CN111398950A - Radar detection evasion system of tunnel defect comprehensive detection vehicle - Google Patents
Radar detection evasion system of tunnel defect comprehensive detection vehicle Download PDFInfo
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- CN111398950A CN111398950A CN202010259734.7A CN202010259734A CN111398950A CN 111398950 A CN111398950 A CN 111398950A CN 202010259734 A CN202010259734 A CN 202010259734A CN 111398950 A CN111398950 A CN 111398950A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The invention discloses a radar detection evasion system of a tunnel defect comprehensive detection vehicle, which comprises a radar host, a plurality of radar antennas, a camera system, a main control computer, an antenna bracket and a telescopic bracket, wherein the antenna bracket is connected with the telescopic bracket and arranged on a vehicle body through the telescopic bracket; the radar host is connected with the mileage positioning system through a synchronizer and used for receiving a trigger signal of the mileage positioning system; the radar host is connected with a plurality of radar antennas through a plurality of channels and is also connected with a main control computer, and the camera system is connected with the main control computer. By using the system, the radar detection system of the tunnel lining disease comprehensive detection vehicle is more accurate, obstacles on the tunnel wall are avoided, the disease monitoring work efficiency is improved, and meanwhile, the service life of the radar detection system is prolonged.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of tunnel detection, and particularly relates to a radar detection evasion system of a tunnel defect comprehensive detection vehicle.
[ background of the invention ]
As the operating time of the tunnel is gradually increased, the tunnel structure mainly made of concrete materials has apparent defects such as water leakage, cracks, peeling and the like, and the deformation of the cross section of the tunnel are unavoidable defects, and the long-term development of the defects has irreversible negative effects on the subsequent safety. Therefore, maintenance of the tunnel structure is an essential means for ensuring long-term stable operation of tunnel traffic.
At present, when adopting the detection car to detect, in-process degree of automation is not high, at the route walking in-process, bumps the wall phenomenon and takes place occasionally. Also, the detection device is complicated.
[ summary of the invention ]
The invention aims to provide a radar detection evasion system of a tunnel lining disease comprehensive detection vehicle, which is more accurate, avoids obstacles on the tunnel wall, improves the disease monitoring efficiency and prolongs the service life of the radar detection system.
The invention adopts the following technical scheme: a radar detection avoidance system of a tunnel defect comprehensive detection vehicle comprises a radar host, a plurality of radar antennas, a camera system, a main control computer, an antenna bracket and a telescopic bracket, wherein the antenna bracket is connected with the telescopic bracket and arranged on a vehicle body through the telescopic bracket; the radar host is connected with the mileage positioning system through a synchronizer and used for receiving a trigger signal of the mileage positioning system; the radar host is connected with a plurality of radar antennas through a plurality of channels and is also connected with a main control computer, and the camera system is connected with the main control computer.
Furthermore, the antenna bracket comprises a module platform which is a plate body, wherein the front surface and the rear surface of the two ends of the plate body extend outwards and are arranged in an arc shape downwards in an inclined mode to form an arc-shaped platform, and the module platform is arranged in the front and the rear direction and is arranged on the first support and the second support in a spanning mode; the upper wall surface of the module platform is provided with a radar antenna, and the left end and the right end of one side of the module platform, which is close to the radar antenna, are provided with rollers; and obstacle sensors are arranged on the two arc-shaped platforms at the two ends and used for detecting obstacles on the lining wall of the tunnel.
Furthermore, the radar antenna is a radar probe array module consisting of 400M antennas, the time window is set to be 50ns, and the number of sampling points is 512 points/scanning track.
Furthermore, the telescopic support comprises a chassis and a support rod, the chassis is installed on the vehicle body, the support rod comprises a vertical rod and a movable rod, the vertical rod is installed on the chassis, the movable rod is arranged in an inclined mode, and the upper end of the movable rod is connected with the antenna bracket through an elastic support.
The invention has the beneficial effects that: the tunnel lining disease comprehensive detection vehicle has the characteristics of high automation degree, safety, high efficiency and multi-parameter comprehensive detection, can quickly and accurately acquire tunnel disease information, obtains a tunnel disease result through analysis processing, improves the efficiency of tunnel detection work, saves the time of tunnel detection work, reduces the labor cost, and is suitable for wide popularization.
[ description of the drawings ]
FIG. 1 is a schematic diagram of the hardware structure of the inspection vehicle of the present invention;
FIG. 2 is a schematic view of the structure of the inspection vehicle of the present invention;
FIG. 3 is a structural diagram of a radar obstacle avoidance device of the radar detection and avoidance system of the present invention;
fig. 4 is a front view of the radar obstacle avoidance apparatus of the present invention;
fig. 5 is a schematic diagram of the radar obstacle avoidance device in the invention for avoiding obstacles when encountering obstacles;
FIG. 6 is a structural diagram of the comprehensive tunnel lining disease detection vehicle of the present invention during operation;
FIG. 7 is a partial enlarged view of a support rod of the radar obstacle avoidance device of the tunnel lining disease comprehensive detection vehicle of the present invention;
wherein: 1-an apparent detection system; 101-a high-definition image acquisition unit; 102-a light source supplementary lighting unit; 103-a support means; 1031-a semi-circular bracket; 1032-body support frame; 1033-a base; 2-a walking system; 201-a frame; 202-road wheels; 203-track traveling wheels; 3-a radar detection system; 301-a radar antenna; 302-a telescopic bracket; 3021-a chassis; 3022-prop; 30221-outer tube; 30222-a first hollow tube; 30223-expansion telescopic assembly; 302231-expansion sleeve; 302232-connecting sleeve; 302233-protruding nail; 302234-card slot; 30224-a pull rod; 3023-elastic support; 30231-a spring; 30232-a movable bar; 30233-beam; 30234-pull rod; 303-antenna carrier; 3031-module platform; 3032-arc platform; 304-an obstacle sensor; 305-roller.
[ detailed description ] embodiments
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The comprehensive inspection vehicle in the embodiment of the invention, as shown in fig. 1, includes: the mileage positioning system 4 is arranged at the front end of the vehicle body, faces the rail surface or the road surface, and is used for judging and detecting the advancing displacement and the posture of the vehicle and generating a trigger signal based on the space displacement; the device is also used for measuring mileage numerical values and synchronously transmitting the mileage numerical values; the appearance detection system 1 is used for detecting the surface diseases of the tunnel lining; when a trigger signal and a mileage numerical value sent by the mileage positioning system 4 are received, starting to detect a surface defect at a certain position of the tunnel; the radar detection system 3 is used for detecting deep diseases of the tunnel; and when receiving a trigger signal and a mileage numerical value sent by the mileage positioning system 4, the system is started synchronously with the appearance detection system 1 to detect the internal structure diseases at the same position of the tunnel. The detection vehicle further comprises a traveling system 5 and a power supply system 6, wherein the traveling system 5 is a highway and railway dual-purpose traveling system and is used for driving the detection vehicle to move and travel; the power supply system 6 is used for supplying power to the detection vehicle. The power supply system 6 adopts a direct current power supply to supply power, and the direct current is inverted into 220V alternating current through a multi-channel inverter.
The walking system 2 of the tunnel comprehensive detection vehicle adopts a highway-railway dual-purpose detection vehicle body, the highway-railway dual-purpose detection vehicle body comprises a frame 201, highway walking wheels 202 and track walking wheels 203, the highway walking wheels 202 and the track walking wheels 203 are positioned below the frame 201, a cab is arranged on the frame 201 and at the middle front end, an operation compartment is arranged near the rear end of the cab, an appearance detection system 1 and a radar detection system 3 are sequentially arranged on the frame 201 and at the rear end of the operation compartment, and the operation compartment is in communication connection with the appearance detection system 1 and the radar detection system 3; a mileage positioning system 4 is arranged in front of the frame 201 opposite to the rail surface or the road surface, and the mileage positioning system 4 is in communication connection with the operating compartment; the operation carriage also comprises a console and a display device, and a screen cutting device, one end of the screen cutting device is connected with the console and the display device, and the other end of the screen cutting device is connected with the industrial personal computer. When the industrial personal computers are multiple, the images and data stored in one industrial personal computer can be displayed on the display device through the screen cutting device, and the images and data stored in the industrial personal computers can also be displayed at the same time; the screen cutter can also be placed in the cabinet; the operating cabin also includes a power converter for converting the dc power to ac power for use by other devices.
The mileage positioning system 4 comprises a central control unit, an industrial personal computer I, a positioning unit, a calibration unit, an inertial navigation device and an encoder; the positioning unit and the calibration unit are in bidirectional data connection with the first industrial personal computer, the first industrial personal computer is used for sending data to the central control unit, and the central control unit is used for supplying power to the positioning unit and the calibration unit and sending a trigger signal.
The mileage positioning system 4 is provided on the traveling system 5 and faces the rail surface or the road surface. The positioning unit is fixedly arranged on a frame on the traveling system 5, and the calibration unit is fixedly arranged on one side of the traveling system 5 and used for calibrating the industrial camera to aim at the detection of the milestone; the inertial navigation device is fixed with the positioning unit and used for feeding back the three-axis attitude angle and the acceleration of the positioning unit; the first industrial personal computer and the central control unit are fixed in a carriage of the traveling system, and the encoder is connected with a driven wheel of the traveling system 5.
As shown in fig. 2, the appearance detection system 1 includes: the system comprises a high-definition image acquisition unit 101, a light source light supplementing unit 102, an acquisition control unit and a high-speed storage unit; the high-definition image acquisition unit 101 and the high-speed storage unit are both connected with the acquisition control unit.
The high-speed storage unit comprises a video acquisition card, an industrial personal computer II and a hard disk; the hard disk and the video capture card are both connected with the industrial personal computer II, and the industrial personal computer II receives the data transmitted by the multifunctional box, adds the data into image data, encodes the image data into a video stream file through the video capture card, and stores the video stream file in the hard disk. The appearance detection system 1 is divided into a control layer and a data layer, wherein the control layer and the mode switcher switch over a trigger mode to receive trigger pulses from the front end, the acquisition controller transmits trigger signals to the multifunctional box after acquiring pulse sequences, the trigger signals are distributed into synchronous trigger signals of a camera and a strobe lamp after being modulated and analyzed by the multifunctional box, the strobe lamp is exposed, and the camera starts shooting; the data layer reads displacement and ranging data of the camera sensor when the acquisition controller generates a trigger signal, the displacement and ranging data are sent to the multifunctional box after being packaged, the multifunctional box continuously packages and transmits the sensing data to the back, the embedded integrated storage device simultaneously receives the sensing data and image data, the sensing data are added to an image frame header, a video stream file is coded and stored in the hard disk file system; the high-definition image acquisition unit 101 performs full coverage scanning on the surface of the tunnel lining to acquire a high-resolution tunnel image.
The high-definition image acquisition unit 101 includes: industry camera array, industry camera array are half circular arc, including the industry camera that a plurality of intervals set up, each industry camera all is furnished with a wide angle prime lens, and the outside of wide angle prime lens orientation circular arc for shoot tunnel lining surface.
The light source supplement unit 102 includes: COB light source array: the shape of the camera array is consistent with that of the industrial camera array, and the camera array is parallel to the industrial camera array and is arranged at intervals; the two groups are respectively positioned at the front side and the rear side of the industrial camera array; COB light source array comprises a plurality of COB light sources arranged at intervals, and light of the light sources faces to the tunnel
The camera tray is arranged on the first support and is provided with a guide rail along the trend of the first support, each camera tray is arranged on the guide rail through a sliding block, and each clamp device is arranged on the guide rail and positioned on the lower sliding side of each sliding block.
Still be equipped with camera tray sensor on the camera tray, camera tray sensor is connected with acquisition controller, and the target surface of each camera tray sensor is 2.2 ~ 2.5m with the tunnel lining surface radial distance who detects.
The plurality of industrial cameras are all arranged on a first support through a camera tray, the first support is in a semi-circular arc shape and is erected on the vehicle body, the convex side of the semi-circular arc shape faces the surface of the tunnel lining, and each industrial camera is arranged on the convex side of the first support; the distribution angle between two adjacent industrial cameras is 30-40 degrees, preferably 35 degrees, the camera adopts 35mm Nikon camera lens, camera tray sensor target surface is 2.2-2.5 m apart from tunnel lining surface radial distance, and the visual field coincidence distance of two adjacent industrial cameras is not less than 20cm arc length. The overlapped section is used for processing of fusion, splicing, positioning and the like of picture data. A preferred total of 7 industrial cameras; selecting industrial area array CCD cameras, wherein the specific number can be determined according to the required arc surface amplitude of the shooting tunnel; only the fusion breadth is ensured to be not less than 20 cm. The 7 industrial cameras are selected, so that the full coverage of the whole wall and the dome of the tunnel can be met, the cost is low, and the effect is optimal; at the moment, the industrial personal computer has four, wherein one industrial personal computer stores data collected by one camera, and each of other industrial personal computers stores data of two cameras. The data volume of massive pictures is huge, a plurality of industrial personal computers are usually used for storage, and through tests, images acquired by 7 cameras are preferably distributed to 4 industrial personal computers.
The industrial camera shoots images at relatively fixed intervals when moving relative to the surface of the tunnel lining; in the cross section direction, aiming at different tunnel structures, the cross section of the surface of the tunnel lining is covered by reasonably arranging a plurality of industrial cameras; in the longitudinal direction, through the matching of the vehicle speed and the frame rate, the front frame and the rear frame of the same industrial camera are effectively overlapped to realize complete coverage; in order to ensure that subsequent image processing is feasible, the width of the fusion belt in the cross section direction is not less than 15% of the frame, and the width of the longitudinal fusion belt is not less than 30% of the frame; various indexes of the camera, such as resolution, frame rate, exposure time, depth of field, transmission bandwidth and the like, are considered in a balanced manner to obtain relevant parameters of the camera; and designing camera distribution by combining a tunnel section diagram and the size of the bearing vehicle. When an object moving at a high speed is shot, in order to avoid motion blur, enough small exposure time needs to be set, the highest running speed of the vehicle body is designed according to a design index and 25km/h, the exposure time is in the mu s level, a light source light supplement unit, namely a light supplement lamp, is needed for light supplement, the light supplement lamp needs to have extremely high flow brightness, the exposure frequency of the light supplement lamp is not lower than the frame frequency of a camera, the flash time is longer than the exposure time of the camera, external triggering can be achieved, cascade connection is supported, and the time delay consistency is high; in order to improve the light source efficiency, a reflecting cup and a lens can be designed aiming at a specific shooting scene; the COB light source array can provide a high-power area light source and supplement light uniformly; due to the particularity of the railway tunnel environment, the light source brightness should be verified in an actual scene, and the number of the light supplement lamps should be quantized.
The acquisition control unit is used for completing the synchronous triggering control of the industrial camera and the COB light source, the power supply and the drive of the industrial camera and the COB light source in the acquisition process and receiving the data of the industrial camera. The COB light sources are arranged on the second supports at intervals, and the two second supports are arranged on the vehicle body, are respectively positioned in front of and behind the first support and are consistent with the radian of the first support; on each second support, the number of COB light sources is equal to the number of industrial cameras, and the positions of the COB light sources are consistent.
The acquisition control unit comprises a mode switcher, an acquisition controller and a multifunctional box, the mileage positioning system 4 is connected with the mode switcher, a trigger signal is sent to the acquisition controller through the mode switcher, the high-definition image acquisition unit 101 sends acquired data to the acquisition controller, the acquisition controller sends the data to the multifunctional box, and the multifunctional box sends the data to the industrial personal computer II and the high-definition image acquisition unit 101; the acquisition control assembly is used for completing the triggering synchronous control, the sensor data acquisition, the camera and the light source power supply and the driving of the acquisition process. The high-speed storage unit comprises a video acquisition card, an industrial personal computer II and a hard disk; the hard disk and the video capture card are both connected with the industrial personal computer II, and the industrial personal computer II receives the data transmitted by the multifunctional box, adds the data into image data, encodes the image data into a video stream file through the video capture card, and stores the video stream file in the hard disk. The mode switcher switches over the trigger mode, receives the trigger pulse, and after the acquisition controller gathers the pulse sequence, send trigger signal to the multi-functional case, after the multi-functional case modulation analysis, distribute into the synchronous trigger signal of camera and stroboscopic lamp, the exposure of stroboscopic lamp, industry camera starts the shooting. When the acquisition controller generates a trigger signal, reading displacement and ranging data of the camera sensor, packaging and sending the data to the multifunctional box, continuously packaging and transmitting the sensing data to the multifunctional box, simultaneously receiving the sensing data and image data by the storage device, adding the sensing data to an image frame header, encoding the sensing data into a video stream file, and storing the video stream file in a hard disk file system.
The high-definition image acquisition unit 101 further comprises a laser range finder array 102, and the laser range finder array 102 corresponds to the industrial camera array 101 one to one and is connected with the industrial camera array 101. The high-definition image acquisition unit scans the surface of the tunnel lining in a full or half way to acquire a high-resolution tunnel image; the high-definition image acquisition unit consists of an industrial camera array and an optical lens, the main body device is the industrial camera array, and when the main body device moves relative to the surface of the tunnel lining, the industrial camera shoots images at relatively fixed intervals; in the cross section direction, aiming at different tunnel structures, the cross section of the surface of the tunnel lining is covered by reasonably arranging a plurality of industrial cameras; in the longitudinal direction, through the matching of the vehicle speed and the frame rate, the front frame and the rear frame of the same camera are effectively overlapped to realize complete coverage; in order to ensure that subsequent image processing is feasible, the width of the fusion belt in the cross section direction is not less than 15% of the frame, and the width of the longitudinal fusion belt is not less than 30% of the frame; various indexes of the camera, such as resolution, frame rate, exposure time, depth of field, transmission bandwidth and the like, are considered in a balanced manner to obtain relevant parameters of the camera; and designing camera distribution by combining a tunnel section diagram and the size of the bearing vehicle. When an object moving at a high speed is shot, in order to avoid motion blur, enough small exposure time needs to be set, the highest running speed of the bearing vehicle is designed according to a design index and 25km/h, the exposure time is in the mu s level, a light source light supplementing unit, namely a light supplementing lamp, is needed for supplementing light, the light supplementing lamp needs to have extremely high flow brightness, the exposure frequency of the light supplementing lamp is not lower than the frame frequency of a camera, the flash time is longer than the exposure time of the camera, the external triggering can be realized, the cascade connection is supported, and the time delay consistency is high; in order to improve the efficiency of the light source, a reflecting cup and a lens can be designed aiming at a specific shooting scene.
The camera tray is arranged on the supporting device 103, the supporting device 103 comprises a semicircular arc bracket 1031, a main body supporting frame 1032 and a base 1033, the camera tray is uniformly arranged and installed on the semicircular arc bracket 1031 along a semicircular arc, the semicircular arc bracket 1031 is installed on the base 1033, and the base 1033 is installed on the main body supporting frame 1032; the camera tray is connected with the semi-arc bracket 1031 through a guide rail, can slide on the guide rail and is locked in position through a clamp; the main body support frame 1032 is of a lifting structure, and the height of the main body support frame 1032 is adjusted electrically or manually through a motor.
Mounting plates are connected to both ends of the semi-circular bracket 1031, and are used for fixing the semi-circular bracket 1031 on the base 1033; a space for storing cables is reserved at the bottom of the semi-arc bracket 1031; the upper cover of the camera tray is provided with two round holes embedded with the lens of the camera, and a square hole is arranged between the two round holes and used for embedding the laser range finder; the two ends of the front side plate and the rear side plate of the camera tray are both inwards sunken to form middle convex plates, an inertial navigator is embedded between the two middle convex plates, a fixed plate is arranged in the camera tray, the camera is arranged at the position of the fixed plate corresponding to the round hole of the upper cover of the camera tray, and the fixed plate is arranged on the left side plate and the right side plate of the camera tray; the compensation component is integrated on the camera tray to feed back the pose of the high-definition image acquisition unit 101 in the motion process in real time, so as to compensate image shake. Inertial navigation or infrared ranging or laser units are typically employed; the main body support frame 1032 is fixed on the walking system 2 through a base 1033. The bottom of base 1033 is equipped with the installation foot, and the installation foot welding is on four angles of the bottom of base 1033, and is equipped with the liner on every installation foot.
The invention discloses a radar detection evasion system of a tunnel defect comprehensive detection vehicle, and as shown in figures 3, 4 and 5, the radar detection system 3 comprises a radar host, a plurality of radar antennas, a main control computer, a camera system, an antenna bracket 303 and a telescopic bracket 302, wherein the antenna bracket 303 is erected at the front end of the telescopic bracket 302, and the rear end of the telescopic bracket 302 is arranged on a vehicle body; the radar host is connected with the mileage positioning system through a synchronizer and used for receiving a trigger signal of the mileage positioning system; the radar host is connected with a plurality of radar antennas through a plurality of channels and is also connected with a main control computer, and the camera system is connected with the main control computer. The main frequency of the radar antenna is the central frequency of the antenna, the antenna with high central frequency is small in size, high in resolution and short in action distance, and the antenna with low central frequency is large in size, low in resolution and large in action distance; the radar detection system selects 400M antennas to form a probe array module, a time window is set to be 50ns, the number of sampling points is 512 points/scanning channel, and the scanning speed is designed according to the highest speed; the velocity can be used to analyze targets at a depth of around 2m in the detection region.
The antenna bracket 303 comprises a module platform 3031 which is a plate body, the front and the back of the two ends of the plate body extend outwards and are arranged in an arc shape downwards in an inclined mode to form an arc-shaped platform 3032, and the module platform 3031 is arranged in the front and the back direction and is arranged on a first support and a second support in a spanning mode; the upper wall surface of the module platform 3031 is provided with a radar antenna 301, and the left end and the right end of one side of the module platform 3031 close to the radar antenna 301 are provided with rollers 305; the number of the radar antennas 301 is plural; obstacle sensors 304 are mounted on both the arc-shaped platforms 3032 at both ends.
After receiving the trigger signal from the mileage positioning system 4, the radar detection system 3 starts to detect along the surface of the tunnel lining, so that the detection of the steel bar distribution in the internal structure of the tunnel lining, the thickness of the concrete of the primary lining and the concrete of the secondary lining through a radar antenna is realized, and the acceptance evaluation is carried out by combining with the construction specification.
As shown in fig. 6 and 7, the telescopic bracket 302 includes a chassis 3021 and a strut 3022, the chassis 3021 is mounted on the vehicle body, the strut 3022 includes a vertical rod mounted on the chassis 3021 and a movable rod disposed obliquely, and the upper end thereof is connected to the antenna bracket 303 through an elastic bracket 3023.
The radar detection system 3 further comprises a camera system, the camera system is connected with a main control computer, the camera system comprises a plurality of high-definition cameras, the high-definition cameras are connected with the main control computer through a network, the main control computer comprises at least one computer, the computers share a combined display, a radar antenna is a radar antenna consisting of 400M antennas, a time window is set to be 50ns, the number of sampling points is 512 points/scanning track, a radar antenna main frequency is the center frequency of the antenna, the size of the antenna with a high center frequency is small, the resolution is high, the action distance is short, the size of the antenna with a low center frequency is large, the resolution is low, the action distance is long, the radar antenna main frequency is selected, the scanning speed can analyze a target with the depth of about 2M in a detection area according to the maximum speed, the radar antenna 301 comprises a transmitting antenna and a receiving antenna, the radar detection system 3 further comprises an obstacle avoidance device, the radar outer tube obstacle avoidance device comprises a telescopic support 302, a radar antenna clamp 301, a clamp 301, a clamp 303 and an obstacle sensor 304, the clamp 301 is installed on the surface of an antenna clamp 3022 of an antenna 303 of an antenna bracket of an antenna, the radar outer tube, the clamp 3022, the radar antenna clamp 3022 is installed on the bracket of the antenna, the clamp 3022 of the clamp groove of the clamp bracket of the telescopic support, the telescopic support bracket 3022, the telescopic support is connected with the telescopic support, the telescopic support 3022, the telescopic support 3022, the telescopic support is connected with the telescopic support, the telescopic support 3022, the telescopic support is connected with the telescopic support 3022, the telescopic support is connected with the telescopic support, the telescopic support 3022, the telescopic support 3022, the telescopic support comprises a clamp 3022, the telescopic support 3022, the telescopic support 3022, the telescopic support comprises a telescopic support is formed by the telescopic support, the telescopic support 3022, the telescopic support 3022, the telescopic support is formed by the telescopic support, the telescopic support 3022, the telescopic support 3022, the telescopic support is formed by the telescopic support 3022, the telescopic support is formed by the.
A sliding cabin is arranged on the detection vehicle, and the sliding cabin can slide into the operation compartment along a track on the frame; when the detection system does not work, the sliding cabin is covered outside the detection system to completely cover the detection system; when the detection system works, the sliding cabin slides into the operation carriage along the track, so that the detection system is completely exposed.
Claims (4)
1. The radar detection avoidance system of the tunnel disease comprehensive detection vehicle is characterized in that the radar detection avoidance system (3) comprises a radar host, a plurality of radar antennas (301), a camera system, a main control computer, an antenna bracket (303) and a telescopic bracket (302), wherein the antenna bracket (303) is connected with the telescopic bracket (302) and is arranged on a vehicle body through the telescopic bracket (302); the radar host is connected with the mileage positioning system through a synchronizer and used for receiving a trigger signal of the mileage positioning system; the radar host is connected with the plurality of radar antennas through multiple channels and is also connected with the main control computer, and the camera system is connected with the main control computer.
2. The radar detection avoiding system of the tunnel defect comprehensive detection vehicle as claimed in claim 1, wherein the antenna bracket (303) comprises a module platform (3031), which is a plate body, wherein the front surface and the rear surface of each of two ends of the plate body extend outwards and are obliquely arranged in a downward arc shape to form an arc-shaped platform (3032), and the module platform (3031) is arranged in the front-rear direction and straddles a first support and a second support; the upper wall surface of the module platform (3031) is provided with a radar antenna (301), and the left end and the right end of one side, close to the radar antenna (301), of the module platform (3031) are provided with rollers (305);
and obstacle sensors (304) are respectively arranged on the two arc-shaped platforms (3032) at the two ends and used for detecting obstacles on the lining wall of the tunnel.
3. The radar detection avoiding system of the tunnel defect comprehensive detection vehicle as claimed in claim 2, wherein the radar antenna (301) is a radar probe array module consisting of 400M antennas, wherein a time window is set to 50ns, and the number of sampling points is 512 points/scanning track.
4. The radar detection avoiding system of the tunnel disease comprehensive detection vehicle as claimed in claim 1, 2 or 3, wherein the telescopic bracket (302) comprises a chassis (3021) and a strut (3022), the chassis (3021) is mounted on a vehicle body, the strut (3022) comprises a vertical rod and a movable rod, the vertical rod is mounted on the chassis (3021), the movable rod is obliquely arranged, and the upper end of the movable rod is connected with the antenna bracket (303) through an elastic bracket (3023).
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| CN202010259734.7A CN111398950A (en) | 2020-04-03 | 2020-04-03 | Radar detection evasion system of tunnel defect comprehensive detection vehicle |
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| CN202010259734.7A CN111398950A (en) | 2020-04-03 | 2020-04-03 | Radar detection evasion system of tunnel defect comprehensive detection vehicle |
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| CN111398950A true CN111398950A (en) | 2020-07-10 |
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Application publication date: 20200710 |