CN108413180A - Buried aqueduct detection device and method - Google Patents
Buried aqueduct detection device and method Download PDFInfo
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- CN108413180A CN108413180A CN201810238758.7A CN201810238758A CN108413180A CN 108413180 A CN108413180 A CN 108413180A CN 201810238758 A CN201810238758 A CN 201810238758A CN 108413180 A CN108413180 A CN 108413180A
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- 238000001514 detection method Methods 0.000 title claims abstract description 203
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- 238000005516 engineering process Methods 0.000 abstract description 9
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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
Technical field
The present invention relates to engineering measuring technology fields, more particularly, to a kind of buried aqueduct detection device and method.
Background technology
Pipeline transportation is the 5th kind of means of transportation occurred after traditional highway, railway, air transport, water transport mode.Pipe
Taoist priest distance draw water transfer need use pressure conduit, pipeline in completion, run and cut off the water maintenance when, need to conduit section deform
It is detected.《Code for construction and acceptance of water supply and sewerage pipeline engineering (GB50268-2008)》Provide pipeline in engineering construction and fortune
It will produce certain deformation during row, but this deformation must not influence the safe to use of pipeline, deformation refers to tube body
In the variation of vertical direction diameter, also known as " pipeline radial direction deflection value " or " pipeline radial diameter deformation rate ".Pipe deforming rate
" (initial) deformation of installation " and " using (long-term) deformation " can be divided into.No matter to flexible ducts such as FRP sand tube or right
The deformation of the rigid conduits such as metallic conduit and chemical building material pipe design has stringent control.Although pipeline is in laying construction rank
Section just controls its possible deformation, but is bearing upper filled load, vehicular load and receiving other external environments
When factor influences, deformation is still inevitable, when these deformations run up to certain degree, it is possible to cause the broken of pipeline
It splits, leads to leakage accident, lead to property loss, serious entail dangers to social public security.
The instrument for being used for geometric pipeline shape detection at first is latus rectum internal detector, with the development of science and technology, domestic
Outer more commonly used deformation detection technology also has that ultrasonic Detection Method, camera method, laser triangulation, Three Dimensional Ground swash in pipe
The methods of optical scanning.
The instrument deformed in first detection pipe is known as TDW Kalipor wipers.Equipment with one circle umbrella arm sensing and
Mileage wheel, these arm sensing circumferentially, respectively stick on tube wall, on a newel in center column end
It equipped with a recording pen, is parked on recording paper strip, recording paper strip is walked about between two mileage wheels, and mileage wheel is by stepping
Motor drives, different mileage corresponding record paper tape corresponding positions.If tube wall has geometry deformation, the arm sensing at deformation, which generates, to be turned
It is dynamic, big rotation amplitude is deformed with regard to big, and newel is made to move a certain distance, recording pen will leave some data on paper tape.
When being taken out after detector runs to duct end, the degree of internal diameter of the pipeline variation and position can be found out from paper tape.This
The detectors measure element of kind early stage application is in direct contact with tube wall, therefore more demanding to pipe cleanness, is otherwise easy production
Raw mechanical breakdown.
Camera method is that Deformation inspection technology of the one kind based on CCTV (Closed-Circuit TV) camera shootings is being answered in pipe
Use it is very ripe, foreign countries used 40 years.It is by constantly imaging tube wall surrounding, then to the figure of shooting
As being monitored, analyzing to obtain the deformation of pipeline.This method detection comparison of getting up is intuitive, but due to by human eye point
The limitation of resolution, if not handling image, the deformation to deflection less than 10%D is difficult to recognize；If by the figure of shooting
As video-tape is made and then is analyzed, resolution ratio can be lower, can only achieve 20%D or so.
Ultrasonic Detection Method is mainly that the pulse-reflection principle of ultrasonic wave is utilized.Ultrasonic probe be both signal projector again
It is signal receiver, by probe vertical to pipeline wall emission ultrasonic pulse fundamental wave P when detection, probe is firstly received by tube wall
The pulse F of surface reflection, then ultrasonic probe can receive again outer surface of tube wall reflection pulse B, it is anti-according to fundamental wave P and inner wall
The variation of distance d between ejected wave F, it will be able to detect the deformation of inner wall of the pipe profile.But this detection method detection is former
Reason is simple, and detection data is simple, is disadvantageous in that ultrasonic wave is decayed quickly in air, and therefore, when use generally requires
Apply couplant between probe and testee.
Laser triangulation is a kind of efficiently and accurately, contactless detection method, has lot of advantages.But photoelectricity is visited
Surveying device once some point can only be imaged inner surface of pipeline, to carry out comprehensive image checking, need additional rotation
Rotary device forms laser dot scans outline detection system.Currently, the main problem of Laser Triangulation Measurement System Based is by incident beam
Depth of focus limitation, large-range measuring effect is not so good, and will appear spot size when using Gaussian beam focusing becomes with measurement range
The case where big and defocus becomes larger, leads to not the lateral resolution for meeting system, also cannot be satisfied its longitudinal resolution.
Three Dimensional Ground laser scanner technique is a kind of measurement skill of a large amount of three-dimensional coordinates of the quick obtaining in a manner of laser ranging
Art can overcome the limitation of conventional measurement techniques, obtain more comprehensive tunnel deformation information.This method passes through geometrical analysis
Method optimizes sweep parameter and target layout scheme.Cylindrical surface approximating method and ellipse fitting method are combined,
Noise reduction is carried out with error distribution statistics rule.This method is disadvantageous in that, in target splicing, brings error, with
And the tunnel axis based on cylindrical surface fitting proposes method, although being advised based on error distribution statistics using a kind of in processing procedure
The noise-reduction method of rule brings larger error to the relative deformation of tunnel section.And this method is for deforming larger circle
The tunnel of tunnel and non-circular section is simultaneously not suitable for, and new data processing method is needed to find suitable mathematical function to describe
Space geometry form after tunnel deformation, the relative deformation in tunnel is obtained with this.
The information for being disclosed in the background technology part is merely intended to deepen understanding of the general background technology to the present invention, and
It is not construed as recognizing or implying in any form that the information constitutes the prior art known to those skilled in the art.
Invention content
The purpose of the present invention is to provide a kind of buried aqueduct detection device and methods, to solve to deposit in the prior art
The technical issues of.
To achieve the goals above, the present invention uses following technical scheme：
In a first aspect, the present invention provides a kind of buried aqueduct detection device comprising：Pipe detection running gear with
And it is set to detection host, laser scanner, position recorder and dipmeter on pipe detection running gear；The inspection
It surveys host and communicates connection with laser scanner, position recorder and dipmeter respectively.
As a kind of further technical solution, the pipe detection running gear includes：Detect Chinese herbaceous peony crossbeam, detection vehicle
Rear cross beam, detection vehicle longeron, front left fork, front right fork, front left traveling wheel, front right traveling wheel, rear left fork, rear right fork,
Rear left traveling wheel, rear right traveling wheel；Connecting detection vehicle longeron between the detection Chinese herbaceous peony crossbeam and detection vehicle rear cross beam；Before described
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 to the front left fork
On, the front right traveling wheel is set in the front right fork；The rear left fork is set to the detection vehicle with rear right fork
The both ends of rear cross beam；The rear left traveling wheel is set in the rear left fork, and the rear right traveling wheel is set to the rear right
In fork.
As a kind of further technical solution, the front left fork, front right fork pass through regulating part and the inspection respectively
Measuring car front beam connects；The rear left fork is connect by regulating part with the detection vehicle rear cross beam respectively with rear right fork.
As a kind of further technical solution, the regulating part is clamping screw, in detection vehicle rear cross beam, detection Chinese herbaceous peony
Locking screw keyhole is drilled with above crossbeam, and detection vehicle rear cross beam, detection Chinese herbaceous peony crossbeam are designed to plug-in structure.
As a kind of further technical solution, the detection vehicle rear cross beam, detection Chinese herbaceous peony crossbeam, rear left fork, rear right
Fork, front left fork, the material of front right fork are preferably hard aluminium alloy, other alloy materials are also suitable.
As a kind of further technical solution, the detection host, laser ranging head, position recorder pass through cable modem
Letter or wireless communication connection.
As a kind of further technical solution, the position recorder is set to the row of the pipe detection running gear
It walks on wheel, for recording detection conduit section relative position information, and feeds back to detection host.
As a kind of further technical solution, the laser scanner is set to the front end of the detection vehicle longeron with shape
It is corresponding inside the laser detection array to contain N number of laser detection head, wherein N >=2 at laser detection array；Each laser inspection
Gauge head is rotated by 360 °/N, and full detection is carried out to inner wall of the pipe to realize.
As a kind of further technical solution, the dipmeter is set to the front end of the detection vehicle longeron, uses
Inclination angle at detection current detection cross section place.
Second aspect, the present invention also provides a kind of methods according to buried aqueduct detection device comprising following step
Suddenly：
S1, according to field pipes diameter, install buried aqueduct detection device；
S2, mobile buried aqueduct detection device to designated position set laser detection successively by detecting host
Head detection points, and it is that 360 degree of weeks detect that detection angles, which are arranged, mapping obtains sectional curve, preserves detection sectional curve number
According to on detection host hard drive, and detection parameters are preserved；
Sectional curve dot matrix local coordinate is transformed into the overall situation by S3, the inclination angle according to inspection positions according to conversion formula
On coordinate, sectional curve figure is formed, pipe deforming rate is found out according to the horizontal distortion of pipeline and vertical deformation, at different location
The cross-section surface curve of the overall situation be connected, form pipe deforming surface chart；
S4, detection host on, import pipe design section figure, and with detection sectional curve figure carry out intersection operation, obtain
The deformation curve figure at inner wall of the pipe any point；
S5, motion detection device to next position repeat the process of S2, S3, carry out new profile scanning, at this moment scan
Parameter carries out automatically scanning and operation according to the pattern set, automatic to calculate deformation curve figure.
Using above-mentioned technical proposal, the present invention has the advantages that：
The present invention realizes the positioning of pipeline inner section test position by position recorder, realizes that pipeline is disconnected by laser head
Face is surveyed and drawn, and the two data correlation is together, and import pipe design section curve graph and conduit section plot are asked and shipped
It calculates, you can fast implement deformation curve figure in pipeline.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is workflow schematic diagram provided in an embodiment of the present invention；
Fig. 2 is buried aqueduct detection device front view provided in an embodiment of the present invention；
Fig. 3 is buried aqueduct detection device vertical view provided in an embodiment of the present invention；
Fig. 4 is buried aqueduct detection device left view provided in an embodiment of the present invention；
Fig. 5 is single sweep operation dot chart of the embodiment of the present invention；
Fig. 6 is the adjacent twice sweep dot chart of the embodiment of the present invention；
Fig. 7 is twice sweep cross section relational graph inside pipeline of the embodiment of the present invention；
Fig. 8 is the dot chart after 2 scanning inside pipeline of the embodiment of the present invention；
Fig. 9 is that n-th scans cross section dot chart inside pipeline of the embodiment of the present invention；
Figure 10 is to form pipe deforming surface chart after n times scanning inside pipeline of the embodiment of the present invention；
Figure 11 is pipe design curved surface of the embodiment of the present invention；
Figure 12 is the schematic diagram of pipeline internal modification of embodiment of the present invention detection；
Figure 13 is the schematic diagram of aqueduct inner wall deformation of embodiment of the present invention detection；
Figure 14 is the schematic diagram of earth and rockfill dam inner wall deformation of embodiment of the present invention detection.
Icon：1- detects host；2- laser detection heads；3- position recorders；4- rear left traveling wheels；5- rear right traveling wheels；
6- front left traveling wheels；7- front right traveling wheels；8- rear left forks；9- rear right forks；10- front left forks；11- front right forks；12- is examined
Measuring car rear cross beam；13- detects Chinese herbaceous peony crossbeam；14- detects vehicle longeron；15- rear left clamping screws；16- rear right clamping screws；17-
Front left clamping screw；18- front right clamping screws；19- dipmeters.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Embodiment one
In conjunction with shown in Fig. 2 to Figure 14, the present embodiment provides a kind of buried aqueduct detection devices comprising：Pipeline is examined
It surveys running gear and the detection host 1 being set on pipe detection running gear, laser scanner, position recorder 3 and incline
Angle measuring instrument 19；The detection host 1 communicates with laser scanner, position recorder 3 and dipmeter 19 connect respectively.This
Embodiment 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 the section test position is accurately positioned by position recorder 3.
As a kind of further technical solution, the pipe detection running gear includes：Detect Chinese herbaceous peony crossbeam 13, detection
Vehicle rear cross beam 12, detection vehicle longeron 14, front left fork 10, front right fork 11, front left traveling wheel 6, front right traveling wheel 7, rear left vehicle
Fork 8, rear right fork 9, rear left traveling wheel 4, rear right traveling wheel 5；Between the detection Chinese herbaceous peony crossbeam 13 and detection vehicle rear cross beam 12
Connecting detection vehicle longeron 14；The front left fork 10 is set to the both ends of the detection Chinese herbaceous peony crossbeam 13 with front right fork 11；Institute
It states front left traveling wheel 6 to be set in the front left fork 10, the front right traveling wheel 7 is set in the front right fork 11；Institute
State the both ends that rear left fork 8 is set to the detection vehicle rear cross beam 12 with rear right fork 9；The rear left traveling wheel 4 is set to institute
It states in rear left fork 8, the rear right traveling wheel 5 is set in the rear right fork 9.
In order to adapt to different pipe diameter detections, the front left fork 10, front right fork 11 respectively by regulating part with
The detection Chinese herbaceous peony crossbeam 13 connects；The rear left fork 8 is with rear right fork 9 respectively by horizontal after regulating part and the detection vehicle
Beam 12 connects, detection of walking on the busbar to adapt to different-diameter pipeline.
Preferably, the regulating part is clamping screw, and lock is drilled on detection vehicle rear cross beam 12, detection Chinese herbaceous peony crossbeam 13
Tight bolt hole, and detection vehicle rear cross beam 12, detection Chinese herbaceous peony crossbeam 13 are designed to plug-in structure, so as to the pipe for different-diameter
Road adjusts crossbeam length.
Preferably, the detection vehicle rear cross beam 12, detection Chinese herbaceous peony crossbeam 13, rear left fork 8, rear right fork 9, front left fork
10, the material of front right fork 11 is hard aluminium alloy.Certainly, other materials are equally applicable.
Preferably, the detection host 1, laser detection head 2, position recorder 3 are connected by wire communication or wireless communication
It connects.Detect the location information of 1 primary recipient position recorder 3 of host, the obliquity information of cross section test position and manipulation laser
The data information that detector 2 acquires.
Preferably, the position recorder 3 is set on the traveling wheel of the pipe detection running gear, for recording inspection
Conduit section relative position information is surveyed, and feeds back to detection host 1.
Preferably, the laser scanner is set to the front end of the detection vehicle longeron 14 to form laser detection array,
It is corresponding inside the laser detection array to contain N number of laser detection head 2, wherein N >=2；Each laser detection head 2 is rotated by 360 °/
N carries out full detection to realize to inner wall of the pipe.Wherein, by setting the test point interval number of degrees, to set sectional curve detection
Count M, and laser head 360 deg rotating displaying carries out full detection, and detection points are set as integer M, acquisition interval by detecting host 1
For 360/M, detection angles as needed can arbitrarily be set within the scope of 0~360 degree.
Preferably, when the complete section of laser detection array detection, when detecting section by being moved to new pipeline location,
Encoding to laser head inside laser detection array, realization automatically records rotation initial position, without carrying out system playback.
Preferably, the dipmeter 19 is set to the front end of the detection vehicle longeron 14, for detecting current detection
Inclination angle at cross section place.
Embodiment two
In conjunction with shown in Fig. 1 to Figure 14, the present embodiment also provides a kind of buried aqueduct detection according in embodiment one
The method of device comprising 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 successively by detecting host 1
First 2 detection points, and it is that 360 degree of weeks detect that detection angles, which are arranged, mapping obtains sectional curve, preserves detection sectional curve number
According to on detection 1 hard disk of host, and detection parameters are preserved；
Sectional curve dot matrix local coordinate is transformed into the overall situation by S3, the inclination angle according to inspection positions according to conversion formula
On coordinate, sectional curve figure is formed, pipe deforming rate is found out according to the horizontal distortion of pipeline and vertical deformation, at different location
The cross-section surface curve of the overall situation be connected, form pipe deforming surface chart；
S4, detection host 1 on, import pipe design section figure, and with detection sectional curve figure carry out intersection operation, obtain
The deformation curve figure at inner wall of the pipe any point；
S5, motion detection device to next position repeat the process of S2, S3, carry out new profile scanning, at this moment scan
Parameter carries out automatically scanning and operation according to the pattern set, automatic to calculate deformation curve figure.
In the present embodiment, in combination with shown in Fig. 1, specific step is：
Step 101, pipe detection running gear is installed, by installing the running gear of testing equipment, packet inside pipeline
Include detection Chinese herbaceous peony crossbeam 13, detection vehicle rear cross beam 12, detection vehicle longeron 14, front left fork 10, front right fork 11, rear left fork 8,
Rear right fork 9 and detection vehicle rear left traveling wheel 4, rear right traveling wheel 5, front left traveling wheel 6, front right traveling wheel 7, rear left locking screw
Bolt 15, rear right clamping screw 16, front left clamping screw 17, front right clamping screw 18, it is ensured that rear left fork 8 and rear right fork 9, it is preceding
The distance between left fork 10 and front right fork 11 can make longeron be in the position of pipeline center's axis, before and after being adjusted by level meter
The horizontal position of crossbeam and longeron.
Step 102, stroke recording, laser scanning, inclinator, host module installation.Position recorder 3 is mounted on rear left lateral
It walks on wheel 4, laser detection head 2 is installed on longitudinal axis, and inclinator is mounted in laser detection head 2, and detection host 1 is arranged close to
On the rear cross beam longitudinal axis.
Step 103, pipe detection communication module.It mainly uses connection or wireless network the stroke recording of detection, swash
Photoscanner, inspection positions inclination data be transferred to detection host 1 on.
Step 104, pipe testing apparatus system debug module.Detecting system is debugged, it is ensured that in current detection position
It sets, system can have correctly received the obliquity information of 3 information of position recorder, laser scanner detection data, inspection positions,
And can be stored in detection host 1, form data file.
Step 105, pipe detection system is arranged.The mileage pile No. of the initial position of position recorder 3, laser scanning are set
The detection points and the full range of 360 ° of detection range, the inclination angle accuracy that calibration current inclination instrument measures of instrument, and it is disconnected to carry out pipeline
Face preliminary sweep detection, save file check whether result is consistent with setting.
Step 106, conduit section design length.Size, shape and the length etc. of the initial section of input channel, in order to pipe
The calculating of road section and pipe deforming curve.
Step 107, pipeline current section detects.According to the parameter of setting, laser scanning surface is carried out to pipeline current section, is swept
Retouch inclination angle and mileage pile No. of the conduit section dot array data according to current position, be coordinately transformed, scanning lattice data and
Standard section curve carries out difference operation, can find out the deformation at any angular position, preserves scanning lattice data and becomes figurate number
According to 1 the inside of detection host is stored in, then moving detection vehicle, carries out cross section deformation Data Detection and storage at the next position, directly
It is finished to whole pipe detection.
Step 108, pipe deforming surface chart.Scanning for the first time, cross-section surface curve, scanning cross section is bent for the second time
Line ..., n-th scan cross-section surface curve and mutually splice, form conduit section surface chart.Conduit section curved surface and pipe design
Section surface chart does difference operation, you can obtains the deformation form and size of pipeline any part.
The embodiment of the present invention can also be applied to the deformation detection of aqueduct, and laser scanning, scanning are carried out to aqueduct inner wall
Angle may be set in the left straight wall of aqueduct, bottom plate, in right straight wall angular range, and a series of aqueduct is carried out along aqueduct longitudinal axis
Cross-sectional deformability scans, and carries out difference operation in the aqueduct design section with standard, can obtain aqueduct deformation surface figure.
The embodiment of the present invention can also be applied to the deformation detection of earth and rockfill dam, and carrying out laser to earth and rockfill dam downstream bank slope sweeps
It retouches, scanning angle may be set within the scope of bank slope downstream to base corner degree, be carried out along earth and rockfill dam bank slope longitudinal axis is parallel to
A series of bank slope cross-sectional deformability scanning carries out difference operation in the bank slope design section with standard, can obtain earth and rockfill dam change
Shape surface chart.
In order to more clearly describe the technical solution of the present embodiment, is illustrated, had with following more specifically embodiment
Steps are as follows for body：
S1：According to field pipes diameter, the dress of the buried aqueduct section configuration based on laser acquisition is installed
It sets, mixes up rear left fork 8, rear right fork 9, front left fork 10, front right fork 11, it is ensured that centered on crossbeam, 8 He of rear left fork
Rear right fork 9, front left fork 10 and front right fork 11 are respectively symmetrically distributed in the both sides of crossbeam.
S2：The N number of laser detection head 2 of the laser detection array configuration sets test point interval angles α, detection angles
Can 360 degree of week circumferential laser ranging is carried out to inner wall of the pipe, it is sharp to form pipeline week after laser array rotates 360/N
Ligh-ranging lattice array, by the way that all laser point arrays are connected to form curved section figure.
S3：Pipeline inner cross-sectional line is surrounded by N number of measuring point, and each scanning array point is represented by Ni(xi,yi), every point
Angle with x-axis is respectively αi, the distance of point to scanning center's axis (Z axis) is Ri, scan point coordinates and be represented by xi=Ri cos
αi、yi=Ri sinαi, i=0, n.All the points NiLine forms pipeline cross section scanning curve L1, sees Fig. 5, local coordinate x,
Y, z-axis.
S4：Pipeline inner cross-sectional scan line has N number of point to surround, and realizes local coordinate to world coordinates by coordinate transformation
Conversion, conversion formula is：
X=x0+x′
Y=y0+y′cosβ-z′sinβ
Z=z0+y′sinβ+z′cosβ
Z '=Δ L (1)
X in formula (1), y, z are the coordinates at the global coordinate system midpoint of pipeline cross section B, and x ', y ', z ' is cross section B
The coordinate of local coordinate mooring points, x0,y0,z0It is the coordinate at the global coordinate system midpoint of pipeline cross section A；Δ L is adjacent cross section
The displacement increment of position recorder 3 between A and B, initial section travel displacement increment Delta L is zero, as shown in Figure 6.
S5：According to everywhere pipe deforming cross section curve graph 7, can calculate in horizontal position and upright position pipe deforming
Diameter afterwards is respectively La, Lb, a diameter of D of pipe design0, can find out pipe level deformation rate isVertical deformation rate
S6：After S4 coordinate transform, the conduit section curve pattern point of 2 detection points of pipeline is may bring up, sees Fig. 8,
The conduit section curve pattern point for recalling n times detection point, is shown in Fig. 9, and pipeline is formed after all sectional curve array points are spliced
Deformation surface figure, is shown in Figure 10.
S7：Pipe design surface chart subtracts each other with pipeline sweep surface figure, you can inner wall of the pipe overall deformation surface chart is found out,
Figure 11 pipe design surface charts.
S8：The Deformation inspection apparatus and method of the present invention pass through suitable for being detected to the deformation of inner wall of the pipe
It sets in the scanning angle of detecting system, including the full 360 ° of angular ranges of pipeline, is carried out further along inner wall of the pipe axis multiple
Section detects, and all detection sections are spliced, and the inner surface contour figure after pipe deforming is formed, with pipe design inner wall foreign steamer
Contour curved surface carries out difference operation, you can acquires inner wall of the pipe deformation surface figure, sees Figure 12.
S9：The Deformation inspection apparatus and method of the present invention, are also applied for being detected the deformation of aqueduct inner wall, lead to
The scanning angle of setting detecting system is crossed, including in the angular range of the left straight wall of aqueduct, bottom plate, right straight wall, further along aqueduct
Longitudinal axis carries out multiple section detection, and all sections are spliced, and the deformed inner wall outer profile figure of aqueduct is formed, with aqueduct
The inner wall foreign steamer contour curved surface of design carries out difference operation, you can acquires aqueduct deformation surface figure, sees Figure 13.
S10：The Deformation inspection apparatus and method of the present invention are equally applicable to the deformation inspection of earth and rockfill dam downstream bank slope
It surveys, by setting the scanning angle of detecting system, within the scope of from earth and rockfill dam bank slope downstream face to base corner degree, further along being parallel to
The orbital path of Earth and Rockfill Dam axis carries out multiple deformative sweeping, and all surface sweeping sections are spliced, and is formed under earth and rockfill dam
Outer profile figure after bank slope deforms is swum, carries out difference operation with the downstream foreign steamer contour curved surface of earth and rockfill dam design, you can acquire under earth and rockfill dam
Bank slope deformation surface figure is swum, sees Figure 14.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
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.
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