CN110159349A - A kind of tunnel automatic tour inspection system and automatic detecting method - Google Patents

A kind of tunnel automatic tour inspection system and automatic detecting method Download PDF

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Publication number
CN110159349A
CN110159349A CN201910536901.5A CN201910536901A CN110159349A CN 110159349 A CN110159349 A CN 110159349A CN 201910536901 A CN201910536901 A CN 201910536901A CN 110159349 A CN110159349 A CN 110159349A
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CN
China
Prior art keywords
tunnel
routing inspection
inspection trolley
track
trolley
Prior art date
Application number
CN201910536901.5A
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Chinese (zh)
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CN110159349B (en
Inventor
姚士磊
张帅军
何伟
刘小辉
邵阳
熊炎林
刘银涛
杨泽平
白中坤
屈永平
种玉配
钟礼亮
杨效广
柯贤东
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中铁隧道局集团有限公司
中铁隧道勘察设计研究院有限公司
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Priority to CN201910536901.5A priority Critical patent/CN110159349B/en
Publication of CN110159349A publication Critical patent/CN110159349A/en
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Publication of CN110159349B publication Critical patent/CN110159349B/en

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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18Special adaptations of signalling or alarm devices

Abstract

The invention discloses a kind of tunnel automatic tour inspection system and automatic detecting method, a kind of tunnel automatic tour inspection system includes routing inspection trolley, track and control host, to solve the problems, such as that lining quality of channel accuracy is low in a manner of existing manual inspection.

Description

A kind of tunnel automatic tour inspection system and automatic detecting method

[technical field]

The invention belongs to tunneling technique fields, and in particular to a kind of tunnel automatic tour inspection system and automatic detecting method.

[background technique]

Tunnel-liner quality is directly related to the reliability of tunnel during operation, and quick with China's rail traffic Development, also just seems further important for the detection of railway tunnel quality.

What existing tunnel detection method generallyd use is the mode of artificial detection, for manual detection mode, Detection process needs staff to carry out tunnel tour at tunnel scene, and based on the working experience of itself come to tunnel-liner matter Amount is differentiated.The mode of this artificial detection is inevitable due to needing staff to make an inspection tour at the scene to tunnel There are problems that inefficiency.Meanwhile artificial detection is to observe tunnel in such a way that staff is using visual observation Lining cutting state, and this mode also allows for detection process that there are a large amount of human subjective's factors, this has also seriously affected tunnel The accuracy of lining quality detection.

Other than the mode of manual inspection, also has create tunnel threedimensional model in real time using laser scanning in the prior art Routine inspection mode, the precision of this mode is very high, but equipment cost is high, and the components such as track used are to installation accuracy Requirement it is very high, be difficult to apply in the tunnel construction site of environment complexity, and it also requires lay individual power supply line and Transmission line, it is difficult to promote and apply.

[summary of the invention]

The object of the present invention is to provide a kind of tunnel automatic tour inspection system and automatic detecting method, to solve existing manually to patrol The low problem of procuratorial organ's formula lining quality of channel accuracy.

The invention adopts the following technical scheme: a kind of tunnel automatic tour inspection system, comprising:

One routing inspection trolley, including following part:

One car body, being can be along the device of rail running;

One vision read head, is set to the car body close to the side of the visual tag, for read visual tag with Obtain routing inspection trolley relative position in orbit;

One power receiving device, including battery are set to the body rear end, for matching with the power transmitting device and obtaining confession The electric energy of the car body traveling;

Two directive wheel are set to car body front end two sides, contact for the angle bar with two sides so that car body It is limited in traveling in track;

Information collecting device, including the PTZ camera for acquiring tunnel image and for acquiring tunnel-side health feelings The laser scanner of condition;

One track is used to provide the described the polling path of routing inspection trolley, including the monomer that several successively splice, the list Body includes following part:

One steel plate;

Two angle bar are relatively arranged on the two sides of the steel plate, and are fixedly connected with the steel plate, to form confession The traveling space of the routing inspection trolley;Wherein multiple visual tag are evenly arranged on the outside of an angle bar;

One power transmitting device is powered for the routing inspection trolley;

One parking device, for preventing the routing inspection trolley from moving on;

And

One control host, for controlling the movement of the routing inspection trolley, and receive and parse the tunnel image and The side wall health condition.

Further, parking device includes cannulated sleeve, one end of the sleeve be provided with sequentially connected button and Key switch, the other end of the sleeve are equipped with concatenated telescopic rod and mandril, and a part of the telescopic rod is located at Except sleeve, it is set with the stop collar for being fixed on sleeve inner wall on the mandril, is located in the outer wall of mandril described flexible The first spring is cased between bar and stop collar, the mandril is not contacted with the button in a free state;

The telescopic rod is used for when the routing inspection trolley is generated with it and contacted, and drives mandril advance and trigger button With key switch, to send stop sign to the routing inspection trolley.

Further, routing inspection trolley further includes control module, and the control module is controlled for receiving the stop sign It makes the routing inspection trolley and stops movement, subsequently reverse direction is travelled to the initial segment of track.

Further, the top of mandril is connected with hemispheric contact, the button 21 be equipped with outside the contact The concave surface that shape matches.

Further, power transmitting device includes charging case, and there are three charging plug, institutes for fixed setting in the charging case Stating power receiving device includes three and the one-to-one charging interface of charging plug.

Second of technical solution that the present invention uses is a kind of automatic detecting method of tunnel automatic tour inspection system, is used A kind of tunnel automatic tour inspection system of any one in the claims 1-7, includes the following steps:

S1, deployment track and routing inspection trolley;

S2, setting polling period;

S3, starting routing inspection trolley are moved along track;

S4, tunnel information is obtained;

S5, the real time position for obtaining routing inspection trolley;

S6, the visual tag is read to obtain routing inspection trolley relative position in orbit;

S7, real time position is modified using relative position, obtains the accurate location of routing inspection trolley;

Accurate location and tunnel information are sent to control host by S8, routing inspection trolley.

Further, routing inspection trolley triggers the parking device when reaching track end and stops;Routing inspection trolley edge Track returns, and is filled by the cooperation of the power transmitting device and the power receiving device to the battery when reaching track beginning Electricity.

Further, it before being scanned, needs first to carry out absolute fix, method particularly includes: it is set in the starting point of track An absolute reference object is set, an absolute zero position is set on absolute reference object, and laser scanner is initialised to default shape State, laser scanner has an opposite zero-bit under default conditions;Absolute reference object is scanned using laser scanner, is obtained The scanning result of absolute zero position is obtained, if the scanning result of absolute zero position is overlapped with opposite zero-bit, can start to carry out inspection, Otherwise, it needs to be adjusted laser scanner.

The beneficial effects of the present invention are: 1, cruising inspection system of the invention forms track using angle bar, structure is simple, cost It is cheap, easy for installation;

2, cruising inspection system of the invention is not only suitable for that the tunnel used has been put into, and is also applied for the tunnel built;

3, the integrated positioning mode that cruising inspection system of the invention is positioned using inertial navigation positioning and visual tag and vision read head, Effectively increase positioning accuracy;

4, cruising inspection system of the invention can use Through Several Survey Measure, to meet the use need in different situations tunnel It asks;

5, tunnel information and routing inspection trolley position are packaged as metadata and are wirelessly transferred by method for inspecting of the invention, energy Enough that inspection result is transferred to control host in real time, routing inspection efficiency is higher;

6, method for inspecting of the invention can be compared using the inspection result of same position different moments to predict tunnel Whether there may be hidden danger in road.

[Detailed description of the invention]

Fig. 1 is the structural schematic diagram of routing inspection trolley of the invention;

Fig. 2 is the structural schematic diagram of track monomer of the invention;

Fig. 3 is that there are connected mode schematic diagrams when angle between two track monomers of the invention;

Fig. 4 is the structural schematic diagram of parking device of the invention;

Fig. 5 is the structural schematic diagram of sleeve and telescopic rod of the invention;

Fig. 6 is the structural schematic diagram of charging unit of the invention;

Fig. 7 is the cross-sectional view of charging unit of the invention.

Wherein, 1. top, 2. directive wheels, 3. information collecting devices, 4. vision read heads, 5. charging heads, 6. catch bars, 7. jiaos Iron, 8. first fastening bolts, 9. steel plates, 10. pedestals, 11. visual tags, 12. connecting plates, 13. cabinets, 14. sleeves, 15. stretch Contracting bar, 16. buckling plates, 17. second fastening bolts, 18. mandrils, 19. first springs, 20. contacts, 21. buttons, 22. keys are opened It closes, 23. charging cases, 24. charging plugs, 25. second springs, 26. through-holes, 27. charging interfaces, 28. protection boards, 29. stop collars.

[specific embodiment]

The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

The present invention provides a kind of tunnel automatic tour inspection systems, including control host, track and the inspection moved along track Trolley.

As shown in Fig. 2, track includes several monomers successively spliced, monomer includes two and is oppositely arranged and mutually puts down Capable angle bar 7 is connected between two angle bar 7 by several steel plates 9, and one of angle bar 7 first is fastened by several Bolt 8 is fixedly connected with the side wall in tunnel, and it is equally distributed along its length to be fixedly installed several on another angle bar 7 Visual tag 11, the beginning of track are fixedly installed power transmitting device, and the end of track is fixedly installed parking device.

As shown in Figure 1, routing inspection trolley includes car body, the two sides of car body front end, which respectively rotate, is provided with a directive wheel 2, two Directive wheel 2 is in contact with two angle bar 7 respectively, and car body side is fixedly installed the vision read head 4 towards visual tag 11, car body Rear end is fixedly installed the power receiving device to match with power transmitting device, and battery, control module, information are fixedly installed on car body and is adopted Acquisition means 3, inertial navigation module and wireless communication module, vision read head 4, information collecting device 3 and inertial navigation module and control module electricity Connection, module is connect control module with control hosi wireless communication by wireless communication.

In the use of the present invention, it is first that track laying is good, then routing inspection trolley is put into track, inspection is small later Vehicle is moved along track, acquires tunnel information in real time by information collecting device 3 in moving process, and utilize inertial navigation module and view Feel the accurate location of the cooperation acquisition routing inspection trolley of read head 4 and visual tag 11, it is then that tunnel information and accurate location is common It is sent to control host, the information of each position in tunnel can be obtained in control host, and then judges the health status in tunnel, and And control host can also judge that tunnel whether there is by the tunnel information situation of change of the same position in multiple inspection Hidden danger.Tunnel of the invention is spliced by angle bar 7, and structure is simple, low in cost, and convenient for deployment, can either be applicable in In the tunnel for having built up and having come into operation, also can suitable for the tunnel built, and can with construct into The quick advancing the track of the progress of degree.It should be noted that preferably making each position on track when disposing track and advancing the track The distance between ground is equal, fluctuates widely to avoid existing between the tunnel information of two neighboring accurate location, into And promote the accuracy of inspection result.Although being combined into using angle bar 7, track is convenient, and there may be precision asking not enough Topic, and common GPS or Beidou positioning are all easy to lead to not be accurately positioned because of the problem of dtr signal in tunnel, Therefore then the present invention utilizes vision read head 4 and visual tag using the reference data of inertial navigation module acquisition routing inspection trolley position 11 cooperation is modified reference data, so that the exact position of routing inspection trolley is obtained, finally by tunnel information and inspection Small truck position combines, and can accurately position to risk factors such as the slight cracks being likely to occur in tunnel.

As shown in figure 3, can be connected by connecting plate 12 between two adjacent angle bar at the turning of track, and And the bottom of angle bar 7 is arranged in connecting plate 12, to avoid causing to shake during routing inspection trolley is mobile.

Visual tag 11 is fixedly connected by pedestal 10 with angle bar 7, and pedestal 10 is fixed on the side wall in tunnel backwards of angle bar 7 Side offers jack on pedestal 10, and visual tag 11 is inserted into jack.It is equivalent to and track is arranged in visual tag 11 Outside makes to facilitate there are a certain distance vision read head 4 to carry out visual tag 11 between vision read head 4 and visual tag 11 It reads.It can be fixed by the way of welding between pedestal 10 and angle bar 7, it can be between visual tag 11 and pedestal 10 Enhance the stability of visual tag 11 by magnetic absorption.

As shown in figure 4, parking device includes the cabinet 13 of fixed setting in orbit, stop sign is provided in cabinet 13 Sending module, the side towards track beginning of cabinet 13 be fixedly installed for control stop sign sending module open or The key switch 22 of closing, the side of key switch 22 are arranged with sleeve 14, and sleeve 14 is fixedly connected with cabinet 13.Such as Fig. 5 institute Show, restraining position ring block 29 is fixedly installed in sleeve 14, is equipped with mandril 18 in the inner hole of stop collar 29, mandril 18 is far from cabinet 13 One end is fixedly connected with telescopic rod 15, and the diameter of telescopic rod 15 is greater than the diameter of mandril 18, telescopic rod 15 and stop collar 29 Between be connected by the first spring 19.Routing inspection trolley strikes on telescopic rod 15 first when reaching the end of track, pushes Telescopic rod 15 is mobile to the inside of sleeve 14, drives 18 synchronizing moving of mandril to compress the first bullet simultaneously in 15 moving process of telescopic rod Spring 19, final contact 20 trigger key switch 22, and signal transmitting module is opened after key switch 22 triggers, and is sent to routing inspection trolley Stop sign, routing inspection trolley stop movement, beginning of the subsequently reverse direction to track after module receives stop sign by wireless communication End returns.After trolley to be inspected leaves, under the action of the first spring 19, telescopic rod 15 and mandril 18 reset, key switch 22 disconnect, and then close signal transmitting module, and parking device is completed to reset.The present invention assists to patrol by setting parking device Trolley parking is examined, makes routing inspection trolley without actively judging whether to reach home, to simplify the control program of routing inspection trolley, especially It is when the present invention is applied to the tunnel built, because the length of track can constantly prolong with the increase of construction speed It is long, so want the control program that accurate control routing inspection trolley just needs constantly adjustment routing inspection trolley in track end parking, it is non- It is often complicated, and the present invention only needs that a part of track for being provided with parking device is moved to total track when advancing the track New end, it is more convenient and practical.Also, the first spring 19 can play the role of buffering to routing inspection trolley, avoid patrolling Rigid collision occurs between inspection trolley and parking device and electronic instrument accurate on routing inspection trolley is caused to be damaged.In order into The vibration that one step avoids routing inspection trolley from generating in collision moment causes precision electronic device impaired, and the front end of routing inspection trolley can be with Top 1 made of the soft materials such as rubber is fixedly installed.

In order to ensure mandril 18 can accurately trigger key switch 22, mandril 18 is connected with hemispheric contact 20, Key switch 22 includes button 21, offers the groove to match with contact 20 on button 21.When contact 20 is touching button When 21, contact 20 is automatically towards movement at the center of groove under the position-limiting action of groove.

The specific fixed form of parking device are as follows: the top of cabinet 13 is connected with level board, the both ends point of level board It does not fit with two angle bar 7, level board is connected with vertically disposed buckling plate 16 backwards to one end of the side wall in tunnel, button Plywood 16 is fixedly connected by several second fastening bolts 17 with angle bar 7.It, can by the cooperation of buckling plate 16 and angle bar 7 The position of cabinet 13 is fixed, in order to further prevent cabinet 13 to misplace, the both ends of cabinet can be against two angle bar 7 respectively On, cause the position of cabinet 13 to shift in parking to avoid routing inspection trolley.

As shown in Figure 6 and Figure 7, the specific structure of power transmitting device and power receiving device are as follows: power transmitting device includes being fixed at Charging case 23 in track, charging case 23 is interior to be fixedly installed there are three charging plug 24, and power receiving device includes three and charges slotting First 24 one-to-one charging interface 27.The side towards track end of charging case 23 is opened wide, sliding setting in charging case 23 There is protection board 28, protection board 28 is connected towards between the side at track beginning by several second springs 25 with charging case 23 It connects, several and the one-to-one through-hole 26 of charging interface 27 is offered on protection board 28.Power receiving device includes being fixed on car body The charging head 5 of rear end, charging interface 27 are embedded on charging head 5, and charging head 5 is fixedly connected at least two catch bars 6, are pushed Bar 6 is parallel to each other with charging plug 24.

When routing inspection trolley is moved to the beginning of track, two catch bars 6 push protection board 28 to charging case 23 jointly Inside is mobile, compresses second spring 25 during protection board 28 is mobile, and pass through charging plug 24 from through-hole 26, so Charging plug 24 can be inserted into correspondingly in charging interface 27 afterwards, be charged to routing inspection trolley.And work as routing inspection trolley After leaving, under the action of second spring 25, protection board 28 is again mobile to the open end of charging case 23, makes charging plug 24 It is hidden in the inside of protection board 28, protection board 28 can protect charging plug 24, avoid charging plug 24 because of environment Factor corrodes and is damaged and leads to not charge.

In the present embodiment, information collecting device 3 includes PTZ camera and laser scanner.PTZ camera is mainly led to The mode of shooting photo is crossed to acquire tunnel information, photo be sent to by control module and wireless communication module control host it Afterwards, control host can obtain tunnel information by carrying out processing analysis to photo.For example, by photo in tunnel-side Slight crack is analyzed, when occurring slight crack in tunnel-side, pixel color value and the normal side wall in two sides of fracture position Pixel color value can have differences, it is assumed that tunnel light is sodium yellow, then the pixel of normal side wall can be presented similar to yellow Color, and because light can not irradiate into crack, black can be presented in the pixel in crack, and control host passes through analysis phase The color value of adjacent two pixels can extract all black picture elements, when black picture element connects into threadiness, then illustrate The position has been likely to occur crack.

Specifically, taken photo can be analyzed with rgb color mode, and by the pixel value of each pixel It is denoted as (a, b, c), wherein a is the brightness value of red channel, and b is the brightness value of green channel, and c is the brightness value of blue channel, Then benefit calculates the difference degree between two adjacent pixels, and circular is as follows:

Wherein (a1,b1,c1) it is the reference point chosen in the picture, (a2,b2,c2) it is to be compared with reference point Analysis site, λ are the absolute distances between reference point and (0,0,0) zero point, i.e. difference degree between reference point and black pixel Value, d is the difference degree value between analysis site and reference point.

In turn, two threshold values m and n are defined, if λ < m, prove that selected reference point is available, i.e., reference point approaches ater, And then d is calculated, if d < n, proves that the similarity degree of analysis site and reference point is high, equally approach ater.When reference point is all It encloses after distance is all used as analysis site and calculates for 1 all pixels, then will meet the analysis site of d < n as new reference point, Then iteration process, until that can not obtain new analysis site, then available face domain, all pixels are all forced in the face domain Nearly ater, therefore the corresponding tunnel inner wall in face domain has been likely to occur crackle or breakage.

During first time choosing reference point, in order to reduce calculation amount, simplify iterative process, it can be first by picture point At several sections, the image for being p × q for a resolution ratio is divided into the section that several sizes are r × r, and r is Odd number, and have r < p and r < q, then it can be as a reference point by the center pixel of section.If p and q can divide exactly r, It completes not having extra pixel after segmentation section, but if the aliquant r of p, can generate p1× q excess pixel, If the aliquant r of q, can generate p × q1A excess pixel.There are excess pixel, continue excess pixel Being divided into size is the small section of level-one of (r-2) × (r-2), and using center pixel as reference point.If there are still extra Pixel then continues the small section of second level for being divided into excess pixel size to be (r-4) × (r-4), and so on.In this way Cutting procedure is finally if possible left 0 excess pixel, 1 excess pixel perhaps 4 excess pixels 1 or more than 4 Afterimage element can not continue to divide, and directly be cast out when there is an excess pixel, when there are 4 excess pixels Wherein any one it will be selected as reference point.

And laser scanner can make high-precision analysis to the health condition of tunnel-side, specific scanning process is The conventional means of this field, details are not described herein.It should be noted that need first to carry out absolute fix before being scanned, Detailed process is as follows.

Firstly, an absolute reference object is arranged in the starting point in track, it is provided with an absolute zero position on absolute reference object, and And laser scanner is initialised to default conditions, under default conditions, laser scanner has an opposite zero-bit.

Then, absolute reference object is scanned using laser scanner, obtains the scanning result of absolute zero position, if absolutely The scanning result of zero-bit is overlapped with opposite zero-bit, then can start progress inspection and otherwise need to adjust laser scanner Whole, specific method of adjustment can be the position for changing laser scanner, scanning result and opposite zero-bit until absolute zero position It is overlapped.At this point, the initial position co-ordinates of routing inspection trolley and absolute zero position are combined into absolute reference value.

Finally, activation system carries out inspection to tunnel, and is scanned using laser scanner to sweeping to.Scanning process In, because the position of routing inspection trolley constantly changes, causes scanning result not use directly, is converted, And after have passed through absolute fix, it can be using the real time position of trolley and scanning result as systematic sample value, by systematic sample value It is compared with absolute reference value, systematic sample value can directly be combined with absolute reference value, be swept to quickly generate It retouches as a result, reducing the calculated load and time loss of system.

In practical applications, because routing inspection trolley of the invention is using charging modes, without additionally in tunnel inner wall Upper laying power supply line, thus it is more convenient, but corresponding self electric quantity is limited, the power consumption of laser scanner is higher, Therefore need to select the combination using PTZ camera or laser scanner or the two according to the actual needs.Such as when Tunnel is shorter and the time limit that comes into operation for a long time when, laser scanner can be used, to ensure the accuracy of inspection result.

Based on above-mentioned automatic tour inspection system, the present invention also provides a kind of automatic detecting method of tunnel automatic tour inspection system, Including S1 to S10.

S1, deployment track and routing inspection trolley.

S2, setting polling period.Polling period can be set according to the actual needs.

Module is to control module transmission enabled instruction by wireless communication for S3, control host, and routing inspection trolley starts and edge Track is mobile.

S4, information collecting device 3 obtain tunnel information.

S5, control module obtain the real time position of routing inspection trolley by inertial navigation module.

S6, control module read visual tag 11 by vision read head 4 and obtain routing inspection trolley relative position in orbit.

S7, control module are modified real time position using relative position, obtain the accurate location of routing inspection trolley.

Accurate location and tunnel information are packaged by S8, routing inspection trolley generates metadata, and module will by wireless communication Metadata is sent to control host.

S9, routing inspection trolley trigger parking device when reaching track end and stop.

S10, routing inspection trolley are returned along track, and the matching by power transmitting device and power receiving device when reaching track beginning It closes and charges to battery.

The position data of routing inspection trolley and collected tunnel information are packaged and are used as metadata by method for inspecting of the invention Common transport can make control host analyze the information of each position in tunnel in real time, to be accurately judged to whether have position Set the problem that the computationally intensive hardly possible synchronous with data of data distributed transmission bring is avoided there are hidden danger.

In S8, control host is stored after receiving metadata, and by the metadata newly received and stored member Data compare, and obtain the variation tendency of tunnel information on same accurate location.If construction site is because of track deployment essence When degree is not enough or the factors such as environment complexity cause the collected tunnel information of information collecting device 3 not accurate enough, this hair It is bright to judge whether tunnel information is become by the comparison between tunnel information collected during multi collect Change, to accurately analyze tunnel with the presence or absence of hidden danger, effectively eliminates the not accurate enough issuable mistake of original tunnel information The possibility sentenced.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (8)

1. a kind of tunnel automatic tour inspection system characterized by comprising
One routing inspection trolley, including following part:
One car body, being can be along the device of rail running;
One vision read head (4) is set to the car body close to the side of the visual tag (11), for reading visual tag (11) to obtain routing inspection trolley relative position in orbit;
One power receiving device, including battery are set to the body rear end, for matching and being obtained described in confession with the power transmitting device The electric energy of car body traveling;
Two directive wheels (2), are set to car body front end two sides, contact for the angle bar (7) with two sides so that car body It is limited in traveling in track;
Information collecting device, including the PTZ camera for acquiring tunnel image and for acquiring tunnel-side health condition Laser scanner;
One track is used to provide the described the polling path of routing inspection trolley, including the monomer that several successively splice, the monomer packet Include following part:
One steel plate (9);
Two angle bar (7) are relatively arranged on the two sides of the steel plate (9), and are fixedly connected with the steel plate (9), to be formed For the traveling space of the routing inspection trolley;Wherein multiple visual tags (11) are evenly arranged on the outside of an angle bar (7);
One power transmitting device is powered for the routing inspection trolley;
One parking device, for preventing the routing inspection trolley from moving on;
And
One control host for controlling the movement of the routing inspection trolley, and receives and parses the tunnel image and described Side wall health condition.
2. a kind of tunnel automatic tour inspection system as described in claim 1, which is characterized in that the parking device includes hollow sleeve Cylinder (14), one end of the sleeve (14) is provided with sequentially connected button (21) and key switch (22), the sleeve (14) The other end concatenated telescopic rod (15) and mandril (18) be installed, a part of the telescopic rod (15) be located at sleeve (14) it Outside, it is set with the stop collar (29) for being fixed on sleeve (14) inner wall on the mandril (18), is located at institute in the outer wall of mandril (18) It states and is cased between telescopic rod (15) and stop collar (29) the first spring (19), the mandril (18) is pressed with described in a free state Button (21) does not contact;
The telescopic rod (15) is used for when the routing inspection trolley is generated with it and contacted, and drives mandril (18) advance and trigger button (21) and key switch (22), to send stop sign to the routing inspection trolley.
3. a kind of tunnel automatic tour inspection system as claimed in claim 1 or 2, which is characterized in that the routing inspection trolley further includes Control module, the control module control the routing inspection trolley and stop movement, subsequently reverse direction for receiving the stop sign It is travelled to the initial segment of track.
4. a kind of tunnel automatic tour inspection system as claimed in claim 2, which is characterized in that the top of the mandril (18) connects Have hemispheric contact (20), the button 21 is equipped with the concave surface to match with the contact (20) shape.
5. a kind of tunnel automatic tour inspection system as claimed in claim 1 or 2, which is characterized in that the power transmitting device includes filling Electronic box (23), in the charging case (23) fixed setting there are three charging plug (24), the power receiving device include three with fill The one-to-one charging interface (27) of plug (24).
6. a kind of automatic detecting method of tunnel automatic tour inspection system, which is characterized in that using any in the claims 1-7 A kind of tunnel automatic tour inspection system, includes the following steps:
S1, deployment track and routing inspection trolley;
S2, setting polling period;
S3, starting routing inspection trolley are moved along track;
S4, tunnel information is obtained;
S5, the real time position for obtaining routing inspection trolley;
S6, the visual tag (11) is read to obtain routing inspection trolley relative position in orbit;
S7, real time position is modified using relative position, obtains the accurate location of routing inspection trolley;
Accurate location and tunnel information are sent to control host by S8, routing inspection trolley.
7. a kind of automatic detecting method of tunnel automatic tour inspection system as claimed in claim 6, which is characterized in that routing inspection trolley The parking device is triggered when reaching track end and is stopped;Routing inspection trolley is returned along track, and is begun reaching track It is charged by the cooperation of the power transmitting device and the power receiving device to the battery when end.
8. a kind of automatic detecting method of tunnel automatic tour inspection system as claimed in claim 6, which is characterized in that swept Before retouching, need first to carry out absolute fix, method particularly includes: in the starting point of track, one absolute reference object, absolute reference are set One absolute zero position is set on object, and laser scanner is initialised to default conditions, laser scanner has under default conditions There is an opposite zero-bit;Absolute reference object is scanned using laser scanner, obtains the scanning result of absolute zero position, if The scanning result of absolute zero position is overlapped with opposite zero-bit, then can start to carry out inspection, otherwise, needs to carry out laser scanner Adjustment.
CN201910536901.5A 2019-06-20 2019-06-20 Automatic tunnel inspection system and automatic tunnel inspection method CN110159349B (en)

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CN201910536901.5A CN110159349B (en) 2019-06-20 2019-06-20 Automatic tunnel inspection system and automatic tunnel inspection method

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CN207474313U (en) * 2017-11-10 2018-06-08 温州市黎东眼镜有限公司 A kind of travel switch
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CN108468568A (en) * 2018-03-27 2018-08-31 深圳供电局有限公司 A kind of Tunnel testing robot and its method for inspecting
CN108468569A (en) * 2018-05-31 2018-08-31 朱森 Tunnel flow image acquisition system based on track and the application in tunnel inspection
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* Cited by examiner, † Cited by third party
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US5268683A (en) * 1988-09-02 1993-12-07 Stolar, Inc. Method of transmitting data from a drillhead
CN102562154A (en) * 2010-12-29 2012-07-11 沈阳新松机器人自动化股份有限公司 Cable tunnel routing inspection robot
CN203734843U (en) * 2014-01-16 2014-07-23 上海华亨电信设备有限公司 Coal-mine worker positioning system
CN106150542A (en) * 2015-03-29 2016-11-23 张鹏 Rescue robot is patrolled and examined in wall-mounted tunnel
CN207474313U (en) * 2017-11-10 2018-06-08 温州市黎东眼镜有限公司 A kind of travel switch
CN207743091U (en) * 2017-11-30 2018-08-17 卢光贤 A kind of adjustable Direct Action Type travel switch of stroke
CN108468568A (en) * 2018-03-27 2018-08-31 深圳供电局有限公司 A kind of Tunnel testing robot and its method for inspecting
CN208368852U (en) * 2018-05-04 2019-01-11 中国石化销售有限公司华南分公司 Crusing robot charging docking facilities
CN108468569A (en) * 2018-05-31 2018-08-31 朱森 Tunnel flow image acquisition system based on track and the application in tunnel inspection

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