CN108413180A - Buried aqueduct detection device and method - Google Patents

Abstract

The present invention relates to engineering measuring technology fields, more particularly, to a kind of buried aqueduct detection device and method.The buried aqueduct detection device includes：Pipe detection running gear and detection host, laser scanner, position recorder and the dipmeter being set on pipe detection running gear；The detection host communicates with laser scanner, position recorder and dipmeter connect respectively.The present invention can complete the mapping of pipeline inner section shape using device, carry out difference operation with conduit section design curve, can get conduit section deformation curve figure, and be accurately positioned the section test position by position recorder.

Description

Buried water pipeline detection device and method

technical field

The invention relates to the technical field of engineering measurement, in particular to a detection device and method for buried water pipelines.

Background technique

Pipeline transportation is the fifth mode of transportation after the traditional road, railway, air and water transportation. Long-distance diversion of water by pipelines requires the use of pressurized pipelines, and the deformation of the pipeline section needs to be detected when the pipeline is completed, in operation, and when the water is stopped for maintenance. "Code for Construction and Acceptance of Water Supply and Drainage Pipeline Engineering (GB50268-2008)" stipulates that the pipeline will have certain deformation during the construction and operation of the project, but this deformation must not affect the safety of the pipeline. The change in diameter in the vertical direction is also called "pipe radial deflection value" or "pipe radial diameter deformation rate". The pipe deformation rate can be divided into "installation (initial) deformation" and "use (long-term) deformation". Whether it is flexible pipes such as glass fiber reinforced plastic sand pipes, or the deformation of rigid pipes such as metal pipes and chemical building material pipes, it has strict control. Although the possible deformation of the pipeline has been controlled during the construction stage of laying, the deformation is still inevitable when it bears the load of the upper fill, the load of the vehicle and other external environmental factors. When these deformations accumulate to a certain extent , It may cause the rupture of the pipeline, cause water leakage accidents, cause property losses, and seriously endanger social public safety.

The first instrument used to detect the geometric shape of pipelines is the in-path detector. With the development of science and technology, the more commonly used deformation detection technologies at home and abroad include ultrasonic detection, in-pipe camera method, laser triangulation method, ground three-dimensional laser scanning etc.

The first instrument to detect deformation in pipes was called the TDW Kalipor pig. The device has a circle of umbrella-shaped sensing arms and mileage wheels. These sensing arms are installed on a central column and distributed along the circumference. On the recording tape, the recording tape moves between two mileage wheels, and the mileage wheel is driven by a stepping motor, and different mileages correspond to corresponding positions of the recording tape. If the pipe wall has geometric deformation, the sensing arm at the deformation will rotate, and the larger the deformation, the greater the rotation range, and the central column will move a certain distance, and the recording pen will leave some data on the paper tape. When the detector runs to the end of the pipe and is taken out, the degree and position of the inner diameter change of the pipe can be seen from the paper tape. The measuring element of this early-applied detector is in direct contact with the pipe wall, so it has high requirements on the cleanliness of the pipe, otherwise it is prone to mechanical failure.

In-pipe camera method is a pipeline deformation detection technology based on CCTV (Closed-Circuit TV) camera. It has been very mature in application and has been used abroad for 40 years. It continuously takes pictures around the pipe wall, and then monitors and analyzes the captured images to obtain the deformation of the pipe. This method is relatively intuitive to detect, but due to the limitation of the resolution of the human eye, if the image is not processed, it is difficult to identify the deformation with a deformation amount of less than 10% D; if the captured image is made into a video tape and then analyzed, Its resolution will be lower, only about 20% D.

Ultrasonic testing mainly uses the principle of pulse reflection of ultrasonic waves. The ultrasonic probe is both a signal transmitter and a signal receiver. When testing, the probe sends the ultrasonic pulse fundamental wave P vertically to the pipe wall. The probe first receives the pulse F reflected by the inner surface of the pipe wall, and then the ultrasonic probe receives the pulse F The pulse B reflected by the outer surface can detect the deformation of the inner wall contour of the pipe according to the change of the distance d between the fundamental wave P and the inner wall reflected wave F. However, this detection method has a simple detection principle and simple detection data. The disadvantage is that the ultrasonic wave attenuates quickly in the air. Therefore, it is generally necessary to apply a coupling agent between the probe and the object to be measured.

Laser triangulation is an efficient, accurate, non-contact detection method with many advantages. However, the photodetector can only image a certain point on the inner surface of the pipeline at a time. To perform all-round imaging detection, an additional rotating device is required to form a laser point scanning contour detection system. At present, the main problem of the laser triangulation measurement system is that it is limited by the focal depth of the incident beam, and the large-scale measurement effect is not very good. When Gaussian beams are used to focus, the spot size will increase with the increase of the measurement range and the defocus will increase, resulting in the inability to Satisfies the horizontal resolution of the system, but also cannot satisfy its vertical resolution.

Ground 3D laser scanning technology is a measurement technology that quickly obtains a large number of 3D coordinates by means of laser ranging, which can overcome the limitations of traditional measurement technology and obtain more comprehensive tunnel deformation information. The method optimizes the scanning parameters and target layout scheme through geometric analysis. The cylindrical surface fitting method and the ellipse fitting method are combined, and the noise is reduced by using the statistical law of error distribution. The disadvantage of this method is that it brings errors in the process of target splicing, and the proposed method of the tunnel axis based on cylindrical surface fitting, although a noise reduction method based on the statistical law of error distribution is used in the processing process, which gives the tunnel The relative deformation of the section brings about a large error. Moreover, this method is not suitable for circular tunnels with large deformations and tunnels with non-circular sections. New data processing methods are needed to find suitable mathematical functions to describe the spatial geometry of the tunnel after deformation, so as to obtain the relative shape of the tunnel. out of shape.

The information disclosed in this Background section is only intended to enhance the understanding of the general background of the present invention, and should not be considered as an acknowledgment or any form of suggestion that the information constitutes the prior art that is already known to those skilled in the art.

Contents of the invention

The purpose of the present invention is to provide a buried water pipeline detection device and method to solve the technical problems existing in the prior art.

In order to achieve the above object, the present invention adopts the following technical solutions:

In a first aspect, the present invention provides a buried water pipeline detection device, which includes: a pipeline detection running device and a detection host, a laser scanner, a travel recorder and an inclination measuring instrument arranged on the pipeline detection running device; The detection host is communicated with the laser scanner, the travel recorder and the inclinometer respectively.

As a further technical solution, the pipeline detection walking device includes: detection vehicle front beam, detection vehicle rear beam, detection vehicle longitudinal beam, front left fork, front right fork, front left travel wheel, front right travel wheel , the rear left fork, the rear right fork, the rear left traveling wheel, and the rear right traveling wheel; the detection vehicle longitudinal beam is connected between the front beam of the detection vehicle and the rear cross beam of the detection vehicle; the front left vehicle fork and the front right vehicle The fork is arranged on the two ends of the front beam of the detection car; the front left traveling wheel is arranged on the front left fork, and the front right traveling wheel is arranged on the front right fork; the rear left car The fork and the rear right fork are arranged at both ends of the rear beam of the detection vehicle; the rear left traveling wheel is arranged on the rear left fork, and the rear right traveling wheel is arranged on the rear right fork.

As a further technical solution, the front left fork and the front right fork are respectively connected to the front crossbeam of the detection vehicle through an adjustment member; Check the rear cross member connection.

As a further technical solution, the adjustment member is a locking bolt, and locking bolt holes are drilled on the rear cross beam of the detection vehicle and the front cross beam of the detection vehicle, and the rear cross beam of the detection vehicle and the front cross beam of the detection vehicle are designed to be plug-in. structure.

As a further technical solution, the material of the detection vehicle rear beam, detection vehicle front beam, rear left fork, rear right fork, front left fork, and front right fork is preferably hard aluminum alloy, other alloys Materials also apply.

As a further technical solution, the detection host, the laser distance measuring head, and the travel recorder are connected through wired communication or wireless communication.

As a further technical solution, the travel recorder is arranged on the running wheels of the pipeline detection traveling device, and is used to record the relative position information of the detection pipeline section and feed it back to the detection host.

As a further technical solution, the laser scanner is arranged at the front end of the longitudinal beam of the detection vehicle to form a laser detection array, and the laser detection array contains N laser detection heads correspondingly, wherein, N≥2; each A laser detection head rotates 360°/N to realize full-circumference detection of the inner wall of the pipeline.

As a further technical solution, the inclination measuring instrument is arranged at the front end of the longitudinal beam of the inspection vehicle, and is used for detecting the inclination angle at the position of the current inspection section.

In a second aspect, the present invention also provides a method according to the buried water pipeline detection device, which includes the following steps:

S1. Install the buried water pipeline detection device according to the diameter of the pipeline on site;

S2. Move the buried water pipeline detection device to the designated position, set the detection points of the laser detection head in sequence through the detection host, and set the detection angle to 360-degree full-circle detection, obtain the section curve by surveying and mapping, and save the detection section curve data to the detection On the host hard disk, and save the detection parameters;

S3, according to the inclination angle at the detection position, transform the local coordinates of the section curve lattice into the global coordinates according to the transformation formula, form a section curve diagram, obtain the deformation rate of the pipeline according to the horizontal deformation and vertical deformation of the pipeline, and convert the points at different positions The global cross-section curves are connected to form a pipeline deformation surface diagram;

S4. On the detection host, import the pipeline design cross-section diagram, and perform intersection operation with the detection cross-section curve diagram to obtain the deformation curve diagram of any point on the inner wall of the pipeline;

S5. Move the detection device to the next position, repeat the process of S2 and S3, and scan a new section. At this time, the scanning parameters are automatically scanned and calculated according to the set mode, and the deformation curve is automatically calculated.

Adopt above-mentioned technical scheme, the present invention has following beneficial effect:

In the present invention, the positioning of the detection position of the internal section of the pipeline is realized by the stroke recorder, and the surveying and mapping of the pipeline section is realized by the laser head, and the data of the two are associated together, and the curve diagram of the design section of the pipeline is imported, and the intersecting operation with the surveying and mapping curve of the pipeline section can be realized quickly. Deformation curves in the pipe.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

FIG. 1 is a schematic diagram of a workflow provided by an embodiment of the present invention;

Fig. 2 is the front view of the buried water pipeline detection device provided by the embodiment of the present invention;

Fig. 3 is a top view of the buried water pipeline detection device provided by the embodiment of the present invention;

Fig. 4 is a left view of the buried water pipeline detection device provided by the embodiment of the present invention;

Fig. 5 is a single scan dot matrix diagram of an embodiment of the present invention;

Fig. 6 is a dot matrix diagram of two adjacent scans according to an embodiment of the present invention;

Fig. 7 is a cross-sectional relationship diagram of two scans inside the pipeline according to the embodiment of the present invention;

Fig. 8 is a dot matrix diagram after two scans inside the pipeline of the embodiment of the present invention;

Fig. 9 is a dot matrix diagram of the Nth scanning cross-section inside the pipeline according to the embodiment of the present invention;

Fig. 10 is a deformation surface diagram of the pipeline formed after N times of scanning inside the pipeline according to the embodiment of the present invention;

Fig. 11 is the curved surface of pipeline design according to the embodiment of the present invention;

Fig. 12 is a schematic diagram of the internal deformation detection of the pipeline according to the embodiment of the present invention;

Fig. 13 is a schematic diagram of the deformation detection of the inner wall of the aqueduct according to the embodiment of the present invention;

Fig. 14 is a schematic diagram of deformation detection of an inner wall of an earth-rock dam according to an embodiment of the present invention.

Icon: 1-detection host; 2-laser detection head; 3-travel recorder; 4-rear left travel wheel; 5-rear right travel wheel; 6-front left travel wheel; 7-front right travel wheel; 8-rear Left fork; 9-rear right fork; 10-front left fork; 11-front right fork; 12-detection rear beam; 13-detection front beam; 14-detection longitudinal beam; 15-rear left Lock bolt; 16-rear right lock bolt; 17-front left lock bolt; 18-front right lock bolt; 19-inclination measuring instrument.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

Embodiment one

As shown in FIG. 2 to FIG. 14, this embodiment provides a buried water pipeline detection device, which includes: a pipeline detection running device and a detection host 1 arranged on the pipeline detection running device, a laser scanner, and a travel recorder 3 and an inclinometer 19; the detection host 1 is connected to the laser scanner, the travel recorder 3 and the inclination measuring instrument 19 respectively. In this embodiment, the device can be used to complete the surveying and mapping of the internal section shape of the pipeline, and perform difference calculation with the design curve of the pipeline section to obtain the deformation curve of the pipeline section, and accurately locate the detection position of the section through the travel recorder 3 .

As a further technical solution, the pipeline detection walking device includes: detection vehicle front beam 13, detection vehicle rear beam 12, detection vehicle longitudinal beam 14, front left fork 10, front right fork 11, front left traveling wheel 6. Front right travel wheel 7, rear left fork 8, rear right fork 9, rear left travel wheel 4, rear right travel wheel 5; the detection vehicle is connected between the front beam 13 and the rear beam 12 of the detection vehicle The longitudinal beam 14; the front left fork 10 and the front right fork 11 are arranged at the two ends of the front beam 13 of the detection car; the front left traveling wheel 6 is arranged on the front left fork 10, the The front right traveling wheel 7 is arranged on the front right fork 11; the rear left fork 8 and the rear right fork 9 are arranged at both ends of the rear beam 12 of the detection car; the rear left traveling wheel 4 is arranged On the rear left fork 8 , the rear right traveling wheel 5 is arranged on the rear right fork 9 .

In order to adapt to the detection of different pipeline diameters, the front left fork 10 and the front right fork 11 are respectively connected to the front crossbeam 13 of the detection vehicle through an adjustment member; the rear left fork 8 and the rear right fork 9 are respectively passed The adjusting part is connected with the rear crossbeam 12 of the detection vehicle, so as to adapt to the detection of running on the busbar of pipelines with different diameters.

Preferably, the adjusting member is a locking bolt, and locking bolt holes are drilled on the detection vehicle rear beam 12 and the detection vehicle front beam 13, and the detection vehicle rear beam 12 and the detection vehicle front beam 13 are designed as plug-in structures , to adjust the beam length for pipes of different diameters.

Preferably, the detection vehicle rear beam 12, the detection vehicle front beam 13, the rear left fork 8, the rear right fork 9, the front left fork 10, and the front right fork 11 are made of hard aluminum alloy. Of course, other materials are also suitable.

Preferably, the detection host 1, the laser detection head 2, and the travel recorder 3 are connected through wired communication or wireless communication. The detection host 1 mainly receives the position information of the travel recorder 3 , the inclination information of the cross-section detection position and the data collected by manipulating the laser detection head 2 .

Preferably, the travel recorder 3 is set on the running wheels of the pipeline detection walking device, and is used to record the relative position information of the detection pipeline section and feed it back to the detection host 1 .

Preferably, the laser scanner is arranged at the front end of the detection vehicle longitudinal beam 14 to form a laser detection array, and the laser detection array contains N laser detection heads 2 correspondingly, wherein, N≥2; each laser detection The head 2 rotates 360°/N to realize full-circumference inspection of the inner wall of the pipeline. Among them, the number of detection points M of the profile curve is set by setting the interval of detection points. The laser head can be rotated 360 degrees for full-circle detection. The required detection angle can be set arbitrarily within the range of 0 to 360 degrees.

Preferably, when the laser detection array detects a section, when the section is detected by moving to a new pipeline position, the laser detection array internally encodes the laser head to realize automatic recording of the initial rotation position without system homing.

Preferably, the inclination measuring instrument 19 is arranged at the front end of the inspection vehicle longitudinal beam 14 for detecting the inclination angle at the current inspection section position.

Embodiment two

1 to 14, this embodiment also provides a method according to the buried water pipeline detection device in Embodiment 1, which includes the following steps:

S1. Install the buried water pipeline detection device according to the diameter of the pipeline on site;

S2. Move the buried water pipeline detection device to the designated position, set the detection points of the laser detection head 2 in turn through the detection host 1, and set the detection angle to 360-degree full-circle detection, obtain the section curve by surveying and mapping, and save the detection section curve data to the hard disk of the detection host 1, and save the detection parameters;

S3, according to the inclination angle at the detection position, transform the local coordinates of the section curve lattice into the global coordinates according to the transformation formula, form a section curve diagram, obtain the deformation rate of the pipeline according to the horizontal deformation and vertical deformation of the pipeline, and convert the points at different positions The global cross-section curves are connected to form a pipeline deformation surface diagram;

S4. On the detection host 1, import the pipeline design cross-section diagram, and perform intersection operation with the detection cross-section curve diagram to obtain the deformation curve diagram of any point on the inner wall of the pipeline;

S5. Move the detection device to the next position, repeat the process of S2 and S3, and scan a new section. At this time, the scanning parameters are automatically scanned and calculated according to the set mode, and the deformation curve is automatically calculated.

In this embodiment, it can be combined with that shown in Figure 1, and the specific steps are:

Step 101, install the running device for pipeline detection, by installing the running device of the detection equipment inside the pipeline, including the detection of the front beam 13, the detection of the rear beam 12, the detection of the longitudinal beam 14, the front left fork 10, and the front right fork 11 , rear left fork 8, rear right fork 9, and detection car rear left traveling wheel 4, rear right traveling wheel 5, front left traveling wheel 6, front right traveling wheel 7, rear left locking bolt 15, rear right lock Tighten the bolt 16, the front left lock bolt 17, and the front right lock bolt 18 to ensure that the distance between the rear left fork 8 and the rear right fork 9, and the distance between the front left fork 10 and the front right fork 11 can make the longitudinal beam At the position of the central axis of the pipeline, adjust the horizontal position of the front and rear beams and longitudinal beams through a spirit level.

Step 102, travel recording, laser scanning, inclinometer, host module installation. Trip recorder 3 is installed on the rear left walking wheel 4, laser detection head 2 is installed on the longitudinal axis, inclinometer is installed on the laser detection head 2, and detection host 1 is installed on the longitudinal axis near the rear beam.

Step 103, the pipeline detects the communication module. Mainly, the detected travel record, laser scanner, and inclination data at the detected position are transmitted to the detection host 1 by means of a communication line or a wireless network.

Step 104, the debugging module of the pipeline testing equipment system. Debug the detection system to ensure that at the current detection position, the system can correctly receive the information of the travel recorder 3, the detection data of the laser scanner, and the inclination information at the detection position, and store them in the detection host 1 to form a data file.

Step 105, setting up the pipeline detection system. Set the mileage stake number of the initial position of the travel recorder 3, the number of detection points and the detection range of the laser scanner 360° full circumference, calibrate the inclination accuracy measured by the current inclinometer, and perform the initial scanning detection of the pipeline section, save the file, and view Whether the result is consistent with the setting.

Step 106, the design length of the pipe section. Input the size, shape and length of the initial section of the pipeline to facilitate the calculation of the section of the pipeline and the deformation curve of the pipeline.

Step 107, detecting the current section of the pipeline. According to the set parameters, laser scanning is performed on the current section of the pipeline, and the lattice data of the scanned pipeline section is transformed according to the inclination angle and mileage number at the current position, and the difference between the scanning lattice data and the standard section curve is calculated, and Find the deformation at any angle position, save the scanning dot matrix data and deformation data in the detection host 1, and then move the detection vehicle to detect and store the deformation data at the next position until the entire pipeline is inspected.

Step 108, pipe deformation surface diagram. The cross-sectional curve of the first scan, the cross-sectional curve of the second scan, ..., and the cross-sectional curve of the Nth scan are spliced together to form a pipeline cross-sectional surface diagram. The deformation shape and size of any part of the pipeline can be obtained by doing the difference operation between the pipeline section surface and the pipeline design section surface diagram.

The embodiment of the present invention can also be applied to the deformation detection of the aqueduct. Laser scanning is performed on the inner wall of the aqueduct. The deformation scanning of the cross section of the aqueduct, and the difference calculation with the standard design section of the aqueduct can obtain the deformation surface diagram of the aqueduct.

The embodiments of the present invention can also be applied to the deformation detection of earth-rock dams. Laser scanning is performed on the bank slope downstream of the earth-rock dam. Carry out a series of bank slope cross-sectional deformation scans, and perform difference calculations with the standard bank slope design section to obtain the deformation surface map of the earth-rock dam.

In order to describe the technical solution of this embodiment more clearly, the following more specific embodiments are used for illustration, and the specific steps are as follows:

S1: According to the diameter of the pipeline on site, install the device based on laser detection for the section shape of the buried water pipeline, adjust the rear left fork 8, the rear right fork 9, the front left fork 10, and the front right fork 11. Make sure that the crossbeam is the center, the rear left fork 8 and the rear right fork 9, the front left fork 10 and the front right fork 11 are respectively symmetrically distributed on both sides of the crossbeam.

S2: The laser detection array is equipped with N laser detection heads 2, and the interval angle α of the detection points is set. The detection angle can measure the inner wall of the pipeline at 360 degrees around the circumference of the laser range, and the laser array rotates 360/N, so that An array of laser ranging points around the pipeline is formed, and a curved section diagram is formed by connecting all laser point arrays.

S3: The internal cross-section line of the pipeline is surrounded by N measuring points, and each scanning array point can be expressed as N _i (xi _, y _i ), the angle between each point and the x-axis is α _i , and the point to the scanning center The distance on the axis (Z axis) is R _i , and the coordinates of the scanning point can be expressed as x _i =R _i cosα _i , y _i =R _i sinα _i , i=0,n. All points N _i are connected to form a pipeline cross-sectional scanning curve L1, as shown in Fig. 5, and the local coordinates are x, y, and z axes.

S4: The internal cross-sectional scanning line of the pipeline is surrounded by N points, and the transformation from local coordinates to global coordinates is realized through coordinate transformation. The transformation formula is:

x=x ₀ +x'

y=y ₀ +y'cosβ-z'sinβ

z=z ₀ +y'sinβ+z'cosβ

z'=ΔL (1)

In the formula (1), x, y, z are the coordinates of the midpoint of the global coordinate system of the pipeline cross-section B, x′, y′, z′ are the coordinates of the points of the local coordinate system of the cross-section B, x ₀ , y ₀ , z ₀ is the coordinate of the midpoint of the global coordinate system of the pipeline cross-section A; ΔL is the displacement increment of the travel recorder 3 between adjacent cross-sections A and B, and the initial cross-section travel displacement increment ΔL is zero, as shown in Figure 6 Show.

S5: According to the cross-sectional curve of each pipeline deformation in Figure 7, the diameters of the pipeline after deformation at the horizontal position and the vertical position can be calculated as La and Lb respectively, and the design diameter of the pipeline is D ₀ , and the horizontal deformation rate of the pipeline can be obtained Vertical deformation rate

S6: After coordinate transformation of S4, the pipeline cross-section curve array points for the second detection point of the pipeline can be called out, as shown in Figure 8, and the pipeline cross-section curve array points for N detection points can be called out, as shown in Figure 9, and all cross-section curves After splicing the array points, a pipe deformation surface diagram is formed, as shown in Figure 10.

S7: Subtract the pipeline design surface diagram from the pipeline scanning surface diagram to obtain the overall deformation surface diagram of the inner wall of the pipeline, as shown in Fig. 11 the pipeline design surface diagram.

S8: The pipeline deformation detection device and method of the present invention are suitable for detecting the deformation of the inner wall of the pipeline. By setting the scanning angle of the detection system, including the angle range of 360° around the entire circumference of the pipeline, multiple times along the axis of the inner wall of the pipeline For cross-section detection, all the detected cross-sections are spliced to form a contour map of the inner wall after deformation of the pipe, and the difference operation is performed with the outer contour surface of the inner wall of the pipe design to obtain the deformation surface map of the inner wall of the pipe, as shown in Figure 12.

S9: The pipeline deformation detection device and method of the present invention are also suitable for detecting the deformation of the inner wall of the aqueduct, by setting the scanning angle of the detection system, including the angle range of the left vertical wall, the bottom plate, and the right vertical wall of the aqueduct, and then Multiple cross-section inspections are carried out along the longitudinal axis of the aqueduct, and all the cross-sections are spliced to form the outer contour diagram of the inner wall after deformation of the aqueduct, and the difference operation is performed with the outer contour surface of the inner wall designed by the aqueduct to obtain the deformation surface diagram of the aqueduct, as shown in Fig. 13.

S10: The pipeline deformation detection device and method of the present invention are also applicable to the deformation detection of the downstream bank slope of the earth-rock dam. Carry out multiple deformation scans on the track path of the axis of the earth-rock dam, and splicing all the scanned sections to form the deformed outer contour map of the downstream slope of the earth-rock dam, and perform difference calculations with the designed downstream outer contour surface of the earth-rock dam. Obtain the deformation surface diagram of the downstream bank slope of the earth-rock dam, see Figure 14.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. a kind of buried aqueduct detection device, which is characterized in that including：Pipe detection running gear and it is set to pipeline Detect detection host, laser scanner, position recorder and the dipmeter on running gear；The detection host respectively with Laser scanner, position recorder and dipmeter communication connection.

2. buried aqueduct detection device according to claim 1, which is characterized in that the pipe detection running gear Including：Detect Chinese herbaceous peony crossbeam, detection vehicle rear cross beam, detection vehicle longeron, front left fork, front right fork, front left traveling wheel, preceding right lateral Walk wheel, rear left fork, rear right fork, rear left traveling wheel, rear right traveling wheel；The detection Chinese herbaceous peony crossbeam and detection vehicle rear cross beam it Between connecting detection vehicle longeron；The front left fork is set to the both ends of the detection Chinese herbaceous peony crossbeam with front right fork；The front left Traveling wheel is set in the front left fork, and the front right traveling wheel is set in the front right fork；The rear left fork with Rear right fork is set to the both ends of the detection vehicle rear cross beam；The rear left traveling wheel is set in the rear left fork, described Rear right traveling wheel is set in the rear right fork.

3. buried aqueduct detection device according to claim 2, which is characterized in that the front left fork, front right vehicle Fork is connect by regulating part with the detection Chinese herbaceous peony crossbeam respectively；The rear left fork and rear right fork respectively by regulating part with The detection vehicle rear cross beam connection.

4. buried aqueduct detection device according to claim 3, which is characterized in that the regulating part is locking screw Bolt is drilled with locking screw keyhole on detection vehicle rear cross beam, detection Chinese herbaceous peony crossbeam, and detects vehicle rear cross beam, detection Chinese herbaceous peony crossbeam It is designed to plug-in structure.

5. buried aqueduct detection device according to claim 3, which is characterized in that the detection vehicle rear cross beam, inspection Measuring car front beam, rear left fork, rear right fork, front left fork, the material of front right fork are hard aluminium alloy.

6. buried aqueduct detection device according to claim 2, which is characterized in that the detection host, Laser Measuring It is connected by wire communication or wireless communication away from head, position recorder.

7. buried aqueduct detection device according to claim 6, which is characterized in that the position recorder is set to On the traveling wheel of the pipe detection running gear, for recording detection conduit section relative position information, and detection is fed back to Host.

8. buried aqueduct detection device according to claim 6, which is characterized in that the laser scanner is set to The front end of the detection vehicle longeron corresponds to inside the laser detection array and is examined containing N number of laser to form laser detection array Gauge head, wherein N >=2；Each laser detection head is rotated by 360 °/N, and full detection is carried out to inner wall of the pipe to realize.

9. buried aqueduct detection device according to claim 6, which is characterized in that the dipmeter is set to The front end of the detection vehicle longeron, for detecting the inclination angle at current detection cross section place.

10. a kind of method of buried aqueduct detection device according to any one of claim 1-9, feature exist In including the following steps：

S1, according to field pipes diameter, install buried aqueduct detection device；

S2, mobile buried aqueduct detection device to designated position set laser detection head inspection successively by detecting host Measuring point number, and it is that 360 degree of weeks detect that detection angles, which are arranged, mapping obtains sectional curve, preserves detection sectional curve data and arrives It detects on host hard drive, and preserves detection parameters；

Sectional curve dot matrix local coordinate is transformed into world coordinates by S3, the inclination angle according to inspection positions according to conversion formula On, sectional curve figure is formed, pipe deforming rate is found out according to the horizontal distortion of pipeline and vertical deformation, complete at different location The cross-section surface curve of office is connected, and forms pipe deforming surface chart；

S4, detection host on, import pipe design section figure, and with detection sectional curve figure carry out intersection operation, obtain pipeline The deformation curve figure at inner wall any point；

S5, motion detection device to next position repeat the process of S2, S3, carry out new profile scanning, at this moment sweep parameter Automatically scanning and operation are carried out according to the pattern set, it is automatic to calculate deformation curve figure.