CN114488013B - Automated data acquisition device and method for radar detection of highway tunnel lining - Google Patents
Automated data acquisition device and method for radar detection of highway tunnel lining Download PDFInfo
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- CN114488013B CN114488013B CN202111615709.9A CN202111615709A CN114488013B CN 114488013 B CN114488013 B CN 114488013B CN 202111615709 A CN202111615709 A CN 202111615709A CN 114488013 B CN114488013 B CN 114488013B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
本发明涉及一种用于公路隧道衬砌雷达检测的自动化数据采集装置及方法，所述装置包括动力承载车、伸缩控制杆和行进控制轨道，所述动力承载车内部设置有主控模块，所述伸缩控制杆垂直连接于动力承载车上，并通过一刚性连接机构与所述行进控制轨道滑动连接，所述伸缩控制杆顶部设置有角度调节器和用于安装地质雷达天线的天线承载平台，所述角度调节器与天线承载平台连接，所述主控模块分别连接伸缩控制杆和角度调节器；在进行数据采集时，所述行进控制轨道固定于衬砌边墙，地质雷达天线紧贴于既定测线的衬砌表面。与现有技术相比，本发明具有能够精准定位到设计测线、无需人工操作干预等优点。
The present invention relates to an automated data acquisition device and method for radar detection of highway tunnel linings, the device comprising a power-carrying vehicle, a telescopic control rod and a travel control track, a main control module is arranged inside the power-carrying vehicle, the telescopic control rod is vertically connected to the power-carrying vehicle, and is slidably connected to the travel control track through a rigid connection mechanism, an angle adjuster and an antenna bearing platform for installing a geological radar antenna are arranged on the top of the telescopic control rod, the angle adjuster is connected to the antenna bearing platform, and the main control module is respectively connected to the telescopic control rod and the angle adjuster; when performing data acquisition, the travel control track is fixed to the lining side wall, and the geological radar antenna is closely attached to the lining surface of the established survey line. Compared with the prior art, the present invention has the advantages of being able to accurately locate the designed survey line and not requiring manual intervention.
Description
Technical Field
The invention relates to the technical field of highway tunnel lining radar detection, in particular to an automatic data acquisition device and method for highway tunnel lining radar detection.
Background
Concrete lining is an important component of tunnel construction. In the tunnel construction period, due to various factors, the lining is easy to have internal cavity, incompact, insufficient thickness and other quality defects, the safety of the tunnel structure is seriously influenced, and a better effect can be obtained by adopting a geological radar method to carry out quality detection on the tunnel lining. In the prior art, when geological radar is adopted to detect highway tunnel lining, most of the data acquisition work is performed by holding a radar antenna on a lifting trolley by a person, the method has the defects that the antenna is required to be manually lifted during ① detection, the detection personnel works aloft, potential safety hazards are caused, the lifting trolley is used as travelling power, the lifting trolley is difficult to keep to travel along a design measuring line at a constant speed during manual operation, the ② design measuring line is usually randomly selected on site and cannot be accurately positioned, if defects are difficult to find out the defect positions accurately on site after data processing, manual marking is adopted in the ③ detection process, and the marking is not automatic, and is inaccurate due to human factors.
Through searching, the prior patent technology adopts a geological radar scanning frame to realize radar lifting, adopts a supporting structure to realize automatic detection, or aims at a lining detection device of a railway tunnel. The invention discloses a special geological radar scanning frame design method for tunnel lining quality detection, which only realizes manual lifting of geological radar, but fails to realize autonomous running, automatic marking and automatic acquisition of a detection device, the invention discloses a geological radar auxiliary device and a geological radar auxiliary method suitable for tunnel lining quality detection, the invention realizes automatic data acquisition of a geological radar antenna along a measuring line covered by a flexible track, but requires overhead operation for installing a supporting structure when vault detection is carried out, and simultaneously, measurement and manufacture of the supporting structure are required for tunnels with different sections, the invention is very complicated, the invention discloses a tunnel primary-building radar detection device which can not realize mechanical lifting and autonomous running of the geological radar antenna, but can not accurately position the measuring line, can not guarantee running of a trolley according to the design at a tunnel curve, and can not realize automatic marking of the detection device, and the invention provides a lining detection bracket and a detection method capable of automatically adjusting the height and the angle of the geological radar antenna along the measuring line covered by a flexible track, and the invention is suitable for only highway tunnel lining measuring line, and the invention can not be suitable for highway tunnel lining mechanical lifting and autonomous running.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic data acquisition device for detecting the highway tunnel lining radar, which can accurately position to a design survey line and does not need manual operation intervention.
The aim of the invention can be achieved by the following technical scheme:
An automatic data acquisition device for highway tunnel lining radar detection comprises a power bearing vehicle, a telescopic control rod and a traveling control track, wherein a main control module is arranged in the power bearing vehicle, the telescopic control rod is vertically connected to the power bearing vehicle and is in sliding connection with the traveling control track through a rigid connection mechanism, an angle adjuster and an antenna bearing platform for installing a geological radar antenna are arranged at the top of the telescopic control rod, the angle adjuster is connected with the antenna bearing platform, the main control module is respectively connected with the telescopic control rod and the angle adjuster, and the traveling control track is fixed on a lining side wall during data acquisition.
Further, the power-carrying vehicle comprises a vehicle body, wherein a ranging direction wheel is arranged at the front part of the bottom of the vehicle body in the advancing direction, and a power traveling wheel is arranged at the rear part of the bottom of the vehicle body in the advancing direction.
Further, a rail wheel connected with the rigid connection mechanism is arranged in the travelling control rail.
Further, the rigid connection mechanism comprises a connecting rod lock catch and a rigid connecting rod, one end of the rigid connecting rod is fixed on the telescopic control rod through the connecting rod lock catch, and the other end of the rigid connecting rod is connected with the rail wheel.
Further, the rigid connecting rod is detachably connected with the rail wheel.
Further, the travel control rail is fixed to the lining side wall through a fixing screw.
The invention also provides an automatic data acquisition method for detecting the highway tunnel lining radar by adopting the automatic data acquisition device, which comprises the following steps:
1) Constructing a highway tunnel model with a measuring line, and calculating to obtain a horizontal distance L from the measuring line to the central axis of the tunnel, a height H from the measuring line to the ground of the tunnel and an included angle a between a tangent line of the measuring line on the surface of the lining and the horizontal line, wherein the measuring line is a design line of a geological radar antenna attached to the surface of the lining of the tunnel for detection;
2) Calculating a set position of the power bearing vehicle in a highway tunnel and a set height of the central point of the angle regulator from the ground when the power bearing vehicle performs data acquisition based on the horizontal distance L, the height H and the included angle a, wherein the set position and the set height meet the requirement that the acquisition device advances according to a designed measuring line in the data acquisition process;
3) Arranging the acquisition device at the set position, fixing the geological radar antenna on the antenna bearing platform, adjusting the telescopic control rod to a set height through a main control module, and controlling an angle regulator to enable the geological radar antenna to be clung to the surface of a lining of a given survey line;
4) The advancing control rail is fixed on a lining side wall and is connected with a telescopic control rod through an adaptive rigid connection mechanism;
5) And starting the power bearing vehicle, setting a detection distance and a marking frequency, and starting data acquisition and detection.
Further, the set position is represented by a horizontal distance L1 from the center point of the power carrier to the central axis of the tunnel, and the calculation formula of L1 is as follows:
L1=L-M*sin a
wherein M is the distance between the measuring line and the center point of the angle regulator.
Further, the calculation formula of the set height H1 is:
H1=H-M*cos a
wherein M is the distance between the measuring line and the center point of the angle regulator.
Further, repeating the steps 1) -5) to realize data acquisition and detection of different measuring lines.
Compared with the prior art, the invention has the following beneficial effects:
1) According to the invention, manual overhead operation is not needed when geological radar detection is carried out, so that potential safety hazards are reduced.
2) When the method is used for detecting the quality of the highway tunnel lining, the test line is quantitatively designed through the tunnel model, the detection device is accurately positioned, and the geological radar antenna is tightly attached to the tunnel lining through calculating the accurate positioning detection device, so that the accuracy of detection work is improved.
3) According to the invention, the detection device can be accurately positioned to the design survey line, the radar antenna can be advanced at a constant speed according to the design survey line in the detection process, the data and the ranging marks can be automatically acquired, manual operation intervention is not needed, and the full-automatic control is realized, so that the automatic data acquisition work of the detection of the highway tunnel lining radar is realized.
4) The invention controls the travelling route through the travelling control rail, and can ensure that the device travels according to the design survey line even at the position of the tunnel curve.
5) The invention has simple structure and convenient use, and when tunnels with different sections or a plurality of measuring lines are detected, the advancing control track is not required to be adjusted, and only rigid connecting rods with proper lengths are required to be adjusted for connection and fixation.
Drawings
FIG. 1 is a schematic diagram of the structure of the device of the present invention;
FIG. 2 is a schematic view of the angle adjuster and radar antenna carrying platform according to the present invention;
FIG. 3 is a schematic flow chart of the method of the present invention;
FIG. 4 is a schematic diagram of the detection operation of the device of the present invention;
In the figure, 1, a power bearing vehicle, 101, a power travelling wheel, 102, a ranging direction wheel, 2, a telescopic control rod, 3, a travelling control track, 301, a track wheel, 4, a main control module, 5, an angle regulator, 6, an antenna bearing platform, 7, a fixing screw, 801, a connecting rod lock catch, 802, a rigid connecting rod, 9 and a measuring line.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
As shown in fig. 1, the embodiment provides an automatic data acquisition device for detecting a highway tunnel lining radar, which comprises a power bearing vehicle 1, a telescopic control rod 2 and a traveling control track 3, wherein a main control module 4 is arranged in the power bearing vehicle 1, the telescopic control rod 2 is vertically connected to the power bearing vehicle 1 and is in sliding connection with the traveling control track 3 through a rigid connection mechanism, an angle adjuster 5 and an antenna bearing platform 6 for installing a geological radar antenna are arranged at the top of the telescopic control rod 2, the angle adjuster 5 is connected with the antenna bearing platform 6, the main control module 4 is respectively connected with the telescopic control rod 2 and the angle adjuster 5, the traveling control track 3 is fixed on a lining side wall during data acquisition, and the angle adjuster 5 can adjust an angle through the main control module 4 to enable the geological radar antenna to be clung to the lining surface.
In this embodiment, the power-carrying vehicle 1 includes a vehicle body, a ranging direction wheel 102 is disposed at the front part of the bottom of the vehicle body in the forward direction, two power traveling wheels 101 are disposed at the rear part of the bottom of the vehicle body in the forward direction, and the power traveling wheels 101 and the ranging direction wheels 102 are connected with the main control module 4, so as to provide power for uniform-speed running and automatic ranging marks.
The running control rail 3 is fixed on the lining side wall through a fixing screw 7, and a rail wheel 301 connected with a rigid connection mechanism is arranged in the running control rail, so that the running control rail 3 can smoothly move when the power carrier 1 and the telescopic control rod 2 run. In this embodiment, the rigid connection mechanism includes a connection rod lock 801 and a rigid connection rod 802, one end of the rigid connection rod 802 is fixed on the telescopic control rod 2 through the connection rod lock 801, and the other end is connected with the track wheel 301. The rigid connecting rod 802 is detachably connected with the rail wheel 301, so that the rigid connecting rod 802 with different lengths can be conveniently selected according to different use scenes.
In this embodiment, the main control module 4 includes a motor for driving the corresponding components.
Referring to fig. 3, when the automated data acquisition device is used for automatic data acquisition for detecting the radar of the lining of the highway tunnel, the method comprises the following steps:
1) Constructing a highway tunnel model with a measuring line, and calculating to obtain a horizontal distance L from the measuring line to the central axis of the tunnel, a height H from the measuring line to the ground of the tunnel and an included angle a between a tangent line of the measuring line on the surface of the lining and the horizontal line, wherein the measuring line is a design line of a geological radar antenna attached to the surface of the lining of the tunnel for detection;
2) The method comprises the steps of calculating the set position of the power bearing vehicle in the highway tunnel and the set height of the center point of the angle regulator from the ground when the power bearing vehicle performs data acquisition based on the horizontal distance L, the height H and the included angle a, wherein the set position and the set height meet the requirements that the acquisition device advances according to a designed measuring line in the data acquisition process, and the specific calculation method is as follows:
Selecting a corresponding geological radar antenna, measuring the distance M between a measuring line and the central point of the angle regulator 5, wherein the set position is represented by the horizontal distance L1 from the central point of the power bearing vehicle to the central axis of the tunnel, and the calculation formulas of the horizontal distance L1 and the set height H1 are as follows:
L1=L-M*sin a,H1=H-M*cos a
3) Arranging the acquisition device at a set position, fixing the geological radar antenna on an antenna bearing platform 6, adjusting the telescopic control rod 2 to a set height through the main control module 4, and controlling the angle regulator 5 to enable the geological radar antenna to be clung to the surface of a lining of a set survey line;
4) The advancing control rail 3 is fixed on the lining side wall, and is connected with the telescopic control rod 2 through an adaptive rigid connection mechanism;
5) The power vehicle 1 is started, the detection distance and the marking frequency are set, and data acquisition and detection are started.
The schematic diagram of the detection operation of the acquisition device in the highway tunnel is shown in fig. 4, and the automatic data acquisition process is performed strictly according to the designed test line 9.
When tunnels with different sections or multiple measuring lines are detected, the advancing control track 3 does not need to be adjusted, and only the rigid connecting rod 802 with proper length is selected to be connected and fixed with the telescopic control rod 2 through the connecting rod lock catch 801, and the steps are repeated.
The acquisition device and the corresponding acquisition method can control the detection travel route through the travel control track 3, ensure that the radar antenna detects according to the design survey line, realize automatic ranging marking and realize automatic control of the detection process.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111615709.9A CN114488013B (en) | 2021-12-27 | 2021-12-27 | Automated data acquisition device and method for radar detection of highway tunnel lining |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111615709.9A CN114488013B (en) | 2021-12-27 | 2021-12-27 | Automated data acquisition device and method for radar detection of highway tunnel lining |
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| CN114488013A CN114488013A (en) | 2022-05-13 |
| CN114488013B true CN114488013B (en) | 2025-04-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116736390A (en) * | 2023-06-19 | 2023-09-12 | 广西交建工程检测咨询有限公司 | A data collection device and collection method based on geological radar tunnel detection |
| CN116774157A (en) * | 2023-06-28 | 2023-09-19 | 成都西南交大研究院有限公司 | Remote rapid real-time general investigation method and system for hidden diseases of double-track tunnel lining |
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| CN105738957A (en) * | 2016-04-15 | 2016-07-06 | 北京市政路桥股份有限公司 | Radar detection vehicle for tunnel lining |
| CN106814346A (en) * | 2015-11-30 | 2017-06-09 | 重庆大学 | Can automatic controlled height and angle tunnel-liner detection support and detection method |
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| DE102004048168A1 (en) * | 2004-10-02 | 2006-04-13 | Gbm Wiebe Gleisbaumaschinen Gmbh | Land vehicle and method for measuring the superstructure of traffic routes |
| CN110161043B (en) * | 2019-05-10 | 2021-03-26 | 同济大学 | A comprehensive inspection vehicle for subway tunnel structure |
| CN210998741U (en) * | 2019-11-21 | 2020-07-14 | 武汉伏佳安达电气技术有限公司 | Cable tunnel inspection robot |
| US20210223363A1 (en) * | 2020-01-16 | 2021-07-22 | Outsight SA | Object detection on a path of travel and obstacle detection on railway tracks using free space information |
| CN214174220U (en) * | 2021-01-07 | 2021-09-10 | 中铁十二局集团第二工程有限公司 | Radar device for detecting lining bottom plate of rail transit tunnel |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814346A (en) * | 2015-11-30 | 2017-06-09 | 重庆大学 | Can automatic controlled height and angle tunnel-liner detection support and detection method |
| CN105738957A (en) * | 2016-04-15 | 2016-07-06 | 北京市政路桥股份有限公司 | Radar detection vehicle for tunnel lining |
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