CN113266422A - Automatic maintenance lining system for tunnel - Google Patents
Automatic maintenance lining system for tunnel Download PDFInfo
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- CN113266422A CN113266422A CN202110666595.4A CN202110666595A CN113266422A CN 113266422 A CN113266422 A CN 113266422A CN 202110666595 A CN202110666595 A CN 202110666595A CN 113266422 A CN113266422 A CN 113266422A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 53
- 238000001514 detection method Methods 0.000 claims abstract description 90
- 238000007639 printing Methods 0.000 claims abstract description 60
- 239000000523 sample Substances 0.000 claims abstract description 28
- 230000007547 defect Effects 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 239000000725 suspension Substances 0.000 claims description 39
- 238000005339 levitation Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000008602 contraction Effects 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 2
- 238000005286 illumination Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 230000002950 deficient Effects 0.000 abstract 1
- 230000000149 penetrating effect Effects 0.000 description 12
- 230000003287 optical effect Effects 0.000 description 11
- 238000005498 polishing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001427 coherent effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
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- 239000013589 supplement Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B9/00—Water-power plants; Layout, construction or equipment, methods of, or apparatus for, making same
- E02B9/02—Water-ways
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention relates to an automatic maintenance lining system for a tunnel, wherein in the maintenance system, an industrial personal computer provides driving power and control signals for the whole system; the visual obstacle avoidance probe is fixed at the bottom of the maintenance vehicle; the non-contact detection device and the lining printing device are connected with a support adjusting component on the maintenance vehicle in a hinged mode; the industrial control computer controls a camera on the non-contact detection device to photograph the tunnel and determines the defect position of the tunnel according to the photographing result; and controlling the lining printing device to print the lining at the defect position. The overhauling method comprises the following steps: the industrial personal computer controls the automatic maintenance vehicle to reach the specified maintenance position; the height and the position of the supporting and adjusting part are controlled, so that the non-contact detection device reaches the designated position to photograph the section of the tunnel, and the lining printing device is controlled to perform lining printing at the defective position. The invention can improve the identification precision of the tunnel crack by utilizing the shooting result and can carry out lining printing on the tunnel defect.
Description
Technical Field
The invention relates to the field of tunnel detection, in particular to an automatic maintenance lining system for a tunnel.
Background
Along with the rapid development of diversion tunnel construction, in recent years, diversion tunnel construction is increasingly large in scale, and tunnel length is increasingly long. The tunnel is hidden engineering, the potential safety hazard is difficult to discover, and the effect that the tunnel detected directly influences whether the tunnel can be operated safely in the future.
In the construction process of the diversion tunnel, the geological condition in front of the tunnel face is not clear, the lining support possibly has defects, and the advanced geological detection and the quality detection of the lining support are required to be carried out on the highway tunnel, so that the quality of the highway tunnel engineering is ensured, the maintenance and repair cost of the highway tunnel is reduced, and the economic benefit and the social benefit of the infrastructure of the highway tunnel are improved. However, the existing detection method, detection technology, detection level and limitation of the instrument are limited, a specially-assigned person is required to carry the instrument for detection, particularly, parts such as the arch waist and the arch crown cannot be directly reached by a maintainer, and the inspector is required to carry detection equipment to stand on a temporarily modified platform for detection. And the detecting instrument is large in size and heavy in weight, jolts occur in the driving process, and the safety of personnel and the detecting effect cannot be guaranteed, which are undesirable for the technical personnel in the field.
Disclosure of Invention
In order to overcome the technical problem that the safety of detection personnel and the detection effect cannot be guaranteed in the prior art, the invention provides the automatic maintenance lining system for the tunnel.
The purpose of the invention is realized by the following technical scheme:
the invention provides an automatic maintenance lining system for a tunnel, which comprises:
the device comprises a maintenance vehicle, an industrial personal computer, a support adjusting component, a non-contact detection device and a lining printing device;
the industrial personal computer provides driving power and control signals for the whole automatic maintenance system;
a visual obstacle avoidance probe is fixed at the bottom of the body of the maintenance vehicle;
the non-contact detection device and the lining printing device are connected with a supporting and adjusting component in a hinged mode; the support adjusting part is arranged on the maintenance vehicle;
the non-contact detection device includes: the system comprises a first operating platform, a searchlight and a plurality of cameras, wherein the searchlight and the cameras are installed on the first operating platform; the illuminating light of the searchlight faces the top and two sides of the tunnel;
the lining printing device comprises a third operating platform, a feeding assembly, a printing assembly and a grinding assembly; the printing assembly and the grinding assembly are fixed on the third operating platform, and the feeding assembly supplies printing aggregate to the printing assembly;
the industrial personal computer controls a plurality of cameras to shoot the tunnel, and determines the position of the tunnel defect according to the shooting result; and controlling the lining printing device to print the lining at the defect position.
More preferably, the non-contact detection apparatus further includes: an interference seam structure;
the interference seam structure is fixed on a bedplate of the first operation platform, the searchlight is arranged right below the interference seam structure, irradiation light of the searchlight faces the interference seam structure, and the light transmitted by the interference seam structure can be irradiated to the top and two sides of the tunnel.
More preferably, the interference slit structure includes: a flat plate with a seam, a rolling shaft and a telescopic vertical plate;
the vertical height of the flat plate with the seam is adjusted through the telescopic vertical plate, and the left position and the right position of the flat plate with the seam are adjusted through the rolling shaft.
More preferably, the non-contact detection apparatus further includes: an infrared scanner;
the infrared scanner is fixed on a bedplate of the first operating platform, and infrared rays emitted by the infrared scanner face the top and two sides of the tunnel.
More preferably, the automatic lining system for a tunnel further comprises: a contact detection device;
the contact detection device is connected with the support adjusting component in a hinged mode; the supporting and adjusting component is arranged on the maintenance vehicle;
the contact detection device comprises a second operating platform and an acoustic wave probe which is arranged on the second operating platform and can measure tunnel defects.
More preferably, the second operation platform comprises: an air bag;
the two guide rails are fixed on a bedplate of the second operating platform in parallel; the air bag is clamped between the two guide rails and can move up and down along the guide rails along with the expansion or contraction of the air bag; the sound wave probe is connected to the air bag and moves up and down along with the expansion or contraction of the air bag.
More preferably, the contact detection apparatus further includes: a rebound tester;
the second operation platform comprises: the fixing base, the spring and the top plate;
the fixed base is fixedly connected with a bedplate of the second operating platform, the top plate is connected with the fixed base through a spring, the resiliometer is arranged in the fixed base, and the height of the top plate on the second operating platform is slightly greater than that of the resiliometer; when the spring is in a natural state, the height of the top plate is higher than that of the resiliometer.
More preferably, the automatic lining system for a tunnel further comprises:
the magnetic suspension working platform is arranged on the maintenance vehicle;
the magnetic suspension working platform comprises: the device comprises a first magnetic suspension plate, a second magnetic suspension plate and a working platform; the first magnetic suspension plate is fixed on a vehicle body of the maintenance vehicle; the bottom surface of the second magnetic suspension plate is opposite to the first magnetic suspension plate, and the upper surface of the second magnetic suspension plate is connected with the working platform;
the lower end of the supporting and adjusting part is fixed on the working platform.
More preferably, the printing assembly comprises:
the printing device comprises a first sliding rail, a first sliding block and a printing nozzle;
a feeding hole is formed in the side surface of the first sliding block; the top of the first sliding block is provided with a discharge hole and communicated with the feed inlet, and the discharge hole is connected with a printing spray head; the bottom of the first sliding block is provided with a sliding chute and can freely move along the first sliding rail; the telescopic material pipe can stretch out and draw back and change the shape along with the translation of first slider.
More preferably, the sanding assembly comprises:
the second sliding rail, the second sliding block and the polishing mechanical arm are arranged on the second sliding rail;
the bottom of the second sliding block is provided with a sliding chute and can freely move along a second sliding rail; a polishing mechanical arm is connected above the second sliding block; and the polishing mechanical arm polishes the lining through the coating shovel.
The technical scheme of the invention can show that the invention has the following advantages:
1. according to the principle of maximizing the functions of the maintenance vehicle, the multiple ground penetrating radars are integrated at the bottom of the vehicle body, the multiple vision obstacle avoiding probes are arranged in an auxiliary mode, and the situation that a precious working platform on the upper portion of the maintenance vehicle is occupied or an independent ground penetrating radar trolley is used is avoided.
2. According to the invention, the non-contact detection device is provided with a plurality of cameras with different angles for shooting the tunnel, and the shooting result is utilized to realize the multi-dimensional reconstruction of the tunnel, so that the identification precision of the tunnel crack is improved.
3. The seepage disaster of the tunnel can be detected by arranging the infrared scanner, and the infrared scanner and the camera work together, so that the detection completeness is enhanced.
4. According to the invention, by arranging the interference seam structure, light and shade alternate interference light can be obtained in the tunnel, so that the camera is convenient to position in a photographing area, and the photographing and splicing are carried out twice according to the bright stripe area; but also the light intensity is increased, and the problem that the scattered light of a single light source is too much scattered is avoided.
5. The invention integrates the acoustic wave probe on the contact detection device, and measures the tunnel defect through the acoustic wave probe.
7. According to the invention, the resiliometer is integrated on the contact detection device, the lining strength is measured through the resiliometer, and the disturbance of the resiliometer on the lining is favorable for strengthening the collected signals of sound waves.
8. The magnetic suspension working platform is adopted, so that the working platform can be ensured to accurately move in the front, back, left and right directions, and the callback is immediately fed back when the working platform is vibrated, so that the accuracy of a detection result is ensured.
9. The four-support shoe is adopted to stabilize the car body, and the stability of the maintenance car is improved during maintenance work.
10. According to the invention, the printing assembly of the lining printing device is used for printing and lining the defects such as tunnel cracks, and the automatic repairing operation of the tunnel defects can be realized.
11. According to the invention, the printing lining is polished by the polishing component of the lining printing device, so that the lining repairing effect can be improved.
Drawings
FIG. 1 is a schematic structural view of an automatic lining system for tunnels according to the present invention;
FIG. 2 is a schematic view of the structure of the maintenance vehicle of the present invention;
FIG. 3 is a layout diagram of a ground penetrating radar and a vision obstacle avoidance probe in the present invention;
FIG. 4 is a schematic structural view of the support adjustment member;
FIG. 5 is a schematic structural diagram of a non-contact detection device according to the present invention;
FIG. 6 is a schematic view of an interference slot structure according to the present invention;
FIG. 7 is a schematic view of a contact detecting device according to the present invention;
fig. 8 is a schematic structural diagram of a lining printing device in the invention;
FIG. 9 is a schematic structural diagram of a print head according to the present invention;
FIG. 10 is a schematic view of the grinding robot of the present invention;
FIG. 11 is a schematic diagram of the operation of the interference slot structure of the present invention.
In the drawings:
the device comprises a maintenance vehicle 1, an industrial personal computer 2, a magnetic suspension working platform 3, a supporting and adjusting component 4, a non-contact detection device 5, a contact detection device 6 and a lining printing device 7;
the system comprises a vehicle body 11, wheels 12, supporting boots 13, headlamps 14, a ground penetrating radar 15 and a visual obstacle avoidance probe 16; a telescoping floor 151;
a first magnetic suspension plate 31, a second magnetic suspension plate 32 and a working platform 33;
a slider 41, a slide rail 42, a telescopic column 43, and a rotary column 44;
a first operating platform 51, a searchlight 52, a first camera 53, a second camera 54, a third camera 55, an infrared scanner 56; the wing plates 511, the wing plate angle adjusting device 512, the interference seam structure 513 and the bedplate 514; a flat plate 5131 with a seam, a rolling shaft 5132 and a telescopic vertical plate 5133;
a second operating platform 61, a resiliometer 62 and a sonic probe 63; a motor 611, an air pipe 612, an air bag 613, a guide rail 614, a fixed base 615, a spring 616 and a top plate 617;
a third operating platform 71, a feeding assembly 72, a printing assembly 73, and a grinding assembly 74; an escalator 711; aggregate container 721, telescopic pipe 722, delivery hose 723; a first slide rail 731, a first slider 732, and a print head 733; a discharge nozzle 7331, a first telescopic arm 7332, a first mechanical arm 7333, a first rotating shaft 7334, a first sector rotating shaft 7335, and a first rotating base 7336; a second slide rail 741, a second slider 742, and a polishing robot arm 743; a spatula 7431, a ball-and-socket joint 7432, a second telescoping arm 7433, a second robotic arm 7434, a second pivot shaft 7435, a second sector pivot shaft 7436, and a second swivel base 7437.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an automatic maintenance lining system for a tunnel, the structure of which is shown in figures 1-11, and the automatic maintenance lining system comprises: the device comprises a maintenance vehicle 1, an industrial personal computer 2, a magnetic suspension working platform 3, a supporting and adjusting component 4, a non-contact detection device 5, a contact detection device 6 and a lining printing device 7.
The industrial personal computer 2 provides driving power and control signals for the maintenance vehicle 1, a magnetic suspension working platform 3, a supporting and adjusting component 4, a non-contact detection device 5, a contact detection device 6, a lining printing device 7, a ground penetrating radar 15 and a visual obstacle avoidance probe 16 which are arranged on the maintenance vehicle; the ground penetrating radar 15 is arranged at the bottom of the body of the maintenance vehicle 1 and can extend up and down; the visual obstacle avoidance probe 16 is fixed around the ground penetrating radar 15 at the bottom of the vehicle body; the magnetic suspension moving device 3 is arranged on the maintenance vehicle 1; the non-contact detection device 5, the contact detection device 6 and the lining printing device 7 are installed on the magnetic suspension working platform 3 through the supporting and adjusting component 4, the non-contact detection device 5 shoots and identifies the tunnel crack through a camera, and the tunnel seepage disaster is detected through an infrared scanner; the contact detection device 6 measures the lining strength through a resiliometer and measures the tunnel defects through an acoustic probe.
The detailed structure and function of each component are as follows:
maintenance car 1:
the maintenance vehicle 1 is configured as shown in fig. 2, and includes: a vehicle body 11, wheels 12, a shoe 13 and a headlight 14. The wheel 12 is arranged at the bottom of the vehicle body 11 through a hub frame; the supporting shoes 13 are connected around the vehicle body 11, can extend outwards and support on the ground to stabilize the vehicle body, so that the stability of the maintenance vehicle in the maintenance work process is guaranteed. The headlight 14 is provided at a roof position of the maintenance vehicle 1.
In order to ensure the safe driving of the maintenance vehicle 1, as shown in fig. 3, a telescopic bottom plate 151 is installed at the bottom of the vehicle body 11, and the ground penetrating radar 15 is fixed on the telescopic bottom plate 151 and can move up and down along with the telescopic bottom plate 151; the visual obstacle avoidance probe 16 is fixed at the bottom of the vehicle body 11 and surrounds the ground penetrating radar 15. The retractable bottom plate 151 can be retracted up and down through a slider chute structure, and also can be retracted up and down through a screw nut structure.
An industrial personal computer 2:
the industrial personal computer 2 is arranged on the vehicle body 11, preferably close to the vehicle head, and is used for controlling the movement of the maintenance vehicle 1, adjusting the position of the magnetic suspension moving device 3, supporting the position and the height of the adjusting part 4, and the angles of the non-contact detection device 5 and the contact detection device 6; controlling the extension and contraction of the ground penetrating radar 15; and controlling the lining printing device 7 to print the lining on the crack defects detected by the contact detection device 6.
Magnetic suspension working platform 3:
the structure of the magnetic levitation working platform 3 is still referred to fig. 1, and it comprises a first magnetic levitation plate 31, a second magnetic levitation plate 32 and a working platform 33. The first magnetic suspension plate 31 is fixed on the vehicle body 11 of the maintenance vehicle 1; the bottom surface of the second magnetic suspension plate 32 is opposite to the first magnetic suspension plate 31, and the upper surface of the second magnetic suspension plate is connected with the working platform 33; when the magnetic suspension switch is started, the second magnetic suspension plate 32 can move left and right and back and forth in parallel with the first magnetic suspension plate 31, so that the horizontal position of the working platform 33 is adjusted.
Adopt magnetic suspension work platform 3, not only can make work platform 33 to the accurate removal of front and back left and right sides direction, when carrying out the overhaul of the equipments work simultaneously, also can feed back the callback immediately when receiving the vibration.
Support adjustment member 4:
and a support adjusting component 4, the lower part of which can move on the magnetic suspension working platform 3, and the upper part of the support adjusting component 4 is respectively connected with the non-contact detection device 5 and the contact detection device 6 in a hinged mode.
The structure of the supporting and adjusting component 4 is shown in fig. 4, which includes a slide block 41, a slide rail 42, a telescopic column 43, and a rotary column 44.
The slide rail 42 is fixed on the working platform 33 of the magnetic suspension working platform 3, the slide block 41 is installed on the slide rail 42, and the slide block 41 can freely move along the slide rail 42; the lower end of the telescopic column 43 is fixed on the sliding block 41 through a base, and the upper end of the telescopic column is hinged with the rotary column 44 through a spherical support; the telescopic column 43 can be automatically extended and retracted up and down, and the rotating column 44 can rotate around the spherical support.
Non-contact detection device 5:
the non-contact detection device 5 is arranged on the supporting and adjusting component 4, and is installed above the magnetic suspension working platform 3 through the supporting and adjusting component 4. The non-contact detection device 5 is hinged with the rotary column 44 through a spherical support, and the angle of the non-contact detection device 5 can be adjusted through the spherical support and the rotary column 44.
The specific structure of the non-contact detection device 5 is shown in fig. 5, and it includes a first operation platform 51, and a searchlight 52, a first camera 53, a second camera 54, a third camera 55 and an infrared scanner 56 which are mounted on the first operation platform 51.
The first work platform 51 includes a flap 511, a flap angle adjustment device 512, an interference slot structure 513, and a platen 514.
The wing plates 511 are connected with a bedplate 514 of the first operating platform 51 through a wing plate angle adjusting device 512; the angle of the flap 511 can be adjusted by the flap angle adjusting means 512.
The interference slot structure 513 is fixed to the platen 514, and the floodlight 52 is disposed directly below the interference slot structure 513 and irradiates light toward the interference slot structure 513. When the light of the searchlight 52 is partially shielded by the interference seam structure 513, interference light with alternate light and shade can be obtained in the tunnel, which is not only convenient for positioning the photographing area of the camera, but also for performing photographing and splicing twice according to the bright stripe area; and the light intensity can be increased, and the problem that the scattered light of a single light source is too much scattered is avoided.
Adjusting the distance between the searchlight 52 and the interference seam structure 513 can change the relative positions of the interference seam structure and the tunnel top detection part, so that the optical path difference from the interference light source to the detected position can be changed.
The structure of the interference slot structure 513 is shown in fig. 6, and includes a slotted plate 5131, a roller 5132, and a telescopic vertical plate 5133.
The position of the interference slot structure 513 can be adjusted: the height of the interference seam structure 513 is adjusted through the telescopic vertical plate 5133; a groove is formed in the telescopic vertical plate 5133, the cylindrical roller 5132 is embedded in the groove of the telescopic vertical plate 5133, and the roller 5132 rotates in the groove through automatic control (such as a servo motor); a gear is arranged in a groove below the rolling shaft 5132, the rolling shaft 5132 rotates to drive the gear to rotate, and then the gear rotates to drive the rack buckled on the flat plate 5131 with the seam to move, so that the left and right positions of the flat plate 5131 with the seam are adjusted. The distance between the searchlight 52 and the interference seam structure 513 can be changed by adjusting the position of the interference seam structure 513, and the height is selected according to the tunnel diameter and the photographing plan.
The first camera 53 is fixed to a platen 514 of the first operation platform 51, and the second camera 54 and the third camera 55 are fixed to the wing 511. The angles of the second camera 54 and the third camera 55 can be adjusted by the wing plate 511 so that the three cameras have different shooting angles. The non-contact detection device 5 is arranged on the camera shooting images at different angles, so that the tunnel three-dimensional reconstruction can be performed, and the crack identification precision is improved.
The infrared scanner 56 is fixed on the platen 514 of the first operation platform 51, and may be disposed behind the first operation platform 51 (the forward direction of the maintenance vehicle 1 is the front direction), or may be disposed in front of the first operation platform 51, and emits infrared light toward the top and both sides of the tunnel. The seepage disasters of the tunnel can be detected through the infrared scanner. The infrared scanner and the three cameras work together, and detection completeness is enhanced.
Contact detection device 6:
the contact detection device 6 is arranged on the support and adjustment member 4 and is connected with the magnetic suspension working platform 3 in the same way, namely, the contact detection device 6 is arranged above the magnetic suspension working platform 3 through the support and adjustment member 4.
The detailed structure of the contact detecting device 6 is shown in fig. 7, and it includes a second operation platform 61, a rebound device 62, and a sonic probe 63. And the acoustic wave detection probe 63 and the resiliometer 62 are arranged on the second operating platform 61 and are respectively used for concrete lining contact type detection.
The second operation platform 61 comprises an electric motor 611, an air pipe 612, an air bag 613, a guide rail 614, a fixed base 615, a spring 616 and a top plate 617.
The two guide rails 614 are fixed on the second operation platform 61 in parallel; the air bag 613 is clamped between the two guide rails 614, one end of the air bag 613 is connected with the motor 611 through the air conveying pipe 612, and gas can be filled into the air bag 613 or drawn out of the air bag 613 through the air conveying pipe 612 by the driving of the motor 611, so that the air bag 613 is expanded or contracted; as the air bag 613 expands or contracts, the air bag 613 is allowed to move up and down along the guide rail 614; the sonic probe 63 is connected to the air bag 613 and can move up and down as the air bag 613 expands or contracts.
The fixed base 615 is fixedly connected with the platen of the second operation platform 61, the top plate 617 is connected with the fixed base 615 through a spring 616, the resiliometer 62 is arranged in the fixed base 615, and the height of the top plate 617 on the second operation platform 61 is slightly larger than that of the resiliometer 62. When the spring 616 is in the natural state, the top plate 617 is higher than the resiliometer 62; as the second operation platform 61 moves upwards, the top plate 617 first comes into contact with the surface of the detected location of the tunnel and then compresses the spring 616 located below the top plate 617, the head of the resiliometer 62 gradually approaches the surface of the tunnel as the spring 616 is compressed; when the head of the resiliometer 62 is just tightly pressed against the tunnel surface, the upward movement of the second operation platform 61 is stopped, and at this time, the deformation amount of the spring 616 is the threshold value of the tightened resiliometer 62.
The lining printing device 7:
the lining printing device 7 is arranged above the magnetic suspension working platform 3 through the supporting and adjusting component 4 and is connected with the supporting and adjusting component 4 in the same way, namely, the lining printing device 7 is hinged with a rotating column 44 of the supporting and adjusting component 4 through a spherical support, and the angle of the lining printing device 7 can be adjusted through the spherical support and the rotating column 44. The structure is shown in fig. 8, and comprises:
a third operating platform 71, a feeding assembly 72, a printing assembly 73 and a grinding assembly 74;
the third operation platform 71 comprises a deck and an escalator 711 provided at a side thereof. The staircase 711 is provided with a reserved manual passage, so that personnel can conveniently handle sudden failures and perform manual repair.
The feeding assembly 72 comprises a collecting container 721, a telescopic pipe 722 and a delivery hose 723. The collection container 721 is fixed to the deck of the third operation platform 71; one end of the aggregate container 721 is connected with a material conveying hose 723, and the other end is connected with a telescopic pipe 722; a pressure differential is created by the difference in height between the aggregate in aggregate container 721 and aggregate container 721 to squeeze the aggregate into printing assembly 73.
The printing assembly 73 includes a first slide rail 731, a first slider 732, and a printing nozzle 733. A feeding hole is formed in the side surface of the first sliding block 732, is connected with the telescopic material pipe 722, and conveys aggregate through the telescopic material pipe 722 in the printing operation process of the printing assembly 73; the top of the first slider 732 is provided with a discharge hole and communicated with the feed inlet, and the discharge hole is connected with a printing nozzle 733; the bottom of the first slider 732 is provided with a sliding groove and can freely move along the first slide rail 731. The telescopic tube 722 can be telescopic and change shape as the first slider 732 is translated.
As shown in fig. 9, the print head 733 includes a discharge head 7331, a first telescopic arm 7332, a first robot arm 7333, a first rotating shaft 7334, a first fan-shaped rotating shaft 7335, and a first rotating base 7336.
The discharge nozzle 7331 is conical, and has a tip end for discharging, a tail end for supplementing material, and a tail end connected with the first telescopic arm 7332. The first telescopic arm 7332 is nested in the first robot arm 7333 and can be freely extended and contracted. The first arms 7333 are connected to each other by a first rotating shaft 7334 and can be rotated by an angle. The lower portion of the first arm 7333 is connected to the first sector-shaped rotating shaft 7335, and can freely rotate within 180 °. The first sector-shaped rotating shaft 7335 is connected to the first rotating base 7336, and can rotate 360 ° in the horizontal plane. The rotating base 7336 has a circular shape and is disposed above the first slider 732.
Grinding assembly 74 includes second slide rail 741, second slider 742, and grinding robot arm 743. The bottom of the second slider 742 is provided with a chute and can freely move along a second slide rail 741; a polishing robot arm 743 is connected above the second slider 742.
The construction of the sharpening robot 743 is shown in figure 10,
the polishing robot arm 743 includes a trowel 7431, a ball-and-socket joint 7432, a second telescopic arm 7433, a second robot arm 7434, a second pivot 7435, a second sector pivot 7436, and a second swivel base 7437.
The spatula 7431 is connected to a second telescopic arm 7433 by a ball joint connector 7432, and the second telescopic arm 7433 is nested in the second robot arm 7434 and can be freely extended and retracted. The second robot arm 7434 is connected to each other by a second rotating shaft 7435 and can rotate at an angle. The lower portion of the second mechanical arm 7434 is connected to a second sector-shaped rotating shaft 7436, which is capable of rotating freely within 180 °. The second fan-shaped rotating shaft 7436 is connected with the second rotating base 7437, and can realize 360-degree rotation in the horizontal plane. The second rotating base 7437 is circular and is disposed above the second slider 742.
The working principle of the automatic maintenance lining system for the tunnel is as follows:
firstly, an industrial personal computer 2 is utilized to control an inspection vehicle 1 to enter a tunnel, the flatness of the bottom surface of the tunnel is detected through a vision obstacle avoidance probe 8 at the bottom of the tunnel, a ground penetrating radar 7 is extended to detect the bottom surface, and the automatic and safe running of the inspection vehicle 1 is ensured.
When the maintenance vehicle 1 reaches the designated position, the vehicle body 11 and the wheels 12 are kept stationary, and the supporting shoes 13 extend outward and are supported on the ground, so that the vehicle body is stabilized.
Then, the second magnetic levitation plate 32 is controlled by the industrial personal computer 2 to be levitated above the first magnetic levitation plate 31, and the specified position to be maintained is finely adjusted.
Subsequently, the non-contact detection device 5 and the contact detection device 6 perform detection: controlling the non-contact detection device 5 to shoot cracks on the surface of the tunnel through a camera and detect the phenomena of tunnel immersion and the like through an infrared scanner; the contact detection device 6 is controlled to detect the depth of the crack by the sonic probe 63 and the strength of the lining concrete by the resiliometer 62.
The detection principle of the non-contact detection device 5 is as follows:
the control slider 41 is moved to a designated position, and the telescopic column 43 and the rotary column 44 are adjusted to move the first operation platform 51 of the non-contact detection device 5 to the designated position. The searchlight 52 is turned on, so that the light source penetrates through the interference seam structure 513 to form coherent light, equidistant light and dark stripes are generated, the bright stripes are brighter than the light source directly irradiating the tunnel, and the light supplement effect is improved.
The working principle diagram of the interference slot structure 513 is shown in fig. 11, which is as follows:
an interference slot structure 513 is placed right in front of the light source S, the interference slot structure 513 may be a screen with two closely spaced slots S1 and S2, and since S1 and S2 are narrow, the light emitted from S1 and S2 is two columns of light waves with coherence emitted from S, and the two columns of light waves are spatially superimposed to generate interference.
The distance between the light source S1 and the light source S2 is D, the distance between the double slit plane and the screen E is D, lambda is the wavelength of light, and the distances from the light sources S1 and S2 to the point P are r1And r2Then, the optical path difference δ when the light emitted from S1 and S2 reaches point P is:
δ＝r2-r1＝±kλ(k＝0,1,2,…)
a
Wherein:
delta is the optical path difference from the two coherent point light sources S1 and S2 to the measured position P point respectively; r is1The optical path from the light source S1 to point P; r is2The optical path from the light source S2 to point P; λ is the wavelength of visible light.
The two beams interfere and are long at point P, the combined amplitude of the superposition is maximum, and the light intensity is maximum, and bright fringes (white area in the strip at the right side of the upper figure) appear, and the optical path difference delta when the light emitted by the light sources S1 and S2 reaches point P is:
wherein:
delta is the optical path difference from the two coherent point light sources S1 and S2 to the measured position P point respectively; r is1The optical path from the light source S1 to point P; r is2The optical path from the light source S2 to point P; λ is the wavelength of visible light.
The two beams interfere and cancel each other at point P, and the sum amplitude of the superposition is minimal, so that the light intensity is minimal, and dark fringes (gray areas in the strip on the right side of the upper figure) appear.
As shown in fig. 11, x represents the distance from the point P on the receiving screen E to the center of symmetry O, and in the case where D > D, D > x, and θ are small, there are:
in the above formula:
r1the optical path from the light source S1 to point P; r is2The optical path from the light source S2 to point P; d is the distance from the light source S1 to the light source S2; theta is the deflection angle of the point of the measured position P deviated from the point of the center position O; d is the distance between the interference seam structure and the measured position surface; and x is the distance from the point P to the point O.
The position of the bright stripe (light intensity maximum) thus satisfies:
wherein:
xkposition of bright stripe (intensity maximum); d is the distance between the interference seam structure and the measured position surface; d is the distance from the light source S1 to the light source S2; λ is the wavelength of visible light.
The position of the dark stripe (intensity minimum) should be such that:
wherein:
xkthe position of the dark stripe (light intensity minimum); d is the distance between the interference seam structure and the measured position surface; d is the distance from the light source S1 to the light source S2; λ is the wavelength of visible light.
Therefore, the distance between the centers of two adjacent bright stripes or the distance Δ x between the centers of two adjacent dark stripes is:
wherein:
Δ x is the distance between the centers of two adjacent bright stripes or the distance between the centers of two adjacent dark stripes; d is the distance between the interference seam structure and the measured position surface; d is the distance from the light source S1 to the light source S2; λ is the wavelength of visible light.
The height of the interference seam structure 513 can be adjusted up and down by the telescopic vertical plate 5133, and the left and right positions of the interference seam structure 513 can be adjusted by adjusting the left and right positions of the flat plate 5131 with the seam by the roller 5132. By adjusting the height and the left-right position of the interference slit structure 513, the searchlight 52 can generate bright stripes with alternate light and dark by the interference of the interference slit structure 513. The first, second and third cameras can be slapped through the tunnel from different angles by adjusting the angle of the wing 511 on the first work platform 51 by the wing angle adjustment means 512. And then, only translating the flat plate 5131 with the cracks to change the area which is originally a dark stripe into a bright stripe, photographing again, splicing the photos shot for multiple times to obtain the photo of the whole tunnel, and performing three-dimensional reconstruction to identify the cracks on the surface of the tunnel lining based on the shot photo. The adopted three-dimensional reconstruction method can utilize traditional methods such as multi-plane reconstruction, curved surface reconstruction and the like or machine learning and the like.
The infrared scanner 56 is responsible for performing infrared scanning work on the tunnel lining, and can detect the disasters such as waterlogging, water leakage and the like which cannot be shot by the camera through infrared temperature.
The contact concrete detection principle of the contact detection device 6 is as follows:
the position of the contact detection device 6 is controlled, so that the top plate 617 is in contact with the top of the tunnel first, then the second operation platform 61 is pushed continuously, the top plate 617 is connected with the fixed base 615 through the spring 616, the top plate 617 is in contact with the top of the tunnel first, then under the action of the top plate 617, the spring 616 is compressed until the resiliometer 62 on the fixed base 615 of the second operation platform is in contact with the top lining of the tunnel (the top plate 617 can play a limiting role, and the springs 616 on two sides are ensured to be extended in the same extension length and the same direction), the spring of the resiliometer 62 is also in a compressed state at the moment, and whether the resiliometer 62 is pushed tightly or not can be judged through the deformation amount of the spring 616.
Starting the motor 611, ventilating the air bag 613 through the air pipe 612, and increasing the internal pressure of the air bag 613; since the side rails 614 limit the air bag 613, the air bag 613 pushes the sonic probe 63 upward to be attached to the tunnel lining surface for detection along with the expansion of the air bag 613. The pressure of the air bag 613 is equal to the contact pressure of the sonic probe 63 and the top of the tunnel, and when the pressure inside the air bag 613 reaches a set threshold, the sonic probe 63 is considered to have good contact, and the motor 611 is stopped.
Through integrated sound wave probe 63 of contact detection device 6 and resiliometer 62, sound wave probe 63 measures the tunnel defect, and resiliometer 62 measures lining intensity, and the collection signal of sound wave is favorable to strengthening to the disturbance of resiliometer 62 to the lining.
Lining printing device 7:
aggregate is pumped into the aggregate container 721 through the delivery hose 723, and is conveyed to a pipeline in the first sliding block 732 through the pressure difference between the aggregate container 721 and the telescopic pipe 722, and further conveyed to the printing spray nozzle 733. The telescopic tube 722 can be telescopic and change shape as the first slider 732 is translated.
By adjusting the first fan-shaped rotating shaft 7335, the first rotating shaft 7334 and the first telescopic arm 7332, the printing nozzle 733 can reach the designated crack of the tunnel to perform printing work, and the aggregate is printed as quick-setting concrete. After printing is finished, the printed lining is evenly smeared and supported by the lining printing device 7.
The lining printing device 7 adjusts the grinding mechanical arm 743 to reach the designated supporting position through the second fan-shaped rotating shaft, the second rotating shaft and the second telescopic arm, and finely adjusts the angle of the coating shovel 7431 through the spherical hinge connecting piece in the grinding assembly 74, so that the coating shovel 7431 enables the surface of the lining to be fully contacted, and the printing and repairing effects are improved.
In the above embodiment, the magnetic levitation working platform of step S103 may not be used.
The above embodiments of the present invention show that:
the invention firstly plans the running route and position location of the maintenance vehicle through the industrial personal computer 2, and then controls the maintenance vehicle to advance according to the specified route. Meanwhile, the industrial personal computer 2 receives image information from the four vision obstacle avoidance probes and judges whether the ground is smooth or not, so that whether the ground penetrating radar extends out for detection or not is determined. Then, the industrial personal computer 2 controls the supporting and adjusting part 4 to enable the non-contact detection device 5 and the contact detection device 6 to reach the designated positions, and detection and maintenance work is carried out. And after the overhaul is finished, repeating the previous actions and continuing to advance.
The method comprises the steps of controlling a non-contact detection mode to shoot, reconstructing a tunnel section in a three-dimensional space through position signals of picture pixel points, and determining a tunnel water seepage position through a three-dimensional scanning method of the non-contact detection mode; then, carrying out on-site concrete detection tests by using a resiliometer, sound wave detection and the like in a contact detection method to obtain a detection result of the tunnel crack; and finally, analyzing the reconstructed tunnel section, the tunnel water seepage position and the crack detection result.
Although the present invention has been described in detail with reference to the preferred embodiments thereof, it should be understood by those skilled in the art that the foregoing embodiments are merely illustrative of exemplary implementations of the present invention, and are not limitative of the scope of the present invention. The details of the embodiments are not to be interpreted as limiting the scope of the invention, and any obvious changes, such as equivalent alterations, simple substitutions and the like, based on the technical solution of the invention, can be interpreted without departing from the spirit and scope of the invention.
Claims (10)
1. An automatic lining system for a tunnel, said automatic lining system for a tunnel comprising:
the device comprises a maintenance vehicle (1), an industrial personal computer (2), a supporting and adjusting component (4), a non-contact detection device (5) and a lining printing device (7);
the industrial personal computer (2) provides driving power and control signals for the whole automatic maintenance system;
a visual obstacle avoidance probe (16) is fixed at the bottom of the body of the maintenance vehicle (1);
the non-contact detection device (5) and the lining printing device (7) are connected with a supporting and adjusting component (4) in a hinged mode; the supporting and adjusting component (4) is arranged on the maintenance vehicle (1);
the non-contact detection device (5) comprises: a first operating platform (51), a searchlight (52) and a plurality of cameras which are arranged on the first operating platform (51); the illumination light of the searchlight (52) faces the top and two sides of the tunnel;
the lining printing device (7) comprises a third operating platform (71), a feeding assembly (72), a printing assembly (73) and a grinding assembly (74); the printing assembly (73) and the grinding assembly (74) are fixed on the third operating platform (71), and the feeding assembly (72) supplies printing aggregate to the printing assembly (73);
the industrial personal computer (2) controls the cameras to shoot the tunnel, and determines the position of the tunnel defect according to the shooting result; and controlling the lining printing device (7) to print the lining at the defect position.
2. The automatic service lining system for tunnels according to claim 1, wherein said non-contact detection device (5) further comprises:
an interference slot structure (513);
the interference slot structure (513) is fixed on a bedplate of the first operating platform (51), the searchlight (52) is arranged right below the interference slot structure (513), the irradiation light of the searchlight faces the interference slot structure (513), and the light transmitted by the interference slot structure (513) can be irradiated to the top and two sides of the tunnel.
3. The automated service lining system for tunnels according to claim 2, wherein the interference slot structure (513) comprises:
a flat plate with a seam (5131), a rolling shaft (5132) and a telescopic vertical plate (5133);
the vertical height of the flat plate with the seam (5131) is adjusted through the telescopic vertical plate (5133), and the left and right positions of the flat plate with the seam (5131) are adjusted through the rolling shaft (5132).
4. The automatic service lining system for tunnels according to any one of claims 1 to 3, wherein said non-contact detection means (5) further comprise:
an infrared scanner (56);
the infrared scanner (56) is fixed on a bedplate of the first operating platform (51), and emits infrared rays to the top and two sides of the tunnel.
5. The automatic service lining system for tunnels of claim 1, further comprising:
a contact detection device (6);
the contact detection device (6) is connected with the supporting and adjusting component (4) in a hinged mode; the supporting and adjusting component (4) is arranged on the maintenance vehicle (1);
the contact detection device (6) comprises a second operating platform (61) and an acoustic wave probe (63) which is arranged on the second operating platform (61) and can measure the tunnel defects.
6. The automated service lining system for tunnels according to claim 5, wherein the second operating platform (61) comprises:
an air bag (613) and a guide rail (614);
the two guide rails (614) are fixed on a bedplate of the second operating platform (61) in parallel; the air bag (613) is clamped between the two guide rails (614), and can move up and down along the guide rails (614) along with the expansion or contraction of the air bag (613); the acoustic wave probe (63) is connected to the air bag (613) and moves up and down along with the expansion or contraction of the air bag (613).
7. The automatic service lining system for tunnels of claim 5,
the contact detection device (6) further comprises: a resiliometer (62);
the second operation platform (61) comprises: a fixed base (615), a spring (616) and a top plate (617);
the fixed base (615) is fixedly connected with a bedplate of the second operating platform (61), the top plate (617) is connected with the fixed base (615) through a spring (616), the resiliometer (62) is arranged in the fixed base (615), and the height of the top plate (617) on the second operating platform (61) is slightly larger than that of the resiliometer (62); when the spring (616) is in a natural state, the top plate (617) is higher than the resiliometer (62).
8. The automatic service lining system for tunnels of claim 1, further comprising:
a magnetic suspension working platform (3) arranged on the maintenance vehicle (1);
the magnetic levitation work platform (3) comprises: a first magnetic suspension plate (31), a second magnetic suspension plate (32) and a working platform (33); the first magnetic suspension plate (31) is fixed on a vehicle body of the maintenance vehicle (1); the bottom surface of the second magnetic suspension plate (32) is opposite to the first magnetic suspension plate (31), and the upper surface of the second magnetic suspension plate is connected with a working platform (33);
the lower end of the supporting and adjusting part (4) is fixed on the working platform (33).
9. The automated service lining system for tunnels according to claim 1, wherein the printing assembly (73) comprises:
the printing device comprises a first sliding rail (731), a first sliding block (732) and a printing spray head (733);
a feed inlet is formed in the side surface of the first sliding block (732); the top of the first sliding block (732) is provided with a discharge hole which is communicated with the feed inlet, and the discharge hole is connected with a printing spray head (733); the bottom of the first sliding block (732) is provided with a sliding groove and can freely move along a first sliding rail (731); the telescopic pipe (722) can be stretched and changed in shape along with the translation of the first sliding block (732).
10. The automated service lining system for tunnels according to claim 1, wherein the grinding assembly (74) comprises:
a second slide rail (741), a second slider (742), and a grinding robot arm (743);
the bottom of the second sliding block (742) is provided with a sliding groove and can freely move along a second sliding rail (741); a grinding mechanical arm (743) is connected above the second sliding block (742); and the grinding mechanical arm (743) grinds the lining through a coating shovel (7431).
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