CN108981778B - 3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape - Google Patents

3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape Download PDF

Info

Publication number
CN108981778B
CN108981778B CN201810986600.8A CN201810986600A CN108981778B CN 108981778 B CN108981778 B CN 108981778B CN 201810986600 A CN201810986600 A CN 201810986600A CN 108981778 B CN108981778 B CN 108981778B
Authority
CN
China
Prior art keywords
detection
track frame
shape
trolley
engineering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810986600.8A
Other languages
Chinese (zh)
Other versions
CN108981778A (en
Inventor
张维平
马志勇
刘浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
YUNNAN AEROSPACE ENGINEERING GEOPHYSICAL SURVEY INSPECTION CO LTD
Original Assignee
YUNNAN AEROSPACE ENGINEERING GEOPHYSICAL SURVEY INSPECTION CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by YUNNAN AEROSPACE ENGINEERING GEOPHYSICAL SURVEY INSPECTION CO LTD filed Critical YUNNAN AEROSPACE ENGINEERING GEOPHYSICAL SURVEY INSPECTION CO LTD
Priority to CN201810986600.8A priority Critical patent/CN108981778B/en
Publication of CN108981778A publication Critical patent/CN108981778A/en
Application granted granted Critical
Publication of CN108981778B publication Critical patent/CN108981778B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/30Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions

Abstract

The invention provides a 3D positioning device and a method for customizing a shape-following guide rail curved surface based on an engineering structure shape, wherein the device comprises a shape-following track frame, a detection trolley and a trolley driving mechanism, and the shape of the shape-following track frame is matched with the geometric shape of a detected engineering structure; a detection trolley is arranged on the conformal track frame; the detection trolley travels on the shape following track frame through the trolley driving mechanism. The advantages are that: 1. high-altitude operation is not needed, and the safety and the high efficiency are realized. 2. When the special equipment of the full-automatic intelligent tunnel detection vehicle for the special detection of the highway tunnel is applied, the single lane operation can be carried out under the road traffic-keeping state. 3. The detection platform can automatically lift and keep away from the obstacle. 4. And (5) acquiring the full-section data of the conformal track frame. 5. Carrying a multi-channel radar, and realizing the three-dimensional detection of the structure and surrounding rocks by fully covering the longitudinal and transverse measuring lines. 6. The device can be expanded to take panoramic photos, infrared imaging and the like, and the functions of intelligent identification of apparent cracks and water damage and the like are realized.

Description

3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape
Technical Field
The invention belongs to the technical field of engineering detection, and particularly relates to a device and a method for customizing a shape-following guide rail curved surface 3D (three-dimensional) positioning based on the shape of an engineering structure.
Background
According to incomplete statistics, the total length of 14006 highway tunnels operated on continents in China is 12684 km by 2015. However, according to the latest research report, the phenomenon that the quality of the built tunnel is poor due to the lining quality of the national highway tunnel is relatively serious. At the present stage, the method adopted by China for detecting the quality of the road tunnel lining under construction or in use mainly comprises the following steps: and detecting lining and integrity by adopting a mode that a manual handheld ground penetrating radar antenna is tightly attached to the tunnel wall. Specifically, the method for detecting the lining of the built or used tunnel comprises the following steps: the staff stands on the lift truck, holds the ground penetrating radar antenna to make the ground penetrating radar antenna be close to or contact the tunnel inner wall, then, the lift truck walks along tunnel longitudinal section or survey line, thereby makes the radar antenna detect tunnel longitudinal section or survey line. The detection mode mainly has the following problems: for a longer tunnel, only one tunnel measuring line or one tunnel longitudinal section can be detected at a time, and a large amount of time is needed for measuring the full section, so that the efficiency is very low; in addition, because the staff stands at the eminence and detects, have great potential safety hazard.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a device and a method for customizing a follow-up guide rail curved surface 3D based on the shape of an engineering structure, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a 3D positioning device for customizing a shape-following guide rail curved surface based on an engineering structure shape, which comprises: the shape following track frame (2), the detection trolley (3) and a trolley driving mechanism;
the shape of the conformal track frame (2) is matched with the geometric shape of the detected engineering structure; the detection trolley (3) is arranged on the shape following track frame (2); the detection trolley (3) travels on the shape following track frame (2) through the trolley driving mechanism.
Preferably, the trolley driving mechanism comprises a chain (4) and a servo motor;
the chain (4) is arranged on the shape following track frame (2) along the length direction; the chain (4) is connected with the servo motor, and the servo motor drives the chain (4) to rotate.
Preferably, the detection trolley (3) is an automatic obstacle avoidance trolley and comprises a support base (3.1), a hydraulic lifting device (3.2) and a detection equipment carrying clamping groove (3.3);
the supporting base (3.1) is slidably mounted on the shape following track frame (2), the supporting base (3.1) is fixedly connected with the chain (4), and when the chain (4) rotates, the supporting base (3.1) is driven to slide along the shape following track frame (2) to move, so that the position of the supporting base (3.1) on the shape following track frame (2) is adjusted;
the detection equipment carrying clamping groove (3.3) is arranged above the supporting base (3.1), the hydraulic lifting device (3.2) is arranged between the supporting base (3.1) and the detection equipment carrying clamping groove (3.3), and the height position of the detection equipment carrying clamping groove (3.3) is adjusted through the hydraulic lifting device (3.2); and the detection equipment is fixedly arranged on the detection equipment carrying clamping groove (3.3).
Preferably, the detection device comprises a multi-channel radar, a panoramic photographic device and an infrared imaging device.
Preferably, the conformal track frame (2) adopts a foldable structure.
Preferably, the conformal track frame (2) is made of an aluminum alloy material.
The invention also provides a method for customizing a shape-following guide rail curved surface 3D positioning device based on the shape of the engineering structure, which comprises the following steps:
step 1, determining a conformal track frame (2) with a corresponding shape according to the geometric shape of a detected engineering structure; a detection trolley (3) is slidably mounted on the shape following track frame (2); the detection trolley (3) is provided with engineering structure material quality detection equipment;
and 2, mounting the shape following track frame (2) close to the wall surface of the detected engineering structure, driving the detection trolley (3) to walk along the shape following track frame (2), and synchronously detecting the wall surface quality of the detected engineering structure through engineering structure quality detection equipment in the walking process.
Preferably, the detection trolley (3) is an automatic obstacle avoidance trolley, and the detection trolley (3) is provided with a hydraulic lifting device (3.2); the detection trolley (3) is also provided with distance detection equipment; a servo motor for driving the detection trolley (3) to slide along the shape following track frame (2) is configured;
the servo motor, the hydraulic lifting device (3.2), the engineering structure quality detection equipment and the distance detection equipment are all connected to a control host;
the step 2 specifically comprises the following steps:
step 2.1, the control host adjusts the initial position of the shape following track frame (2) according to the detected position of the detected engineering structure, so that the shape following track frame (2) is close to the detection wall of the detected engineering structure;
step 2.2, setting a track frame (2)Is in the X direction when moving to X1When the device is in position, the detection trolley (3) is positioned at one end of the conformal track frame (2); then, the control host controls the servo motor, so that the detection trolley (3) starts to travel along the conformal track frame (2) until the detection trolley travels to the other end of the conformal track frame (2);
in the process that the detection trolley (3) travels along the conformal track frame (2), on one hand, the engineering structure quality detection equipment detects the quality of the engineering structure corresponding to the current position of the detection trolley (3) in real time and transmits the quality to the control host in real time; on the other hand, the distance detection equipment detects the vertical distance between the top of the detection trolley (3) and the surface of the engineering structure in real time, and transmits the vertical distance to the control host computer in real time, the control host computer judges whether the vertical distance is in a set range in real time, and if the vertical distance is in the set range, the height fine adjustment process is not carried out; if the current is not within the set range, two cases are distinguished: in the first situation, if the vertical distance is smaller than the small boundary value of the set range, the existence of a protruding obstacle is indicated, the control host immediately enables the hydraulic lifting device (3.2) to descend, so that the vertical distance is adjusted to be within the set range, and automatic obstacle avoidance is realized; if the vertical distance is larger than the large boundary value of the set range, indicating that the inward concave phenomenon exists, controlling the main machine to immediately make the hydraulic lifting device (3.2) perform lifting action, so that the vertical distance is adjusted to be within the set range, and the accurate detection of the engineering structure is ensured;
therefore, the detection of the first measuring line of the engineering structure is realized;
step 2.3, then, the conformal track frame (2) moves to X along the X direction2Continuing to detect the second measuring line; the process is circulated continuously, and the quality detection of the engineering structure is realized.
Preferably, when the detection trolley (3) detects the quality of the first measuring line, the detection process is that the detection trolley (3) travels from the end A to the end B of the conformal track frame (2); when the detection trolley (3) detects the quality of other measuring lines, the detection trolley (3) travels from the end A to the end B of the conformal track frame (2) in the detection process, or the detection trolley (3) travels from the end B to the end A of the conformal track frame (2) in the detection process.
The invention provides a 3D positioning device and a method for customizing a shape-following guide rail curved surface based on an engineering structure shape, which have the following advantages:
1. high-altitude operation is not needed, and the safety and the high efficiency are realized.
2. When the special equipment of the full-automatic intelligent tunnel detection vehicle for the special detection of the highway tunnel is applied, the single lane operation can be carried out under the road traffic-keeping state.
3. The detection platform can automatically lift and keep away from the obstacle.
4. And (5) acquiring the full-section data of the conformal track frame.
5. Carrying a multi-channel radar, and realizing the three-dimensional detection of the structure and surrounding rocks by fully covering the longitudinal and transverse measuring lines.
6. The device can be expanded to take panoramic photos, infrared imaging and the like, and the functions of intelligent identification of apparent cracks and water damage and the like are realized.
Drawings
Fig. 1 is a front view of a shape-following guide rail curved surface 3D positioning device customized based on engineering structure shape provided by the invention;
fig. 2 is a side view of the device for customizing a shape-following guide rail curved surface 3D according to the shape of an engineering structure provided by the present invention;
fig. 3 is a top view of the device for customizing a shape-following guide rail curved surface 3D according to the shape of an engineering structure provided by the present invention;
fig. 4 is a cross-sectional view of the shape-following guide rail curved surface 3D positioning device customized based on the engineering structure shape provided by the invention when used in a tunnel;
fig. 5 is a longitudinal sectional view of the shape-following guide rail curved surface 3D positioning device customized based on the engineering structure shape provided by the invention when used in a tunnel.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the defects of personnel safety, detection efficiency, positioning precision, cost and the like of the traditional method for detecting a lining by manually holding a ground penetrating radar antenna to be tightly attached to a tunnel wall, the invention provides a device and a method for customizing a follow-up guide rail curved surface 3D based on the shape of an engineering structure, and the main design concept is as follows: designing a conformal track frame with a corresponding shape according to the geometric shape of the detected engineering structure, installing a detection trolley capable of walking along the conformal track frame on the conformal track frame, and carrying a quality detection device on the detection trolley. Through constantly removing along with shape track frame, realize detecting the full section of being detected engineering structure thing, detection efficiency is very high.
For example, if the quality of a bridge pier needs to be detected, if the bridge pier is cylindrical, a circular conformal track frame corresponding to the cross section shape of the bridge pier can be designed, the conformal track frame is sleeved outside the bridge pier, and a detection trolley capable of walking along the conformal track frame is installed on the conformal track frame, so that the detection trolley can walk for one circle along the conformal track frame every time, and the detection of a certain circular measuring line of the bridge pier is realized; through reciprocating along with shape track frame, can realize the full section data acquisition to the bridge mound.
For another example, if the engineering structure to be detected is a tunnel 5, as shown in fig. 4 and 5, a usage scene graph of the following-shaped guide rail curved surface 3D positioning device applied to tunnel detection is customized based on the shape of the engineering structure, a following-shaped track frame is designed and customized according to the geometric shape of the cross section of the tunnel, the following-shaped track frame is an arc-shaped track frame in fig. 4, a detection trolley is slidably mounted on the following-shaped track frame, and the detection trolley carries various detection devices such as an air-coupled ground penetrating radar antenna, a panoramic photograph, an infrared imaging and the like with various frequencies, so as to detect the tunnel wall. The detection trolley adopts a trolley capable of automatically avoiding obstacles and is provided with a hydraulic lifting device, the distance between detection equipment installed on the detection trolley and the wall surface of the tunnel is finely adjusted through the hydraulic lifting device in real time in the walking process of the detection trolley, the ground penetrating radar antenna carried by the detection trolley is ensured to be closely attached to the wall of the tunnel, or the radiation surface of the antenna is within a certain distance from the wall of the tunnel, and the detection precision is further ensured. Because the shape following track frame is matched with the geometric shape of the section of the tunnel, the detection trolley travels along the shape following track frame once to complete detection of one measuring line; through constantly removing along with the position of shape track frame, can carry out full section vertically and horizontally latticed arrangement survey line to tunnel lining and detect, owing to do not need personnel to carry out high altitude construction completely, consequently, can solve personnel's safety, detection efficiency, high accuracy location, with high costs scheduling problem that face in the detection tunnel lining in-process.
Therefore, according to different specific application scenes, the conformal track frame with the corresponding shape can be designed according to the geometric shape of the engineering structure to be detected, and the detection trolley capable of walking along the conformal track frame is arranged on the conformal track frame, so that the full-section detection of the engineering structure to be detected is realized, and the detection efficiency is very high. The invention is not limited to specific application scenes and specific shapes of the conformal track frame, as long as the shape of the conformal track frame corresponds to the geometric shape of the detected engineering structure. Those skilled in the art can design various specific positioning devices flexibly according to the above concept. Any device that falls within the above-described concept is intended to be within the scope of the present invention.
Referring to fig. 1 to 4, the present invention provides a 3D positioning device for customizing a shape-following guide rail curved surface based on an engineering structure shape, comprising: the shape following track frame 2, the detection trolley 3 and the trolley driving mechanism;
the shape of the conformal track frame 2 is matched with the geometric shape of the detected engineering structure; a detection trolley 3 is arranged on the conformal track frame 2; the detection trolley 3 travels on the shape following track frame 2 through a trolley driving mechanism.
The following describes a specific embodiment of a shape-following guide rail curved surface 3D positioning device based on engineering structure shape, and the following described embodiment is only a specific implementation structure and does not limit the protection scope of the present invention:
(1) trolley driving mechanism
Dolly actuating mechanism is used for driving the detection dolly along following the walking of shape track frame, as a concrete implementation, can adopt motor chain drive mode, promptly: the trolley driving mechanism comprises a chain 4 and a servo motor. A chain 4 is arranged on the conformal track frame 2 along the length direction; the chain 4 is connected with a servo motor, and the servo motor drives the chain 4 to rotate. The chain is fixed with the supporting base of the detection trolley, so that when the servo motor drives the chain to move, the detection trolley fixed on the chain is driven to move synchronously, and the detection trolley travels along the shape following track frame.
For the shape following track frame 2, a chain 4 can be arranged on the shape following track frame 2 along the length direction; the chain 4 is connected with a servo motor, and the servo motor drives the chain 4 to rotate.
Of course, in practical applications, a belt driving method may be adopted, and the present invention is not limited to this.
(2) Shape following track frame
The radian of the conformal track frame 2 is matched with the geometric shape of the detected engineering structure; the shape following track frame is formed by arc welding of a high-strength aluminum alloy material according to the geometric shape of the detected engineering structure, calibration and correction are carried out through a professional tool, and in order to reduce the size and enable automobile transportation to be convenient, the shape following track frame is folded, so that the overall appearance of the shape following track frame is greatly reduced, and the shape following track frame is more convenient and flexible to use.
(3) Detection trolley
The detection trolley is a trolley with an adjustable running track, and is a trolley with detection instrument equipment running on a shape following track frame. The embodiment designs the detection trolley into the detection trolley capable of automatically avoiding the obstacle.
The detection trolley 3 comprises a supporting base 3.1, a hydraulic lifting device 3.2 and a detection equipment carrying clamping groove 3.3; the supporting base 3.1 is slidably mounted on the shape following track frame 2, the supporting base 3.1 is fixedly connected with the chain 4, and when the chain 4 rotates, the supporting base 3.1 is driven to slide along the shape following track frame 2, so that the position of the supporting base 3.1 on the shape following track frame 2 is adjusted; a detection equipment carrying clamping groove 3.3 is arranged above the supporting base 3.1, a hydraulic lifting device 3.2 is arranged between the supporting base 3.1 and the detection equipment carrying clamping groove 3.3, and the height position of the detection equipment carrying clamping groove 3.3 is adjusted through the hydraulic lifting device 3.2; the detection equipment is fixedly arranged on the detection equipment carrying clamping groove 3.3. The detection device comprises a multi-channel radar, a panoramic photographing device and an infrared imaging device.
In addition, when the position of an engineering structure needing quality detection is higher, in order to avoid high-altitude operation of workers, the shape-following guide rail curved surface 3D positioning device customized based on the engineering structure shape provided by the invention can be carried on the main lifting platform.
The main hydraulic lifting platform 1 may be used as the main lifting platform. The main lifting platform is used for roughly adjusting the heights of the shape following track frame 2 and the detection trolley 3, so that the detection equipment carried on the detection trolley 3 is close to the wall surface of an engineering structure.
Referring to fig. 4, the top of the main lifting platform 1 is hinged with the shape following track frame 2, so that the shape following track frame 2 can rotate relative to the main lifting platform 1, and then the position of the shape following track frame 2 is adjusted, so that the shape following track frame is located below the wall surface of the tunnel to be detected and is parallel to the wall surface of the tunnel.
In the invention, the chain is a link for controlling the detection trolley with the adjustable motion track to carry out arc track reciprocating motion. The servo motor is installed at the top end of the conformal track frame, and the detection trolley with the adjustable motion track can reciprocate along the arc track under the control of the tunnel detection trolley platform on the servo motor.
The detection trolley with the adjustable movement track is subjected to telescopic adjustment relative to the height of the track through a hydraulic device, the adjustable distance is 1 m above the track frame, and the height of the detection trolley is adjusted in the process of walking along the shape following track frame. The operation track trolley controls the hydraulic oil cylinder through the tunnel detection trolley platform so as to lift the operation track trolley along the linear guide rail; the reciprocating motion of the motion track trolley is reduced by the servo motor, and the arc track reciprocating motion is carried out through chain transmission. The servo control can adjust the running speed and the fixed point at will according to the actual situation. When the speed and the parameters need to be changed, only corresponding parameters need to be input through the tunnel detection vehicle platform, and the method is very convenient. The upper end of the trolley with the adjustable movement track is provided with a detection equipment carrying clamping groove, and the clamping groove with the corresponding size can be replaced according to the size of the equipment. The tunnel detection vehicle platform described in the invention is a control host described in the subsequent steps.
A specific usage scenario is introduced below:
overall design performance and parameters of the shape-following guide rail of the geometric shape of the detected target object of the road tunnel are as follows:
referring to fig. 4, the detection range is an R5500 circular arc tunnel, the center height is 7100mm, a complete tunnel can be detected by the vehicle walking back and forth once, the length of the conformal track frame is 8.5 meters, and the trolley moves along the conformal track frame in an arc detection mode.
For a tunnel with a tunnel radius R1 of 5500 mm, the detection size parameters of the detection instrument provided by the invention are as follows:
1. lifting detection height L1: 7100mm
2. The control mode is as follows: electric hydraulic safety voltage control attached remote controller
3. The specification of the shape following track frame is as follows: radius R2 is 4700 mm; the arc length L2 is 8500mm
4. The type of the chain is as follows: LA644- -4 strips
5. Adjusting the distance of the track trolley: 1000mm from upper plane to highest point of shape following track frame
6. And (4) running to the tail end and stopping: and stopping limiting brake control.
The invention also provides a method for customizing a shape-following guide rail curved surface 3D positioning device based on the shape of the engineering structure, which comprises the following steps:
step 1, determining a conformal track frame 2 with a corresponding shape according to the geometric shape of a detected engineering structure; the shape following track frame 2 is provided with a detection trolley 3 in a sliding way; the detection trolley 3 carries an engineering structure material quality detection device;
and 2, installing a conformal track frame 2 close to the wall surface of the detected engineering structure, driving a detection trolley 3 to walk along the conformal track frame 2, and synchronously detecting the wall surface quality of the detected engineering structure through engineering structure quality detection equipment in the walking process.
Wherein, the detection trolley 3 is an automatic obstacle avoidance trolley, and the detection trolley 3 is provided with a hydraulic lifting device 3.2; the detection trolley 3 is also provided with distance detection equipment; a servo motor for driving the detection trolley 3 to slide along the shape following track frame 2 is configured;
the servo motor, the hydraulic lifting device 3.2, the engineering structure quality detection equipment and the distance detection equipment are all connected to the control host;
the step 2 specifically comprises the following steps:
step 2.1, the control host adjusts the initial position of the conformal track frame 2 according to the detected position of the detected engineering structure, so that the conformal track frame 2 is close to the detection wall of the detected engineering structure;
the specific implementation manner of the step can be as follows:
the bottom of the conformal track frame 2 is arranged on a vehicle through a main lifting platform 1; a main lifting driving mechanism for driving the main lifting platform 1 to lift is configured; the control host controls the main lifting driving mechanism according to the height of the detected position of the detected engineering structure, so that the main lifting platform 1 is controlled to lift, the heights of the conformal track frame 2 and the detection trolley 3 are roughly adjusted, the engineering structure quality detection equipment of the detection trolley 3 is close to the detected position, and then the main lifting platform 1 is locked; thereby realizing the adjustment of the initial position of the conformal track frame 2.
Step 2.2, setting the moving direction of the conformal track frame 2 as the X direction, and when the conformal track frame moves to the X direction1When the detection trolley is in position, the detection trolley 3 is positioned at one end of the conformal track frame 2; then, the control host controls the servo motor, so that the detection trolley 3 starts to travel along the shape following track frame 2 until the detection trolley travels to the other end of the shape following track frame 2;
during the process that the detection trolley 3 travels along the conformal track frame 2, on one hand, the engineering structure quality detection equipment detects the quality of the engineering structure corresponding to the current position of the detection trolley 3 in real time and transmits the quality to the control host in real time; on the other hand, the distance detection equipment detects the vertical distance between the top of the detection trolley 3 and the surface of the engineering structure in real time, transmits the vertical distance to the control host in real time, and the control host judges whether the vertical distance is within a set range in real time, and does not perform a height fine adjustment process if the vertical distance is within the set range; if the current is not within the set range, two cases are distinguished: in the first situation, if the vertical distance is smaller than the small boundary value of the set range, the existence of a protruding obstacle is indicated, the control host immediately enables the hydraulic lifting device 3.2 to descend, so that the vertical distance is adjusted to be within the set range, and automatic obstacle avoidance is realized; if the vertical distance is larger than the large boundary value of the set range, indicating that the inward concave phenomenon exists, the control host immediately enables the hydraulic lifting device 3.2 to perform the lifting action, so that the vertical distance is adjusted to be within the set range, and the accurate detection of the engineering structure is ensured;
therefore, the detection of the first measuring line of the engineering structure is realized;
step 2.3, then, the conformal track frame 2 moves to X along the X direction2Continuing to detect the second measuring line; the process is circulated continuously, and the quality detection of the engineering structure is realized.
When the detection trolley 3 detects the quality of the first measuring line, the detection process is that the detection trolley 3 travels from the end A to the end B of the conformal track frame 2; when the detection trolley 3 detects the quality of other measuring lines, the detection trolley 3 travels from the end A to the end B of the shape following track frame 2, or the detection trolley 3 travels from the end B to the end A of the shape following track frame 2.
That is, after the detection trolley 3 travels from the end a to the end B of the conformal track frame 2 to detect the first measuring line, when the second measuring line needs to be detected, one of the following two methods can be adopted: in the first mode, the detection trolley 3 is reset to the end A of the conformal track frame 2 at first, and then the detection trolley walks from the end A to the end B to detect a second measuring line; in the second mode, the detection trolley 3 is not reset and is kept at the end B, and then the detection trolley walks from the end B to the end A to detect a second measuring line. The specific adopted mode can be flexibly adjusted according to actual needs, and the invention is not limited to the method.
The invention provides a device and a method for customizing a shape-following guide rail curved surface 3D positioning based on an engineering structure shape, which have the following advantages:
1. high-altitude operation is not needed, and the safety and the high efficiency are realized.
2. When the special equipment of the full-automatic intelligent tunnel detection vehicle for the special detection of the highway tunnel is applied, the single lane operation can be carried out under the road traffic-keeping state.
3. The detection platform can automatically lift and keep away from the obstacle.
4. And (4) acquiring the full-section data of the conformal guide rail.
5. Carrying a multi-channel radar, and realizing the three-dimensional detection of the structure and surrounding rocks by fully covering the longitudinal and transverse measuring lines.
6. The device can be expanded to take panoramic photos, infrared imaging and the like, and the functions of intelligent identification of apparent cracks and water damage and the like are realized.
In summary, according to the current situation of the current tunnel lining detection method, the invention provides a conformal detection track capable of realizing full-section data acquisition. The invention is loaded on a vehicle-mounted intelligent tunnel detection platform, and various devices (such as a multi-channel ground penetrating radar antenna) for detecting tunnel defects are loaded on the platform to realize full coverage of longitudinal and transverse measuring lines, thereby achieving three-dimensional detection of structures and surrounding rocks and simultaneously solving the defects of the existing lift truck. And the conformal guide rail can automatically lift and avoid the barrier according to the section form, so that the personnel safety, the detection speed and the data acquisition accuracy are greatly improved. The key point is that normal road transportation cannot be influenced in the process of detecting tunnel defects by using the invention, single lane operation can be carried out in a state of keeping traffic, and road tunnel defect detection can be realized in a real sense. The invention also has expandability, and realizes functions of intelligent identification of apparent cracks and water damage and the like by carrying devices such as panoramic photography, infrared imaging and the like.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.

Claims (1)

1. The method for customizing the shape-following guide rail curved surface 3D positioning device based on the engineering structure shape is characterized in that the method for customizing the shape-following guide rail curved surface 3D positioning device based on the engineering structure shape comprises the following steps: the shape following track frame (2), the detection trolley (3) and a trolley driving mechanism;
the shape of the conformal track frame (2) is matched with the geometric shape of the detected engineering structure; the detection trolley (3) is arranged on the shape following track frame (2); the detection trolley (3) travels on the shape following track frame (2) through the trolley driving mechanism;
the radian of the conformal track frame (2) is matched with the geometric shape of the detected engineering structure; the shape following track frame is formed by arc welding of a high-strength aluminum alloy material according to the geometric shape of the detected engineering structure, calibration and correction are carried out through a special tool, and in order to reduce the size and facilitate automobile transportation, the shape following track frame is folded, so that the overall appearance of the shape following track frame is greatly reduced, and the shape following track frame is more convenient and flexible to use;
the trolley driving mechanism comprises a chain (4) and a servo motor;
the chain (4) is arranged on the shape following track frame (2) along the length direction; the chain (4) is connected with the servo motor, and the servo motor drives the chain (4) to rotate;
the detection trolley (3) is an automatic obstacle avoidance trolley and comprises a support base (3.1), a hydraulic lifting device (3.2) and a detection equipment carrying clamping groove (3.3);
the supporting base (3.1) is slidably mounted on the shape following track frame (2), the supporting base (3.1) is fixedly connected with the chain (4), and when the chain (4) rotates, the supporting base (3.1) is driven to slide along the shape following track frame (2) to move, so that the position of the supporting base (3.1) on the shape following track frame (2) is adjusted;
the detection equipment carrying clamping groove (3.3) is arranged above the supporting base (3.1), the hydraulic lifting device (3.2) is arranged between the supporting base (3.1) and the detection equipment carrying clamping groove (3.3), and the height position of the detection equipment carrying clamping groove (3.3) is adjusted through the hydraulic lifting device (3.2); the detection equipment is fixedly arranged on the detection equipment carrying clamping groove (3.3);
the method comprises the following steps:
step 1, determining a conformal track frame (2) with a corresponding shape according to the geometric shape of a detected engineering structure; a detection trolley (3) is slidably mounted on the shape following track frame (2); the detection trolley (3) is provided with engineering structure material quality detection equipment;
step 2, installing the conformal track frame (2) close to the wall surface of the engineering structure to be detected, driving the detection trolley (3) to walk along the conformal track frame (2), and synchronously detecting the wall surface quality of the engineering structure to be detected through engineering structure quality detection equipment in the walking process;
the detection trolley (3) is an automatic obstacle avoidance trolley, and the detection trolley (3) is provided with a hydraulic lifting device (3.2); the detection trolley (3) is also provided with distance detection equipment; a servo motor for driving the detection trolley (3) to slide along the shape following track frame (2) is configured;
the servo motor, the hydraulic lifting device (3.2), the engineering structure quality detection equipment and the distance detection equipment are all connected to a control host;
the step 2 specifically comprises the following steps:
step 2.1, the control host adjusts the initial position of the shape following track frame (2) according to the detected position of the detected engineering structure, so that the shape following track frame (2) is close to the detection wall of the detected engineering structure;
the bottom of the conformal track frame (2) is arranged on a vehicle through a main lifting platform (1); a main lifting driving mechanism for driving the main lifting platform (1) to lift is configured; the control host controls the main lifting driving mechanism according to the height of the detected position of the detected engineering structure, so that the main lifting platform (1) is controlled to lift, the heights of the conformal track frame (2) and the detection trolley (3) are roughly adjusted, engineering structure quality detection equipment of the detection trolley (3) is enabled to be close to the detected position, and then the main lifting platform (1) is locked; thereby realizing the adjustment of the initial position of the conformal track frame (2);
step 2.2, setting the moving direction of the conformal track frame (2) as the X direction, and when the conformal track frame moves to the X direction1When the device is in position, the detection trolley (3) is positioned at one end of the conformal track frame (2); then, the control host controls the servo motor, so that the detection trolley (3) starts to travel along the conformal track frame (2) until the detection trolley travels to the other end of the conformal track frame (2);
in the process that the detection trolley (3) travels along the conformal track frame (2), on one hand, the engineering structure quality detection equipment detects the quality of the engineering structure corresponding to the current position of the detection trolley (3) in real time and transmits the quality to the control host in real time; on the other hand, the distance detection equipment detects the vertical distance between the top of the detection trolley (3) and the surface of the engineering structure in real time, and transmits the vertical distance to the control host computer in real time, the control host computer judges whether the vertical distance is in a set range in real time, and if the vertical distance is in the set range, the height fine adjustment process is not carried out; if the current is not within the set range, two cases are distinguished: in the first situation, if the vertical distance is smaller than the small boundary value of the set range, the existence of a protruding obstacle is indicated, the control host immediately enables the hydraulic lifting device (3.2) to descend, so that the vertical distance is adjusted to be within the set range, and automatic obstacle avoidance is realized; if the vertical distance is larger than the large boundary value of the set range, indicating that the inward concave phenomenon exists, controlling the main machine to immediately make the hydraulic lifting device (3.2) perform lifting action, so that the vertical distance is adjusted to be within the set range, and the accurate detection of the engineering structure is ensured;
therefore, the detection of the first measuring line of the engineering structure is realized;
step 2.3, then, the conformal track frame (2) moves to X along the X direction2Continuing to detect the second measuring line; the above steps are continuously circulated, so that the quality detection of the engineering structure is realized;
when the detection trolley (3) detects the quality of the first measuring line, the detection process is that the detection trolley (3) travels from the end A to the end B of the conformal track frame (2); when the detection trolley (3) detects the quality of other measuring lines, the detection trolley (3) travels from the end A to the end B of the conformal track frame (2) in the detection process, or the detection trolley (3) travels from the end B to the end A of the conformal track frame (2) in the detection process;
that is, after the detection trolley (3) travels from the A end to the B end of the conformal track frame (2) to detect the first measuring line, when the second measuring line needs to be detected, one of the following two ways can be adopted: in the first mode, the detection trolley (3) firstly resets to the end A of the conformal track frame (2), and then walks from the end A to the end B to detect a second measuring line; in the second mode, the detection trolley (3) is not reset and is kept at the end B, and then the detection trolley walks from the end B to the end A to detect a second measuring line;
wherein the detection device comprises a multi-channel radar, a panoramic photographic device and an infrared imaging device;
wherein the shape following track frame (2) adopts a foldable structure;
wherein the conformal track frame (2) is made of aluminum alloy material.
CN201810986600.8A 2018-08-28 2018-08-28 3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape Active CN108981778B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810986600.8A CN108981778B (en) 2018-08-28 2018-08-28 3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810986600.8A CN108981778B (en) 2018-08-28 2018-08-28 3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape

Publications (2)

Publication Number Publication Date
CN108981778A CN108981778A (en) 2018-12-11
CN108981778B true CN108981778B (en) 2021-10-01

Family

ID=64547237

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810986600.8A Active CN108981778B (en) 2018-08-28 2018-08-28 3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape

Country Status (1)

Country Link
CN (1) CN108981778B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109839931A (en) * 2019-01-30 2019-06-04 斯坦德机器人(深圳)有限公司 The picking method, apparatus and computer equipment of automated guided vehicle
CN111896270A (en) * 2020-07-28 2020-11-06 奇瑞汽车股份有限公司 Power supply loop wire and electric detection method thereof

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203536553U (en) * 2013-11-12 2014-04-09 甘肃省交通科学研究院有限公司 Supporting device for geological radar antenna
CN107272075B (en) * 2017-06-29 2019-01-15 中国地质大学(武汉) Vehicle-mounted railway tunnel vault geological radar continuous detecting system
CN207037112U (en) * 2017-06-29 2018-02-23 中国地质大学(武汉) A kind of railway tunnel vault geological radar continuous detection apparatus
CN108180896B (en) * 2017-12-01 2020-11-10 长安大学 Unmanned tunnel detection device
CN108286433B (en) * 2018-02-09 2020-12-04 安徽恒诺机电科技有限公司 Shield tunnel detection mechanism and using method thereof

Also Published As

Publication number Publication date
CN108981778A (en) 2018-12-11

Similar Documents

Publication Publication Date Title
CN108981778B (en) 3D positioning method for customizing conformal guide rail curved surface based on engineering structure shape
US10151712B2 (en) Vehicle-carried quick inspection system
RU2015107306A (en) Method and system for watching of car and railway transport without passing inside the load space
CN205691521U (en) Tunnel lining concrete crack detection device
CN106873623B (en) Unmanned aerial vehicle rapid autonomous endurance system and method thereof
KR101275212B1 (en) Apparatus and Method for Detection of Radiation
CN104655047A (en) Rapid and comprehensive tunnel measurement system
KR101194413B1 (en) Bridge inspection device using unattended checker
CN205081392U (en) Robot is patrolled and examined to circuit intelligence
CN109361352B (en) Control method of cleaning system
CN110187339B (en) Geological radar antenna mobile remote control auxiliary device and method for underground space detection
US10683621B2 (en) Ground milling machine, in particular a road milling machine, and method for operating a ground milling machine
WO2018105742A1 (en) Crane
CN109736894A (en) A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster
JP6285276B2 (en) Radiation measurement apparatus for ground surface and radiation measurement method using the apparatus
KR101790005B1 (en) underground geometric survey system
KR101632053B1 (en) Installing and Collecting Vehicle System of Trafic Corn
CN208520397U (en) Based on vcehicular tunnel vehicle intelligent detection platform
JP3018275B2 (en) Civil leveling equipment
KR102008519B1 (en) real time unmanned video transmission system for crane safe work
EP3650602A1 (en) Asphalt paver
CN208412163U (en) A kind of bridge appearance Defect inspection aircraft
CN209102898U (en) A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle
CN206386151U (en) A kind of tunnel defect detects automaton
US11008201B2 (en) Automated rolling-jack for drive-on lifts

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant