CN108398438A - A kind of defects detection vehicle and defect inspection method - Google Patents
A kind of defects detection vehicle and defect inspection method Download PDFInfo
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- CN108398438A CN108398438A CN201810451288.2A CN201810451288A CN108398438A CN 108398438 A CN108398438 A CN 108398438A CN 201810451288 A CN201810451288 A CN 201810451288A CN 108398438 A CN108398438 A CN 108398438A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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Abstract
A kind of defects detection vehicle of offer of the embodiment of the present invention and defect inspection method, are related to tunnel defect detecting technique field.Wherein, the defect inspection method is applied to the defects detection vehicle, and the defects detection vehicle includes vehicle body；The holder being installed on vehicle body；The control device being set to inside vehicle body for information processing and the positioning device obtained for location information；The detection device for image capture device and the tunnel information detection being set in the detection support；The positioning device, described image collecting device and detection device are connect with the control device respectively, and the processing such as data extraction, analysis, modeling, simulation calculation are carried out for collected data information to be sent to the control device.The present invention is by that defects detection vehicle cleverly structure design, can utilize the defects detection vehicle to realize quick, real-time and intelligent detection, analysis to tunnel defect, it is ensured that engineering construction quality and operational safety of constructing.
Description
Technical field
The defects of the present invention relates to tunnel, pipelines detection technique field in particular to a kind of defects detection vehicle and lacks
Fall into detection method.
Background technology
Tunnel Engineering is the important component in water diversion project, Communication and Transportation Engineering etc., and in recent years, China is gradual
As the tunnel big country that tunnel quantity is most in the world, construction scale is maximum, technical conditions are most complicated, with the fastest developing speed.But
In the construction and operational process of Tunnel Engineering, due to complicated hydrogeologic condition, orographic condition, weather conditions, natural calamity
A variety of adverse effect factors that may be present in all too many levels such as evil and design, construction, operation, cause Tunnel Engineering to exist
Different degrees of defect (such as lining cutting comes to nothing, deforms, leak, freeze injury), seriously affects construction and the operational safety in tunnel.Example
Such as, the tunnel-liner drop event three times that Japan in 1999 occurs；For another example, it is pushed up in boston, U.S.A central tunnel engineering within 2006
The significant problems such as portion's concrete slab slump etc. causes casualties, vehicle damage, people's property loss.Therefore, it is asked for above-mentioned
How topic uses advanced lossless detection method, and it is always what engineering circles were paid close attention to carry out real-time, intelligent measurement to engineerings such as tunnels
One of key content.
Invention content
In view of this, a kind of defects detection vehicle of offer of the embodiment of the present invention and defect inspection method, can effectively solve above-mentioned
Problem, it is specific as follows.
Present pre-ferred embodiments provide a kind of defects detection vehicle, and the defects detection vehicle includes：
Vehicle body；
The holder being installed on vehicle body；
The control device being set to inside vehicle body for information processing and the positioning obtained for location information are set
It is standby；
It is set to being detected for the image capture device of image information collecting and for tunnel information on the holder
Detection device；
The positioning device, described image collecting device and the detection device are connect with the control device respectively, are used
It is handled in collected data information is sent to the control device.
In the selection of present pre-ferred embodiments, the holder includes fixing bracket and telescopic bracket, described solid
The mounting portion for installing the telescopic bracket is provided on fixed rack；
The fixing bracket is set to the vehicle body, and described image collecting device is installed on the fixing bracket, institute
The one end for stating telescopic bracket is installed on the mounting portion, and the detection device is set to the freedom of the telescopic bracket
End.
In the selection of present pre-ferred embodiments, the telescopic bracket is multiple, each telescopic bracket
One end be respectively arranged in the mounting portion, and each detection device is respectively arranged at the freedom of the telescopic bracket
End.
In the selection of present pre-ferred embodiments, each telescopic bracket is set to the mounting portion at equal intervals.
In the selection of present pre-ferred embodiments, the defects detection vehicle further includes motor, the motor with it is described in
Control equipment and the telescopic bracket are separately connected, and the motor is used for can described in drive under the control of the control device
Jack column is flexible to adapt to different detection environment to adjust the length of the telescopic bracket.
In the selection of present pre-ferred embodiments, the motor be it is multiple, multiple motors respectively with the middle control
Equipment and multiple telescopic brackets are separately connected, and the motor and the telescopic bracket correspond.
In the selection of present pre-ferred embodiments, the detection device is ultrasonic detector, elastic wave measurement instrument, thunder
Up to one or more of detector.
Present pre-ferred embodiments also provide a kind of defect inspection method, the master control being applied in above-mentioned defects detection vehicle
Equipment, the defect inspection method include
The image information for the suspected location that image capture device is sent is received, the suspected location that detection device is sent is received
Wave information is detected, and receives the location information that positioning device is sent；
Described image information, detection wave information and the location information are pre-processed, and by pretreated image
Information, detection wave information and location information correspond to input and preset in detection model, to calculate and export and the suspected location pair
The detection information answered.
In the selection of present pre-ferred embodiments, the method further includes：
Receive the hole diameter information in tunnel to be measured；
Controlling motor according to the hole diameter information drives telescoping shoring column flexible so that free positioned at the telescoping shoring column
The detection device at end is contacted with the inner wall of pipeline.
In the selection of present pre-ferred embodiments, the default detection model is for carrying out positioning point to suspected location
The positioning analysis model of analysis, for realizing hole diameter in real time analyze and positioning hole diameter analysis model, for realizing tunnel three to be measured
Three-dimensional digital model, the information evaluation for carrying out quality evaluation with defects detection standard according to testing result of dimension module generation
It is one or more in model.
Compared with prior art, a kind of defects detection vehicle of offer of the embodiment of the present invention and defect inspection method.Wherein, pass through
Control device, image capture device, the detection device etc. being set in defects detection vehicle enable to the defects detection vehicle to run
Quick, real-time and intellectualized detection, the analysis to defect information in tunnel are realized in tunnel, it is ensured that engineering operation safety.
In addition, the present invention is by multiple telescopic brackets for being set on vehicle body, by adjusting extension type branch
The length of frame can adapt to acquisition and detection that tunnel information is realized in tunnel of different shapes.
Description of the drawings
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 is the frame structure schematic diagram of defects detection vehicle provided in an embodiment of the present invention.
Fig. 2 is the structural schematic diagram of defects detection vehicle provided in an embodiment of the present invention.
Fig. 3 is structural schematic diagram when defects detection vehicle provided in an embodiment of the present invention is run in tunnel.
Fig. 4-Fig. 7 is respectively defects detection vehicle shown in Fig. 2 when carrying out defects detection for tunnel of different shapes
Telescopic bracket structural schematic diagram.
Fig. 8 is the flow diagram of the defect detecting system provided in the embodiment of the present invention.
Fig. 9 is the flow diagram of the defect inspection method provided in the embodiment of the present invention.
Figure 10 is another flow diagram of the defect inspection method provided in the embodiment of the present invention.
Icon：10- defects detection vehicles；100- vehicle bodies；110- holders；111- fixing brackets；112- extension type branch
Frame；120- control devices；121- communication modules；130- image capture devices；140- detection devices；150- positioning devices；160-
Motor；20- inner walls；30- defect detecting systems；40- management terminals.
Specific implementation mode
Through inventor the study found that common detection method includes damaging detection method in the engineering detectings such as existing tunnel
And lossless detection method.Wherein, the engineerings such as tunnel can be caused certain damage by damaging detection method, general less use；Nothing
Damage detection method generally comprises eye-observation method, camera method, infra-red method, supercritical ultrasonics technology, ray method etc., wherein eye-observation
Two methods of method and camera method can only find tunnel defect the apparent phenomenon, and infra-red method, supercritical ultrasonics technology, ray method needs are based on
Engineered form realize, and it is complicated for operation, detection efficiency is low.
Based on the above-mentioned problems in the prior art, the embodiment of the present invention provides a kind of defects detection vehicle 10 and should be in this
The defect inspection method of defects detection vehicle 10, can be used for realizing to the quick, real-time of the engineering projects such as tunnel, intellectualized detection and
Analysis, it is ensured that engineering operation safety.In addition, in Practical Project practice, engineering is applied using above-mentioned defects detection result
Work process is instructed, to further ensure that construction quality.Specifically, for make the purpose of the embodiment of the present invention, technical solution and
Advantage is clearer, and following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear
Chu is fully described by, it is clear that described embodiments are some 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.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, the present invention provides a kind of defects detection vehicle 10, lacked for realizing to tunnel
Fall into detection.The defects detection vehicle 10 includes vehicle body 100, holder 110, control device 120, image capture device 130, inspection
Measurement equipment 140 and positioning device 150, wherein the holder 110 is installed on the vehicle body 100, the control device 120
The inside of vehicle body 100, described image collecting device 130 and the detection device 140 are set to the positioning device 150
Be set to the holder 110, and the positioning device 150, described image collecting device 130 and detection device 140 respectively with institute
The connection of control device 120 is stated, data analysis and place are carried out for collected data information to be sent to the control device 120
Reason.
By the above-mentioned design to the defects detection vehicle 10, can be realized to that may be present in tunnel in the present embodiment
The quick, real-time of defect, intelligent measurement and analysis, it is ensured that engineering operation safety.It should be noted that defect inspection provided by the invention
Measuring car 10 can also be applied to pipeline etc. and need to carry out multiple and different detection rings of defects detection in addition to it can be applied to above-mentioned tunnel
In border, the present embodiment is not limited herein.
In detail, the vehicle body 100 is for driving each component being arranged on to run in tunnel to be measured, with logical
Cross such as information collection and detection of image capture device 130, detection device 140 realization to different location in tunnel.This implementation
In example, the concrete structure of the vehicle body 100 can carry out flexible design according to the different of the environment such as actual tunnel, for example, institute
It can be unmanned to state vehicle body 100, can also be designed with cockpit manned etc..In addition, the vehicle sheet
Body 100 can also be folding vehicle body etc..
The positioning device 150 positions for realizing to different test position in tunnel, and location information is sent out
Give the control device 120.Optionally, the positioning device 150 can be but not limited to GPS (Global
Positioning System, global positioning system), ultrasonic wave, ultra wide band, remote sensing positioning device etc..
Described image collecting device 130 is for acquiring the image in tunnel, video information, for subsequent tunnel modeling
Or defect information analysis etc..In the present embodiment, described image collecting device 130 can be but not limited to image acquiring sensor,
Camera etc..It is described for the image or video information of detection position different direction in comprehensive acquisition tunnel when actual implementation
Image capture device 130 can be that wide-angle camera, rotary pick-up head or described image collecting device 130 can also be
It is made of multiple camera arrays to realize that the Image Acquisition etc. to different location in tunnel, the present embodiment are not limited herein.
In addition, in order to further increase the clarity and validity of 130 image of described image collecting device, video information acquisition, it is described
Lighting device can be installed, to provide bias light for described image collecting device 130, wherein the photograph on defects detection vehicle 10
Bright device can be, but not limited to LED light strip etc..
The detection device 140 is used to detect the tunnel state information of suspected location in tunnel, in the present embodiment, the inspection
Measurement equipment 140 can be but not limited to for detect one in ultrasonic detector, elastic wave measurement instrument, radar detedtor or
It is multiple, with realization such as comes to nothing to tunnel defect, (Prestressed Concrete Cylinder Pipe, are answered in advance by arrangement of reinforcement, PCCP
Power cylinder concrete pipe) fracture of wire real-time detection and the detection etc. of tunnel different materials.When actual implementation, the detection device
140 can be installed on the holder 110 by the modes such as pasting, buckling, and the type of the detection device 140 and quantity etc. can roots
Flexible design is carried out according to actual demand, the present embodiment is not limited herein.
The control device 120 is as the key process unit in the defects detection vehicle 10, for such as described positioning
Equipment 150, described image collecting device 130 and 140 collected data of the detection device are analyzed, are handled, such as institute
Three-dimensional modeling, the tunnel defect analysis etc. in tunnel can be carried out according to the data information received by stating control device 120.The present embodiment
In, the control device 120 can be but not limited to server, computer, IPAD, microcontroller etc., such as STC89C52 single chip.
In addition, can also be integrated with communication module 121 in the control device 120, (such as serviced for realizing with exterior terminal
Device, mobile phone, computer, cloud platform etc.) data interaction, such as by testing result real-time Transmission to exterior terminal carry out data extractions,
The processing such as analysis, modeling, simulation calculation.Optionally, the communication module 121 can be bluetooth module, WLAN module, 3G/4G/
5G wireless network modules etc., the present embodiment is not particularly limited herein.In addition, the communication module 121 be independently of it is described
Control device 120 is set to the vehicle body 100, and the present embodiment is not limited herein.
The holder 110 for realizing described image collecting device 130 and detection device 140 installation and support, this
In embodiment, referring to Fig. 2, the holder 110 may include fixing bracket 111 and telescopic bracket 112, the fixation
The mounting portion for installing the telescopic bracket 112 is provided on holder 111, the fixing bracket 111 is set to described
Vehicle body 100, described image collecting device 130 are installed on the fixing bracket 111, and the one of the telescopic bracket 112
End is installed on the mounting portion, and the detection device 140 is set to the free end of the telescopic bracket 112.
Wherein, the mounting portion for realizing the telescopic bracket 112 and the fixing bracket 111 connection, and
The telescopic bracket 112 is mounted at the mounting portion, in the present embodiment, the true form etc. of the mounting portion
It is not limited herein.In addition, in actual implementation, can be located at this by adjusting the length of the telescopic bracket 112
The detection device 140 of 112 free end of telescopic bracket comes close to or in contact with the inner wall 20 in tunnel to realize to the inner wall 20 not
The measurement of same parameter.
Further, in order to realize the accurate measurement being directed at tunnel of different shapes or same tunnel different location, institute
State quantity or mounting means of telescopic bracket 112 etc. can carry out flexible design according to actual demand, such as can be according to tunnel
Different shape (section in tunnel etc. may be round, rectangular, door opening shape, horse-hof shape etc.) etc. be designed.Wherein, as one
Kind embodiment, the telescopic bracket 112 can be one, and the telescopic bracket 112 can be with the center in tunnel
Line is that axis realizes 360 degree rotation, to realize the detection to tunnel different location.
Alternatively embodiment, the telescopic bracket 112 or multiple, each extension type branch
One end of frame 112 is respectively arranged in the mounting portion, and each detection device 140 is respectively arranged at the telescopic bracket
112 free end.It please refers to, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, each telescopic bracket 112 equally spaced can be set to
The mounting portion can make to be located at each telescopic bracket 112 by adjusting the length of each telescopic bracket 112
The detection device 140 of free end comes close to or in contact with the inner wall 20 in tunnel, to adapt to the defects detection in tunnel of different shapes.
Optionally, the telescopic bracket 112 can manually adjust its length, can also be to realize that automation is adjusted
It is whole.In the present embodiment, the defects detection vehicle 10 may also include motor 160, the motor 160 and the control device 120
It is separately connected with the telescopic bracket 112, for driving the extension type branch under the control of the control device 120
Frame 112 is flexible to adjust the length of the telescopic bracket 112, and then to adapt to different detection environment.
According to actual demand, in the present embodiment, both one or more can be controlled simultaneously by a motor 160
Telescopic bracket 112 is stretched；Can also the motor 160 be it is multiple when, multiple motors 160 respectively with it is described
Control device 120 and multiple telescopic brackets 112 are separately connected, the motor 160 and the telescopic bracket 112
It corresponds.
It is understood that except the telescopic bracket is adjusted above by the cooperation of motor 160 and control device 120
Except 112 length, in actual implementation, the defects detection vehicle 10 may also include hydraulic test, to pass through control device 120
Cooperation with hydraulic test realizes that specific limit is not done in the adjustment to the length of the telescopic bracket 112, the present embodiment herein
System.Wherein, required power can be by the vehicle body 100 in the courses of work such as the motor 160 or hydraulic test
Power-equipment provide, such as power battery, engine.Further, based on to drawbacks described above detect vehicle 10 design and retouch
It states, as shown in figure 8, the embodiment of the present invention also provides a kind of defect detecting system 30, which includes that management is whole
End 40 and drawbacks described above detect vehicle 10, and the management terminal 40 is realized with the defects detection vehicle 10 by communication module 121 logical
Letter connection.
Wherein it is possible to understand, the defects of described defect detecting system 30 detects vehicle 10 and detects vehicle with drawbacks described above
10 technical characteristics having the same, therefore, details are not described herein for the present embodiment.In addition, what is be arranged in the management terminal 40 is logical
Believe that module 121 need to be with the type matching of the communication module 121 in defects detection vehicle 10, such as the defects detection vehicle 10 and the pipe
Communication module 121 in reason terminal 40 may each be but be not limited to bluetooth module, WLAN module, 3G/4G/5G wireless network modules
Deng for receiving each component (such as image capture device 130, detection device 140, positioning device in the defects detection vehicle 10
150 etc.) data that detect simultaneously carry out data analysis, modeling etc..Optionally, the management terminal 40 can be server, Yun Ping
Platform, mobile phone, computer, IPAD etc., the present embodiment are not limited herein.
Further, based on the design and description for detecting vehicle 10 to drawbacks described above, the embodiment of the present invention also provides one kind and answers
The defect inspection method that the control device 120 in vehicle 10 is detected for drawbacks described above examines the defect below in conjunction with Fig. 9
The detailed process and step of survey method are introduced.
Step S10 receives the image information for the suspected location that image capture device 130 is sent, what detection device 140 was sent
The location information that the detection wave information and positioning device 150 of suspected location are sent；
Step S11 pre-processes described image information, detection wave information and the location information, and will pretreatment
Image information, detection wave information and location information afterwards corresponds to input and presets in detection model, is waited for described with calculating and exporting
Examine the corresponding detection information in position.
In above-mentioned steps S10 and step S11, by image information in the tunnel to be measured that gets, detection wave information and
The defect situation that identification key road is treated in the realizations such as location information carries out comprehensive, timely, accurate analysis, to ensure construction process
Safety.In addition, may also be combined with testing result and defects detection standard, realization (such as comes to nothing, arrangement of reinforcement, PCCP to tunnel defect
Pipe fracture of wire etc.) etc. quality informations intelligent Evaluation, and evaluation result is exported.
Specifically, in step slo, described image information can be the comprehensive real-time high-precision of tunnel in tunnel to be measured
Photographic information；The type of the detection device 140 can flexibly be chosen according to actual demand, such as can be for realizing all kinds of
The detection device 140 of the various defects detections such as wave velocity method, Electromagnetic Wave Method, sonic method, impact image method, lacks tunnel with realizing
Sunken or tunneling material real-time detection, such as detection device 140 can be ultrasonic detector, elastic wave measurement instrument, radar
One or more of detector etc..
Further, it is carried out in image information, detection wave information and the location information to getting in step S11 pre-
When processing, the pretreatment may include that processing modes, the present embodiment such as digital filtering, signal amplification are not limited herein.In addition,
According to the difference of actual demand, the default detection model can be but be not limited to use in suspected location progress positioning analysis
Positioning analysis model, for realizing hole diameter in real time analyze and positioning hole diameter analysis model, for realizing three-dimensional mould in tunnel to be measured
Three-dimensional digital model, the information evaluation model for carrying out quality evaluation with defects detection standard according to testing result of type generation
In it is one or more.Wherein, the positioning analysis model calculates the elements of a fix with reality in real time by datum mark and location information
Now to the positioning analysis of suspected location；Hole river rising in Ningxia and flowing into central Shaanxi analysis model calculates center automatically by location information coordinate, calculates
The irrelevance of hole diameter；The three-dimensional digital model establishes model point coordinates by the elements of a fix, defects detection coordinate, is sat by
Then plotting line, face, body carry out mesh generation, generate finite element threedimensional model, and carry out FEM calculation；Described information
Evaluation model is based on defects detection standard, automatic Evaluation defect level, such as cavity areas, depth of coming to nothing.
It is understood that in the present embodiment, may also include defect detecting device in the control device 120, this is lacked
Sunken detection device may include data obtaining module, data processing module, automatic modeling module, simulation analysis module, information evaluation
One or more of module and message output module.
Wherein, described information acquisition module can be used for executing waiting for for reception image capture device 130 transmission in step S10
The image information of position is examined, receives the detection wave information for the suspected location that detection device 140 is sent, and receive positioning device
150 location informations etc. sent, in addition, described information acquisition module can also be achieved detection information, (detection wave, is determined material characteristics
Position information, photographic information), the automatic sensings etc. of the information such as test position；The data processing module can be used for described image
Information, detection wave information and the location information carry out the operation such as pre-processing.The automatic modeling module can be used for according to
The pretreated data of data processing module realize the generation to tunnel threedimensional model to be measured, and threedimensional model precision can meet it is imitative
True calculate requires.The simulation analysis module can be used for realizing that hole diameter is real according to the pretreated data of the data processing module
When analyze and positioning or the processing such as positioning analysis carried out to suspected location, such as realize the finite element numerical of tunnel structure calculate,
Hole diameter calculates etc., realizes that location information, defect information, hole diameter, image information, information of acoustic wave, electromagnetic wave information automatically analyze
Deng.Described information evaluation model is used for outputs such as the data processing module, automatic modeling module or simulation analysis modules
Testing result and defects detection standard carry out quality evaluation etc..Described information output module can be used for exporting or print the number
According to the analysis and processing result of processing module, the automatic modeling module, the simulation analysis module, described information evaluation module etc.
Deng.In addition, in actual implementation, the step S10 and step S11 can both be set by the middle control on above-mentioned defects detection vehicle 10
Standby 120 realize, can also be realized due to the management terminal 40 communicated to connect with the fault detect vehicle, i.e., in the defects detection vehicle 10
Can management be directly sent to by communication module 121 whens detecting corresponding image information, detection wave information and location information etc.
Terminal 40 carries out corresponding information analysis and processing.
Further, before executing step S10 and step S11, the tunnel-shaped as shown in Fig. 4, Fig. 5, Fig. 6 can
The length of the telescopic bracket 112 is adjusted first, so that the detection positioned at 112 free end of the telescopic bracket is set
Standby 140 come close to or in contact with the inner wall 20 in tunnel to be measured, ensure the accuracy of measurement result as far as possible.Specifically, in the present embodiment
There are many middle length modes for adjusting the telescopic bracket 112, is described below.
As an implementation, as shown in Figure 10, step S12 can be passed through to the adjustment of the telescopic bracket 112
It is realized with step S13.
Step S12 receives the hole diameter information in tunnel to be measured；
Step S13 controls motor 160 according to the hole diameter information and drives telescopic bracket 112 flexible so that being located at institute
The detection device 140 for stating 112 free end of telescopic bracket is contacted with the inner wall 20 in tunnel.
Wherein, the hole diameter information in step S12 can be manually entered by staff, can also be by the way that be set to can
Distance-measuring equipment (such as infrared range-measurement system, laser range finder) measurement of 112 free end of jack column obtains, and the present embodiment is herein
It is not limited.In addition, the control device 120 calculates the flexible of each telescopic bracket 112 according to hole river rising in Ningxia and flowing into central Shaanxi information
Amount, and then adjusting of the work realization of the motor 160 to the telescopic bracket 112 is controlled based on the stroke, to adapt to
Different tunnel shape is simultaneously accurately detected.
In conclusion a kind of defects detection vehicle 10 of offer of the embodiment of the present invention and defect detecting system 30.Wherein, by setting
Control device 120, image capture device 130, the detection device 140 etc. being placed in defects detection vehicle 10, enable to the defect
Detection vehicle 10, which is run in tunnel, to be realized to quick, the real-time detection of tunnel information and intellectual analysis, it is ensured that engineering operation safety.
Meanwhile the configuration of the present invention is simple, it is easy to operate.
In addition, the present invention is by multiple telescopic brackets 112 for being set on vehicle body 100, with by adjusting can
The length of jack column 112 adapts to acquisition and detection that tunnel information is realized in tunnel of different shapes.
In the description of the present invention, term " setting ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixed
Connection, may be a detachable connection, or be integrally connected；It can be mechanical connection, can also be electrical connection；Can be direct
It is connected, can also can is indirectly connected through an intermediary the connection inside two elements.For the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
In several embodiments that the embodiment of the present invention is provided, it should be understood that disclosed device and method also may be used
To realize by other means.Device and method embodiment described above is only schematical, for example, the stream in attached drawing
Journey figure and block diagram show that the device of preset quantity embodiment according to the present invention, method and computer program product may be real
Existing architecture, function and operation.In this regard, each box in flowchart or block diagram can represent module, a journey
A part for sequence section or code.A part for the module, section or code include one or preset quantity for realizing
Defined logic function.
It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be with difference
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can also execute in the opposite order, this is depended on the functions involved.It is also noted that in block diagram and or flow chart
The combination of each box and the box in block diagram and or flow chart can use the dedicated of function or action as defined in executing
Hardware based system is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of defects detection vehicle, which is characterized in that the defects detection vehicle includes：
Vehicle body；
The holder being installed on vehicle body；
The control device being set to inside vehicle body for information processing and the positioning device obtained for location information；
The image capture device for image information collecting being set on the holder and the inspection that is detected for tunnel information
Measurement equipment；
The positioning device, described image collecting device and the detection device are connect with the control device respectively, and being used for will
Collected data information is sent to the control device and is handled.
2. defects detection vehicle according to claim 1, which is characterized in that the holder includes fixing bracket and extension type
Holder is provided with the mounting portion for installing the telescopic bracket on the fixing bracket；
The fixing bracket is set to the vehicle body, and described image collecting device is installed on the fixing bracket, it is described can
One end of jack column is installed on the mounting portion, and the detection device is set to the free end of the telescopic bracket.
3. defects detection vehicle according to claim 2, which is characterized in that the telescopic bracket be it is multiple, it is each described
One end of telescopic bracket is respectively arranged in the mounting portion, and each detection device is respectively arranged at the extension type
The free end of holder.
4. defects detection vehicle according to claim 3, which is characterized in that each telescopic bracket is set at equal intervals
The mounting portion.
5. defects detection vehicle according to claim 3, which is characterized in that the defects detection vehicle further includes motor, described
Motor is separately connected with the control device and the telescopic bracket, and the motor is used for the control in the control device
It is lower to drive the telescopic bracket is flexible to adapt to different detection environment to adjust the length of the telescopic bracket.
6. defects detection vehicle according to claim 5, which is characterized in that the motor is multiple, multiple motors point
It is not separately connected with the control device and multiple telescopic brackets, the motor and the telescopic bracket are one by one
It is corresponding.
7. defects detection vehicle according to claim 1, which is characterized in that the detection device is ultrasonic detector, bullet
One or more of property wave measurement instrument, radar detedtor.
8. a kind of defect inspection method, which is characterized in that be applied to the defects detection described in any one of the claims 1-7
Main control device in vehicle, the defect inspection method include
The image information for the suspected location that image capture device is sent is received, the detection for the suspected location that detection device is sent is received
Wave information, and receive the location information that positioning device is sent；
To described image information, detection wave information and the location information pre-process, and by pretreated image information,
It detects wave information and location information corresponds to input and presets in detection model, to calculate and export inspection corresponding with the suspected location
Survey result.
9. defect inspection method according to claim 8, which is characterized in that the method includes：
Receive the hole diameter information in tunnel to be measured；
Controlling motor according to the hole diameter information drives telescoping shoring column flexible so that positioned at the telescoping shoring column free end
Detection device is contacted with the inner wall of pipeline.
10. defect inspection method according to claim 8, which is characterized in that the default detection model is for treating
Position is examined to carry out the positioning analysis model of positioning analysis, the hole diameter analysis model analyzed and positioned in real time for realizing hole diameter, use
In the three-dimensional digital model of realization threedimensional model generation in tunnel to be measured, for carrying out matter with defects detection standard according to testing result
It measures one or more in the information evaluation model of evaluation.
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