CN108732565A - Contactless highway tunnel lining Structural defect checks onboard system - Google Patents
Contactless highway tunnel lining Structural defect checks onboard system Download PDFInfo
- Publication number
- CN108732565A CN108732565A CN201810574031.6A CN201810574031A CN108732565A CN 108732565 A CN108732565 A CN 108732565A CN 201810574031 A CN201810574031 A CN 201810574031A CN 108732565 A CN108732565 A CN 108732565A
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- horn antenna
- distance
- reinforcing bar
- car
- detection
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to a kind of contactless highway tunnel lining Structural defects to check onboard system, belongs to Tunnel testing field.The system includes horn antenna, radar host computer and control system and car-mounted device；The horn antenna is carried on by radar host computer and control system on car-mounted device；Position and the quantity that reinforcing bar is differentiated according to horn antenna result of detection further include position and interval that two thickness of the liner degree, I-steel apply that compactness and cavity, reinforcing bar apply after situation, two backings；Horn antenna frequency is 380MHz~1.6GHz, and distance of the horn antenna apart from liner structure is 10cm~3m, and investigation depth is 40cm~3m.The present invention can differentiate position and the quantity of reinforcing bar according to horn antenna result of detection；Function mode is simple, and occupied space is smaller, and detection disease position is accurate.
Description
Technical field
The invention belongs to Tunnel testing fields, are related to contactless highway tunnel lining Structural defect and check onboard system.
Background technology
Geological radar is the subsurface wave reflection Detection Techniques to hyper band using very high frequency(VHF).Operation principle is transmitting
Device directional transmissions electromagnetic wave into preliminary bracing and country rock by transmitting antenna, electromagnetic wave is taken in encounter in the path of propagation electricity
Property (dielectric constant and conductivity) difference interface when reflect, from different depth return each back wave by reception day
Line and receiver are received, and are in addition also initially received from surface of the reflecting antenna through medium where two antennas and are traveled to reception day
The direct wave of line, and as the time leading zero's of system.After signal processing, for reflected after direct wave
The transmitted wave of each different time takes its time half, and the propagation velocity of electromagnetic wave for being multiplied by respective media is reflectance target
Depth.Differentiate reflection mesh further according to reflective information feature (reflected intensity, back wave characteristics of combination and lateral, longitudinally varying etc.)
Target property.Preliminary bracing and the empty or deficient compact zone in country rock, country rock, the water aquifer in country rock or crack, preliminary bracing
Crack etc. is good reflecting interface or objective body.
It is main at present that different frequency (there are commonly 270MHz, 400MHz, 900MHz) is used cooperatively using geological radar
Density parameter of the antenna between tunnel structure state, such as two lining concrete thickness, two linings and first branch is detected, antenna
The overwhelming majority is the ground coupling formula antenna, that is, radar antenna must be closely connected with detection object when detecting.
The main problem of this kind of detection mode has at 3 points：
(1) radar antenna cannot disengage detection object, otherwise will appear the bad phenomenon of signal, be unfavorable at later data
Reason and interpretation, severe patient results even in data invalid, and detects scene since there are various problems, often results in this kind of phenomenon difficulty
To avoid completely.
(2) it when being detected using this kind of method, usually by manually holding antenna, stands in high altitude vehicle fence aloft
There are larger to fall security risk when operation, Uneven road or slightly fast car speed.In addition long-time operation tunnel lining cutting table
Area ash is serious, and ground coupling antenna will cause flue dust in hole to float in the air after striking off dust stratification, influence environment.
(3) road occupying construction operation must be carried out when detecting, and road occupying construction examination and approval procedures are handled and collision risk control is also
A great problem.
Therefore, the working efficiency of existing detection technique it is relatively low, to larger, traffic safety the hidden danger of interference of existing traffic compared with
Greatly.
Invention content
In view of this, the purpose of the present invention is to provide a kind of contactless highway tunnel lining Structural defect inspection is vehicle-mounted
System.
In order to achieve the above objectives, the present invention provides the following technical solutions：
Contactless highway tunnel lining Structural defect checks onboard system, including horn antenna, radar host computer and
Control system and car-mounted device；
The horn antenna is carried on by radar host computer and control system on car-mounted device；According to Air Coupling day
Line result of detection differentiates position and the quantity of reinforcing bar, further include two thickness of the liner degree, I-steel apply after situation, two backings compactness and
The position and interval that cavity, reinforcing bar apply；
The horn antenna frequency is 380MHz~1.6GHz, and distance of the horn antenna apart from liner structure is
10cm~3m, investigation depth are 40cm~3m.
Further, which further includes infrared distance measuring instrument, polyaxial rotating mechanical arm and laser ranging wheel；
The horn antenna is with infrared distance measuring instrument close on polyaxial rotating mechanical arm；Polyaxial rotation
Turn mechanical arm to be arranged in the middle part of car-mounted device, angle adjustment, rotation can be carried out and stretches；Car-mounted device tail portion is equipped with Laser Measuring
Away from wheel；Position and the quantity that reinforcing bar is differentiated according to horn antenna result of detection further include that two thickness of the liner degree, I-steel apply feelings
The position and interval that compactness and cavity, reinforcing bar apply after condition, two backings；
The direction of the infrared distance measuring instrument is parallel with the detection faces of horn antenna, can complete：1. detecting
The survey line that driver and testing staff detect according to the position judgment horn antenna of laser rays flushing point in lining cutting in the process
Whether meet testing requirements, reminded in time in detection process driver's test position whether sideslip, to correct in time；2. infrared
Distance of the line distance mearuring equipment to horn antenna apart from lining cutting surface location records, which is according to circumstances used for two
Aspect, one is in detection process, range data to be timely feedbacked the polyaxial rotating machinery in horn antenna
In arm, the distance of horn antenna to lining cutting is fixed on together by computational algorithm built in polyaxial rotating mechanical arm, in real time adjustment
One numerically；The other is direct recording distance data, which are used in the data processing work in later stage, at data
Range data introducing is compensated into calculating to location information when reason, it is aobvious to compensate the lining cutting surface location in result images
It is shown as straight line, is convenient for the explanation of defect information.
Further, the radar host computer and control system also record the operating range information of onboard system, are carried out to data
Normalized on tunnel longitudinal length；It is recorded using the method for wheel perimeter × wheel rotating cycle in laser ranging wheel
Final form distance, the amendment of the existing mileage pile No. in cooperation scene, accomplishes that disease position is accurate.
The beneficial effects of the present invention are：The present invention can differentiate the position of reinforcing bar according to horn antenna result of detection
And quantity, further include two thickness of the liner degree, I-steel apply the position that compactness and cavity, reinforcing bar apply after situation, two backings and
Every；Function mode is simple, and occupied space is smaller, and detection disease position is accurate.
Description of the drawings
In order to keep the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 is schematic structural view of the invention.
Reference numeral：1- horn antennas, 2- infrared distance measuring instruments, the polyaxial rotating mechanical arms of 3-, 4- radar masters
Machine and control system, 5- laser ranging wheels, 6- car-mounted devices.
Specific implementation mode
Below in conjunction with attached drawing, the preferred embodiment of the present invention is described in detail.
As shown in Figure 1, contactless highway tunnel lining Structural defect inspection onboard system, including horn antenna 1,
Infrared distance measuring instrument 2, polyaxial rotating mechanical arm 3, radar host computer and control system 4, laser ranging wheel 5 and car-mounted device 6；
Horn antenna 1 is with infrared distance measuring instrument 2 close on polyaxial rotating mechanical arm 3, by radar host computer
And control system 4, it is carried on car-mounted device 6；The setting of polyaxial rotating mechanical arm 3 can carry out angle at 6 middle part of car-mounted device
Degree adjustment is rotated and is stretched；6 tail portion of car-mounted device is equipped with laser ranging wheel 5；It is differentiated according to 1 result of detection of horn antenna
The position of reinforcing bar and quantity further include that two thickness of the liner degree, I-steel apply compactness and cavity, reinforcing bar after situation, two backings and apply
Position and interval；
The direction of infrared distance measuring instrument 2 is parallel with the detection faces of horn antenna 1, can complete：1. detecting
Driver and testing staff are according to the survey line that the position judgment horn antenna 1 of laser rays flushing point in lining cutting detects in journey
It is no to meet testing requirements, reminded in time in detection process driver's test position whether sideslip, to correct in time；2. infrared ray
Distance of the distance mearuring equipment 2 to horn antenna 1 apart from lining cutting surface location records, which is according to circumstances used for two
Aspect, one is in detection process, range data to be timely feedbacked the polyaxial rotating machinery in horn antenna 1
In arm 3, the distance of horn antenna 1 to lining cutting is fixed on by computational algorithm built in polyaxial rotating mechanical arm 3, in real time adjustment
It is same numerically；The other is direct recording distance data, which are used in the data processing work in later stage, in data
Range data introducing is compensated into calculating to location information when processing, to compensate the lining cutting surface location in result images
It is shown as straight line, is convenient for the explanation of defect information.The system is to install a horn antenna in a mobile unit
1, the frequency of the horn antenna 1 is 380MHz~1.6GHz, and distance of the horn antenna 1 apart from liner structure is 10cm
~3m, investigation depth further include two thickness of the liner degree, work according to the position of the distinguishable reinforcing bar of result of detection and quantity for 40cm~3m
Word steel applies the position and interval that compactness and cavity, reinforcing bar apply after situation, two backings.Antenna on our mobile units is put
On vehicle compared with centered on position, carry out suitable angle adjustment, rotation and flexible, it is not necessary to use the machinery of long range
Arm goes to complete detection close to lining cutting.
Secondly, one laser ranging instrument of installation can be designed by antenna, be directed toward, the Laser Measuring parallel with antenna detection face
Distance meter device can complete two functions：1. in detection process driver and testing staff can according to laser rays in lining cutting flushing point
Whether the survey line of position judgment antenna detection meets testing requirements.Also driver's test position can be reminded in time in detection process is
No sideslip, to correct in time.(function can gradually adopt automatic calculating to be adjusted in update in the future, mesh
Be to be bound to detect the position of same survey line in order to which fixed vehicle is during traveling.) 2. laser rays distance mearuring equipment is also
The distance of antenna distance lining cutting surface location should be recorded, in terms of which according to circumstances can be designed for two, one
It is that can be used in detection process, range data is timely feedbacked in the mechanical arm of fixed antenna, built-in calculate of mechanical arm is calculated
Method, can adjust in real time by the distance of antenna to lining cutting be fixed on it is same numerically；Secondly also can direct recording distance data, will
The data to location information by range data introducing in the data processing work in later stage, meter to be compensated in data processing
It calculates, to which the lining cutting surface location compensation in result images is shown as straight line, to facilitate the explanation of defect information.
Mobile unit carries out on tunnel longitudinal length data it may also be necessary to record the range information of vehicle traveling
Normalized.Because of the GPS information that can not be received in vcehicular tunnel, it is proposed with using wheel in laser ranging wheel 5
The method of perimeter × wheel rotating cycle records final form distance, and in method using simple, occupied space is smaller, then matches
The amendment for closing the existing mileage pile No. in scene, can accomplish that disease position is accurate.
In actual operation, the acquisition step of the equipment is played as follows：
1. opening the power supply of whole system in radar host computer and data computer, the software of hardware control unit is opened, it is defeated
Enter in this detection process, command range parameter of the radar antenna far from lining cutting surface texture, determines that antenna comes to nothing the reality of lining cutting
Border distance.And the setting of parameter is carried out to other sample frequencys, radar frequency, gain situation etc..
2. click starts to acquire button, radar, laser compensation system, laser ranging wheel 5 start simultaneously at data collection task,
Vehicle keeps certain speed to advance, and laser compensation system is implemented to input range data in mechanical arm control system, and takes reality
When compensation function ensure distance of the antenna far from tunnel.The distance verses time parameter that laser ranging wheel 5 records is stored in data computer
In.
3. after detecting work, data collection task terminates, and carries out post-processing work to data, is used during mathematics
The distance verses time parameter that laser ranging wheel 5 records is corrected result distance parameter, to ensure correctly be looked for according to result
Go out disease locations of structures.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (3)
1. contactless highway tunnel lining Structural defect checks onboard system, it is characterised in that：Including horn antenna, thunder
Up to host and control system and car-mounted device；
The horn antenna is carried on by radar host computer and control system on car-mounted device；It is visited according to horn antenna
Position and quantity that result differentiates reinforcing bar are surveyed, further includes that two thickness of the liner degree, I-steel apply compactness and sky after situation, two backings
The position and interval that hole, reinforcing bar apply；
The horn antenna frequency is 380MHz~1.6GHz, and distance of the horn antenna apart from liner structure is 10cm
~3m, investigation depth are 40cm~3m.
2. contactless highway tunnel lining Structural defect according to claim 1 checks onboard system, it is characterised in that：
The system further includes infrared distance measuring instrument, polyaxial rotating mechanical arm and laser ranging wheel；
The horn antenna is with infrared distance measuring instrument close on polyaxial rotating mechanical arm；Polyaxial whirler
Tool arm is arranged in the middle part of car-mounted device, can carry out angle adjustment, rotation and stretch；Car-mounted device tail portion is equipped with laser ranging
Wheel；Position and the quantity that reinforcing bar is differentiated according to horn antenna result of detection further include that two thickness of the liner degree, I-steel apply feelings
The position and interval that compactness and cavity, reinforcing bar apply after condition, two backings；
The direction of the infrared distance measuring instrument is parallel with the detection faces of horn antenna, can complete：1. in detection process
Whether the survey line that middle driver and testing staff detect according to the position judgment horn antenna of laser rays flushing point in lining cutting
Meet testing requirements, reminded in time in detection process driver's test position whether sideslip, to correct in time；2. infrared ray is surveyed
Distance of the distance meter device to horn antenna apart from lining cutting surface location records, which is according to circumstances used for two sides
Face, one is in detection process, range data to be timely feedbacked the polyaxial rotating mechanical arm in horn antenna
In, the distance of horn antenna to lining cutting is fixed on same by computational algorithm built in polyaxial rotating mechanical arm, in real time adjustment
It is a numerically；The other is direct recording distance data, which are used in the data processing work in later stage, in data processing
When by range data introducing calculatings is compensated to location information, to by result images lining cutting surface location compensation show
For straight line, it is convenient for the explanation of defect information.
3. contactless highway tunnel lining Structural defect according to claim 2 checks onboard system, it is characterised in that：
The radar host computer and control system also record the operating range information of onboard system, are carried out on tunnel longitudinal length to data
Normalized；Final form distance is recorded using the method for wheel perimeter × wheel rotating cycle in laser ranging wheel,
The amendment of the existing mileage pile No. in cooperation scene, accomplishes that disease position is accurate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810574031.6A CN108732565A (en) | 2018-06-06 | 2018-06-06 | Contactless highway tunnel lining Structural defect checks onboard system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810574031.6A CN108732565A (en) | 2018-06-06 | 2018-06-06 | Contactless highway tunnel lining Structural defect checks onboard system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108732565A true CN108732565A (en) | 2018-11-02 |
Family
ID=63932185
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810574031.6A Pending CN108732565A (en) | 2018-06-06 | 2018-06-06 | Contactless highway tunnel lining Structural defect checks onboard system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110082762A (en) * | 2019-06-06 | 2019-08-02 | 北京市市政工程研究院 | A kind of underdamping antenna transient electromagnetic radar and the method for detecting tunnel-liner disease |
| CN110161043A (en) * | 2019-05-10 | 2019-08-23 | 同济大学 | A kind of subway tunnel structure synthetic detection vehicle |
| CN111152182A (en) * | 2019-10-09 | 2020-05-15 | 山东大学 | Multi-arm robot for tunnel lining detection and disease diagnosis in operation period |
| CN111208149A (en) * | 2020-02-19 | 2020-05-29 | 中国矿业大学(北京) | Subway tunnel disease synchronous detection experimental apparatus |
| CN118226457A (en) * | 2024-05-27 | 2024-06-21 | 同济大学 | Pavement disease amount accurate statistical method based on single-point laser ranging radar |
| US12031922B2 (en) | 2019-10-09 | 2024-07-09 | Shandong University | Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118226457A (en) * | 2024-05-27 | 2024-06-21 | 同济大学 | Pavement disease amount accurate statistical method based on single-point laser ranging radar |
| CN118226457B (en) * | 2024-05-27 | 2024-09-17 | 同济大学 | Pavement disease amount accurate statistical method based on single-point laser ranging radar |
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Application publication date: 20181102 |
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