CN110146896B - Unmanned inspection equipment and method for pressureless water conveyance tunnel - Google Patents
Unmanned inspection equipment and method for pressureless water conveyance tunnel Download PDFInfo
- Publication number
- CN110146896B CN110146896B CN201910457567.4A CN201910457567A CN110146896B CN 110146896 B CN110146896 B CN 110146896B CN 201910457567 A CN201910457567 A CN 201910457567A CN 110146896 B CN110146896 B CN 110146896B
- Authority
- CN
- China
- Prior art keywords
- course
- track
- patrol
- tunnel
- patrol boat
- 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
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 107
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000007689 inspection Methods 0.000 title claims description 43
- 238000013500 data storage Methods 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 11
- 238000009825 accumulation Methods 0.000 abstract description 8
- 239000013049 sediment Substances 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 206010021143 Hypoxia Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to the technical field of water patrol, and discloses unmanned patrol equipment and a method for a pressureless water delivery tunnel. According to the unmanned patrol equipment and method for the pressureless water-conveying tunnel, the sonar system, the photographic system and the data storage device are integrated on the patrol boat, so that underwater and on-water integrated monitoring is realized, dispatch personnel do not need to enter the tunnel for patrol monitoring, the main part of the whole section of the tunnel can be covered by a patrol view, the problems of local damage, sediment accumulation and the like of the tunnel are found in time, and the danger of manual patrol is greatly reduced.
Description
Technical Field
The invention relates to the technical field of water patrol, in particular to unmanned patrol equipment and method for an pressureless water delivery tunnel.
Background
The water delivery buildings mostly adopt long-distance pressureless water delivery tunnels in the way of the line of the river-crossing diversion project. The pressureless water conveyance tunnel faces the challenges of bad geologic body, high ground stress, movable fault, sediment accumulation, long-term corrosion and the like, and can generate local damages such as deformation, collapse, cracking, accumulation, corrosion and the like, thereby affecting the normal operation and the structural safety of engineering. In order to ensure the normal operation and safety of the tunnel, the safety monitoring of the water delivery tunnel is an important way for comprehensively knowing the operation state of the structure of the tunnel and realizing disaster prediction and early warning.
The safety monitoring of the pressureless water delivery tunnel or the pressureless water delivery culvert comprises two parts of contents of instrument measurement and inspection. The monitoring equipment is only disposed at a representative or typical location of the building, and it is not possible to fully monitor all locations of the building, as limited by the investment in the monitoring engineering. The inspection is an important link of safety monitoring, is also a powerful supplement for instrument measurement, and has an indispensable effect on guaranteeing the operation safety of the water delivery tunnel. The inspection is usually carried by an inspector carrying a measuring ruler, a measuring cup, a camera, a video camera and other portable equipment, and is carried out by adopting modes of visual observation, manual metering, image recording and the like.
Under the normal operation condition of the water delivery tunnel, the tunnel is in a stable open flow state (the tunnel wall is partially underwater and the tunnel wall is partially on water), so that personnel entering conditions are not met, inspection work is difficult to develop regularly, and the potential safety hazards cannot be found and eliminated in time. Under the limit that personnel are difficult to enter the tunnel for inspection under the normal running state, inspection of the water delivery tunnels in China is generally carried by inspection personnel to enter the tunnel for inspection after the water accumulated in the tunnel is completely drained by utilizing the water delivery interval or the tunnel inspection period. Such manual inspection has the following disadvantages:
1) Because the intermittent water delivery or tunnel overhaul is only carried out once every 1-3 years, the inspection frequency is very low, and many local slope damages cannot be found and treated in time;
2) The lighting and traffic conditions are absent in the water delivery tunnel, and when the tunnel length is large, the work difficulty of carrying out manual inspection is great;
3) Partial tunnels contain oxygen deficiency or harmful gases, and personal safety of patrol personnel can be endangered.
Disclosure of Invention
The invention aims to provide unmanned inspection equipment for an pressureless water delivery tunnel, which realizes unmanned automatic inspection and avoids the defect of manual inspection.
In order to achieve the purpose, the unmanned patrol equipment for the pressureless water conveyance tunnel comprises a patrol boat for water surface navigation, a sonar system for detecting underwater section information, a shooting system for shooting videos of the water tunnel wall and data storage equipment for storing the underwater section information and the water tunnel wall information, wherein the sonar system and the shooting system are borne on the patrol boat.
As a preferred scheme, the unmanned patrol equipment for the pressureless water conveyance tunnel further comprises a track course control system for controlling the track and course of the patrol boat, wherein the track course control system is arranged on the patrol boat; the track course control system comprises a track control loop, a course control loop, a laser ranging radar, a track feedback device and a course feedback device, wherein the track feedback device and the course feedback device receive information of the patrol boat measured by the laser ranging radar and respectively send the information to the track control loop and the course control loop, and the track control loop and the course control loop determine the track and the course of the patrol boat according to the received information.
As a preferable scheme, the track control loop compares the current track sent by the track feedback device with the planned track to obtain the track deviation of the patrol boat so as to control the track of the patrol boat; and the course control loop compares the current course sent by the course feedback device with the planned course to obtain the course deviation of the patrol boat so as to control the course of the patrol boat.
As an optimal scheme, the track course control system comprises two laser range radars for measuring horizontal distance data, and the two laser range radars are respectively arranged at two sides of the patrol boat to respectively measure the horizontal distance data at two sides and send the horizontal distance data to the course feedback device to obtain the current course.
As a preferable scheme, the unmanned patrol equipment for the pressureless water conveyance tunnel further comprises a travel recording system arranged on the patrol boat, wherein the travel recording system comprises a log sensor for measuring the current navigational speed in real time and a timer for recording the current time.
The invention aims to provide an unmanned inspection method for a pressureless water delivery tunnel, which realizes unmanned automatic inspection and avoids the defect of manual inspection.
In order to achieve the purpose, the unmanned inspection method for the pressureless water conveyance tunnel, which is designed by the invention, comprises the following steps: step a, determining an inlet of a pressureless water delivery tunnel, setting an initial travelling speed of a patrol boat, and placing the patrol boat on the water surface of the pressureless water delivery tunnel; step b, in the process that the patrol boat sails in the pressureless water delivery tunnel, a sonar system arranged on the patrol boat gradually collects underwater section information according to preset frequency, a photographing system arranged on the patrol boat photographs videos of the water tunnel wall, and the underwater section information and the videos of the water tunnel wall are transmitted to a data storage device arranged on the patrol boat for storage; step c, determining an outlet of the pressureless water delivery tunnel, and recovering the patrol boat at the outlet according to the estimated time; step d, analyzing video data collected by the photographing system from the data storage equipment to judge the situation of the wall above the water surface and calibrating the situation; step e, determining the underwater section construction condition according to sonar data collected by the sonar system stored in the data storage device and calibrating the underwater section construction condition; and f, collecting the information of the tunnel wall above the water surface and the information of the underwater section structure, and producing the inspection result of the pressureless water delivery tunnel.
Preferably, in step b, the data storage device records both the current speed measured in real time by the odometer sensor and the time history recorded by the timer.
In the step d, the video data is analyzed frame by frame to judge the situation of the above-water hole wall, and the above-water hole wall section is calibrated by combining the information acquisition time recorded in the data storage device and the current speed of the patrol boat so as to be used for processing the above-water hole wall subsequently.
In the step e, a section diagram is obtained by electroacoustic signal processing of the sonar data, and the section diagram is checked according to time sequence and the section under water is marked.
In the step b, the navigation and heading of the patrol boat is controlled by a track heading control system arranged on the patrol boat according to the following mode: the track control loop in the track course control system obtains the track deviation of the patrol boat according to the comparison of the current track and the planned track to control the track of the patrol boat; and the course control loop in the course control system obtains the course deviation of the patrol boat according to the comparison of the current course and the ideal course to control the course of the patrol boat.
The beneficial effects of the invention are as follows: according to the unmanned patrol equipment and method for the pressureless water-conveying tunnel, the sonar system, the photographic system and the data storage device are integrated on the patrol boat, so that underwater and on-water integrated monitoring is realized, dispatch personnel do not need to enter the tunnel for patrol monitoring, the main part of the whole section of the tunnel can be covered by a patrol view, the problems of local damage, sediment accumulation and the like of the tunnel are found in time, and the danger of manual patrol is greatly reduced.
Drawings
Fig. 1 is a schematic view of an unmanned patrol equipment for an pressureless water delivery tunnel according to a preferred embodiment of the present invention, applied to the pressureless water delivery tunnel.
Fig. 2 is a schematic structural view of the unmanned patrol equipment for the pressureless water conveyance tunnel in fig. 1.
FIG. 3 is a schematic diagram of the track heading control system of FIG. 2.
Fig. 4 is a schematic diagram of the sonar detection principle of the sonar system in fig. 2.
The reference numerals of the components in the drawings are as follows: a patrol vessel 10, a track heading control system 20 (wherein the track control loop 21, the heading control loop 22, the laser ranging radar 23, the track feedback device 24, the heading feedback device 25), a sonar system 30, a trip recording system 40 (a timer 41, a odometer sensor 42), a photography system 50 (wherein the camera 51, the lighting device 52), a data storage device 60.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
Referring to fig. 1, a schematic structural diagram of an unmanned inspection device 100 for an pressureless water conveyance tunnel according to a preferred embodiment of the present invention is shown, and the unmanned inspection device enters the pressureless water conveyance tunnel to inspect the tunnel and then returns.
Referring to fig. 2 in combination, the unmanned patrol equipment 100 of the pressureless water tunnel according to the preferred embodiment of the present invention includes a patrol boat 10, a track heading control system 20, a sonar system 30, a trip recording system 40, an illumination device 52, a photography system 50 and a data storage device 60.
The patrol boat 10 is a main body of patrol equipment, which realizes water surface navigation and carries a track course control system 20, a sonar system 30, a trip recording system 40, a photographing system 50, and a data storage device 60.
The track course control system 20 and the patrol boat 10 work cooperatively to determine the track course of the patrol equipment together, thereby realizing the automatic barrier of the patrol equipment.
The sonar system 30 is mainly used for detecting underwater structures, acquiring underwater section information one by one along with navigation of the patrol equipment, and judging whether sediment accumulation exists in a tunnel or not.
The journey logging system 40 mainly measures and records the sailing process of the patrol boat 10, including sailing speed and sailing time.
The camera 51 and the lighting device 52 in the photographing system 50 work cooperatively, and the lighting device 52 adaptively provides a light source for the camera 51 to ensure photographing quality, and ensure that photographed video data can cover the whole main area above the water surface of the pressureless water conveyance tunnel.
The data storage device 60 ensures the normal operation of the entire system, data recording and automatic storage.
Referring to fig. 3, the track course control system 20 includes a track control loop 21, a course control loop 22, a laser ranging radar 23, a track feedback device 24, and a course feedback device 25. By receiving the information scanned by the laser range radar 23, the track and the course of the patrol boat 10 are automatically corrected through the control of the track control loop 21 and the course control loop 22 and automatic feedback correction. The track control loop 21 and the heading control loop 22 respectively receive feedback information of the track feedback device 24 and the heading feedback device 25, and adjust the track and the heading accordingly.
The laser range radar 23 is used to measure the horizontal distance of the radar from the wall of the hole. The left and right sides of the patrol boat 10 are respectively provided with a laser range radar, and the laser range radars 23 on the left and right sides can respectively acquire data of a horizontal distance at the same time so as to enable the heading feedback device 25 to judge the current heading.
The track feedback device 24 judges the current track of the patrol equipment by the recorded current speed and patrol time of the patrol equipment, and feeds back the information to the track control loop 21. The current track is corrected by comparing the planned track with the current track obtained by feedback from the track feedback device 24.
The course feedback device 25 obtains left and right horizontal distance data at the same time through the laser ranging radar 23, and judges the current course. And correcting the current course of the patrol equipment by comparing the current course with the ideal course.
Specifically, the route of the patrol boat 10 in the ideal situation is consistent with the planned route, the patrol boat 10 is positioned in the middle position of the patrol water surface, and the heading is parallel to the central axis of the patrol water surface in the pressureless water conveyance tunnel. The course and heading of the patrol boat 10 are automatically corrected as follows: the track control ring 21 compares the current track received by the track feedback device 24 with the planned track to obtain the position deviation information of the patrol boat 10, obtains the expected value of the track control ring 21 by adopting a guidance algorithm, and sends a command to the patrol boat 10 to eliminate the track deviation; the heading control loop 22 receives the current heading obtained by the heading feedback device 25 and calculates a heading deviation and issues a command to the patrol boat 10 to eliminate the heading deviation. Through the above-described process, the track course control of the patrol boat 10 is realized.
The sonar system 30 utilizes the characteristic of sound wave propagation under water, and combines electroacoustic conversion and information processing, and the sonar system 30 can acquire underwater sections including sediment accumulation and the like. As shown in fig. 4, if the propagation speed of the sound wave in the water is V, the sound wave is sent from the sonar at time t 0, the sound wave signal is sent into the water and reflected by the water bottom and then sent into the water, and the reflected signal is received at time t 1, the distance from the sonar o point to the water bottom o 1 is h, which is: h=v× (t 1-t0)/2. Since the sonar system 30 can emit sound waves to a large underwater angle range (less than 180 ° and greater than 90 °), the configuration of the large underwater angle range can be detected, the electroacoustic signal is processed to obtain an underwater cross-section, and the underwater local damage and silt deposition area of the tunnel are identified.
The trip recording system 40 includes a timer 41 and a log sensor 422, the log sensor 42 measuring the speed of travel in real time, the timer 41 measuring the current time and time history.
In the camera system 50, a camera 51 cooperates with an illumination device 52. The power supply system provides power for the normal operation of the camera 51 and the lighting device 52, and the lighting device 52 automatically adjusts the intensity of the lighting light according to the intensity of the light in the hole. The camera system 50 shoots the water from the inspection equipment entering the pressureless water delivery tunnel into the water wall area to form continuous shot video data for checking the integrity of the wall.
The data obtained by sonar system 30 and photography system 50 are stored in data storage device 60.
The implementation steps of the unmanned inspection equipment for the pressureless tunnel inspection are as follows:
Step a, determining an inlet of the pressureless water delivery tunnel, starting a power switch of the patrol equipment, setting the initial travelling speed of the patrol boat 10, correcting the posture of the patrol boat 10 and placing the patrol boat on the water surface of the pressureless water delivery tunnel.
Step b, automatically planning the current course by means of the course control system 20 during the course of the patrol boat 10; in the trip recording system 40, a log sensor 42 measures the speed of travel in real time, and a timer 41 records the time history; the sonar system 30 gradually collects information for each section at a frequency.
And c, determining an outlet of the pressureless water delivery tunnel, and recovering the patrol equipment at the tunnel opening according to the estimated time according to the roughly estimated length of the tunnel and the speed of the patrol boat 10.
And d, deriving video data collected by the photographing system 50 from the data storage device 60, analyzing the data frame by frame, judging whether the wall above the water surface has cracks, damages, water leakage and the like, and calibrating the wall section with the problems of cracks, damages and the like by combining the time and the speed recorded in the data storage device 60 so as to facilitate the subsequent repair.
And e, determining an underwater section structure according to sonar data collected by a sonar system 30 stored in a data storage device 60 through electroacoustic signal processing, checking the generated section diagrams according to time sequence, and calibrating sections with problems of local damage, sediment accumulation and the like.
And f, collecting the above-water surface hole wall information obtained by processing the video data shot by the shooting system 50 and the underwater space construction information obtained by processing the sonar data obtained by the sonar data collected by the sonar system 30, and forming an automatic full-section unmanned patrol inspection result of the full section of the pressureless water delivery tunnel.
The unmanned inspection equipment and the unmanned inspection method for the pressureless water delivery tunnel have the beneficial effects that:
(1) The full-section automatic inspection in normal operation of the pressureless water delivery tunnel can be realized. Conventional manual inspection is required to be carried out in a water-free state in the hole in the inspection period, the inspection frequency is low, and local damage is difficult to find in time; high manpower and time cost and large danger coefficient. Under the normal operating state, the pressureless water delivery tunnel is limited by space, cost, danger and the like, and is difficult to carry out manual inspection. According to the invention, the sonar system, the lighting system, the photographic system and the data storage device are integrated on the patrol boat, so that the underwater and water integrated monitoring is realized, the patrol monitoring by sending personnel into the tunnel is not needed, the main part of the whole section of the tunnel can be covered by the patrol view, the problems of local damage, sediment accumulation and the like of the tunnel are timely found, and the danger of manual patrol is greatly reduced.
(2) The automatic correction of the navigation posture of the tour equipment in the normal operation of the pressureless water delivery tunnel can be realized. In a long-distance pressureless water conveyance tunnel, long-distance signal transmission is difficult to realize, automatic positioning of a patrol boat is difficult to realize, and track heading and navigation are difficult to preset. The navigation boat is provided with the track course control system, so that the track and the course of the navigation boat are adjusted and corrected in real time, the automatic correction of the navigation posture is ensured, and the automatic obstacle avoidance and navigation without a positioning system and an external communication cable are realized.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (7)
1. An unmanned inspection equipment (100) for pressureless water conveyance tunnels, characterized in that: the unmanned patrol equipment for the pressureless water conveyance tunnel comprises a patrol boat (10) for sailing on the water surface, a sonar system (30) for detecting underwater section information, a photographic system (50) for shooting videos of the water tunnel wall and a data storage device (60) for storing the underwater section information and the water tunnel wall information, wherein the sonar system (30) and the photographic system (50) are carried on the patrol boat (10);
The unmanned patrol equipment (100) for the pressureless water conveyance tunnel further comprises a track course control system (20) for controlling the track and course of the patrol boat (10), wherein the track course control system (20) is arranged on the patrol boat (10); the track course control system (20) comprises a track control loop (21), a course control loop (22), a laser range radar (23), a track feedback device (24) and a course feedback device (25), wherein the track feedback device (24) and the course feedback device (25) receive information of the patrol boat (10) measured by the laser range radar (23) and respectively send the information to the track control loop (21) and the course control loop (22), and the track control loop (21) and the course control loop (22) determine the track and the course of the patrol boat (10) according to the received information;
The track control ring (21) compares the current track sent by the track feedback device (24) with the planned track to obtain the track deviation of the patrol boat (10) so as to control the track of the patrol boat (10); the course control ring (22) compares the current course sent by the course feedback device (25) with the planned course to obtain the course deviation of the patrol boat (10) so as to control the course of the patrol boat (10);
the track course control system (20) comprises two laser range radars (23) for measuring horizontal distance data, and the two laser range radars (23) are respectively arranged at two sides of the patrol boat (10) to respectively measure the horizontal distance data at two sides and send the horizontal distance data to the course feedback device (25) to obtain the current course;
the course feedback device (25) obtains left and right horizontal distance data at the same moment through the laser range radar (23), judges the current course, and corrects the current course of the patrol equipment by comparing the current course with an ideal course.
2. The unmanned patrol equipment for the pressureless water conveyance tunnel according to claim 1, characterized in that: the unmanned patrol equipment (100) for the pressureless water conveyance tunnel further comprises a travel recording system (40) arranged on the patrol boat (10), wherein the travel recording system (40) comprises a log sensor (42) for measuring the current navigational speed in real time and a timer (41) for recording the current time.
3. An unmanned inspection method for an pressureless water conveyance tunnel, applied to the unmanned inspection equipment for the pressureless water conveyance tunnel according to claim 1, comprising the steps of:
Step a, determining an inlet of a pressureless water delivery tunnel, setting an initial travelling speed of a patrol boat (10) and placing the patrol boat on the water surface of the pressureless water delivery tunnel;
Step b, in the process that the patrol boat (10) sails in a pressureless water delivery tunnel, a sonar system (30) arranged on the patrol boat (10) gradually collects underwater section information according to preset frequency, a photographing system (50) arranged on the patrol boat (10) photographs videos of the water tunnel wall, and the underwater section information and the videos of the water tunnel wall are transmitted to a data storage device (60) arranged on the patrol boat (10) to be stored;
Step c, determining an outlet of the pressureless water delivery tunnel, and recovering the patrol boat (10) at the outlet according to the estimated time;
Step d, analyzing video data collected by the photographic system (50) from the data storage device (60) to judge the situation of the wall above the water surface and calibrating the situation;
Step e, determining and calibrating underwater section construction conditions according to sonar data collected by the sonar system (30) stored in the data storage device (60);
And f, collecting the information of the tunnel wall above the water surface and the information of the underwater section structure, and producing the inspection result of the pressureless water delivery tunnel.
4. An unmanned inspection method for pressureless water tunnel according to claim 3, wherein: in step b, the data storage device (60) records both the current speed of the voyage measured in real time by the odometer sensor (42) and the time history recorded by the timer (41).
5. The unmanned inspection method for pressureless water tunnel according to claim 4, wherein: in the step d, analyzing the video data frame by frame to judge the situation of the above-water hole wall, and calibrating the above-water hole wall section by combining the information acquisition time recorded in the data storage device (60) and the current speed of the patrol boat (10) so as to process the above-water hole wall subsequently.
6. The unmanned inspection method for pressureless water tunnel according to claim 5, wherein: in the step e, a section chart is obtained by electroacoustic signal processing of the sonar data, and the section chart is checked according to time sequence and the section with the underwater section is calibrated.
7. The unmanned inspection method for pressureless water tunnel according to claim 5, wherein: in the step b, the navigation and heading of the patrol boat (10) is controlled by a track heading control system (20) arranged on the patrol boat (10) in the following way: a track control loop (21) in the track course control system (20) obtains the track deviation of the patrol boat (10) according to the comparison of the current track and the planned track, and controls the track of the patrol boat (10); and a course control ring (22) in the course control system (20) obtains the course deviation of the patrol boat (10) according to the comparison of the current course and the planned course, and controls the course of the patrol boat (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910457567.4A CN110146896B (en) | 2019-05-29 | 2019-05-29 | Unmanned inspection equipment and method for pressureless water conveyance tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910457567.4A CN110146896B (en) | 2019-05-29 | 2019-05-29 | Unmanned inspection equipment and method for pressureless water conveyance tunnel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110146896A CN110146896A (en) | 2019-08-20 |
| CN110146896B true CN110146896B (en) | 2024-04-19 |
Family
ID=67592168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910457567.4A Active CN110146896B (en) | 2019-05-29 | 2019-05-29 | Unmanned inspection equipment and method for pressureless water conveyance tunnel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110146896B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946674B (en) * | 2021-02-01 | 2024-05-10 | 浙江华消科技有限公司 | Method for detecting underwater deep hole and water rescue robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11337640A (en) * | 1998-05-22 | 1999-12-10 | Nec Corp | Synthetic-aperture sonar system for monitoring sea bottom by laser guiding |
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN106772395A (en) * | 2016-12-01 | 2017-05-31 | 台山核电合营有限公司 | A kind of nuclear plant water intaking tunnel Underwater Imaging detection means |
| CN107329477A (en) * | 2017-08-14 | 2017-11-07 | 河海大学常州校区 | A kind of unmanned boat navigation and autopilot facility and its method |
| CN108681338A (en) * | 2018-05-29 | 2018-10-19 | 中国科学院声学研究所 | A kind of telemetering and remote control system of submarine navigation device |
| CN108803612A (en) * | 2018-06-27 | 2018-11-13 | 青岛黄海学院 | A kind of unmanned inspection ship rectilinear path under the influence of ocean current tracks implementation method |
| KR20190017554A (en) * | 2017-08-11 | 2019-02-20 | 국방과학연구소 | Wake detection method and apparatus using an underwater image sonar |
| CN210243838U (en) * | 2019-05-29 | 2020-04-03 | 长江勘测规划设计研究有限责任公司 | Unmanned patrol equipment for non-pressure water delivery tunnel |
-
2019
- 2019-05-29 CN CN201910457567.4A patent/CN110146896B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11337640A (en) * | 1998-05-22 | 1999-12-10 | Nec Corp | Synthetic-aperture sonar system for monitoring sea bottom by laser guiding |
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN106772395A (en) * | 2016-12-01 | 2017-05-31 | 台山核电合营有限公司 | A kind of nuclear plant water intaking tunnel Underwater Imaging detection means |
| KR20190017554A (en) * | 2017-08-11 | 2019-02-20 | 국방과학연구소 | Wake detection method and apparatus using an underwater image sonar |
| CN107329477A (en) * | 2017-08-14 | 2017-11-07 | 河海大学常州校区 | A kind of unmanned boat navigation and autopilot facility and its method |
| CN108681338A (en) * | 2018-05-29 | 2018-10-19 | 中国科学院声学研究所 | A kind of telemetering and remote control system of submarine navigation device |
| CN108803612A (en) * | 2018-06-27 | 2018-11-13 | 青岛黄海学院 | A kind of unmanned inspection ship rectilinear path under the influence of ocean current tracks implementation method |
| CN210243838U (en) * | 2019-05-29 | 2020-04-03 | 长江勘测规划设计研究有限责任公司 | Unmanned patrol equipment for non-pressure water delivery tunnel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110146896A (en) | 2019-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12013485B2 (en) | Multi-scale inspection and intelligent diagnosis system and method for tunnel structural defects | |
| CN111866337A (en) | Intelligent inspection robot and inspection method | |
| US9229108B2 (en) | Underwater platform with LIDAR and related methods | |
| US20170074664A1 (en) | Underwater Inspection System Using An Autonomous Underwater Vehicle ("AUV") In Combination With A Laser Micro Bathymetry Unit (Triangulation Laser) and High Definition Camera | |
| CN108189040B (en) | Sewage pipeline detection robot system | |
| CN108535279B (en) | Detection method based on sewage pipeline detection robot | |
| KR102237407B1 (en) | System for maintenance of bridge facilities using drone based 3d sensor mounting type dgnss | |
| CN108982316B (en) | Dam back surface concrete surface seepage detection system and method based on unmanned aerial vehicle | |
| US8462208B2 (en) | System and method for tridimensional cartography of a structural surface | |
| CN213244111U (en) | Intelligent inspection robot | |
| CN210243838U (en) | Unmanned patrol equipment for non-pressure water delivery tunnel | |
| KR101520018B1 (en) | Tunnel inspection apparatus | |
| CN102530197A (en) | Ship draft depth measuring device based on laser and measuring method thereof | |
| CN110146896B (en) | Unmanned inspection equipment and method for pressureless water conveyance tunnel | |
| KR101923314B1 (en) | Unmanned air wehicle for tunnel structure investigation, and system using the same | |
| CN114322777A (en) | Underwater camera measurement and control system and method for mounting immersed tube pipe joint | |
| CN115857535A (en) | Method and system for inspecting gas pipeline by using unmanned aerial vehicle | |
| KR101298207B1 (en) | System for monitoring of launching barge with shipbuilding on the ground road-out and method thereof | |
| WO2016024303A1 (en) | Nondestructive concrete-structure inspection system | |
| CN109358058B (en) | Pipeline state detection system and method | |
| JP3796488B2 (en) | Sinking sinking guidance device and sinking guidance method | |
| US20190136477A1 (en) | Inspection of Grouting in Jacket Pin Piles on offshore wind turbines | |
| KR20200064790A (en) | Remote automation system for CLP(Containment Liner Plate) thickness measurement using PAUT(Phased Array Ultrasonic Testing) and laser | |
| CN114442652A (en) | Port facility three-dimensional inspection method and system based on air-sea submarine cross-domain collaboration | |
| CN111780761A (en) | Autonomous navigation method for inspection robot |
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 |