CN111912857B - Diversion tunnel rope climbing detection robot and detection method thereof - Google Patents
Diversion tunnel rope climbing detection robot and detection method thereof Download PDFInfo
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- CN111912857B CN111912857B CN202010599031.9A CN202010599031A CN111912857B CN 111912857 B CN111912857 B CN 111912857B CN 202010599031 A CN202010599031 A CN 202010599031A CN 111912857 B CN111912857 B CN 111912857B
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- 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
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
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Abstract
The invention relates to a diversion tunnel climbing detection robot and a detection method thereof, wherein the diversion tunnel climbing detection robot comprises a carrier trolley and a mounting base arranged on the carrier trolley, photoelectric encoders are arranged on wheels of the carrier trolley, a climbing rope lifter, a connecting rod, a central control unit and an inertia measurer are sequentially arranged on the mounting base from front to back, an illuminating lamp, a video camera and a wireless image sensor are arranged on the upper surface of the climbing rope lifter, the wireless image sensor can transmit data collected by the video camera to a road surface control center, a panoramic camera and 360-degree illuminating equipment which are electrically connected with the central control unit are arranged on the connecting rod, and a laser scanner is electrically connected with the upper surface of the inertia measurer. The diversion tunnel climbing rope detection robot prepared by the invention can realize systematic inspection work on large diversion tunnels by a laser section scanning technology.
Description
Technical Field
The invention relates to the field of tunnel detection equipment, in particular to a diversion tunnel climbing rope detection robot and a detection method thereof.
Background
Hydropower as a renewable resource and a clean energy source occupies a great proportion in the total power generation amount of developed countries, for example, norwegian hydropower accounts for more than 95% of the total power generation amount of the country, brazil hydropower has a proportion of more than 70%, canadian hydropower has a proportion of nearly 60%, and by 2016, the proportion of hydropower in China is about 12.2%. In the operation process of the hydroelectric power station, water in a reservoir is led to a vertical shaft or an inclined shaft through a water pipe with large height difference to obtain large flow velocity, so that a generator set at the bottom end of a water guide channel is pushed to work, a water guide tunnel has the risk of concrete erosion in the process of continuous scouring of water flow, abnormal shutdown maintenance can be caused at low cost, a unit water turbine and a flow channel can be damaged at high cost, the operation of a water leading power generation system of the whole hydroelectric power station is influenced, and an immeasurable result is caused. Therefore, apparent defect detection is carried out on the large diversion tunnel, and the development trend of defect analysis is an important guarantee for safe and stable operation of the large hydropower station.
Diversion tunnels are usually buried deeply underground, and the tunnel internal environment is abominable, and wherein, the slope steeply, diversion tunnel inclined shaft section that the drop is big, personnel can't directly get into, and the mode fund input of setting up the scaffold is big, the period is long, the operation risk is high, inefficiency and difficult implementation, and at present, there is not ripe solution yet to carry out systematic inspection work to large-scale diversion tunnel, can't master the inclined shaft concrete surface defect condition comprehensively.
Therefore, the prior art still needs to be improved and developed.
Disclosure of Invention
In view of the defects of the prior art, the application aims to provide a diversion tunnel rope climbing detection robot and a detection method thereof, and aims to solve the technical problem that systematic detection work cannot be carried out on a large diversion tunnel in the prior art.
In a first aspect, the application provides a diversion tunnel rope climbing detection robot, wherein, including carrier dolly and setting up mounting base on the carrier dolly, install photoelectric encoder on the wheel of carrier dolly, from the front to the back has set gradually rope climbing lift, connecting rod, central control unit and inertial measurement ware on the mounting base, wherein, the inertial measurement ware reaches photoelectric encoder with the central control unit electricity is connected, the upper surface of rope climbing lift is provided with light, camera and wireless image sensor, be provided with water-absorbing and water-filtering device on the preceding terminal surface of rope climbing lift, wireless image sensor can with the data transmission to the road surface control center that the camera gathered, be provided with on the connecting rod with panoramic camera and 360 lighting apparatus that the central control unit electricity is connected, the upper surface electricity of inertial measurement ware is connected with laser scanner.
In the above-mentioned implementation, diversion tunnel rope climbing detection robot who prepares adopts the three-dimensional detection method, utilize laser scanner's remote measurement function, acquire diversion tunnel sectional three-dimensional information fast, compare in traditional diversion tunnel surface disease detection and mainly rely on people's eye to patrol and examine, intensity of labour is big, the operating efficiency is low, the reliability of testing result is poor, and need professional experienced personnel to judge, to some large-scale diversion tunnels, the people can't arrive at all, and the mode of setting up the scaffold is with high costs, the period is long, the operation risk is high, the problem of inefficiency and difficult implementation, diversion tunnel surface disease is detected to diversion tunnel rope climbing detection robot that this application utilized preparation, the method is simple, fast, the precision is high, and is with low costs, and easy integration and implementation.
Optionally, the central control unit comprises an embedded computer, a synchronization controller and a power manager.
In the above implementation manner, the embedded computer can control the inertia measurer, the laser scanner, the photoelectric encoder and the panoramic camera to collect and store data, a technician can also set and adjust various parameters in the data collection process through the embedded computer, the synchronous controller is the inertia measurer, the laser scanner, the photoelectric encoder and the panoramic camera provide a uniform time reference, so that the detection data acquired by the inertia measurer, the laser scanner, the photoelectric encoder and the panoramic camera in the same time period can be collected, the subsequent data analysis process is facilitated, the power manager manages the battery pack inside the diversion tunnel climbing rope detection robot, and provides a stable power supply for each device inside the diversion tunnel climbing rope detection robot.
Optionally, the front wheel of the carrier trolley is a universal wheel, the rear wheel of the carrier trolley is a fixed wheel, and the photoelectric encoder is arranged on the rear wheel of the carrier trolley.
In the implementation mode, the front wheels can control the carrier trolley to move forwards and backwards, and the movement flexibility is high.
Optionally, a water absorbing and filtering device is arranged on the front end face of the rope climbing elevator.
In the above implementation manner, the water absorption and filtration device is arranged on the front end face of the rope climbing elevator, so that the prepared diversion tunnel rope climbing detection robot is free from the interference of accumulated water in the diversion tunnel in the working process, the accumulated water in the diversion tunnel is difficult to drain, the rope climbing elevator permeates into the diversion tunnel rope climbing detection robot.
Optionally, the edge of the mounting base is provided with a guard rail and a waterproof cover.
In the above implementation manner, the protective guard and the waterproof cover are arranged at the edge of the mounting base, so that the diversion tunnel rope climbing detection robot can not collide with the internal precise detection equipment when falling in the detection process, and the damage of water splashing to the internal precise detection equipment is avoided.
Optionally, the connecting bar includes a vertical bar vertically disposed on the mounting substrate and a parallel bar disposed on top of the vertical bar and parallel to the mounting base.
Optionally, the panoramic camera is arranged at one end of the parallel rod far away from the vertical rod, and the 360 ° lighting device is arranged in the middle of the parallel rod.
In a second aspect, based on the same inventive concept, the present application further provides a tunnel detection method, including the steps of:
starting the diversion tunnel rope climbing detection robot to detect the road condition in the tunnel, and determining the detection route of the diversion tunnel rope climbing detection robot;
and starting the diversion tunnel rope climbing detection robot to acquire full-section three-dimensional data of the tunnel along the detection route.
In the implementation process, firstly, only the rope climbing elevator, the connecting rod and the central control unit are installed on the installation base, the illuminating lamp, the camera and the wireless image sensor electrically connected with the camera are installed on the upper surface of the rope climbing elevator, the water absorption and filtration device is installed on the front end surface of the rope climbing elevator, the environment in the diversion tunnel is monitored through the camera, corresponding image information is transmitted to the road surface control center through the wireless image sensor, and technicians can conveniently determine detection routes. And then, when a detection route of the diversion tunnel rope climbing detection robot is determined, namely the inertia measurer and the laser scanner electrically connected to the upper surface of the inertia measurer are installed on the diversion tunnel rope climbing detection robot, meanwhile, the connecting rod is installed, and a panoramic camera and 360-degree lighting equipment electrically connected with the central control unit are installed on the connecting rod, so that the diversion tunnel rope climbing detection robot is started to acquire full-section three-dimensional data, reflection intensity information and image information of the tunnel along the detection route.
Optionally, the step of starting diversion tunnel rope climbing detection robot along the full section three-dimensional data of detection route collection tunnel still includes:
and repeatedly acquiring full-section three-dimensional data of the tunnel along the detection route, and storing the multi-time acquired full-section three-dimensional data into the embedded computer of the central control unit.
Optionally, start before the diversion tunnel rope climbing detection robot detects the step of the road conditions in the tunnel, still including the step:
and detecting the performance of the diversion tunnel rope climbing detection robot.
Drawings
FIG. 1 is a schematic structural view of a diversion tunnel rope-climbing detection robot according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the detection process of the diversion tunnel climbing rope detection robot of the present invention.
Fig. 3 is a schematic view of the field operation of the diversion tunnel rope climbing detection robot of the present invention.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Traditional diversion tunnel surface disease detects mainly to rely on people's eye to patrol and examine, and intensity of labour is big, and the operating efficiency is low, and the reliability of testing result is poor, and needs professional experienced personnel to judge, to some large-scale diversion tunnels, for example hectometer level tunnel, the people can't arrive at all, and the mode of setting up the scaffold is with high costs, the period of labor is long, the operation risk is high, inefficiency and difficult implementation.
Based on the technical problems in the prior art, the invention provides a diversion tunnel rope climbing detection robot and a detection method thereof, wherein as shown in fig. 1, the diversion tunnel rope climbing detection robot comprises a carrier trolley 1 and a mounting base 2 arranged on the carrier trolley, photoelectric encoders 3 are mounted on wheels (10 and 11) of the carrier trolley 1, a rope climbing elevator 20, a connecting rod 21, a central control unit 22 and an inertia measurer 23 are sequentially arranged on the mounting base 2 from front to back, wherein the inertia measurer 23 and the photoelectric encoders 3 are electrically connected with the central control unit 22, an illuminating lamp 201, a video camera 202 and a wireless image sensor 203 electrically connected with the video camera 202 are arranged on the upper surface of the rope climbing elevator 20, the wireless image sensor 203 can transmit data collected by the video camera 202 to a road surface control center, a panoramic camera 211 and a 360-degree illuminating device 212 electrically connected with the central control unit 22 are arranged on the connecting rod 21, and a laser scanner 231 is electrically connected with the upper surface of the inertia measurer 23.
Compared with the existing ultrasonic and electromagnetic detection technologies, manual field review is needed, the automation degree is high, the two-dimensional disease detection system records disease information by adopting an image acquisition technology, the image contrast is too strong due to uneven illumination, the characteristic information of the disease is covered, the missing recognition rate and the incomplete recognition rate of the disease are high, in addition, under the condition that water mist exists in the tunnel, a three-dimensional detection method is adopted in the embodiment, the three-dimensional information of the section of the diversion tunnel can not be recorded by the acquired image, and the three-dimensional information of the section of the diversion tunnel can be quickly acquired by utilizing the remote measurement function of the laser scanner.
In this embodiment, each equipment on diversion tunnel rope climbing detection robot is the removable connection, can assemble according to actual conditions, when utilizing diversion tunnel rope climbing detection robot examines time measuring to the tunnel, central control unit 22 is connected rather than the electricity through control laser scanner 231 can scan diversion tunnel internal environment, acquires diversion tunnel's three-dimensional information and reflection intensity information, simultaneously, through control rather than the electricity be connected panoramic camera 211, panoramic camera 211 is in 360 under lighting apparatus 212's the assistance, can shoot the image information that obtains diversion tunnel, diversion tunnel's three-dimensional information and reflection intensity information and image information can synchronous acquisition. Further, the photoelectric encoder 3 arranged on the wheels (10 and 11) of the carrier trolley 1 records the traveling mileage information of the diversion tunnel rope climbing detection robot, so that the obtained three-dimensional information, reflection intensity information and image information of the diversion tunnel can be corresponding to the position inside the diversion tunnel, and more accurate internal environment information of the diversion tunnel can be obtained. In addition, inertia caliber 23 can synchronously record the high-precision and high-density posture data of diversion tunnel rope climbing detection robot, and to a certain extent, the accuracy of diversion tunnel internal environment information is improved, in this embodiment, central control unit 22 controls inertia caliber 23, laser scanner 231, photoelectric encoder 3 and panoramic camera 211 which are electrically connected with the central control unit, and stores the acquired related data, and the staff acquires the information that diversion tunnel rope climbing detection robot returns can be right to analyze the internal environment of diversion tunnel, so that the disease on the surface of diversion tunnel can be comprehensively detected.
Furtherly, still be provided with rope climbing lift 20 on the diversion tunnel rope climbing detection robot, rope climbing lift 20 can solve the inside unable construction of diversion tunnel, the technical problem that equipment is difficult to the motion on the inclined shaft, and can not cause the injury to the tunnel, rope climbing lift 20's upper surface be provided with light 201, camera 202 and with wireless image sensor 203 that camera 202 electricity is connected, in this embodiment, when utilizing diversion tunnel rope climbing detection robot detects the tunnel before, the accessible camera 202 is in illumination of light 201 is right diversion tunnel rope climbing detection robot's detection route is confirmed to pass through the road conditions of the detection route of confirming wireless image sensor transmission to ground control center, ensures diversion tunnel rope climbing detection robot does not have the potential safety hazard in the road segment of advancing, guarantees in the testing process diversion tunnel rope climbing detection robot can not appear being blocked or fall down in the tunnel. In addition, be provided with water filtering device 204 that absorbs water on climbing rope lift 20's the preceding terminal surface, water filtering device 204 that absorbs water can prevent diversion tunnel climbing rope detection robot is in the testing process, and rivers are followed climbing rope lift 20 department infiltrates diversion tunnel climbing rope detection robot's inside reduces diversion tunnel climbing rope detection robot's life and right diversion tunnel climbing rope detection robot's performance causes the influence.
According to the analysis, the diversion tunnel climbing rope detection robot prepared in the embodiment can realize systematic detection work on large diversion tunnels by a laser section scanning technology.
In some embodiments, the central control unit 22 includes an embedded computer, a synchronization controller, and a power manager.
In this embodiment, the embedded computer in the central control unit 22 can control the inertia measuring unit 23, the laser scanner 231, the photoelectric encoder 3, and the panoramic camera 211 to acquire and store data, and a technician can also set and adjust various parameters in the data acquisition process through the embedded computer, the synchronous controller provides a uniform time reference for the inertia measuring unit 23, the laser scanner 231, the photoelectric encoder 3, and the panoramic camera 211, so that the detection data acquired by the inertia measuring unit 23, the laser scanner 231, the photoelectric encoder 3, and the panoramic camera 211 in the same time period can be collected, which facilitates the subsequent data analysis process, and the power manager manages the battery pack in the diversion tunnel climbing rope detection robot and provides a stable power supply for each device in the diversion tunnel climbing rope detection robot.
In some embodiments, the front wheels 10 of the carrier trolley 1 are universal wheels, the rear wheels 11 of the carrier trolley 1 are fixed wheels, and the photoelectric encoder 3 is disposed on the rear wheels 11 of the carrier trolley 1.
In this embodiment, the front wheel 10 of the carrier trolley 1 is a universal wheel, and is capable of adjusting the movement direction of the diversion tunnel rope climbing detection robot, the rear wheel 11 of the carrier trolley 1 is a fixed wheel, and the photoelectric encoder 3 arranged on the rear wheel 11 is capable of accurately recording the traveling mileage information of the diversion tunnel rope climbing detection robot.
In some embodiments, the height of the front wheels 10 and the rear wheels 11 of the carrier trolley 1 is between 30 and 50cm.
In this embodiment, considering that the depth of the accumulated water in the diversion tunnel is generally about 40cm, in order to ensure that the diversion tunnel rope climbing detection robot can still work normally under the condition of accumulated water, and each detection device is not affected by the accumulated water, the heights of the front wheel 10 and the rear wheel 11 of the carrier trolley 1 are 30-50cm, and the heights of the front wheel 10 and the rear wheel 11 of the carrier trolley 1 can be adjusted according to actual conditions.
In some embodiments, the edge of the mounting base is provided with a guard rail and a waterproof cover.
In this embodiment, through installation base 2's edge sets up rail guard and buckler, has guaranteed diversion tunnel climbing rope inspection robot takes place when empting in the testing process, can not collide with the precision detection equipment of inside to and avoid splashing to cause the injury to the precision detection equipment of inside.
In some embodiments, the connection rod 21 includes a vertical rod vertically disposed on the mounting substrate 2 and a parallel rod disposed on top of the vertical rod and parallel to the mounting substrate 2, the panoramic camera 212 is disposed at one end of the parallel rod away from the vertical rod, and the 360 ° illumination device 212 is disposed in the middle of the parallel rod.
Based on the same inventive concept, the invention also provides a tunnel detection method, which comprises the following steps:
s10, starting the diversion tunnel rope climbing detection robot to detect road conditions in the tunnel, and determining a detection route of the diversion tunnel rope climbing detection robot;
s20, starting the diversion tunnel rope climbing detection robot to collect full-section three-dimensional data of the diversion tunnel along the detection route.
In this embodiment, since each device on the diversion tunnel rope climbing detection robot is detachably connected, and can be assembled according to actual conditions, when the diversion tunnel rope climbing detection robot is started to detect road conditions in a tunnel, and a detection route of the diversion tunnel rope climbing detection robot is determined, the installation base 2 can be only provided with the rope climbing elevator 20, the connecting rod 21 and the central control unit 22, the upper surface of the rope climbing elevator 20 is provided with the illuminating lamp 201, the camera 202 and the wireless image sensor 203 electrically connected with the camera 202, the front end surface of the rope climbing elevator 20 is provided with the water absorption and filtration device 204, the environment in the diversion tunnel is monitored by the camera 202, and corresponding image information is transmitted to the road surface control center through the wireless image sensor 203, so that technicians can conveniently determine the detection route.
Further, after the detection route of the diversion tunnel rope climbing detection robot is determined, the inertia measurer 23 and the laser scanner 231 electrically connected to the upper surface of the inertia measurer 23 are installed on the diversion tunnel rope climbing detection robot, and at the same time, the connecting rod 21 is installed and the panoramic camera 211 and the 360 ° lighting device 212 electrically connected to the central control unit 22 are installed on the connecting rod 21. And then, starting the diversion tunnel rope climbing detection robot to acquire full-section three-dimensional data, reflection intensity information and image information of the tunnel along the detection route.
In some embodiments, the step of starting the diversion tunnel rope-climbing detection robot to collect the full-section three-dimensional data of the diversion tunnel along the detection route further includes:
and repeatedly acquiring full-section three-dimensional data of the diversion tunnel along the detection route, and storing the repeatedly acquired full-section three-dimensional data of the diversion tunnel into the embedded computer of the central control unit.
In this embodiment, the accuracy of data acquisition can be improved by repeatedly acquiring data for many times.
Optionally, start before the diversion tunnel rope climbing detection robot detects the step of the road conditions in the tunnel, still including the step:
and detecting the performance of the diversion tunnel rope climbing detection robot.
The invention is further illustrated by the following specific examples:
example 1
The method for detecting the internal environment of the inclined shaft of the large diversion tunnel comprises the following specific steps:
(1) The carrier trolley is arranged at the lower reaches of the diversion tunnel inclined shaft, only a climbing rope lifter is installed on an installation base of the carrier trolley, one end of a traction rope and a steel wire anti-falling rope is fixed at an upper-reach anchor point (namely a gate and an access point) of the diversion tunnel, the other end of the traction rope and the steel wire anti-falling rope is placed to the bottom of the diversion tunnel inclined shaft from the upper reaches of the diversion tunnel inclined shaft, the other end of the traction rope is connected with the climbing rope lifter, the other end of the steel wire anti-falling rope is connected with the carrier trolley, and the carrier trolley is ensured to climb up or slide down along the inner wall of the diversion tunnel inclined shaft under the traction of the climbing rope lifter.
(2) Install light, camera and wireless image transmitter on the mounting base of carrier dolly, gather the carrier dolly and move the road conditions information at top from diversion tunnel bottom to with road conditions information transmission to road surface control center, survey the road conditions of carrier dolly on the route line clearly, guarantee not have the potential safety hazard when traveling on this route, guarantee that follow-up measurement in-process can not blocked in the diversion tunnel, hang or fall.
(3) The inertial measurement device, the laser scanner, the connecting rod, the panoramic camera, the 360-degree lighting device and the central control unit are installed on the carrier trolley, a complete diversion tunnel rope climbing detection robot is built, the traction rope and the steel wire anti-falling rope are fixed at the corresponding position of the diversion tunnel rope climbing detection robot, an information acquisition program of the diversion tunnel rope climbing detection robot on the diversion tunnel internal environment is started, the rope climbing lifter on the remote control diversion tunnel rope climbing detection robot advances from the bottom to the top along the traction rope, and the diversion tunnel internal environment information is continuously acquired in the ascending process.
(4) And (4) repeating the step (3) to store the information acquired for many times and verify the repetition precision.
(5) The diversion tunnel rope climbing detection robot stops working, the traction rope and the steel wire anti-falling rope are untied, the diversion tunnel rope climbing detection robot withdraws from the bottom of the diversion tunnel inclined shaft, the traction rope and the steel wire anti-falling rope withdraw from the top, and the field data collection task is completed.
To sum up, the diversion tunnel rope climbing detection robot that prepares that this application was prepared can realize developing systematic inspection work to large-scale diversion tunnel through laser section scanning technique, is favorable to the disease on diversion tunnel surface all around to detect comprehensively.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (2)
1. A diversion tunnel climbing rope detection robot is characterized by comprising a carrier trolley and a mounting base arranged on the carrier trolley, wherein photoelectric encoders are mounted on wheels of the carrier trolley, a climbing rope elevator, a connecting rod, a central control unit and an inertia measurer are sequentially arranged on the mounting base from front to back, the inertia measurer and the photoelectric encoders are electrically connected with the central control unit, an illuminating lamp, a video camera and a wireless image sensor are arranged on the upper surface of the climbing rope elevator, a water absorption and filtration device is arranged on the front end surface of the climbing rope elevator, the wireless image sensor can transmit data collected by the video camera to a road surface control center, a panoramic camera and 360-degree illuminating equipment which are electrically connected with the central control unit are arranged on the connecting rod, the central control unit comprises an embedded computer, a synchronous controller and a power supply manager, the upper surface of the inertia measurer is electrically connected with the laser scanner, the front wheel of the carrier trolley is a universal wheel, the rear wheel of the carrier trolley is a fixed wheel, the photoelectric encoders are arranged on the rear wheel of the carrier trolley, and the rear wheel of the trolley is a universal wheel of the photoelectric encoder; the edge of the mounting base is provided with a protective guard and a waterproof cover; the connecting rod comprises a vertical rod vertically arranged on the mounting base and a parallel rod arranged on the top of the vertical rod and parallel to the mounting base; the panoramic camera is arranged at one end of the parallel rod, which is far away from the vertical rod, and the 360-degree lighting equipment is arranged in the middle of the parallel rod; each equipment on diversion tunnel rope climbing detection robot is the connection of dismantling.
2. The method for detecting the tunnel by adopting the diversion tunnel climbing rope detection robot as claimed in claim 1 is characterized by comprising the following steps:
starting the diversion tunnel climbing rope detection robot to detect road conditions in the tunnel, and determining a detection route of the diversion tunnel climbing rope detection robot;
starting the diversion tunnel rope climbing detection robot to acquire full-section three-dimensional data of the tunnel along the detection route;
before diversion tunnel rope climbing detection robot detects the tunnel, still including the step:
confirming a detection route of the diversion tunnel rope climbing detection robot under the irradiation of an illuminating lamp through a camera, and transmitting the road condition of the confirmed detection route to a ground control center through a wireless image sensor;
the start before diversion tunnel rope climbing detection robot carries out the step that detects to the road conditions in the tunnel, still including the step:
detecting the performance of the diversion tunnel rope climbing detection robot;
the step of starting diversion tunnel rope climbing detection robot follows the full section three-dimensional data of tunnel is gathered to the detection route still including:
and repeatedly acquiring full-section three-dimensional data of the tunnel along the detection route, and storing the multi-time acquired full-section three-dimensional data to the embedded computer of the central control unit.
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| CN112629899B (en) * | 2020-12-07 | 2023-04-07 | 杭州申昊科技股份有限公司 | Wall climbing tunnel detection system based on suckers and detection method thereof |
| CN113525554A (en) * | 2021-06-11 | 2021-10-22 | 中南大学 | Detection vehicle for hydraulic tunnel |
| CN113566809A (en) * | 2021-06-29 | 2021-10-29 | 陕西省引汉济渭工程建设有限公司 | Artificial road sign assisted water delivery tunnel detection robot navigation positioning device and implementation method |
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