CN114791632A - Tunnel geological safety advanced ultra-deep detection vehicle - Google Patents
Tunnel geological safety advanced ultra-deep detection vehicle Download PDFInfo
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- CN114791632A CN114791632A CN202210397596.8A CN202210397596A CN114791632A CN 114791632 A CN114791632 A CN 114791632A CN 202210397596 A CN202210397596 A CN 202210397596A CN 114791632 A CN114791632 A CN 114791632A
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Abstract
The invention discloses a tunnel geological safety advanced ultra-deep detection vehicle, which relates to the technical field of tunnel geological structure and geological disaster detection, and mainly structurally comprises an automobile, a high-power ultra-deep geological radar antenna, a mechanical arm system, a positioning system, a radar data acquisition system, a video acquisition system and an electrical control system; the mechanical arm system mainly solves the problems of low efficiency and high danger of manually carrying the antenna at the front part, the vault and the side wall of the tunnel face in a tunnel complex environment, and the tunnel geological safety advanced and ultra-deep detection vehicle adopts a high-power ultra-deep geological radar antenna and can realize the detection of the tunnel ultra-deep geological structure; the tunnel geological safety advanced ultra-deep detection vehicle adopts a retractable mechanical arm design, so that the detection working efficiency can be improved; the positioning system adopts two distance measuring wheel encoders and two positioning receiving modules, and can acquire accurate coordinate information of a detection position; the real-time video data acquisition of the video acquisition system can provide field playback for the processing and interpretation of radar data, and reduce misjudgment and missed judgment of abnormal targets; the electrical control system regulates and controls the real-time position of the mechanical arm, the antenna posture can be changed more accurately and timely for detection, and the detection result provides accurate basis for tunnel site construction and repair.
Description
Technical Field
The invention relates to the technical field of tunnel geological structure and geological disaster detection, in particular to a tunnel geological safety advanced ultra-deep detection vehicle.
Background
China has become the country with the longest and most tunnels. By 2019, the business mileage of railways in China reaches 15 kilometers, wherein the high-speed rails are about 3 kilometers, the total length of the railway operation tunnels is 6874, and the total length is 4158 km. Due to the influences of deep burying, long distance, tunneling under a water layer and the like, geological and hydrogeological conditions tend to be more complex, tunnel construction is unexpectedly subjected to engineering geological disaster hidden dangers such as faults, collapse, karst, rock burst, water inrush, mud inrush, gas inrush and the like, and the main problem of influencing the engineering construction progress is solved. If the Sichuan-Tibet railway is located in a high-altitude area, the terrain is severe, the air is thin, the implementation difficulty of the original ground detection technology is high, and reliable geological guarantee is difficult to provide for safe and rapid construction of tunnels. Therefore, research and development of special detection technologies and equipment such as tunnel geological safety advanced ultra-deep detection vehicles and the like can improve the precision and accuracy of prediction, and the method becomes a problem to be solved urgently in the tunnel safety rapid construction process.
The ground penetrating radar method is a geophysical method for detecting the characteristics and distribution rule of substances in a medium by utilizing an antenna to emit high-frequency electromagnetic waves and receiving electromagnetic echoes. The ground penetrating radar technology has the advantages of no damage, high precision, high speed and the like, and is a main means for detecting tunnel geological structures and geological disasters at present. At present, when ground penetrating radar detection is carried out on hidden diseases of tunnel face front, side walls, a bottom plate and a lining structure in a tunnel complex environment, an antenna needs to be carried manually, and the operation efficiency is low and the danger is high. The existing radar technology is shallow in detection depth on the detection of the geological structure information at the deep part of the tunnel, the construction work of railway and highway tunnels is enlarged in China, tunnel engineering safety accidents are continuous due to the lack of safety detection equipment, and the accurate detection of the geological structure of the deep space of the tunnel has important significance for guaranteeing the safe operation of the tunnel and promoting the development of urban traffic.
Disclosure of Invention
In order to solve the technical problems, the invention provides a tunnel geological safety advanced and ultra-deep detection vehicle which utilizes a high-power ultra-deep geological radar antenna and a retractable mechanical arm to realize accurate detection of a tunnel deep geological space structure by changing the form of the mechanical arm so as to solve the problems that tunnel deep diseases are difficult to detect, and the manual antenna carrying operation efficiency is low and the danger is high.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a tunnel geological safety advanced ultra-deep detection vehicle, which comprises an automobile, a high-power ultra-deep geological radar antenna, a mechanical arm system, a positioning system, a radar data acquisition system, a video acquisition system and an electrical control system, wherein the mechanical arm system is arranged on the automobile; the high-power ultra-deep geological radar antenna is connected with the radar data acquisition system; the mechanical arm system is connected with the electrical control system; the positioning system is connected with the video acquisition system; the radar data acquisition system is connected with the video acquisition system through a network.
Optionally, the interior of the automobile comprises a cab, an operation room and a tail platform which are sequentially arranged from front to back, and the radar data acquisition system, the video acquisition system and the electrical control system are all arranged in the operation room of the automobile; the mechanical arm system is arranged above the automobile tail platform; and supporting legs are arranged below the automobile tail platform and used for fixing the automobile position when the automobile stops running and is detected.
Optionally, the mechanical arm system comprises a mechanical arm and a hydraulic oil cylinder, the mechanical arm comprises a sliding arm, an upper arm and a lower arm, a base is arranged at the joint of one end of the lower arm and the automobile, the base is used for achieving 180-degree rotation of the lower arm, the other end of the lower arm is rotatably connected with one end of the upper arm, and a rotating shaft is arranged at the joint of the other end of the upper arm and one end of the sliding arm and used for achieving 360-degree rotation of the sliding arm.
Optionally, the hydraulic cylinders are respectively arranged at the joint of the automobile base and the lower arm and at the joint of the lower arm and the upper arm, and the hydraulic cylinders at the corresponding positions are respectively used for controlling the lifting of the lower arm and the lifting and stretching of the upper arm; when the mechanical arm is in a working state, four detection modes of the high-power ultra-deep geological radar antenna can be realized: tunnel face front probing, vault probing, side wall probing, and floor probing.
Optionally, a slide rail is arranged on the slide arm, a connecting hole is formed in the slide rail and connected with the high-power ultra-deep geological radar antenna, and the electrical control system is used for controlling the high-power ultra-deep geological radar antenna to move on the slide rail.
Optionally, the positioning system includes two distance measuring wheel encoders and two positioning receiving modules, one of the two distance measuring wheel encoders is disposed at the rear wheel of the automobile and coaxially and fixedly connected to the wheel axle, and is used for recording the number of revolutions of the rear wheel of the automobile, and the other distance measuring wheel encoder is disposed on the slide arm of the mechanical arm and is used for recording the moving distance of the antenna along the slide rail; the two positioning receiving modules are arranged at the top of the automobile operation room and used for collecting satellite signals of positioning automobiles, the positioning receiving modules normally work under the condition of satellite signals, and the positioning receiving modules stop working under the condition of no satellite signals, so that the running track of the automobiles is recorded.
Optionally, the radar data acquisition system includes a data acquisition module and a data storage module, and the data acquisition module can realize synchronous acquisition of target echo video signals, synchronous pulses and other signals; the data storage module can store data collected in a period of time in real time.
Optionally, the video acquisition system includes a plurality of video acquisition cameras, a plurality of video acquisition cameras are located car rear portion and lateral part for gather the surrounding of automobile body and inside environmental information.
Compared with the prior art, the invention achieves the following technical effects:
the main structure of the tunnel geological safety advanced ultra-deep detection vehicle comprises a vehicle, a high-power ultra-deep geological radar antenna, a mechanical arm system, a positioning system, a radar data acquisition system, a video acquisition system and an electrical control system; the high-power ultra-deep geological radar antenna can realize the ultra-deep geological structure detection of the front part, the vault, the side wall and the bottom plate of the tunnel face in the complex environment of the tunnel; the mechanical arm system adopts a retractable mechanical arm design, so that the problems of low operating efficiency and high risk of manually carrying the antenna under a complex tunnel environment are solved, and the working efficiency is greatly improved; the positioning system adopts two distance measuring wheel encoders and two positioning receiving modules, and can acquire the accurate coordinate information of the detection position; the real-time video data acquisition of the video acquisition system can provide field playback for the processing and interpretation of radar data, and reduce misjudgment and missed judgment of abnormal targets; the electric control system regulates and controls the real-time position of the mechanical arm, the antenna posture can be changed more accurately and timely for detection, and the detection result provides accurate basis for tunnel site construction and repair.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a tunnel geological safety advanced ultra-deep probe vehicle of the invention;
FIG. 2 is a schematic structural diagram of the tunnel geological safety advanced ultra-deep detection vehicle of the invention for detecting on the tunnel face;
FIG. 3 is a schematic structural diagram of the tunnel geological safety advanced ultra-deep detection vehicle in the detection of the tunnel vault;
FIG. 4 is a schematic structural diagram of the tunnel geological safety advanced ultra-deep detection vehicle detecting at the bottom of the tunnel;
FIG. 5 is a schematic structural diagram of the tunnel geological safety advanced ultra-deep detection vehicle for detecting on the tunnel side wall.
Description of reference numerals: 1. an automobile; 2. a high-power ultra-deep geological radar antenna; 3. a slide arm; 4. an upper arm; 5. a lower arm; 6. a hydraulic cylinder; 7. a support leg; 8. a video acquisition camera; 9. and a distance measuring wheel encoder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the embodiment provides an urban road underground potential safety hazard radar detection vehicle, which comprises an automobile 1, a high-power ultra-deep geological radar antenna 2, a mechanical arm system, a positioning system, a radar data acquisition system, a video acquisition system and an electrical control system; the high-power ultra-deep geological radar antenna 2 is connected with the radar data acquisition system; the mechanical arm system is connected with the electrical control system; the positioning system is connected with the video acquisition system; the radar data acquisition system is connected with the video acquisition system through a network.
In this embodiment, as shown in fig. 1 to 5, the interior of the automobile 1 includes a cab, an operation room and a tail platform, which are sequentially arranged from front to back, and the radar data acquisition system, the video acquisition system and the electrical control system are all arranged in the operation room; the mechanical arm system is arranged above the tail platform; and a support leg 7 is arranged below the tail platform and used for fixing the position of the automobile 1 during stopping detection. The video acquisition system comprises a plurality of video acquisition cameras, the video acquisition cameras 8 are arranged at the rear part and the side part of the automobile 1 and used for acquiring the surrounding and internal environment information of the automobile 1 in the driving process, and the distance measuring wheel encoder 9 is arranged at the rear wheel of the automobile 1 and is fixedly connected with the axle shaft in a coaxial mode and used for recording the revolution number of the rear wheel of the automobile.
The positioning system comprises two distance measuring wheel encoders and two positioning receiving modules, wherein one distance measuring wheel encoder is arranged at the rear wheel of the automobile 1 and is coaxially and fixedly connected with a wheel shaft for recording the revolution number of the rear wheel of the automobile, and the other distance measuring wheel encoder is arranged on a sliding arm 3 of the mechanical arm for recording the moving distance of the antenna along a sliding rail; the two positioning receiving modules are arranged at the top of the automobile 1 operating room and used for collecting and positioning satellite signals of the automobile 1, the positioning receiving modules normally work under the condition of satellite signals, and work is suspended under the condition of no satellite signals, so that the running track of the automobile 1 is recorded.
Still be provided with two single chairs, a rectangular seat, a desk, five screens and host computer in the control chamber, two are used for showing radar data in five screens, and two are used for showing video data, and one is used for showing the positioning data.
In this embodiment, a retractable mechanical arm is adopted, the mechanical arm comprises a slide arm 3, an upper arm 4 and a lower arm 5, a base is arranged at a joint of one end of the lower arm 5 and the automobile, the base is used for realizing 180-degree rotation of the lower arm 5, the other end of the lower arm 5 is rotatably connected with one end of the upper arm 4, and a rotating shaft is arranged at a joint of the other end of the upper arm 4 and one end of the slide arm 3 and used for realizing 360-degree rotation of the slide arm 3.
The hydraulic oil cylinders 6 are respectively arranged at the joint of the automobile base and the lower arm 5 and the joint of the lower arm 5 and the upper arm 4, and the hydraulic oil cylinders 6 at the corresponding positions are respectively used for controlling the lower arm 5 to lift and controlling the upper arm 4 to lift and stretch.
The sliding arm 3 is provided with a sliding rail, a connecting hole is formed in the sliding rail and connected with the high-power ultra-deep geological radar antenna 2, and the electric control system is used for controlling the high-power ultra-deep geological radar antenna 2 to move on the sliding rail.
In the present embodiment, as shown in fig. 2 to 5, when the mechanical arm is in a working state, four detection modes of the high-power ultra-deep geological radar antenna 2 can be implemented by changing the positions of the mechanical arm of the slide arm 3, the upper arm 4 and the lower arm 5: front tunnel face detection, vault detection, bottom detection and side wall detection.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (10)
1. A tunnel geological safety advanced ultra-deep detection vehicle is characterized by comprising an automobile, a high-power ultra-deep geological radar antenna, a mechanical arm system, a positioning system, a radar data acquisition system, a video acquisition system and an electrical control system; the high-power ultra-deep geological radar antenna is connected with the radar data acquisition system; the mechanical arm system is connected with the electrical control system; the positioning system is connected with the video acquisition system; the radar data acquisition system is connected with the video acquisition system through a network and is used for realizing synchronous acquisition of different data.
2. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 1, wherein the vehicle interior comprises a cab, an operation room and a tail platform which are arranged from front to back in sequence, and the radar data acquisition system, the video acquisition system and the electrical control system are all arranged in the operation room of the vehicle; the mechanical arm system is arranged above the automobile tail platform; and supporting legs are arranged below the automobile tail platform and used for fixing the automobile position when the automobile stops running and is detected.
3. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 1, wherein the high-power ultra-deep geological radar antenna is used for detecting ultra-deep geological structures in front of tunnel faces, on vault tops, on side walls and on bottom plates of tunnels in complex environments; the retractable mechanical arm design of the mechanical arm system can improve the working efficiency; the positioning system comprises two distance measuring wheel encoders and two positioning receiving modules, and can acquire coordinate information of a detection position accurately; the real-time video data acquisition of the video acquisition system can provide on-site playback for the processing and interpretation of radar data, and reduce misjudgment and missed judgment of abnormal targets; the electrical control system regulates and controls the real-time position of the mechanical arm, and can change the posture of the antenna more accurately and timely for detection.
4. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 1, wherein the mechanical arm system comprises a mechanical arm and a hydraulic oil cylinder, the mechanical arm comprises a slide arm, an upper arm and a lower arm, a base is arranged at the joint of one end of the lower arm and a vehicle, the base is used for realizing 180-degree rotation of the lower arm, the other end of the lower arm is rotatably connected with one end of the upper arm, and a rotating shaft is arranged at the joint of the other end of the upper arm and one end of the slide arm and used for realizing 360-degree rotation of the slide arm.
5. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 4, wherein the hydraulic oil cylinder is respectively arranged at the joint of the vehicle base and the lower arm and at the joint of the lower arm and the upper arm; the hydraulic oil cylinders at the corresponding positions respectively realize the lifting of the lower arm and the lifting and stretching of the upper arm; when the mechanical arm is in a working state, four detection modes of the high-power ultra-deep geological radar antenna can be realized: tunnel face front probing, vault probing, side wall probing, and floor probing.
6. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 4, wherein the slide arm is provided with a slide rail, the slide rail is provided with a connecting hole to connect with the high-power ultra-deep geological radar antenna, and the electrical control system can realize the movement control of the high-power ultra-deep geological radar antenna on the slide rail.
7. The tunnel geological safety advance and ultra-deep detection vehicle as claimed in claim 3, wherein the two distance measuring wheel encoders are arranged at the rear wheels of the vehicle, are coaxially and fixedly connected with wheel shafts and are used for recording the number of revolutions of the rear wheels of the vehicle, and the other distance measuring wheel encoder is arranged on the sliding arm of the mechanical arm and is used for recording the moving distance of the antenna along the sliding rail.
8. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 3, wherein the two positioning and receiving modules are arranged on the top of the vehicle operation room and used for collecting satellite signals of the positioning vehicle, and the positioning and receiving modules normally work under the condition of satellite signals and stop working under the condition of no satellite signals, so as to record the driving track of the vehicle.
9. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 1, wherein the radar data acquisition system comprises a data acquisition module and a data storage module, and the data acquisition module can realize synchronous acquisition of target echo video signals, synchronous pulses and other signals; the data storage module can store data collected in a period of time in real time.
10. The tunnel geological safety advanced and ultra-deep detection vehicle as claimed in claim 1, wherein the video acquisition system comprises a plurality of video acquisition cameras, and the video acquisition cameras are positioned at the rear part and the side part of the vehicle and are used for acquiring environmental information around and in the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210397596.8A CN114791632A (en) | 2022-04-15 | 2022-04-15 | Tunnel geological safety advanced ultra-deep detection vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210397596.8A CN114791632A (en) | 2022-04-15 | 2022-04-15 | Tunnel geological safety advanced ultra-deep detection vehicle |
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| CN114791632A true CN114791632A (en) | 2022-07-26 |
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| CN202210397596.8A Pending CN114791632A (en) | 2022-04-15 | 2022-04-15 | Tunnel geological safety advanced ultra-deep detection vehicle |
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| CN (1) | CN114791632A (en) |
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- 2022-04-15 CN CN202210397596.8A patent/CN114791632A/en active Pending
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