
Above-mentioned power supply is electrically connected with detection device, wherein the electrical connection can be electric wire connection, can be cable connection.
For geological radar 110 when detecting railway tunnel lining, geological radar 110 can be to tunnel-liner quilt by transmitting antenna
Surface launching electromagnetic wave signal is surveyed, when the electromagnetic wave signal in the inside of tunnel-liner tested surface and behind can reflect, generation
Echo-signal, geological radar 110 can receive this echo-signal by receiving antenna, and the echo-signal is converted to digital quantity
Signal, and the digital quantity signal is transferred to computer, which can be saved as testing number by such staff
According to, and processing analysis is carried out to the detection data by computer software.
In order to reduce the connecting line between detection device and auxiliary device 120, between above-mentioned geological radar 110 and computer
It can be to be wirelessly connected, which can be Wi-Fi connection.
It is fitted with sensor on vacuum chuck on 102 both ends of 101 both ends of cross bar and vertical bar, for detecting the vacuum
The adsorbed state information of sucker, and convert adsorbed state data for the adsorbed state information and be transferred to computer.
It can be in order to reduce the connecting line between detection device and auxiliary device 120, between the sensor and computer
To be wirelessly connected, which can be Wi-Fi connection.
Camera is installed on the top of climbing robot 100, which can shoot the quilt in 100 front of climbing robot
The wall surface state in survey face, and the wall surface status image is transferred to computer, before staff can be observed by computer
The wall surface state of square tested surface, convenient for manipulation climbing robot 100.
It can be in order to reduce the connecting line between detection device and auxiliary device 120, between above-mentioned camera and computer
To be wirelessly connected, which can be Wi-Fi connection.
Wherein, the tail end of above-mentioned climbing robot 100 is equipped with transversal stretching bar, is equipped with disk line on the transversal stretching bar
Frame.
Above-mentioned disk coil holder can be one, by the connecting line and vacuum chuck and vacuum pump between power supply and detection device
Between gas circuit be wrapped on a disk coil holder, above-mentioned disk coil holder can also be two, one be used to wind power supply and detection fill
Connecting line between setting, another is used to wind the gas circuit between vacuum chuck and vacuum pump, and certainly, the embodiment of the present invention is not
Limit the specific number of above-mentioned disk coil holder.
Gas circuit between connecting line and vacuum chuck and vacuum pump between power supply and detection device is wrapped in disk line
On frame, when encountering barrier during detection, can by the transversal stretching bar for holding tray coil holder it is flexible come
Avoiding barrier.
Wherein, transversal stretching bar is installed on above-mentioned ground mobile device 130, disk line is installed on the transversal stretching bar
Frame.
Above-mentioned disk coil holder can be one, by the connecting line and vacuum chuck and vacuum pump between power supply and detection device
Between gas circuit be wrapped on a disk coil holder, above-mentioned disk coil holder can also be two, one be used to wind power supply and detection fill
Connecting line between setting, another is used to wind the gas circuit between vacuum chuck and vacuum pump, and certainly, the embodiment of the present invention is not
Limit the specific number of above-mentioned disk coil holder.
Gas circuit between connecting line and vacuum chuck and vacuum pump between power supply and detection device is wrapped in disk line
On frame, when encountering barrier during detection, can by the transversal stretching bar for holding tray coil holder it is flexible come
Avoiding barrier.
Wherein, on the disk coil holder and ground mobile device 130 installed on the transversal stretching bar of 100 tail portion of climbing robot
The disk coil holder installed on transversal stretching bar is in the same side, can be by the disk on climbing robot 100 in this way when encountering barrier
Disk coil holder on coil holder and ground mobile device 130 is mobile to the same side simultaneously, with avoiding barrier.
Gas circuit, power supply between vacuum pump and vacuum chuck and the connecting line between detection device can be in climbing robots
The cross bar 101 and vertical bar 102 that cross frame walking structure is adjacent on 100 are routed, and make to be routed in good order, vacuum after the completion of wiring
The connecting line between gas circuit and power supply and detection device between pump and vacuum chuck can be all pooled at one, can be pooled to
The top of climbing robot 100, the disk coil holder being then then passed through on climbing robot 100, eventually passes through ground mobile device 130
On disk coil holder, connect respectively with vacuum pump and power supply.Certainly, the connecting line between above-mentioned two disk coil holder is securable, can also
With relaxation.
Next, for a disk coil holder is respectively set on climbing robot 100 and ground mobile device 130, in detail
Introduce the disk coil holder in the embodiment of the present invention.As shown in figure 3, the first telescopic rod 301 is provided on climbing robot 100,
First disk coil holder 303 is installed on one telescopic rod 301, and is provided with the second telescopic rod 302 on ground mobile device 130,
Second disk coil holder 304 is installed on second telescopic rod 302, handle 305 is installed on the second disk coil holder 304, by turning
The tensioning or relaxation of connecting line between the adjustable first disk coil holder 303 of fixed handle 305 and the second disk coil holder 304, and it is above-mentioned
First disk coil holder 303 and the second disk coil holder 304 are mounted on the same side, can also by the first telescopic rod 301 of control it is flexible come
The position for adjusting the first disk coil holder 303, by controlling the flexible position to adjust the second disk coil holder 304 of the second telescopic rod 302,
When carrying out railway tunnel lining detection, when encountering barrier, can be stretched by above-mentioned first telescopic rod 301 of adjusting and second
Contracting bar 302 carrys out avoiding barrier.
Wherein, catch net is also equipped on above-mentioned climbing robot 100.
Curved bar is set up far from the side of tested surface in climbing robot 100, covers catch net on the curved bar later, in this way
When encountering fortuitous event, such as, power-off or equipment catastrophic failure etc. when climbing robot 100 falls to ground, climb wall machine
The catch net of 100 periphery of device people first lands, without injuring climbing robot 100.
In order to enable staff to observe the state of climbing robot 100 at any time, above-mentioned catch net can be transparent
, in addition, above-mentioned catch net can be the material with stronger toughness, biggish rigidity, higher elasticity and damped coefficient, than
Such as say that nylon when climbing robot falls to ground, can play the role of damping in this way when encountering fortuitous event, so as to
Enough play the role of protecting climbing robot 100 and geological radar 110.Certainly, the embodiment of the present invention does not limit above-mentioned protection
The material of net, as long as climbing robot 100 and geological radar 110 can be protected.
In certain specific embodiments, the detection device that can be used, including climbing robot 100 and geological radar 110,
And the gross weight of climbing robot 100 and geological radar is preferably 18Kg, and the cross walking mechanism of climbing robot 100
The load-bearing of cross bar 101 or the vacuum chuck on vertical bar 102 is 30~40Kg, detection device can be made preferably to be adsorbed in this way
On railway tunnel lining, in addition, geological radar 110 centre frequency can be used for the transmitting antenna of 800MHz or 900MHz and
Receiving antenna improves geology thunder in this way on the basis of the depth for the railway tunnel lining for guaranteeing to detect that needs detect
Up to 110 resolution ratio.
It is above-mentioned to be merely given as one of specific embodiment, the gross weight of above-mentioned detection device, vacuum chuck load-bearing,
And reflecting antenna and the centre frequency of receiving antenna these parameters can also be other numerical value, the present invention does not limit above-mentioned
The occurrence of parameter.
Railway tunnel lining detection system provided in an embodiment of the present invention, including detection device, auxiliary device and ground are moved
Dynamic device, detection device includes climbing robot and geological radar, and geological radar is mounted on to the abdomen of climbing robot, is passed through
The movement of climbing robot is detected, and auxiliary device is placed on ground mobile device, and ground mobile device follows inspection
It is mobile to survey device, the weight of climbing robot can be mitigated, keep climbing robot lighter, convenient for manipulation, can effectively keep away
Barrier is opened, is improved work efficiency.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. a kind of railway tunnel lining detection system characterized by comprising detection device, auxiliary device and ground moving dress
It sets；
The detection device includes climbing robot and geological radar, and the geological radar is mounted on the abdomen of the climbing robot
Portion；
The auxiliary device is placed on the ground mobile device, and the ground mobile device can follow the detection device to move
It is dynamic；
The climbing robot includes cross frame walking structure；
The cross frame walking structure includes cross bar and vertical bar, is slidably connected between the cross bar and the vertical bar；
The cross bar and the vertical bar can relative rotation by the cross bar and described erected when carrying out railway tunnel lining detection
Angle between bar is arranged to 90 degree, and when detecting railway tunnel 3 in Curve Segment, cross bar and vertical bar are rotatable, makes wall-climbing device
People changes direction with the bending of railway tunnel；
The antenna of the geological radar includes transmitting antenna and receiving antenna, and transmitting antenna and receiving antenna are built-in antenna,
The host of transmitting antenna and receiving antenna and geological radar combines together；
The both ends of the cross bar and the vertical bar are mounted on vacuum chuck, pipe interface are provided on the vacuum chuck, very
The edge of suction disk uses soft silica gel sealing film；
Wherein, sensor is also equipped on the vacuum chuck, the sensor is for detecting between vacuum chuck and tested surface
Adsorbed state information, and convert adsorbed state parameter for the adsorbed state information and be transferred to computer.
2. railway tunnel lining detection system according to claim 1, which is characterized in that the geological radar top setting
There are headlamp and camera.
3. railway tunnel lining detection system according to claim 2, which is characterized in that the auxiliary device includes vacuum
Pump, power supply and computer；
Pipe interface on the vacuum pump and vacuum chuck passes through air circuit connection；
The power supply is electrically connected with the detection device；
The computer is wirelessly connected with the geological radar, sensor and camera respectively, receives the geological radar transmission
Detection data, receive the vacuum chuck adsorbed state data of the sensor transmissions, receive the image of the thecamera head.
4. railway tunnel lining detection system according to claim 1, which is characterized in that the railway tunnel lining detection
System further includes remote controler, and the remote controler and the climbing robot are wirelessly connected, to control the shifting of the climbing robot
It is dynamic.
5. railway tunnel lining detection system according to claim 1, which is characterized in that the climbing robot tail end peace
Equipped with transversal stretching bar, disk coil holder is installed on the transversal stretching bar.
6. railway tunnel lining detection system according to claim 1, which is characterized in that pacify on the ground mobile device
Equipped with transversal stretching bar, disk coil holder is installed on the transversal stretching bar.
7. railway tunnel lining detection system according to claim 1, which is characterized in that installed on the climbing robot
There is catch net.
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| CN201510863729.6A CN105511463B (en) | 2015-12-01 | 2015-12-01 | A kind of railway tunnel lining detection system |
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Families Citing this family (6)
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| CN106444785B (en) * | 2016-11-25 | 2023-09-15 | 中国铁道科学研究院集团有限公司 | Portable tunnel lining check out test set |
| CN108459033A (en) * | 2018-04-02 | 2018-08-28 | 江苏中路工程检测有限公司 | A kind of detection device for bridge |
| CN108254384B (en) * | 2018-04-02 | 2021-03-16 | 中路交科(江苏)检测科技有限公司 | Detection device for bridge bottom surface cracks |
| CN108731736B (en) | 2018-06-04 | 2019-06-14 | 山东大学 | Wall radar photoelectricity robot system is climbed automatically for bridge tunnel Structural defect non-destructive testing diagnosis |
| CN109541701B (en) * | 2018-11-22 | 2020-10-16 | 河海大学 | Hydraulic concrete reinforcement direction detection system and detection method |
| CN109488384B (en) * | 2018-12-28 | 2019-12-24 | 山东大学 | Automatic detection system and method suitable for tunnel lining |
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