CN108317998A - A kind of tunneling boring tunnel-liner detection vehicle - Google Patents
A kind of tunneling boring tunnel-liner detection vehicle Download PDFInfo
- Publication number
- CN108317998A CN108317998A CN201810142254.5A CN201810142254A CN108317998A CN 108317998 A CN108317998 A CN 108317998A CN 201810142254 A CN201810142254 A CN 201810142254A CN 108317998 A CN108317998 A CN 108317998A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- tunnel
- liner
- auxiliary
- vehicle 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Lining And Supports For Tunnels (AREA)
- Navigation (AREA)
Abstract
A kind of tunneling boring tunnel-liner detection vehicle comprising：Vehicle body, it includes vehicle travel controller, vehicle travel controller generates corresponding vehicle traveling control signal for obtaining current location of the vehicle body in tunnel, and according to current location and preset vehicle driving trace, and control Signal Regulation vehicle driving parameters are travelled by vehicle；Tunnel-liner detection device is used under the carrying of vehicle body move in tunnel and be detected tunnel-liner, multiple probes that tunnel-liner detection device included be spaced apart, to realize that the tunneling boring to tunnel-liner detects.This vehicle can adjust the transport condition of vehicle in real time, and then ensure that vehicle can be travelled according to preset travel track, it also lays a good foundation in this way with regard to carrying out accurately detection to tunnel-liner state for tunnel-liner detection device, simultaneously, this vehicle can also carry out multiple spot detection to tunnel-liner simultaneously using tunnel-liner detection device, help to realize the tunneling boring detection of tunnel-liner.
Description
Technical field
The present invention relates to Tunnel testing technical fields, specifically, being related to a kind of tunneling boring tunnel-liner detection vehicle.
Background technology
Tunnel-liner disease is operation tunnel major safety risks may cause great if finding out, renovating not in time
Traffic accidents.China is in the multiple phase of tunnel safety accident at present, therefore, ten when to tunnel progress periodic detection
Divide necessary.Since operation tunnel sectional space is larger, conventional hand-held detection method can not complete detection work, it is necessary to by
Detection device is extended to tunnel wall in other equipment.Currently used method is given a hand in mobile vehicle or other platforms
Tripod, then testing staff station on the top of the shelf, detection probe is attached in tunnel wall and is detected；Or using easy machinery
Bar extends to detection device in tunnel wall and is detected, which kind of detection mode either used, is required to expend a large amount of people
Power can not ensure the consistency coupled between detection probe and tunnel wall, and there are prodigious safety is hidden in vehicle travel process
The problems such as trouble, can only detect a survey line every time, and detection efficiency is relatively low.
Invention content
To solve the above problems, the present invention provides a kind of tunneling boring tunnel-liners to detect vehicle, including：
Vehicle body comprising vehicle travel controller, the vehicle travel controller is for obtaining the vehicle body
Current location in tunnel, and corresponding vehicle traveling control is generated according to the current location and preset vehicle driving trace
Signal travels control Signal Regulation vehicle driving parameters by the vehicle, to make the vehicle body along described default
Vehicle driving trace travels；
The tunnel-liner detection device being arranged on the vehicle body is used under the carrying of the vehicle body
It is moved in the tunnel and the tunnel-liner is detected, when being detected to tunnel-liner, the tunnel-liner inspection
It includes the multiple probes being spaced apart to survey device, to realize that the tunneling boring to tunnel-liner detects.
According to one embodiment of present invention, the tunnel-liner detection device includes tunnel-liner inspecting manipuator arm,
The tunnel-liner inspecting manipuator arm includes：
The bottom end of telescopic principal arm, the principal arm is fixed on inspection vehicle；
Auxiliary on the principal arm top is set, and the auxiliary is configured to match with tunnel-liner profile；And
The multiple probes being arranged on the auxiliary, the probe construction is at can be between automatic adjusument and tunnel inner wall
Distance.
According to one embodiment of present invention, the auxiliary includes several arm sections, wherein by adjusting two neighboring arm section
Between angle can adjust the shape of the auxiliary and control auxiliary stretching, extension or shrink.
According to one embodiment of present invention, the support component for connecting the auxiliary, the support are set on the principal arm
Component is constructed to be permeable to change the angle between principal arm and the auxiliary.
According to one embodiment of present invention, card slot is set on the auxiliary, and being arranged in the card slot can move in card slot
Dynamic probe mounting base, the probe connect the probe mounting base by telescopic connector.
According to one embodiment of present invention, the principal arm includes the pedestal being fixed on inspection vehicle, and setting exists
Main body on the pedestal, wherein telescopic oil cylinder is set in the main body.
According to one embodiment of present invention, rotating mechanism is arranged in the bottom of the principal arm, to control principal arm along tunnel
Axial direction or circumferential direction rotation.
According to one embodiment of present invention, the rotating mechanism includes the shaft for connecting the pedestal and the main body,
And the rotational fuel tank in the body side is set；Wherein, described rotational fuel tank one end is connected on inspection vehicle, the other end
Connection is on the body；Main body is rotated along shaft when the rotational fuel tank is flexible.
According to one embodiment of present invention, the support component includes first support bar, and is arranged in the principal arm
On the first slide assemblies；Wherein, described first support bar one end is hinged on the intrados of the auxiliary, and the other end is hinged on institute
It states on the first slide assemblies.
According to one embodiment of present invention, the support component includes second support bar, and is slidably connected at described
The second slide assemblies on the intrados of auxiliary；Wherein, described second support bar one end is hinged on the principal arm, other end hinge
It is connected on second slide assemblies.
According to one embodiment of present invention, the quantity of the arm section is two, is separately positioned on the top of the principal arm
Both sides, the arm section be arc strip structure.
According to one embodiment of present invention, the vehicle travel controller is configured to according to the vehicle body described
Operating range in tunnel and preset vehicle driving trace determine desired trajectory of the vehicle body in current tunnel section
Point, and the deviation of vehicle location point and desired trajectory point of the vehicle body in current tunnel section is calculated, partially according to this
Difference generates the vehicle traveling control signal.
According to one embodiment of present invention, the vehicle body includes：
Laser scanner is used to be scanned the tunnel contour, generates tunnel contour relative to the vehicle sheet
The coordinate data of body obtains coordinate data set；
The vehicle travel controller is connect with the laser scanner, is used to be determined according to the coordinate data set
Vehicle location point of the vehicle body in current tunnel section.
According to one embodiment of present invention, the vehicle body further includes inertial navigation instrument, is used for the vehicle body
Transport condition be detected, obtain vehicle traveling inertial guidance data；
The vehicle travel controller is connect with the inertial navigation instrument, for travelling inertial guidance data according to the vehicle and presetting
Preset vehicle driving trace generates corresponding vehicle traveling control signal, to travel control Signal Regulation vehicle by the vehicle
Driving parameters, so that the driving trace of the vehicle body is consistent with preset vehicle driving trace.
Tunneling boring tunnel-liner detection vehicle provided by the present invention can be by the current driving track of vehicle and preset vehicle
Driving trace is consistent, to adjust the transport condition of vehicle in real time according to matching result, and then ensures that vehicle can be according to
It travels according to preset travel track, is also established in this way with regard to carrying out accurately detection to tunnel-liner state for tunnel-liner detection device
Basis.
Tunnel-liner inspecting manipuator arm provided by the present invention, principal arm are scalable.According to the height tune of tunnel-liner
Principal arm is saved, suitable position is stretched into so as to pop one's head in, ensures probe with tunnel-liner at a distance from best.Principal arm upper end
Auxiliary is also set up, multiple probes can be installed, to detect different angle tunnel-liner.The present invention can also detect a plurality of simultaneously
Survey line has saved detection time, improves work efficiency.
In tunnel-liner inspecting manipuator arm provided by the present invention, the angle of auxiliary and principal arm can be adjusted.Pass through
Support component can adjust the radian of auxiliary and the angle of auxiliary and principal arm, and the shape of auxiliary is made to match with tunnel-liner.
In this way, probe all on auxiliary arrives the closely located of tunnel, to improve the accuracy of result of detection.In the present invention,
Principal arm can be rotated by rotating mechanism, tilt certain angle, convenient for detection tunnel-liner side.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and is obtained in claim and attached drawing.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is required attached drawing in technology description to do simple introduction：
Fig. 1 is the structural schematic diagram of tunneling boring tunnel-liner detection vehicle according to an embodiment of the invention；
Fig. 2 is according to an embodiment of the invention
Fig. 3 is the structural schematic diagram of vehicle body according to an embodiment of the invention；
Fig. 4 is the realization principle schematic diagram of determining vehicle current track position according to an embodiment of the invention；
Fig. 5 is the structural schematic diagram of vehicle body in accordance with another embodiment of the present invention；
Fig. 6 is the structural schematic diagram according to the vehicle body of further embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the tunnel-liner inspecting manipuator arm of an embodiment according to the present invention；
Fig. 8 is the first support component attachment structure schematic diagram of an embodiment according to the present invention；
Fig. 9 is the second support component attachment structure schematic diagram of an embodiment according to the present invention；
Figure 10 is the structure after multiple tunnel-liner inspecting manipuator arms expansion of scheme according to an embodiment of the present invention
Schematic diagram.
In the accompanying drawings, identical component uses identical reference numeral.Attached drawing is not drawn according to actual ratio.
Specific implementation mode
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to be applied to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technique effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
It is formed by technical solution within protection scope of the present invention.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
For the problems of in the prior art, the present invention provides a kind of new tunneling boring tunnel-liners to detect vehicle,
The vehicle can realize the tunneling boring detection to tunnel-liner.
Fig. 1 shows the structural schematic diagram for the tunneling boring tunnel-liner detection vehicle that the present embodiment is provided.
As shown in Figure 1, in the present embodiment, tunneling boring tunnel-liner detection vehicle preferably includes tunnel-liner detection device
101 and vehicle body 102.Wherein, vehicle body 102 is for being obtained from the current location in tunnel, and is worked as according to described
Front position and preset vehicle driving trace generate corresponding vehicle traveling control signal, and control Signal Regulation vehicle is travelled by vehicle
Driving parameters, to make vehicle body be travelled along the preset vehicle driving trace.Specifically, in the present embodiment, vehicle
Ontology 102 realizes the function of above-mentioned driving trace adjusting by its internal vehicle travel controller being arranged.
Tunnel-liner detection device 101 is arranged on vehicle body 102, when vehicle body 102 moves, is arranged in vehicle
Tunnel-liner detection device 101 on ontology 102 also will move with, and such tunnel-liner detection device 101 also can be
It is moved in tunnel under the carrying of vehicle body 102 and tunnel-liner is detected.Specifically, in the present embodiment, to tunnel
When road lining cutting is detected, tunnel-liner detection device 101 includes the multiple probes being spaced apart, these probes also can be same
When to the detection at the section different location of tunnel-liner, to realize that the tunneling boring to tunnel-liner detects.
In the present embodiment, vehicle travel controller that vehicle body 102 is included by itself generates above-mentioned vehicle row
Sail control signal.Vehicle travel controller can determine vehicle body 102 in working as in tunnel according to the data got
Front position.After obtaining current vehicle position, vehicle travel controller can be according to above-mentioned current vehicle position and preset vehicle row
The deviation of track is sailed to generate corresponding vehicle traveling control signal, the vehicle of control Signal Regulation vehicle body is travelled by vehicle
Driving parameters, so that the driving trace of vehicle body is consistent with preset vehicle driving trace.
Specifically, as shown in Fig. 2, in the present embodiment, vehicle travel controller determines vehicle sheet in step s 201 first
Vehicle location point of the body in current tunnel section.It should be pointed out that in different embodiments of the invention, according to different
Different rational methods may be used to determine vehicle of the vehicle body in current tunnel section in situation, vehicle travel controller
Location point, the invention is not limited thereto.
For example, in one embodiment of the invention, mode as shown in Figure 3, which may be used, in vehicle travel controller comes really
Fixed above-mentioned vehicle location point.As shown in figure 3, in this embodiment, vehicle body 102 preferably includes：Rangefinder 301, vehicle
Travel controller 302 and vehicle moving device 303.Wherein, as shown in figure 4, working as road surface uplink of the vehicle body in tunnel
When sailing, rangefinder 201 can detect distance of the vehicle body 302 apart from vehicle body both sides tunnel face, it is corresponding obtain first away from
From L1 and second distance L2.Wherein, distance of the first distance L1 characterization vehicle bodies apart from itself left side tunnel face, second distance
L2 characterizes distance of the vehicle body apart from itself right side tunnel face.
Vehicle travel controller 302 is connect with rangefinder 301, can receive obtained measured by rangefinder 301 it is above-mentioned
First distance L1 and second distance L2, and then vehicle body 102 is determined according to above-mentioned first distance L1 and second distance L2
Position in current tunnel end face also just obtains vehicle location point of the vehicle body in current tunnel section in this way.
Vehicle travel controller 302, can root after obtaining vehicle location point of the vehicle body in current tunnel section
Generate corresponding vehicle traveling control signal according to the deviation of above-mentioned vehicle location point and current desired trajectory point, and by the vehicle
Traveling control signal transmission is to the vehicle moving device 303 being attached thereto, to pass through vehicle traveling control Signal Regulation vehicle
The vehicle driving parameters of moving device 303, so that the driving trace of vehicle body matches with preset vehicle driving trace.
However, corresponding equipment can be also set since cavern and inner surface of tunnel would generally be distributed in tunnel,
If only if only detecting the distance between vehicle body and itself both sides tunnel surface, if that at the position detected
There is exactly cavern or if being provided with additional equipment, this will cause the inaccuracy of result.
In order to improve obtained vehicle current track position result accuracy, in an alternative embodiment of the invention
In, mode as shown in Figure 5 may be used to determine vehicle current track position in vehicle body 102.As shown in figure 5, in the reality
It applies in example, vehicle body 102 preferably includes：Laser scanner 501, vehicle travel controller 302 and vehicle moving device
303.Laser scanner 501 is for being detected tunnel surface, to generate tunnel contour relative to the vehicle body
Coordinate data obtains coordinate data set.Vehicle travel controller 302 can determine vehicle according to above-mentioned coordinate data set
Vehicle location point of the ontology in current tunnel section.
Vehicle travel controller 302, can be according to above-mentioned vehicle location point and pre- after obtaining vehicle current track position
If vehicle driving trace generates corresponding vehicle traveling control signal, and the vehicle is travelled control signal transmission to connecting therewith
The vehicle moving device 303 connect, to travel the vehicle driving parameters of control Signal Regulation vehicle moving device 303 by vehicle,
So that the driving trace of vehicle body matches with preset vehicle driving trace.
Specifically, in the present embodiment, vehicle travel controller 302, can be to sitting after receiving above-mentioned coordinate data set
It marks data acquisition system and carries out singular point filtration treatment, to eliminate the coordinate data corresponding to extras in cavern or tunnel,
Vehicle current track position is then being determined according to filtered coordinate data set.
Again as shown in Fig. 2, in the present embodiment, after obtaining vehicle current track position, vehicle travel controller can also
Operating range of the vehicle body in tunnel is obtained in step S202.Specifically, in the present embodiment, vehicle travel controller can
Operating range of the vehicle body in tunnel is calculated according to speed and running time.
Certainly, in other embodiments of the invention, vehicle travel controller can also use other in step S202
Rational method determines operating range of the vehicle body in tunnel, and the invention is not limited thereto.
For example, in one embodiment of the invention, vehicle travel controller can also be by reading vehicle position data
The mode of (such as GPS data) determines operating range of the vehicle body in tunnel.
After obtaining operating range of the vehicle body in tunnel, as shown in Fig. 2, vehicle travel controller can be in step
Operating range and preset vehicle driving trace in S203 according to vehicle body in tunnel determine desired trajectory point.The present embodiment
In, preset vehicle driving trace can characterize the tracing point position that vehicle should be in tunnel at cross sections.Vehicle
Travel controller can determine cross section place of the vehicle currently in tunnel by operating range of the vehicle body in tunnel,
And then the desired trajectory point corresponding to the section is determined according to preset vehicle driving trace.
Vehicle travel controller vehicle location of the obtained vehicle body in current tunnel section in step s 201
What point was characterized is current location of the vehicle body in the tunnel cross-section corresponding to the operating range in tunnel, and in step
What obtained desired trajectory point was characterized in S203 is that tunnel of the vehicle body corresponding to the operating range in tunnel is disconnected
Desired locations in face, therefore vehicle travel controller also can be in step S204 according to above-mentioned vehicle location point and expectation
The deviation of tracing point controls signal to generate corresponding vehicle traveling, deviates preset vehicle row in the current driving track of vehicle
It rectifies a deviation when sailing track, also allowing for vehicle current driving track in this way can be consistent with preset vehicle driving trace.
It should be pointed out that the not specific execution to above-mentioned steps S201 and step S202 and step S203 of the invention
Sequence is defined.That is, in different embodiments of the invention, according to actual needs, vehicle travel controller both can first really
Determine vehicle location point and determine desired trajectory point again, can also first determine that desired trajectory point determines vehicle location point again, it can also be same
When determine vehicle location point and desired trajectory point.
And in another embodiment of the present invention, mode as shown in FIG. 6 may be used to determine vehicle in vehicle body 102
Vehicle location point of the ontology in current tunnel section.As shown in fig. 6, in this embodiment, vehicle body 102 preferably wraps
It includes：Inertial navigation instrument 601, vehicle travel controller 302 and vehicle moving device 303.Wherein, inertial navigation instrument 601 can be to vehicle sheet
The transport condition of body 102 is detected, and inertial guidance data is travelled to obtain vehicle.Specifically, in the present embodiment, inertial navigation instrument 601
The vehicle traveling inertial guidance data detected can preferably be the data such as speed, acceleration and/or steering angle.
When tunnel-liner detection vehicle is in detection initial position, vehicle body 102 is preferably at preset vehicle traveling
In the path line of track.During vehicle travels, vehicle travel controller 302 can be transmitted according to inertial navigation instrument 601 come
Vehicle traveling inertial guidance data generate vehicle current driving track in real time, and by by vehicle current driving track with it is default
Vehicle driving trace is compared, to generate corresponding vehicle traveling control signal, the also energy of such vehicle mobile devices 303
It is enough to be rectified a deviation according to vehicle traveling control signal when preset vehicle driving trace is deviateed in the current driving track of vehicle, this
Sample also allows for vehicle current driving track can be consistent with preset vehicle driving trace.
As can be seen that tunneling boring tunnel-liner provided by the present invention detection vehicle being capable of working as vehicle from foregoing description
Preceding driving trace matches with preset vehicle driving trace, to adjust the traveling shape of vehicle in real time according to matching result
State, so ensure vehicle can travel according to preset travel track, so also just be tunnel-liner detection device to tunnel-liner
State carries out accurately detection and lays a good foundation.
In the present embodiment, tunnel-liner detection device 101 includes tunnel-liner inspecting manipuator arm, tunnel-liner detection
Mechanical arm can detect tunnel-liner quality, and arrive optimum position according to tunnel-shaped adjustment probe, ensure that testing result is steady
It is fixed, accurate.
Fig. 7 shows the structural schematic diagram for the tunnel-liner inspecting manipuator arm that the present embodiment is provided.
As shown in fig. 7, a kind of tunnel-liner inspecting manipuator arm described in the present embodiment, including telescopic principal arm 1, institute
It states principal arm 1 and is equipped with telescopic component.The bottom end of the principal arm 1 is fixed on inspection vehicle, and top is towards tunnel-liner, and energy
Enough pass through telescopic component adjustment length.The mechanical arm further includes auxiliary 2, and the auxiliary 2 is arranged on 1 top of principal arm.Wherein,
The auxiliary 2 is constructed to be permeable to match with tunnel-liner shape.Multiple probes 3 are set on the auxiliary 2.In the present embodiment
In, 2 shape of the auxiliary can change, and can meet the shape of tunnel-liner, and multiple probes 3 is made to arrive the distance phase of tunnel-liner
Together.For example, tunnel-liner is arc, then the auxiliary 2 is arc, and the lining in the extrados alignment tunnel of the auxiliary 2
It builds.Several probes 3 for detecting tunnel-liner are set on the extrados of the auxiliary 2.
When use is according to tunnel-liner inspecting manipuator arm described in the present embodiment, the principal arm 1 is fixed on inspection vehicle
On, the length of principal arm 1 can be adjusted by telescopic component, and the distance of tunnel-liner is arrived to adjust auxiliary 2 and probe 3.In this reality
It is arc to apply auxiliary 2 described in example, is matched with the inner surface configuration of tunnel-liner.In this way, 3 distribution of each probe is more equal
It is even, and can reach optimum distance to the distance of tunnel-liner.
In a preferred embodiment, the auxiliary 2 includes several arm sections 21.The arm section 21 is connected along its length
It connects.Wherein, it is connected by hinged mode between arm section 21, the angle between arm section 21 can be changed in this way.In the present embodiment
In, adjust the shape of entire auxiliary 2 by changing the angle between arm section 21.Also, it can be unfolded by adjusting this angle
Or auxiliary is shunk, such as so that auxiliary 2 is unfolded when detecting work and starting, so that auxiliary is shunk after detection, at this moment auxiliary is recovered
To principal arm is adjacent to, to reduce the space occupied.Since the size in different tunnels, shape are different, the radian of tunnel top is not yet
It is identical, change the shape of auxiliary 2 by way of according to the adjustment angle between the arm section 21 in the present embodiment, to make auxiliary
2 adapt to different tunnels.
In one embodiment, the support component 22 for connecting the auxiliary 2 is set on the principal arm 1.The support component
22 can change position and state, to change the angle of principal arm 1 and the auxiliary 2.The support component 22 can support pair
Arm 2 makes auxiliary 2 more stablize, while can also change the angle of principal arm 1 and auxiliary 2, to further adjust the shape of auxiliary 2
Shape makes it more match the shape of tunnel-liner.In addition, upon completion of the assays, additionally it is possible to which the folding of auxiliary 2 is taken down the exhibits.
In one embodiment, card slot is set on the auxiliary 2, probe mounting base is set in the card slot.The probe
Mounting base is popped one's head in for installing, wherein the probe mounting base being capable of the shift position in the card slot as needed.The spy
First 3 connect the auxiliary 2 by telescopic connector 31.The scalable connector can be extended or be reduced, to adjust
The length that probe 3 stretches out.The scalable connector is preferably cylinder.During detecting lining cutting, principal arm 1 is adjusted first
Length, make auxiliary 2 and probe 3 be in suitable position.The angle that the radian for adjusting auxiliary 2 and auxiliary 2 stretch is adjusted again, is made
2 shape of auxiliary matches with tunnel-liner, ensures that each probe 3 is roughly the same to the distance of tunnel-liner.Finally talk about adjusting
Connector come adjust probe 3 stretch out length, to accurately adjust probe 3 arrive lining cutting distance.
In a preferred embodiment, the principal arm 1 includes pedestal 11.The setting of the pedestal 11 is detecting vehicles,
It the modes such as is bolted to be fixed on detection vehicle.The principal arm 1 further includes main body, and the main body is cylindrical or strip
Shape, the main body connection is on the pedestal 11.Wherein, telescopic oil cylinder 12 is set in the main body, to realize the flexible work(of principal arm 1
Energy.
In a preferred embodiment, rotating mechanism 13 is arranged in 1 bottom of the principal arm, to control principal arm 1 along tunnel
Axial direction or circumferential direction turn an angle.When in use, principal arm 1 is made to rotate or tilt by rotating mechanism 13, so as to
Principal arm 1 is controlled in the inclined angle of vertical direction.In this way, it is possible to for the axially different direction in tunnel or the position of radial direction
It is detected.
In a preferred embodiment, the rotating mechanism 13 includes the shaft for connecting the pedestal 11 and the main body
14, and the rotational fuel tank 15 in the body side is set.Wherein, 15 one end of the rotational fuel tank is connected to inspection vehicle
On, the other end connects on the body；Main body is rotated along shaft 14 when the rotational fuel tank 15 stretches.
In preferred embodiment as shown in Figure 8, shown support component 22 includes first support bar 23, and is arranged in institute
The first slide assemblies 24 on principal arm 1 are stated, shown first slide assemblies 24 are slided along the length direction of principal arm 1.Wherein, described
One supporting rod, 23 one end is hinged on the intrados of the auxiliary 2, and the other end is hinged on first slide assemblies 24.It is using
When, the first slide assemblies 24 slide the angle that can change first support bar 23 and principal arm 1, to change auxiliary 2 and principal arm 1
Angle.Preferably, the first support bar 23 can be the component that cylinder etc. can stretch.As shown in Fig. 2, if the first sliding
24 slide downward of component, then 23 lower end of first support bar move down therewith, the outer end of auxiliary 2 also moves down therewith, at this moment
The principal arm 1 and the angle of the auxiliary 2 reduce.If the first slide assemblies 24 move up, 23 lower end of first support bar
It moves up therewith, the outer end of the auxiliary 2 also moves up therewith, and at this moment the principal arm 1 and the angle of the auxiliary 2 increase
Greatly.
In a further advantageous embodiment, as shown in figure 9, the support component 22 includes second support bar 25, and it is sliding
Dynamic the second slide assemblies 26 being connected on the intrados of the auxiliary 2, second slide assemblies 26 can be along the length of auxiliary 2
Spend direction sliding.Wherein, 25 one end of the second support bar is hinged on the principal arm 1, and the other end is hinged on described second and slides
On dynamic component 26.Preferably, the second support bar 25 can be the component that cylinder etc. can stretch.As shown in figure 3, described
The articulated shaft rotation of two supporting rods 25 and the principal arm 1 makes second support bar 25 and the angle of principal arm 1 change, the second slide assemblies
26 slide on auxiliary 2 therewith, to change the angle of auxiliary 2 and principal arm 1.
In one embodiment, as shown in fig. 7, the quantity of the arm section 21 is two, it is separately positioned on the principal arm 1
The both sides on top.The arm section 21 is arc strip structure.
It should be pointed out that in different embodiments of the invention, tunneling boring tunnel-liner detects set upper in vehicle
The quantity for stating tunnel-liner inspecting manipuator arm both can be one, or multiple.Wherein, when tunneling boring tunnel-liner is examined
When the quantity of set above-mentioned tunnel-liner inspecting manipuator arm is multiple in measuring car, these tunnel-liner inspecting manipuator arms
In being both generally aligned in the same plane upon deployment, it can also be located in the Different Plane being mutually parallel, can also realize in this way
The length covered required for individual tunnel lining mechanical arm is reduced while detection to the tunneling boring of tunnel-liner, to have
Help reduce the volume and cost of individual tunnel lining mechanical arm.
It should be pointed out that in one embodiment of the invention, the tunnel-liner set by the tunnel-liner inspection car
Upon deployment, the shape of auxiliary can match inspecting manipuator arm with the inner surface configuration of tunnel-liner, so that secondary
The overlay length of arm can reach the arc length of the inner surface of tunnel-liner, to realize that the tunneling boring to tunnel-liner is examined
It surveys.
And in another embodiment of the present invention, as shown in Figure 10, which can also configure simultaneously
Multiple tunnel-liner inspecting manipuator arms (such as including three or three or more tunnel-liner inspecting manipuator arm), these tunnels
Road lining mechanical arm can be in different angles upon deployment, these tunnel-liner inspecting manipuator arms are matched after deployment
Geometry of the geometry of the structure formed preferably with tunnel-liner inner wall is closed to match, it so can be so that not yet
Same mechanical arm can cover the different zones of tunnel-liner inner surface, and then help to realize the tunneling boring to tunnel-liner
Detection.And when tunnel-liner detection need not be carried out, these tunnel-liner inspecting manipuator arms then may be at collapsed state.
Simultaneously, it should be pointed out that according to actual needs, multiple tunnel-liners that it can also only be included by tunnel-liner inspection car
Inspecting manipuator arm it is the partially unfolded, to be detected to the privileged site of tunnel-liner.
In order to improve the accuracy of the tunnel-liner state analysis result subsequently obtained, in the present embodiment, for probe
The data acquisition device for transmitting the signal progress data acquisition come is preferably configured to adjust data sampling frequency in conjunction with speed
Rate, so that obtained sampled point can be along vehicle heading equidistantly distributed.
Specifically, in the present embodiment, when speed improves, data acquisition device will accordingly improve data sampling frequency
Rate, to reduce data sampling interval；And when vehicle reduces, data acquisition device will accordingly reduce data sampling frequency
Rate, to improve data sampling interval.In this way, data acquisition device can also realize sampled point along vehicle row
Sail the equidistantly distributed in direction.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic includes at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing substantially from the principle of the present invention and thought, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (14)
1. a kind of tunneling boring tunnel-liner detects vehicle, which is characterized in that including：
Vehicle body comprising vehicle travel controller, the vehicle travel controller is for obtaining the vehicle body in tunnel
Current location in road, and corresponding vehicle traveling control letter is generated according to the current location and preset vehicle driving trace
Number, control Signal Regulation vehicle driving parameters are travelled by the vehicle, to make the vehicle body along the default vehicle
Driving trace traveling；
The tunnel-liner detection device being arranged on the vehicle body, is used under the carrying of the vehicle body described
It is moved in tunnel and the tunnel-liner is detected, the tunnel-liner detection device includes the multiple spies being spaced apart
Head, to realize that the tunneling boring to tunnel-liner detects.
2. tunnel-liner as described in claim 1 detects vehicle, which is characterized in that the tunnel-liner detection device includes tunnel
Lining mechanical arm, the tunnel-liner inspecting manipuator arm include：
The bottom end of telescopic principal arm, the principal arm is fixed on inspection vehicle；
Auxiliary on the principal arm top is set, and the auxiliary is configured to match with tunnel-liner profile；And
The multiple probes being arranged on the auxiliary, the probe construction at can be between automatic adjusument and tunnel inner wall away from
From.
3. tunnel-liner as claimed in claim 2 detects vehicle, which is characterized in that the auxiliary includes several arm sections, wherein logical
The shape of the auxiliary can be adjusted and control the auxiliary stretching, extension or shrink by overregulating the angle between two neighboring arm section.
4. tunnel-liner as claimed in claim 3 detects vehicle, which is characterized in that setting connects the auxiliary on the principal arm
Support component, the support component are constructed to be permeable to change the angle between principal arm and the auxiliary.
5. the tunnel-liner as described in any one of claim 2~4 detects vehicle, which is characterized in that card is arranged on the auxiliary
Slot, the probe mounting base that the interior setting of the card slot can move in card slot, the probe connect institute by telescopic connector
State probe mounting base.
6. tunnel-liner as claimed in claim 5 detects vehicle, which is characterized in that the principal arm includes being fixed on inspection vehicle
Pedestal, and setting main body on the base, wherein telescopic oil cylinder is set in the main body.
7. tunnel-liner as claimed in claim 6 detects vehicle, which is characterized in that rotating mechanism is arranged in the bottom of the principal arm,
It is rotated to control axial direction or circumferential direction of the principal arm along tunnel.
8. tunnel-liner as claimed in claim 7 detects vehicle, which is characterized in that the rotating mechanism includes connecting the pedestal
With the shaft of the main body, and the rotational fuel tank in the body side is set；Wherein, described rotational fuel tank one end is connected to
On inspection vehicle, the other end connects on the body；Main body is rotated along shaft when the rotational fuel tank is flexible.
9. tunnel-liner as claimed in claim 4 detects vehicle, which is characterized in that the support component includes first support bar,
And the first slide assemblies being arranged on the principal arm；Wherein, described first support bar one end is hinged on the interior of the auxiliary
Cambered surface, the other end are hinged on first slide assemblies.
10. tunnel-liner as claimed in claim 4 detects vehicle, which is characterized in that the support component includes second support bar,
And it is slidably connected at the second slide assemblies on the intrados of the auxiliary；Wherein, described second support bar one end is hinged on
On the principal arm, the other end is hinged on second slide assemblies.
11. tunnel-liner as described in claim 3 or 4 detects vehicle, which is characterized in that the quantity of the arm section is two, point
Both sides on the top of the principal arm are not set, and the arm section is arc strip structure.
12. the tunnel-liner as described in any one of claim 1~11 detects vehicle, which is characterized in that the vehicle traveling control
Device processed is configured to the operating range and preset vehicle driving trace in the tunnel according to the vehicle body, determines the vehicle
Desired trajectory point of the ontology in current tunnel section, and calculate vehicle position of the vehicle body in current tunnel section
It sets a little and the deviation of desired trajectory point, the vehicle traveling control signal is generated according to the deviation.
13. tunnel-liner as claimed in claim 12 detects vehicle, which is characterized in that the vehicle body includes：
Laser scanner is used to be scanned the tunnel contour, generates tunnel contour relative to the vehicle body
Coordinate data obtains coordinate data set；
The vehicle travel controller is connect with the laser scanner, is used for according to described in coordinate data set determination
Vehicle location point of the vehicle body in current tunnel section.
14. the tunnel-liner as described in any one of claim 1~11 detects vehicle, which is characterized in that the vehicle body is also
It including inertial navigation instrument, is used to be detected the transport condition of the vehicle body, obtains vehicle traveling inertial guidance data；
The vehicle travel controller is connect with the inertial navigation instrument, for travelling inertial guidance data according to the vehicle and presetting default
Vehicle driving trace generates corresponding vehicle traveling control signal, to travel control Signal Regulation vehicle traveling by the vehicle
Parameter, so that the driving trace of the vehicle body is consistent with preset vehicle driving trace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142254.5A CN108317998B (en) | 2018-02-11 | 2018-02-11 | Full-section tunnel lining detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142254.5A CN108317998B (en) | 2018-02-11 | 2018-02-11 | Full-section tunnel lining detection vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108317998A true CN108317998A (en) | 2018-07-24 |
| CN108317998B CN108317998B (en) | 2020-09-04 |
Family
ID=62903721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810142254.5A Active CN108317998B (en) | 2018-02-11 | 2018-02-11 | Full-section tunnel lining detection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108317998B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109794947A (en) * | 2019-02-13 | 2019-05-24 | 焦杨 | A kind of tunnel-liner inspecting manipuator arm that the radian based on tunnel wall is adjusted |
| CN110397473A (en) * | 2019-07-26 | 2019-11-01 | 辽宁工程技术大学 | A kind of movable type roadway full-fracture-surfacanchoring-rod monitoring device and its method |
| CN110530871A (en) * | 2019-07-23 | 2019-12-03 | 长安大学 | A kind of Tunnel Water Leakage recessiveness Defect inspection equipment |
| CN111025418A (en) * | 2019-11-19 | 2020-04-17 | 山东大学 | Rail transit tunnel geological radar mobile intelligent detection equipment and operation method |
| CN115816465A (en) * | 2023-01-06 | 2023-03-21 | 山东大学 | Geological radar survey line selection and follow-up control method and system for tunnel detection |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0843084A (en) * | 1994-08-03 | 1996-02-16 | Nishimatsu Constr Co Ltd | Multifunctional measurement vehicle for tunnel |
| JPH10103954A (en) * | 1996-09-30 | 1998-04-24 | Fujita Corp | Surveying system for tunnel construction |
| CN203190989U (en) * | 2013-03-25 | 2013-09-11 | 长沙理工大学 | Tunnel lining detection support with height and angle capable of being automatically adjusted |
| CN204002794U (en) * | 2014-07-17 | 2014-12-10 | 粤水电轨道交通建设有限公司 | The adjustable comprehensive chassis of a kind of rail formula tunnel cross-section |
| CN205138407U (en) * | 2015-12-01 | 2016-04-06 | 中铁二十局集团第四工程有限公司 | Tunnel wall detection device |
| CN105480907A (en) * | 2015-12-30 | 2016-04-13 | 中铁第四勘察设计院集团有限公司 | Tunnel hole shrinkage anti-clamping vehicle-mounted side wall radar servo lifting device |
| CN205406700U (en) * | 2016-02-18 | 2016-07-27 | 中国铁道科学研究院铁道建筑研究所 | A ground penetrating radar antenna boom for tunnel lining detects |
| CN205691521U (en) * | 2016-06-19 | 2016-11-16 | 贵州省建材产品质量监督检验院 | Tunnel lining concrete crack detection device |
| CN106200647A (en) * | 2016-08-30 | 2016-12-07 | 北京华力兴科技发展有限责任公司 | Automated navigation system and automatic navigation method |
| CN107014352A (en) * | 2017-05-02 | 2017-08-04 | 中铁第四勘察设计院集团有限公司 | A kind of railcar and detection method for railway tunnel tunneling boring comprehensive detection |
-
2018
- 2018-02-11 CN CN201810142254.5A patent/CN108317998B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0843084A (en) * | 1994-08-03 | 1996-02-16 | Nishimatsu Constr Co Ltd | Multifunctional measurement vehicle for tunnel |
| JPH10103954A (en) * | 1996-09-30 | 1998-04-24 | Fujita Corp | Surveying system for tunnel construction |
| CN203190989U (en) * | 2013-03-25 | 2013-09-11 | 长沙理工大学 | Tunnel lining detection support with height and angle capable of being automatically adjusted |
| CN204002794U (en) * | 2014-07-17 | 2014-12-10 | 粤水电轨道交通建设有限公司 | The adjustable comprehensive chassis of a kind of rail formula tunnel cross-section |
| CN205138407U (en) * | 2015-12-01 | 2016-04-06 | 中铁二十局集团第四工程有限公司 | Tunnel wall detection device |
| CN105480907A (en) * | 2015-12-30 | 2016-04-13 | 中铁第四勘察设计院集团有限公司 | Tunnel hole shrinkage anti-clamping vehicle-mounted side wall radar servo lifting device |
| CN205406700U (en) * | 2016-02-18 | 2016-07-27 | 中国铁道科学研究院铁道建筑研究所 | A ground penetrating radar antenna boom for tunnel lining detects |
| CN205691521U (en) * | 2016-06-19 | 2016-11-16 | 贵州省建材产品质量监督检验院 | Tunnel lining concrete crack detection device |
| CN106200647A (en) * | 2016-08-30 | 2016-12-07 | 北京华力兴科技发展有限责任公司 | Automated navigation system and automatic navigation method |
| CN107014352A (en) * | 2017-05-02 | 2017-08-04 | 中铁第四勘察设计院集团有限公司 | A kind of railcar and detection method for railway tunnel tunneling boring comprehensive detection |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109794947A (en) * | 2019-02-13 | 2019-05-24 | 焦杨 | A kind of tunnel-liner inspecting manipuator arm that the radian based on tunnel wall is adjusted |
| CN110530871A (en) * | 2019-07-23 | 2019-12-03 | 长安大学 | A kind of Tunnel Water Leakage recessiveness Defect inspection equipment |
| CN110397473A (en) * | 2019-07-26 | 2019-11-01 | 辽宁工程技术大学 | A kind of movable type roadway full-fracture-surfacanchoring-rod monitoring device and its method |
| CN110397473B (en) * | 2019-07-26 | 2020-10-13 | 辽宁工程技术大学 | Mobile roadway full-section monitoring equipment and method thereof |
| CN111025418A (en) * | 2019-11-19 | 2020-04-17 | 山东大学 | Rail transit tunnel geological radar mobile intelligent detection equipment and operation method |
| CN115816465A (en) * | 2023-01-06 | 2023-03-21 | 山东大学 | Geological radar survey line selection and follow-up control method and system for tunnel detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108317998B (en) | 2020-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108317998A (en) | A kind of tunneling boring tunnel-liner detection vehicle | |
| CN108362323A (en) | Tunnel-liner inspecting manipuator arm | |
| CN104764434B (en) | A kind of quick resolving system of shield attitude and method | |
| CN102849659B (en) | Control system and method for aerial work platform | |
| CN109375619A (en) | A kind of tunnel cruising inspection system | |
| CN204461409U (en) | The quick resolver of a kind of shield attitude | |
| JP6169192B2 (en) | Rotor blade angle detection method | |
| CN109632238B (en) | 90-degree large attack angle device for sub-span supersonic wind tunnel | |
| KR102014425B1 (en) | Tunnel wall damage inspection system using drone and inspection method | |
| CN106382121A (en) | Measuring method for subway tunnel shield excavation | |
| CN108507774B (en) | AUV underwater butt joint propeller performance test experimental device applied to pool laboratory | |
| CN103941308B (en) | Auxiliary inspection car device for secondary lining quality | |
| CN105300295A (en) | Geometrical parameter detection system and method for portable monorail non-contact overhead contact line | |
| CN102692210A (en) | Fixed-point scanning type rapid tunnel section clearance measurement and convergence measurement method | |
| CN109927610A (en) | Existing Railway Line tunnel defect synthetic detection vehicle | |
| CN105890646A (en) | Construction site rolling vehicle working condition acquiring method and construction site rolling vehicle working condition acquiring device | |
| CN108489466B (en) | A kind of mountain area aerial survey unmanned plane photo control point coordinate measuring method | |
| CN109112937B (en) | Fine and rapid measuring method for pavement evenness | |
| CN102393211B (en) | Performance testing method of section monitoring system of cantilever excavator | |
| CN204432429U (en) | Portable contact net measuring makes an inspection tour tower wagon | |
| CN102374861A (en) | Centering under point operation method of total station or target for generating plumb laser beam | |
| CN109112936B (en) | Road surface flatness becomes more meticulous quick measuring device | |
| CN102679974A (en) | High-speed-location station replacing-free type shield tunneling attitude real-time measurement method and system | |
| CN106705806A (en) | Airplane hanging point position detection device | |
| CN107289913A (en) | It is a kind of to be easy to the geographical of movement to measure mapping equipment |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |