CN112345537B - Appearance detection platform suitable for tunnel - Google Patents
Appearance detection platform suitable for tunnel Download PDFInfo
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- CN112345537B CN112345537B CN202011204126.2A CN202011204126A CN112345537B CN 112345537 B CN112345537 B CN 112345537B CN 202011204126 A CN202011204126 A CN 202011204126A CN 112345537 B CN112345537 B CN 112345537B
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- 238000001514 detection method Methods 0.000 title claims abstract description 95
- 238000009434 installation Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000007599 discharging Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
Classifications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- 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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- 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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Abstract
The invention provides an appearance detection platform suitable for a tunnel, which is shown in fig. 1-3, and comprises an upper detection platform, a lower detection platform and a moving guide mechanism, wherein the upper detection platform is provided with a camera device 1, and the camera device 1 is used for collecting images; the lower detection platform is connected with the upper detection platform and is used for supporting the upper detection platform; the movable guide mechanism is arranged on the lower detection platform and used for walking and guiding the detection platform, and the movable detection platform is adopted, so that the current situation that the manual measurement is taken as the main part and the detection personnel hold the detection equipment for detection in the prior art is overcome, the labor intensity of the detection personnel is reduced, the detection quality is improved, the movable detection platform is safe and efficient, convenient to install and disassemble and assemble and convenient to transport, the platform height is adjustable, the movable detection platform is applicable to detection operation of tunnels with different diameters, the processing and manufacturing cost is low, and the cost expenditure is greatly saved.
Description
Technical Field
The invention relates to the field of hydraulic engineering tunnel detection, in particular to an appearance detection platform suitable for tunnels.
Background
In hydraulic engineering, a closed water delivery channel is built by digging through a mountain for water delivery or flood discharge, and is called a hydraulic tunnel. According to the different tasks, the water draining tunnels and the water draining tunnels can be classified. The water discharge tunnel is used for discharging water required by irrigation, power generation, water supply and the like from the reservoir; the spillway tunnel is used for discharging partial flood, discharging tail water of a hydropower station, emptying a reservoir for overhauling a junction building or due to the need of combat readiness and the like, discharging sand and the like in cooperation with the spillway.
Because hydraulic tunnels are subjected to adverse effects caused by water flow scouring, water attachment erosion, geological sedimentation and the like for a long time, the defects of cracks, honeycomb pitting surfaces, exposed ribs and the like can appear on the appearance of concrete, and the safe operation of the tunnels is seriously influenced. At present, the hydraulic tunnel is limited by a detection environment, the main detection means is mainly manual measurement, and a detector holds detection equipment into the tunnel to implement an appearance detection task. The method has the advantages that the labor intensity of the detection personnel is high, the potential safety hazard is high, and the quality of the manually collected image data is difficult to guarantee.
Patent document CN109974949a discloses a detection device to circular tunnel movement joint seepage, the device detachable sets up the expansion joint department that inlays the stagnant water piece between two sections circular tunnels, detection device includes annular rubber tape, atmospheric pressure detection device and two sets of annular tooth formula connection steel sheet, wherein, every tooth formula connection steel sheet of group a plurality of junctions all are fixed and are equipped with anti-screw device, promote tooth formula connection steel sheet along tooth form connector department tangential direction motion through anti-screw device to make tooth formula connection steel sheet with annular rubber tape jack-up on circular tunnel inboard, be equipped with an inflation valve on the annular rubber tape, atmospheric pressure detection device is connected with the inflation valve through a pipe, but the annular rubber tape is poor to the tunnel adaptability of different diameter ranges in this design, and detection efficiency is not high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an appearance detection platform suitable for tunnels.
According to the appearance detection platform suitable for the tunnel, provided by the invention, the appearance detection platform comprises:
the upper detection platform is provided with a camera device which is used for collecting images;
the lower detection platform is connected with the upper detection platform and used for supporting the upper detection platform;
and the movable guide mechanism is arranged on the lower detection platform and used for walking and guiding the detection platform.
Preferably, the upper detection platform comprises a camera shooting fixing rod and a camera shooting fixing disc;
the camera shooting fixing rods are arranged in a plurality, and are uniformly distributed along the circumferential direction of the camera shooting fixing disc, wherein one end of each camera shooting fixing rod is arranged on the camera shooting fixing disc, and a plurality of camera shooting installation positions are arranged at the other end of each camera shooting fixing rod and used for installing a camera shooting device.
Preferably, the upper detection platform further comprises an upper platform frame and an upper platform diagonal brace;
the camera shooting fixing rod is arranged on the upper platform frame;
one end of the upper platform diagonal brace is connected with the upper platform frame, and the other end of the upper platform diagonal brace is arranged on the lower detection platform.
Preferably, the lower detection platform comprises a lower platform fixing frame and a lower platform supporting plate;
the lower platform fixing frame is connected with an upper platform frame arranged on the upper detection platform, and the lower platform supporting plate is arranged on the lower platform fixing frame.
Preferably, the lower detection platform further comprises a plurality of lower platform support rods;
and a plurality of lower platform supporting rods are arranged on the lower platform fixing frame.
Preferably, the plurality of lower platform support rods are uniformly arranged on six sides of the lower platform fixing frame.
Preferably, the moving guide mechanism comprises a side guide device and a bottom surface traveling device;
the detection lower platform comprises a lower platform fixing frame, and the side guide device comprises two groups of side guide assemblies symmetrically arranged on two sides of the lower platform fixing frame;
the bottom surface running gear is installed on the lower platform fixed frame.
Preferably, the bottom surface walking device comprises a moving wheel, a front guide wheel and a bottom surface supporting rod assembly;
the movable wheels and the front guide wheels are respectively arranged on the lower platform fixing frame through bottom support rod assemblies, and the distance between the movable wheels and the lower platform fixing frame can be adjusted through the bottom support rod assemblies;
the bottom surface traveling device can travel in a manual driving or machine driving mode, and when the machine driving mode is adopted, the moving wheels and/or the front guide wheels are connected with the driving device.
Preferably, the side guide assembly comprises a side support bar assembly and a side guide wheel;
the side guide wheels are mounted on the lower platform fixing frame through side support rod assemblies, and the distance from the lower platform fixing frame can be adjusted through the side support rod assemblies.
Preferably, the support structures of the upper detection platform, the lower detection platform and the movable guide mechanism are all made of aluminum alloy materials.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention overcomes the current situation that the manual measurement is the main part in the prior art and the detection equipment is held by the detection personnel by adopting the movable detection platform, reduces the labor intensity of the detection personnel, improves the detection quality, and has the advantages of safety, high efficiency and strong practicability.
2. The detachable truss structure is adopted, so that the device is convenient to install, assemble and disassemble, convenient to transport, adjustable in platform height, applicable to detection operation of tunnels with different diameters, low in processing and manufacturing cost and capable of greatly saving cost.
3. The connecting and supporting structure is made of aluminum alloy, and is light in structure, convenient to assemble and disassemble and convenient to transport.
4. The platform has large available area and good expansion function, and can be added with detection equipment at any time according to the actual detection requirement so as to improve the detection quality and be beneficial to the subsequent research and development and application.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the front view of the structure of the present invention;
FIG. 2 is a schematic diagram of the left side of the structure of the present invention;
fig. 3 is a schematic top view of the structure of the present invention.
The figure shows:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides an appearance detection platform suitable for a tunnel, which is shown in fig. 1-3, and comprises an upper detection platform, a lower detection platform and a moving guide mechanism, wherein the upper detection platform is provided with a camera device 1, and the camera device 1 is used for collecting images; the lower detection platform is connected with the upper detection platform and is used for supporting the upper detection platform; the movable guide mechanism is arranged on the lower detection platform and used for walking and guiding the detection platform. According to the invention, the supporting structures of the upper detection platform, the lower detection platform and the movable guide mechanism are preferably made of aluminum alloy, so that the structure is light and convenient to transport.
Specifically, as shown in fig. 1, the upper detection platform includes a plurality of camera fixing rods 2 and a camera fixing plate 3, in a preferred embodiment, the number of the camera fixing rods 2 is plural, and the plural camera fixing rods 2 are uniformly arranged along the circumferential direction of the camera fixing plate 3, where one end of the camera fixing rod 2 is installed on the camera fixing plate 3, and the other end of the camera fixing rod 2 is provided with plural camera installation positions for installing the camera device 1, in practical application, the camera device 1 selects the camera installation positions according to actual requirements, and the camera device 1 is in a ring arrangement on the whole device, so that camera collection can be performed on all directions of the tunnel.
Further, the upper detection platform further comprises an upper platform frame 4 and an upper platform diagonal brace 5, the camera shooting fixing rod 2 is installed on the upper platform frame 4, one end of the upper platform diagonal brace 5 is connected with the upper platform frame 4, and the other end of the upper platform diagonal brace 5 is installed on the lower detection platform.
Specifically, as shown in fig. 1, the lower detection platform comprises a lower platform fixing frame 6 and a lower platform supporting plate 8, wherein the lower platform fixing frame 6 is connected with the upper platform frame 4, and the lower platform supporting plate 8 is installed on the lower platform fixing frame 6.
Further, the lower detection platform further comprises a plurality of lower platform supporting rods 7, the plurality of lower platform supporting rods 7 are arranged on the lower platform fixing frame 6, in a preferred embodiment, the plurality of lower platform supporting rods 7 are uniformly arranged on six faces of the lower platform fixing frame 6, so that the supporting strength of the lower platform fixing frame 6 is greatly improved, and the lower platform supporting rods 7 and the lower platform supporting plates 8 play a role in supporting and reinforcing the lower platform fixing frame 6.
Specifically, as shown in fig. 1 to 3, the moving guiding mechanism comprises a side guiding device and a bottom surface running device, the lower detection platform comprises a lower platform fixing frame 6, the side guiding device comprises two groups of side guiding components symmetrically arranged on two sides of the lower platform fixing frame 6, and the bottom surface running device is installed on the lower platform fixing frame 6.
Further, as shown in fig. 1 to 3, the side guide assembly includes a side support bar assembly and a side guide wheel 12, the side guide wheel 12 is mounted on the lower platform fixing frame 6 through the side support bar assembly and the side guide wheel 12 can adjust the distance from the lower platform fixing frame 6 through the side support bar assembly, in a preferred embodiment, the side support bar assembly includes a side fixing bar 15 and a side support bar 16, the side guide wheel 12 is mounted at one end of the side fixing bar 15, the other end of the side fixing bar 15 is provided with a plurality of mounting holes arranged at intervals along the length direction for connecting the lower platform fixing frame 6, one end of the side support bar 16 is connected with the side fixing bar 15, and the other end is mounted on the lower platform fixing frame 6 for reinforcing support of the side fixing bar 15.
Still further, the bottom surface running gear includes removal wheel 10, preceding leading wheel 11 and bottom surface bracing piece subassembly, removal wheel 10, preceding leading wheel 11 are installed at the rear portion, the front portion of lower platform fixed frame 6 through the bottom surface bracing piece subassembly respectively, the bottom surface bracing piece subassembly includes removal wheel dead lever 9, preceding leading wheel dead lever 13 and preceding leading wheel bracing piece 14, front leading wheel 11 is installed on preceding leading wheel dead lever 13, and preceding leading wheel dead lever 13 passes through one or more preceding leading wheel bracing pieces 14 and installs on lower platform fixed frame 6, is provided with a plurality of leading wheel installation positions along length direction on the preceding leading wheel bracing piece 14 for adjust the mounted position of preceding leading wheel dead lever 13, and then can adjust the position of preceding leading wheel 11 from the horizontal direction of lower platform fixed frame 6, and removal wheel 10 is installed on lower platform fixed frame 6 through removal wheel dead lever 9, simultaneously, preceding leading wheel 11 can realize the height position from lower platform fixed frame 6 through removal wheel dead lever 9, preceding leading wheel dead lever 13 respectively.
The bottom surface running device can run in the tunnel in a manual driving or machine driving mode to finish the task of detecting the tunnel, when the machine driving mode is adopted, the driving mode that the movable wheel 10 is used as a driving main body, the driving mode that the front guide wheel 11 is used as a driving main body, and the driving mode that the movable wheel 10 and the front guide wheel 11 are synchronously driven can be adopted, wherein a driving device for driving can adopt motor driving, for example, the driving mode that a motor is combined with a gear, the driving mode that a motor structure is used for a steel wire rope, and other driving modes capable of realizing the invention are also adopted.
According to the invention, each connecting piece is detachably, such as in a hinging manner, and further, a bolt and a nut are adopted as connecting pieces, so that the device is convenient to install and detach, and the connecting rods and the supporting rods are manufactured by adopting conventional parts, so that the cost is low, the whole structure can be adjusted by adjusting the installation positions of the supporting rods or the connecting rods, the structure is flexible, the device is suitable for detecting the appearances of tunnels with various sizes, and the practicability is high.
According to the actual detection requirements, other required detection equipment can be installed, and the detection can be realized only by installing or adding part of connecting rods on the original connecting rods, so that the invention has an expansion space and the practicability of the invention is further improved.
The working principle of the invention is as follows:
when the invention is used, firstly, according to the detected tunnel size, the relative positions of the movable wheel fixing rod 9, the front guide wheel fixing rod 13 and the lower platform fixing frame 6 are adjusted, so that the circle center of the camera shooting fixing disc 3 coincides with the circle center of the tunnel, and meanwhile, the side guide wheels 12 are adjusted to be clung to the inner wall of the tunnel, so that the horizontal freedom degree of the detection platform is restrained; secondly, adjusting the relative distance between the camera device 1 and the tunnel wall by adjusting the relative positions of the camera fixing rod 2 and the camera fixing disc 3 according to the detected tunnel size and the image data acquisition requirement, and adjusting the focal length of the camera device 1; finally, different driving modes can be selected according to the inclination degree of the tunnel: the horizontal section of the tunnel can be driven manually or by additionally installing a driving motor, and the inclined section of the tunnel can be driven by additionally installing a hoisting steel wire rope matched with a winch to finish the movement of the detection platform in the tunnel so as to finish the detection task.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (3)
1. Appearance testing platform suitable for tunnel, its characterized in that adopts detachable truss structure, comprises testing upper platform, testing lower platform, removal guiding mechanism:
the upper detection platform is provided with a camera device (1), and the camera device (1) is used for collecting images;
the lower detection platform is connected with the upper detection platform and used for supporting the upper detection platform, and comprises a lower platform fixing frame (6);
the mobile guiding mechanism is arranged on the lower detection platform and used for walking and guiding the lower detection platform, the mobile guiding mechanism comprises a side guiding device and a bottom surface walking device, the side guiding device comprises two groups of side guiding components symmetrically arranged on two sides of the lower platform fixing frame (6), and the bottom surface walking device is arranged on the lower platform fixing frame (6); the bottom surface traveling device walks in a machine driving mode, the bottom surface traveling device comprises a moving wheel (10), a front guide wheel (11) and a bottom surface supporting rod assembly, the moving wheel (10) and the front guide wheel (11) are respectively arranged on a lower platform fixing frame (6) through the bottom surface supporting rod assembly, the distance between the bottom surface traveling device and the lower platform fixing frame (6) can be adjusted through the bottom surface supporting rod assembly, the moving wheel (10) is connected with a driving device, and the driving device is driven by a motor;
the side guide assembly comprises a side support bar assembly and a side guide wheel (12);
the side guide wheels (12) are arranged on the lower platform fixing frame (6) through side support rod assemblies, and the distance between the side guide wheels (12) and the lower platform fixing frame (6) can be adjusted through the side support rod assemblies;
the upper detection platform comprises a plurality of shooting fixing rods (2) and shooting fixing plates (3), wherein the shooting fixing rods (2) are uniformly distributed along the circumferential direction of the shooting fixing plates (3), one end of each shooting fixing rod (2) is arranged on each shooting fixing plate (3), a plurality of shooting installation positions are arranged at the other end of each shooting fixing rod (2) and used for installing a shooting device (1), and the shooting devices (1) are annularly distributed along the shooting fixing plates (3) and can shoot and collect all directions of a tunnel;
the upper detection platform also comprises an upper platform frame (4) and an upper platform diagonal brace (5);
the camera shooting fixing rod (2) is arranged on the upper platform frame (4);
one end of the upper platform diagonal brace (5) is connected with the upper platform frame (4), and the other end of the upper platform diagonal brace (5) is arranged on the lower detection platform;
the support structures of the upper detection platform, the lower detection platform and the movable guide mechanism are all made of aluminum alloy materials;
the lower detection platform comprises a lower platform fixing frame (6) and a lower platform supporting plate (8);
the lower platform fixing frame (6) is connected with the upper platform frame (4), and the lower platform supporting plate (8) is arranged on the lower platform fixing frame (6);
the bottom surface support rod assembly comprises a movable wheel fixing rod (9), a front guide wheel fixing rod (13) and a front guide wheel support rod (14), wherein the front guide wheel (11) is installed on the front guide wheel fixing rod (13), the front guide wheel fixing rod (13) is installed on the lower platform fixing frame (6) through one or more front guide wheel support rods (14), a plurality of front guide wheel installation positions are arranged on the front guide wheel support rod (14) along the length direction and used for adjusting the installation positions of the front guide wheel fixing rod (13), the position of the front guide wheel (11) in the horizontal direction away from the lower platform fixing frame (6) can be adjusted, the movable wheel (10) is installed on the lower platform fixing frame (6) through the movable wheel fixing rod (9), and meanwhile, the movable wheel (10) and the front guide wheel (11) can be adjusted in the height position away from the lower platform fixing frame (6) through the movable wheel fixing rod (9) and the front guide wheel fixing rod (13) respectively;
when the device is used, the relative positions of the movable wheel fixing rod (9) and the front guide wheel fixing rod (13) and the lower platform fixing frame (6) are adjusted according to the detected tunnel size, so that the circle center of the camera shooting fixing disc (3) coincides with the circle center of the tunnel, and meanwhile, the side guide wheels (12) are adjusted to be clung to the inner wall of the tunnel, so that the horizontal freedom degree of the detection platform is restrained; and then according to the detected tunnel size and image data acquisition requirements, the relative distance between the camera shooting device (1) and the tunnel wall is adjusted by adjusting the relative position of the camera shooting fixing rod (2) and the camera shooting fixing disc (3), and the focal length of the camera shooting device (1) is adjusted to detect.
2. The appearance inspection platform suitable for tunnels according to claim 1, wherein the inspection lower platform further comprises lower platform support rods (7), the number of the lower platform support rods (7) is a plurality;
a plurality of lower platform supporting rods (7) are arranged on the lower platform fixing frame (6).
3. The appearance inspection platform suitable for tunnels according to claim 2, characterized in that a plurality of the lower platform support rods (7) are uniformly arranged on six faces of the lower platform fixing frame (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011204126.2A CN112345537B (en) | 2020-11-02 | 2020-11-02 | Appearance detection platform suitable for tunnel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011204126.2A CN112345537B (en) | 2020-11-02 | 2020-11-02 | Appearance detection platform suitable for tunnel |
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| CN112345537A CN112345537A (en) | 2021-02-09 |
| CN112345537B true CN112345537B (en) | 2024-03-15 |
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| CN102211590A (en) * | 2011-04-07 | 2011-10-12 | 同济大学 | Detecting vehicle for tunnel |
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| WO2019011084A1 (en) * | 2017-07-10 | 2019-01-17 | 徐州徐工随车起重机有限公司 | Tunnel inspection operation device |
| CN209558044U (en) * | 2019-01-28 | 2019-10-29 | 上海辉拓市政工程有限公司 | A kind of urban Underground pipeline video detecting device of profession |
| CN110487816A (en) * | 2019-10-08 | 2019-11-22 | 上海市东方海事工程技术有限公司 | A kind of tunnel inspection image collecting device and tunnel cruising inspection system |
| CN211617578U (en) * | 2019-12-23 | 2020-10-02 | 苏交科集团检测认证有限公司 | Tunnel lining quality detection support |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8251597B2 (en) * | 2009-10-16 | 2012-08-28 | Wavecam Media, Inc. | Aerial support structure for capturing an image of a target |
| CN105423940B (en) * | 2015-12-25 | 2017-12-26 | 同济大学 | A kind of subway tunnel structure cross section deformation device for fast detecting |
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2020
- 2020-11-02 CN CN202011204126.2A patent/CN112345537B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211590A (en) * | 2011-04-07 | 2011-10-12 | 同济大学 | Detecting vehicle for tunnel |
| CN105510350A (en) * | 2016-01-28 | 2016-04-20 | 北京工业大学 | Tunnel surface image acquisition device and tunnel surface detection equipment |
| WO2019011084A1 (en) * | 2017-07-10 | 2019-01-17 | 徐州徐工随车起重机有限公司 | Tunnel inspection operation device |
| CN209558044U (en) * | 2019-01-28 | 2019-10-29 | 上海辉拓市政工程有限公司 | A kind of urban Underground pipeline video detecting device of profession |
| CN110487816A (en) * | 2019-10-08 | 2019-11-22 | 上海市东方海事工程技术有限公司 | A kind of tunnel inspection image collecting device and tunnel cruising inspection system |
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