CN114166848A - Tunnel detection vehicle and detection method thereof - Google Patents
Tunnel detection vehicle and detection method thereof Download PDFInfo
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- CN114166848A CN114166848A CN202111403470.9A CN202111403470A CN114166848A CN 114166848 A CN114166848 A CN 114166848A CN 202111403470 A CN202111403470 A CN 202111403470A CN 114166848 A CN114166848 A CN 114166848A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention discloses a tunnel detection vehicle and a detection method thereof, wherein the tunnel detection vehicle is provided with a tunnel detection box, and the tunnel detection box is provided with a plurality of photographing cameras for photographing different angles and is used for acquiring images of the surface of a tunnel so as to find apparent defects of a tunnel lining structure; the tunnel detection box is provided with a radar detection device, and the lining detection radar is used for detecting the tunnel lining structure so as to find the internal defects of the tunnel lining structure; the invert filling layer detects radar and is used for scanning the invert filling layer structure in tunnel, with the internal defect of discovery tunnel invert filling layer, in the extending direction of tunnel in tunnel orientation in-process of marcing, can detect tunnel lining's internal defect and apparent defect and invert filling layer's internal defect simultaneously, acquire tunnel structure internal defect and apparent defect fast, the efficiency that tunnel detected has not only been improved, detection mechanization degree has still been promoted, the manual intervention degree has been reduced.
Description
Technical Field
The invention relates to the technical field of tunnel detection, in particular to a tunnel detection vehicle and a detection method thereof.
Background
Tunnel engineering is a common project for railways, highways, subways, and the like. However, due to the differences of geological conditions, the uneven construction technology and other reasons, the tunnel engineering is prone to have internal defects such as cavities in the soil around the inside of the tunnel, unqualified lining reinforcement ratio, overall settlement of the tunnel and the like, and apparent problems such as lining cracking, segment cracking, slab staggering, tunnel leakage and the like in the construction process. In the operation process, if the problems of the tunnel structure and the surrounding soil layer occur, the tunnel can generate the phenomena of deformation or cracking and the like under the action of load and vibration, and the driving safety is threatened over time. Therefore, the rapid and effective detection of the defects inside and on the appearance of the tunnel structure is an important link for ensuring the operation safety of the tunnel.
In the process of acceptance and operation of domestic tunnels, the detection of defects such as cracks on the surface of the tunnel mainly depends on manual inspection. The manual inspection has low efficiency, poor reliability and easy omission inspection, and the judgment of the crack grade is based on experience. The existing equipment for detecting the defects of the tunnel structure is a tunnel detection vehicle, or only apparent defects such as cracks, peeling, water leakage, construction cold joints, honeycombs and pitted surfaces on the surface of the tunnel structure can be detected by using a camera, or only internal defects of the tunnel structure such as lining holes inside the tunnel structure, insufficient thickness and steel bar distribution can be detected, and the tunnel lining or the inverted arch filling layer can be detected independently, so that the internal defects and the apparent defects of the tunnel lining and the internal defects of the inverted arch filling layer can not be detected simultaneously, and the tunnel detection efficiency is reduced.
Disclosure of Invention
The invention aims to provide a tunnel detection vehicle which can simultaneously detect the internal defects and the apparent defects of a tunnel structure and is used for solving the problem of low detection efficiency of the existing tunnel detection vehicle.
The invention discloses a tunnel detection vehicle, which comprises a vehicle body, wherein a tunnel detection box is arranged on the vehicle body, an image acquisition device is arranged on the tunnel detection box, and the image acquisition device comprises a plurality of photographing cameras for photographing different angles; an operation host is arranged in the tunnel detection box and is provided with a radar detection device, the radar detection device comprises a plurality of telescopic arms, a plurality of lining detection radars and a plurality of inverted arch filling layer detection radars, each lining detection radar is correspondingly arranged at the top end of one telescopic arm, and the inverted arch filling layer detection radars are arranged at the tail part of the vehicle body; the plurality of photographing cameras, the plurality of lining detection radars and the plurality of inverted arch filling layer detection radars are connected with the operation host through wires; the plurality of photographing cameras are used for acquiring images of the surface of the tunnel so as to find apparent defects of the tunnel lining structure; the lining detection radar is used for detecting the tunnel lining structure to find the internal defects of the tunnel lining structure; the inverted arch filling layer detection radar is used for detecting an inverted arch filling layer structure of the tunnel so as to find internal defects of the inverted arch filling layer of the tunnel.
The invention also discloses a tunnel detection method, which adopts the tunnel detection vehicle, wherein the tunnel detection vehicle is provided with a first-stage telescopic rod, a second-stage telescopic rod and a third-stage telescopic rod, the top ends of the first-stage telescopic rod, the second-stage telescopic rod and the third-stage telescopic rod are respectively provided with a first lining detection radar, a second lining detection radar and a third lining detection radar, the two sides of the tail part of the tunnel detection vehicle are respectively provided with a first inverted arch filling layer detection radar and a second inverted arch filling layer detection radar which are used for detecting the internal defects of a tunnel lining and an inverted arch filling layer of a tunnel to be detected, wherein the cross section of the tunnel lining is provided with 5 lining measuring lines at intervals, the lining measuring lines in the middle of the tunnel lining, the 2 lining measuring lines on the right side and the 2 lining measuring lines on the left side, the right side and the left side on the cross section of the inverted arch filling layer are respectively provided with two right inverted arch filling layer measuring lines and two left inverted arch filling layer measuring lines, the tunnel detection method comprises the following steps:
and (3) detecting the right line: when a tunnel detection vehicle enters a tunnel along the extending direction of the tunnel, a first inverted arch filling layer detection radar and a second inverted arch filling layer detection radar respectively detect two right inverted arch filling layer measuring lines, and a first lining detection radar, a second lining detection radar and a third lining detection radar at the top ends of a first-stage telescopic rod, a second-stage telescopic rod and a third-stage telescopic rod respectively detect a lining measuring line in the middle of the tunnel lining and 2 lining measuring lines on the right side of the tunnel lining;
and (3) detecting a left line: when the tunnel detection vehicle is driven out of the tunnel along the extending direction of the tunnel, a first inverted arch filling layer detection radar and a second inverted arch filling layer detection radar respectively detect two left inverted arch filling layer measuring lines, and meanwhile, a first lining detection radar, a second lining detection radar and a third lining detection radar at the top ends of the first-stage telescopic rod, the second-stage telescopic rod and the third-stage telescopic rod respectively detect a lining measuring line in the middle of the tunnel lining and 2 lining measuring lines on the left side of the tunnel lining.
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses a tunnel detection vehicle and a detection method thereof.A vehicle body is provided with a tunnel detection box, and the front part of the top of the tunnel detection box is provided with a plurality of photographing cameras for photographing different angles, which are used for acquiring images of the surface of a tunnel so as to find the apparent defects of a tunnel lining structure; the tunnel detection box is provided with a radar detection device, and the lining detection radar is used for scanning the tunnel lining structure to find the internal defects of the tunnel lining structure; the inverted arch filling layer detection radar is used for scanning an inverted arch filling layer structure on the bottom surface of a tunnel to find internal defects of the inverted arch filling layer of the tunnel, and when a tunnel detection vehicle travels in the tunnel along the extending direction of the tunnel, internal defects and apparent defects of tunnel lining and internal defects of the inverted arch filling layer can be detected at the same time, so that internal defects such as whether soil around the inside of the tunnel structure has a cavity and whether the lining reinforcement ratio does not reach the standard and apparent defects such as whether cracks, peeling, water leakage, construction cold joints, honeycombs and pitted surfaces exist on the surface of the tunnel structure are detected quickly, the efficiency of tunnel detection is improved, the degree of detection mechanization is improved, and the degree of manual intervention is reduced; in addition, the tunnel detection vehicle is light and small, and can turn around in the tunnel; the tunnel detection box can be detached independently and carried on other mobile platforms such as rail cars, and the existing functions of the tunnel detection box are kept.
Drawings
Fig. 1 is a rear side view three-dimensional view of a tunnel inspection vehicle provided in embodiment 1 of the present invention;
fig. 2 is a side view of a tunnel inspection vehicle according to embodiment 1 of the present invention in a state where a side door of a tunnel inspection box is opened;
FIG. 3 is a front side view three-dimensional view of a tunnel inspection vehicle provided in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of an image acquisition apparatus provided in embodiment 1 of the present invention;
fig. 5 is a side view of a tunnel inspection vehicle provided in embodiment 1 of the present invention, with a side door of a tunnel inspection box closed and a vehicle body of a truck;
fig. 6 is a side view of a tunnel detection box when the vehicle body provided in embodiment 1 of the present invention is a flatbed;
fig. 7 is a schematic structural view of the movement of the telescopic arm of the tunnel inspection vehicle provided in embodiment 1 of the present invention in a state of performing inspection work on a tunnel;
fig. 8 is a schematic view of a tunnel detection vehicle detecting a cross section survey line of a tunnel in a process that the tunnel detection vehicle provided in embodiment 2 of the present invention drives into the tunnel from a right line;
fig. 9 is a schematic diagram of a tunnel cross section survey line detected by the tunnel inspection vehicle in a process that the tunnel inspection vehicle provided in embodiment 2 of the present invention exits from a tunnel from a left line.
Detailed Description
The invention discloses a tunnel detection vehicle and a detection method thereof.A plurality of photographing cameras are arranged at the front part of the roof of a tunnel detection box and are used for acquiring images of the surface of a tunnel so as to find apparent defects of a tunnel lining structure; the lining detection radar is used for scanning the tunnel lining structure to find the internal defects of the tunnel lining structure; the inverted arch filling layer detection radar is used for scanning an inverted arch filling layer structure on the bottom surface of a tunnel to find the internal defects of the inverted arch filling layer of the tunnel, and the tunnel detection vehicle can detect the internal defects and apparent defects of a tunnel lining and the internal defects of the inverted arch filling layer simultaneously in the process of advancing along the extending direction of the tunnel in the tunnel.
Example 1
Referring to fig. 1 to 3, the tunnel detection vehicle includes a vehicle body 1, a tunnel detection box 100 is disposed on the vehicle body 1, the tunnel detection box 100 is a box-type frame structure, and can be hoisted and transported integrally, and a control room 3, an equipment room 4 and a storage room 5 are disposed in the tunnel detection box.
The control room 3 is internally provided with a display and an operation host, and the display is connected with the operation host through a wire. The control room 3 is a cabin for workers to control the whole set of detection equipment and read detection data, and a cold and hot air conditioner is arranged in the control room. The left, right, front, back and top of the control room 3 are provided with observation windows which can be used for observing the surrounding situation by the staff in the detection process.
Wherein, the first-stage telescopic rod 41, the second-stage telescopic rod 42 and the third-stage telescopic rod 43 are gas-electric double-control multi-stage telescopic rods, each set of telescopic arm only has three working degrees of freedom of pitching, lifting and tail end rotation, and the control process is simple and flexible.
The working elevation angles of the first-stage telescopic rod 41, the second-stage telescopic rod 42 and the third-stage telescopic rod 43 are different, and the working ranges of the three telescopic arms are mutually overlapped and cover a detection area seamlessly. Specifically, referring to fig. 7, the three telescopic arms adopt a division working mode, the first-stage telescopic arm 41 has the longest telescopic length which can reach 10m and the largest weight which is about 300kg, the detection range of the first-stage telescopic arm 41 is the area directly above the vehicle, the part of the detection arm beyond the vehicle is less, and the overturning moment of the detection vehicle is also less. The detection areas of the second-stage telescopic arm 42 and the third-stage telescopic arm 43 are both arranged on the right side of the vehicle, when the detection arms are arranged, the rotation axes of the second-stage telescopic arm 42 and the third-stage telescopic arm 43 are arranged at the position to the left of the center line of the vehicle, the detection arms of the second-stage telescopic arm 42 and the third-stage telescopic arm 43 are small in weight and respectively weigh about 250kg and 180kg, and the self weight of the vehicle can be used for balancing the overturning force of the second-stage telescopic arm 42 and the third-stage telescopic arm 43.
The first lining detection radar 410, the second lining detection radar 420, and the third lining detection radar 430 are all laser scanning radars that can detect a small obstacle at a maximum of 5 m.
In order to avoid interference to electromagnetic waves emitted by the radar, the first-stage telescopic rod 41, the second-stage telescopic rod 42 and the third-stage telescopic rod 43 are all made of non-metal materials.
A plurality of inverted arch filling layer detects radar includes that first inverted arch filling layer detects radar 51 and second inverted arch filling layer and detects radar 52, and first inverted arch filling layer detects radar 51 and second inverted arch filling layer and detects radar 52 and sets up respectively in the both sides of automobile body 1's afterbody. The first inverted arch filling layer detection radar 51 and the second inverted arch filling layer detection radar 52 are directly connected with a chassis of the vehicle body 1, and the vehicle body 1 pulls the first inverted arch filling layer detection radar 51 and the second inverted arch filling layer detection radar 52 for detection.
The storage chamber 5 is internally provided with a generator 50, and the generator 50 is a 10KW mute generator. The electricity for the tunnel inspection box 100 may be provided by the generator 50 without external power. A special oil tank for the generator is arranged beside the generator 50. The upper parts of the generator and the oil tank are storage spaces, and the generator and the oil tank can be used for placing machine tools, radar equipment and the like used for field detection.
Referring to fig. 4, the image capturing device 2 is disposed at the front portion of the top of the tunnel inspection box 100, the image capturing device 2 includes a plurality of photographing cameras for photographing different angles and a photographing bracket 20, the photographing bracket 20 is fixed at the front portion of the top of the tunnel inspection box 100, and a left photographing camera 21, an upper photographing camera 22 and a right photographing camera 23 are fixed on the photographing bracket 20.
The plurality of photographing cameras, the plurality of lining detection radars and the plurality of inverted arch filling layer detection radars are connected with the operation host machine through wires.
The tunnel inspection vehicle 100 is a totally enclosed vehicle and can travel on the road. When the device is in a non-detection state, the control room 3, the equipment room 4 and the storage room 5 are in a rainproof closed state; when detecting in the tunnel, equipment room 4 is opened, and one-level telescopic link 41, second grade telescopic link 42 and tertiary telescopic link 43 stretch out and detect to can adjust the flexible length of measuring stick and servo platform rotation angle in real time according to the distance and the angle that detect radar and lining cutting. The first-stage telescopic rod 41, the second-stage telescopic rod 42 and the third-stage telescopic rod 43 adopt a work mode of 'division work' and are respectively responsible for the top, middle and lower positions, the maximum extension can reach 10m, and the maximum section of the existing railway tunnel can be measured. The angle and the extension amount of the first-stage telescopic rod 41, the second-stage telescopic rod 42 and the third-stage telescopic rod 43 can be adjusted, and the requirement for full-coverage detection of the tunnel vault can be met.
Referring to fig. 5, in order to inspect a railway tunnel or other tunnel with a flat road surface before track laying, the vehicle body 1 is a truck 11 of a tire type, and two wheels are provided at the front part of the vehicle body 1 and four wheels, which are six-wheel trucks, are provided at the rear part. The chassis of the vehicle body 1 is a bearing chassis, after the tunnel detection box 100 is placed, the total weight of the vehicle is about 7 tons, the total weight of the vehicle is less than 75% of the total weight of the vehicle, the bearing allowance of the vehicle is sufficient, the power of the vehicle is strong, and the requirement of driving on roads in mountainous areas can be met.
In addition, the vehicle is also provided with an electric tracing system for meeting the self-running oil supply system and the generator oil supply system, and the normal starting of the vehicle at the lowest temperature of-20 ℃ can be met. The vehicle detection is stable, the detection efficiency is high, and the detection requirement of 10km/h at most can be met when the three telescopic arms are completely extended.
Referring to fig. 6, in order to adapt the tunnel inspection box 100 to a special rail vehicle such as a railway flatbed, a city pipe gallery flatbed, etc., the vehicle body 1 is a rail-type flatbed 12, so that the tunnel inspection vehicle is used to inspect an existing tunnel in which a track is laid.
Referring to fig. 7, when the vehicle body 1 travels in the tunnel in the extending direction of the tunnel, the movable ranges of the top ends of the first-stage telescopic rod 41, the second-stage telescopic rod 42 and the third-stage telescopic rod 43 sequentially cover from low to high and cover more than one-half of the tunnel lining in total, so that the first lining detection radar 410, the second lining detection radar 420 and the third lining detection radar 430 can detect near the tunnel lining.
The left photographing camera 21, the upper photographing camera 22 and the right photographing camera 23 are located on the same cross section of the tunnel, the photographing direction of the upper photographing camera 22 is perpendicular to the bottom surface of the tunnel and faces upwards, and the left photographing camera 21 and the right photographing camera 23 are located on two sides of the upper photographing camera 22 respectively. The plurality of photographing cameras are used for acquiring images of the surface of the tunnel so as to find apparent defects of the tunnel lining structure; the lining detection radar is used for scanning the tunnel lining structure to find the internal defects of the tunnel lining structure; the inverted arch filling layer detection radar is used for scanning an inverted arch filling layer structure of the bottom surface of the tunnel to find internal defects of the inverted arch filling layer of the tunnel.
Example 2
1. preparation before detection
Step A1: selecting detection mileage and determining the flatness of the ground of the detection tunnel;
step A2: designing a measuring point position: when 5 lining measuring lines are distributed on the cross section of the tunnel lining at intervals, namely a lining measuring line c1 in the middle of the tunnel lining, 2 lining measuring lines c2 and c3 on the right side and 2 lining measuring lines c4 and c5 on the left side, two measuring lines A1 and A2 of a right inverted arch filling layer and two measuring lines B1 and B2 of a left inverted arch filling layer are respectively arranged on the right side and the left side of the cross section of the inverted arch filling layer;
2. tunnel inspection vehicle 100 in place, radar scan
Step B1: the tunnel detection vehicle 100 drives into the tunnel near the right side and stops at the initial position of the detection starting point, the vehicle body direction is parallel to the tunnel axis direction, and the primary telescopic rod 41, the secondary telescopic rod 42 and the tertiary telescopic rod 43 are lifted, so that the first lining detection radar 410, the second lining detection radar 420 and the third lining detection radar 430 are respectively close to the lining measuring line c1 in the middle of the tunnel lining and 2 lining measuring lines c2 and c3 on the right side;
step B2: starting a first lining detection radar 410, a second lining detection radar 420, a third lining detection radar 430, a first inverted arch filling layer detection radar 51 and a second inverted arch filling layer detection radar 52;
step B3: the tunnel detection vehicle 100 enters the tunnel along the extending direction of the tunnel, a first inverted arch filling layer detection radar 51 and a second inverted arch filling layer detection radar 52 respectively detect two right inverted arch filling layer measuring lines A1 and A2, and meanwhile, a first lining detection radar 410, a second lining detection radar 420 and a third lining detection radar 430 respectively detect a lining measuring line c1 in the middle of the tunnel lining and 2 lining measuring lines c2 and c3 on the right side until the tunnel termination mileage is reached;
step B4: adjusting the first-stage telescopic rod 41, the second-stage telescopic rod 42 and the third-stage telescopic rod 43 to enable the first lining detection radar 410, the second lining detection radar 420 and the third lining detection radar 430 to be close to a lining measuring line c1 in the middle of the tunnel lining and 2 lining measuring lines c4 and c5 on the left side respectively;
step B5: the tunnel detection vehicle 100 is driven out of the tunnel along the extending direction of the tunnel, the first inverted arch filling layer detection radar 51 and the second inverted arch filling layer detection radar 52 respectively detect two left inverted arch filling layer measuring lines B1 and B2, and the first lining detection radar 410, the second lining detection radar 420 and the third lining detection radar 430 respectively detect a lining measuring line c1 in the middle of the tunnel lining and 2 lining measuring lines c4 and c5 on the left side of the tunnel lining until the tunnel is driven out;
step B6: the first lining detection radar 410, the second lining detection radar 420, and the third lining detection radar 430, and the first inverted arch filling layer detection radar 51 and the second inverted arch filling layer detection radar 52 are turned off, and the first telescopic link 41, the second telescopic link 42, and the third telescopic link 43 are recovered.
The invention discloses a tunnel detection vehicle and a detection method thereof, which improve the efficiency of tunnel detection and the degree of mechanization, and specifically comprise the following steps:
1. the efficiency of tunnel detection has been improved: the control mode of the telescopic arm is simple and flexible, the preparation work is less, each telescopic arm only has three degrees of freedom of operation such as lifting, arm body rotating angle and holder angle, and the extension and the recovery can be finished quickly;
2. and (3) improving the mechanization degree: each telescopic arm can perform full-automatic point searching action according to the measuring point position set by a worker; active clearance adjustment is carried out, and the distance between the radar and the lining plane is always kept within a required range; active obstacle detection, namely, alarming in advance by at most five meters and actively avoiding collision; actively judging the structural change of the cross sections of the cavern and the lower anchor section, and logically controlling the action of the telescopic arm; and (5) checking the position of the vehicle in real time.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. A tunnel detection vehicle comprises a vehicle body (1), and is characterized in that a tunnel detection box (100) is arranged on the vehicle body (1),
the tunnel detection box (100) is provided with an image acquisition device (2), and the image acquisition device (2) comprises a plurality of photographing cameras for photographing different angles;
an operation host machine is arranged in the tunnel detection box (100) and a radar detection device is configured in the tunnel detection box, the radar detection device comprises a plurality of telescopic arms, a plurality of lining detection radars and a plurality of inverted arch filling layer detection radars, each lining detection radar is correspondingly arranged at the top end of one telescopic arm, and the inverted arch filling layer detection radars are arranged at the tail of the vehicle body (1); the plurality of photographing cameras, the plurality of lining detection radars and the plurality of inverted arch filling layer detection radars are connected with the operation host through wires;
the plurality of photographing cameras are used for acquiring images of the surface of the tunnel so as to find apparent defects of the tunnel lining structure;
the lining detection radar is used for detecting the tunnel lining structure to find the internal defects of the tunnel lining structure; the inverted arch filling layer detection radar is used for detecting an inverted arch filling layer structure of the tunnel so as to find internal defects of the inverted arch filling layer of the tunnel.
2. The tunnel inspection vehicle of claim 1, characterized in that an equipment room (4) is provided in the tunnel inspection box (100), a first-stage telescopic rod (41), a second-stage telescopic rod (42) and a third-stage telescopic rod (43) are provided in the equipment room (4),
the top ends of the first-stage telescopic rod (41), the second-stage telescopic rod (42) and the third-stage telescopic rod (43) are respectively provided with a first lining detection radar (410), a second lining detection radar (420) and a third lining detection radar (430);
when the vehicle body (1) moves in a tunnel along the extending direction of the tunnel, the movable ranges of the top ends of the primary telescopic rod (41), the secondary telescopic rod (42) and the tertiary telescopic rod (43) sequentially cover from low to high, and the total movable ranges cover more than one half of the tunnel lining, so that the first lining detection radar (410), the second lining detection radar (420) and the third lining detection radar (430) can be close to the tunnel lining for detection.
3. The tunnel inspection vehicle of claim 2,
the first-stage telescopic rod (41), the second-stage telescopic rod (42) and the third-stage telescopic rod (43) are gas-electric double-control multi-stage telescopic rods, and each set of telescopic arm only has three working degrees of freedom of pitching, lifting and tail end rotation.
4. The tunnel inspection vehicle of claim 1, wherein the plurality of inverted arch filling layer detection radars include a first inverted arch filling layer detection radar (51) and a second inverted arch filling layer detection radar (52), and the first inverted arch filling layer detection radar (51) and the second inverted arch filling layer detection radar (52) are respectively disposed at both sides of the rear portion of the vehicle body (1).
5. The tunnel inspection vehicle according to claim 1, wherein a control room (3) is provided in the tunnel inspection box (100), the operation host is provided in the control room (3), and a display is provided in the control room (3), and the display is connected with the operation host by wire.
6. The tunnel inspection vehicle of claim 1, characterized in that a storage chamber (5) is provided in the tunnel inspection box (100), and a generator (50) is provided in the storage chamber (5).
7. The tunnel inspection vehicle of claim 1, characterized in that the image acquisition device (2) further comprises a photographing bracket (20), the photographing bracket (20) is fixed on the tunnel inspection box (100), a left photographing camera (21), an upper photographing camera (22) and a right photographing camera (23) are fixed on the photographing bracket (20),
when automobile body (1) advances the in-process along the extending direction in tunnel in the tunnel, the camera (21) is shot on a left side go up to shoot camera (22) with the camera (23) is shot on the right side is located same tunnel cross section, just it upwards to go up the perpendicular tunnel bottom surface of the shooting direction of shooting camera (22), the camera (21) is shot on a left side with the camera (23) is shot on the right side and is located respectively go up the both sides of shooting camera (22).
8. The tunnel inspection vehicle according to claim 1, characterized in that the vehicle body (1) is a truck (11) of the tire type or a flatbed (12) of the rail type.
9. A tunnel detection method, which adopts the tunnel detection vehicle as claimed in any one of claims 1 to 8, wherein a first telescopic rod (41), a second telescopic rod (42) and a third telescopic rod (43) are arranged on the tunnel detection vehicle (100), the top ends of the first telescopic rod (41), the second telescopic rod (42) and the third telescopic rod (43) are respectively provided with a first lining detection radar (410), a second lining detection radar (420) and a third lining detection radar (430), the two sides of the tail part of the tunnel detection vehicle (100) are respectively provided with a first inverted arch filling layer detection radar (51) and a second inverted arch filling layer detection radar (52) for detecting the internal defects of a tunnel lining and an inverted arch filling layer of a tunnel to be detected, 5 lining measuring lines are arranged on the cross section of the tunnel lining at intervals, and the tunnel lining measuring line (c1) in the middle of the tunnel lining is included, The tunnel detection method is characterized by comprising the following steps of (1) arranging two right inverted arch filling layer measuring lines (A1, A2) and two left inverted arch filling layer measuring lines (B1, B2) on the right side and the left side of 2 lining measuring lines (c2, c3) and 2 lining measuring lines (c4, c5) on the left side of the right side, wherein the right side and the left side of the cross section of an inverted arch filling layer are respectively provided with the two right inverted arch filling layer measuring lines (A1, A2) and the two left inverted arch filling layer measuring lines (B1, B2):
and (3) detecting the right line: when a tunnel detection vehicle (100) enters a tunnel along the extending direction of the tunnel, a first inverted arch filling layer detection radar (51) and a second inverted arch filling layer detection radar (52) respectively detect two right inverted arch filling layer measuring lines (A1, A2), and simultaneously a first lining detection radar (410), a second lining detection radar (420) and a third lining detection radar (430) at the top ends of a first-stage telescopic rod (41), a second-stage telescopic rod (42) and a third-stage telescopic rod (43) respectively detect a lining measuring line (c1) in the middle of the tunnel lining and 2 lining measuring lines (c2, c3) on the right side;
and (3) detecting a left line: when the tunnel detection vehicle (100) is driven out of the tunnel along the extending direction of the tunnel, a first inverted arch filling layer detection radar (51) and a second inverted arch filling layer detection radar (52) respectively detect two left inverted arch filling layer measuring lines (B1, B2), and meanwhile, a first lining detection radar (410), a second lining detection radar (420) and a third lining detection radar (430) at the top ends of a first-stage telescopic rod (41), a second-stage telescopic rod (42) and a third-stage telescopic rod (43) respectively detect a lining measuring line (c1) in the middle of the tunnel lining and 2 lining measuring lines (c4, c5) on the left side.
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| CN110058224A (en) * | 2018-11-08 | 2019-07-26 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel-liner detection method based on robot automatic tracing technology and radar detection technique |
| WO2021068746A1 (en) * | 2019-10-08 | 2021-04-15 | 上海市东方海事工程技术有限公司 | Image acquisition device for tunnel inspection, tunnel inspection system, and tunnel inspection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107014352A (en) * | 2017-05-02 | 2017-08-04 | 中铁第四勘察设计院集团有限公司 | A kind of railcar and detection method for railway tunnel tunneling boring comprehensive detection |
| CN110058224A (en) * | 2018-11-08 | 2019-07-26 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel-liner detection method based on robot automatic tracing technology and radar detection technique |
| WO2021068746A1 (en) * | 2019-10-08 | 2021-04-15 | 上海市东方海事工程技术有限公司 | Image acquisition device for tunnel inspection, tunnel inspection system, and tunnel inspection method |
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