CN115610462A - Tunnel diagnosis vehicle and diagnosis system - Google Patents
Tunnel diagnosis vehicle and diagnosis system Download PDFInfo
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- CN115610462A CN115610462A CN202211183376.1A CN202211183376A CN115610462A CN 115610462 A CN115610462 A CN 115610462A CN 202211183376 A CN202211183376 A CN 202211183376A CN 115610462 A CN115610462 A CN 115610462A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention discloses a tunnel diagnosis vehicle and a diagnosis system, wherein the tunnel diagnosis vehicle comprises a vehicle body, detection equipment and central control equipment, wherein the detection equipment is arranged on the vehicle body; the central control device is arranged on the vehicle body and is provided with a control module and a diagnosis module which are connected in a communication mode, the control module is in communication connection with the detection device and the cloud platform to collect tunnel data, and the diagnosis module is used for performing fusion processing on the tunnel data and outputting a preliminary diagnosis result. The detection equipment comprehensively collects data information in the tunnel along with the movement of the vehicle body, and improves the detection efficiency. And the control module transmits the collected tunnel data to the diagnosis module and uploads the data to the cloud-end platform at the same time. The diagnosis module rapidly gives a preliminary diagnosis result, and the cloud platform performs detailed and comprehensive data analysis. Therefore, operation and maintenance personnel can conveniently and timely solve some obvious tunnel diseases, potential safety hazards are avoided, comprehensive diagnosis of the tunnel diseases is guaranteed, and meanwhile, the level and efficiency of diagnosis are improved.
Description
Technical Field
The invention relates to the technical field of tunnel detection equipment, in particular to a tunnel diagnosis vehicle and a diagnosis system.
Background
At present, the urban rail tunnel is directed at different diseases, often relies on people's eye detection and artifical instrument detection, has safe uncertainty, and artifical detection has great subjectivity simultaneously, is difficult to guarantee the completeness and the accuracy of testing result, and along with the continuous increase of current detection work load, required time is also longer and longer. The existing track detection vehicle also has the defects that the detection is not comprehensive, and a diagnosis result needs to be obtained for a long time after the detection, and the like.
Disclosure of Invention
The invention mainly aims to provide a tunnel diagnosis vehicle, aiming at improving the automation degree of tunnel diagnosis and improving the level and efficiency of tunnel disease diagnosis.
In order to achieve the above object, the present invention provides a tunnel diagnostic vehicle comprising:
a vehicle body;
the detection equipment is arranged on the vehicle body and used for acquiring tunnel data; and
well accuse equipment, well accuse equipment is located the automobile body to be equipped with the control module and the diagnostic module that the communication links to each other, control module with check out test set communication connection, in order to collect tunnel data, diagnostic module is used for right tunnel data fusion handles and output preliminary diagnosis result, just control module and high in the clouds platform communication connection, upload tunnel data carries out the analysis and diagnosis.
In one embodiment, the detection device includes an apparent disease detection device, a hidden disease detection device and a tunnel deformation detection device, and the apparent disease detection device, the hidden disease detection device and the tunnel deformation detection device are arranged on the vehicle body at intervals and are electrically connected with the control module.
In one embodiment, the tunnel deformation detection device is provided at a rear end in a traveling direction of the vehicle body, and the vehicle body includes:
the detection area is provided with a detection space, and the apparent disease detection equipment and the hidden disease detection equipment are arranged in the detection space; and
the control area is arranged on at least one side of the detection area, a control space is arranged in the control area, and the central control equipment is arranged in the control space.
In one embodiment, the hidden disease detection device and the apparent disease detection device are arranged at intervals along the length direction of the vehicle body, and the hidden disease detection device is arranged in front of the apparent disease detection device in the traveling direction;
and/or the apparent disease detection equipment comprises a visible light acquisition piece and an infrared light acquisition piece which are arranged towards the surface of the tunnel, and the visible light acquisition piece and the infrared light acquisition piece are electrically connected with the control module to acquire tunnel data.
In one embodiment, the hidden disease detection device is provided with a plurality of mechanical arm tools and a plurality of radar antennas, and the mechanical arm tools are arranged at intervals along the length direction of the vehicle body;
and one end part of the mechanical arm tool, which is far away from the vehicle body, is connected with one radar antenna, and the mechanical arm tool and the radar antenna are electrically connected with the control module.
In one embodiment, at least two of the radar antennas are arranged at the bottom of the vehicle body and used for detecting a track slab;
and/or the radar antenna is provided with a second distance measuring device facing the surface of the tunnel, and the second distance measuring device is electrically connected with the control module;
and/or the mechanical arm tool is provided with a mechanical arm which can be arranged in a telescopic manner;
and/or the front end of the vehicle body in the advancing direction is provided with an obstacle avoidance radar which is electrically connected with the control module.
In one embodiment, the tunnel deformation detection device is a three-dimensional laser radar, and the three-dimensional laser radar is arranged in the middle of the rear end of the vehicle body;
and/or, the tunnel diagnostic vehicle further comprises interactive equipment, the interactive equipment is arranged in the control space and is electrically connected with the central control equipment, and the interactive equipment is used for displaying data and inputting instructions.
In one embodiment, the control area includes a first control room disposed at a front end of a vehicle body in a traveling direction and a second control room disposed at a rear end of the vehicle body in the traveling direction, the central control device is disposed in the first control room, the tunnel deformation detection device is disposed outside the second control room, and the detection area is disposed between the first control room and the second control room;
and/or the detection area is provided with a cabin door for covering the vehicle body, the cabin door covers the vehicle body, and the cabin door can be arranged in a push-and-pull mode along the length direction of the vehicle body so as to open or close the detection space.
In one embodiment, the tunnel diagnosis vehicle is further provided with power equipment, and the power equipment is arranged at the bottom of the vehicle body and electrically connected with the control module;
the bottom of the vehicle body is provided with at least two pairs of wheels, and the output end of the power equipment is in transmission connection with at least one pair of wheels so as to drive the wheels to rotate.
The present invention further provides a diagnostic system, comprising:
a cloud platform; and
as in any embodiment above, the central control device is in communication connection with the cloud platform.
The application of the tunnel diagnosis vehicle has the advantages that the detection equipment and the central control equipment are arranged on the vehicle body capable of advancing along the tunnel, the detection equipment can comprehensively acquire data information in the tunnel along with the motion of the vehicle body, and the detection efficiency is improved. The control module is used for collecting tunnel data, and simultaneously transmitting the tunnel data to the diagnosis module and uploading the tunnel data to the cloud-end platform. The diagnosis module can give a preliminary diagnosis result quickly, operation and maintenance personnel can solve some obvious tunnel diseases in time conveniently, potential safety hazards are avoided, and the cloud platform performs detailed and comprehensive data analysis and gives a detailed diagnosis result. Therefore, the tunnel diseases are comprehensively diagnosed, and meanwhile, the diagnosis level and efficiency are improved, so that some diseases can be remedied in time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural view of one embodiment of a tunnel diagnostic vehicle according to the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic structural view of another embodiment of the tunnel diagnostic vehicle of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at B;
FIG. 5 is a schematic structural diagram of an embodiment of an apparent disease detection apparatus according to the present invention;
FIG. 6 is a schematic view of the internal structure of the disease inspection apparatus shown in FIG. 5;
FIG. 7 is a schematic structural view of a tunnel diagnostic vehicle according to yet another embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a hidden disease detection apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural view of the dome fixture in fig. 8.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely 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 obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In order to achieve the purposes of improving the automation degree of tunnel diagnosis and improving the tunnel defect detection and diagnosis efficiency, the invention provides a tunnel diagnosis vehicle 100.
Referring to fig. 1 to 9, in some embodiments of the present invention, the tunnel diagnostic cart 100 includes a cart body 10, a detection device and a central control device, wherein the detection device is disposed on the cart body 10 and is used for acquiring tunnel data; well accuse equipment locates automobile body 10 to be equipped with the control module and the diagnostic module that the communication links to each other, control module and check out test set communication connection, in order to collect tunnel data, diagnostic module is used for handling and exporting preliminary diagnosis result to tunnel data fusion, and control module and high in the clouds platform communication connection, go up to pass the tunnel data and carry out analysis and diagnosis.
In one embodiment, the vehicle body 10 is a self-powered mobile device, and the central control device and the detection device are mounted on the vehicle body 10 and move with the vehicle body 10 inside the tunnel 200. To ensure that the inspection equipment has sufficient time to collect the data, the vehicle body 10 will travel within the tunnel 200 at a speed of 5-20 km/h.
The detection device includes, but is not limited to, a device for detecting apparent tunnel diseases and hidden tunnel diseases, and during the process that the vehicle-mounted body 10 travels in the tunnel 200, the detection device collects data information on the surface of the tunnel 200 and inside the tunnel 200 as comprehensively as possible. Optionally, the data information includes image information, electromagnetic pulse signals, and the like.
Optionally, the detection device is electrically connected with the central control device through a LIN/CAN, TCP-IP or other bus, so that the control module collects tunnel data information collected by the detection device through the bus. The control module is not only used for collecting data information, but also used for generating and sending instructions to control the cooperative operation of all components of the tunnel diagnosis vehicle 100.
The diagnosis module is used for analyzing and fusing the tunnel data collected by the control module and rapidly and timely giving out a preliminary diagnosis result. The conditions that may be determined by the preliminary diagnosis include, but are not limited to, large cracks or collapses, voids, etc. in the surface of the tunnel 200.
In some embodiments, the tunnel diagnostic cart 100 may be moved along the tunnel 200 by remote control or unmanned and inspection of the tunnel 200 is performed. Generally speaking, collected tunnel data need to obtain more detailed and comprehensive diagnosis results after a long time of analysis and diagnosis, and then carry out the remedial operation of the tunnel 200 diseases according to the diagnosis results, and in this embodiment, the diagnosis module can give out some more obvious diagnosis results of the diseases as reference in time, so that operation and maintenance personnel can remedy the obvious disease conditions of the tunnel 200 in time, and potential safety hazards are avoided.
In addition, the collected tunnel data are transmitted to a diagnosis module for preliminary diagnosis, and are uploaded to a cloud platform through communication equipment, more detailed and comprehensive data analysis is carried out at the cloud, and detailed diagnosis results and management and maintenance suggestions are obtained.
In an embodiment, the cloud platform is a big data platform, and can perform operations such as comparison analysis on the tunnel data by combining with the data of the big database according to the uploaded tunnel data. Optionally, the central control device is in communication connection with the cloud platform through the wireless communication device supporting the WIFI6, so that data transmission is rapid, and efficiency is improved.
The tunnel diagnostic vehicle 100 of the application can comprehensively acquire data information in the tunnel 200 along with the movement of the vehicle body 10 by arranging the detection equipment and the central control equipment on the vehicle body 10 which can advance along the tunnel 200, thereby improving the detection efficiency. The control module is used for collecting tunnel data, and simultaneously transmitting the tunnel data to the diagnosis module and uploading the tunnel data to the cloud-end platform. The diagnosis module can give a preliminary diagnosis result quickly, operation and maintenance personnel can solve some obvious tunnel 200 diseases in time conveniently, potential safety hazards are avoided, and the cloud platform performs detailed and comprehensive data analysis and gives a detailed diagnosis result. Therefore, the tunnel 200 diseases are comprehensively diagnosed, and meanwhile, the diagnosis hierarchy and efficiency are improved, so that some diseases can be remedied in time.
Referring to fig. 3, in an embodiment, the detection devices include an apparent disease detection device 20, a hidden disease detection device 30 and a tunnel deformation detection device, and the apparent disease detection device 20, the hidden disease detection device 30 and the tunnel deformation detection device are arranged on the vehicle body 10 at intervals and are electrically connected with the control module.
In this embodiment, the apparent disease detection device 20 is mainly used for detecting disease information such as cracks, water leakage and the like on the surface of the tunnel 200; the hidden disease detection device 30 is mainly used for detecting disease information of holes in the tunnel 200, steel bar corrosion and the like in the tunnel 200; the tunnel deformation detection device is used for scanning the tunnel 200 and detecting whether the tunnel 200 has collapse and other diseases, and the control module is used for collecting tunnel data collected by each detection device.
Further, the apparent disease detection device 20, the hidden disease detection device 30 and the tunnel deformation detection device are independent from each other, and the control module can perform time-space synchronous processing on data information of each device and can send corresponding control instructions to the apparent disease detection device 20, the hidden disease detection device 30 and the tunnel deformation detection device to form feedback control.
In some embodiments, the tunnel deformation detection device is disposed at the rear end of the vehicle body 10 in the traveling direction, the vehicle body 10 includes a detection area 11 and a manipulation area 12, the detection area 11 is provided with a detection space 11a, the apparent disease detection device 20 and the hidden disease detection device 30 are disposed in the detection space 11a, the manipulation area 12 is disposed on at least one side of the detection area 11, the manipulation area 12 is provided with a manipulation space 12a, and the central control device is disposed in the manipulation space 12 a.
In this embodiment, the detection area 11 and the control area 12 are disposed on the vehicle body 10, the detection space 11a is used for accommodating the apparent disease detection device 20 and the hidden disease detection device 30, the control space 12a is used for accommodating the central control device, the control device of the vehicle body 10, and the like, and a cab may be further disposed in the control space 12a, which is convenient for operation.
Specifically, in one embodiment, the control region 12 includes a first control chamber disposed at a front end of the vehicle body 10 in the traveling direction and a second control chamber disposed at a rear end of the vehicle body 10 in the traveling direction, the central control device is disposed in the first control chamber, the tunnel deformation detection device is disposed outside the second control chamber, and the detection region 11 is disposed between the first control chamber and the second control chamber.
Further, the tunnel diagnosis vehicle 100 further includes an interactive device, the interactive device is disposed in the control space 12a and electrically connected to the central control device, and the interactive device is used for displaying data and inputting instructions.
The interactive device is arranged in the first control room and the second control room and comprises a display screen, a control rod and the like, the display screen can be used for displaying detection data information, running information of the vehicle body 10, diagnosis results and the like, and the control rod is used for inputting control instructions. Of course, the display screen may be a touch screen, and may also be used for inputting control instructions.
Referring to fig. 1, in an embodiment, the detection area 11 is provided with a hatch 111 covering the vehicle body 10, and the hatch 111 covers the vehicle body 10 and is arranged to be pushed and pulled along a length direction of the vehicle body 10 so as to open or close the detection space 11a.
The cabin door 111 of the present embodiment is formed by connecting a plurality of sets of U-shaped folding plates, the cabin door 111 is buckled on the vehicle body 10, sliding rails are arranged on two sides of the vehicle body 10, and the ends of the folding plates are connected with the sliding rails in a sliding manner. It will be appreciated that, when the tunnel diagnostic cart 100 is in the operative condition, the hatch 111 may be fully or partially open so that the detection equipment is fully or partially exposed to the outside; after the work is finished, the detection equipment is folded in the detection space 11a, and the hatch door 111 is closed to protect the detection equipment in the detection space 11a.
In other embodiments of the present application, the hatch 111 may also be opened to both sides of the vehicle body 10, and the arrangement form thereof is not limited herein.
Referring again to fig. 3, in one embodiment, the hidden disease detection apparatus 30 and the apparent disease detection apparatus 20 are disposed at intervals along the longitudinal direction of the vehicle body 10, and the hidden disease detection apparatus 30 is disposed before the apparent disease detection apparatus 20 in the traveling direction. In the present embodiment, the hidden defect detecting device 30 and the apparent defect detecting device 20 are fixed in the detection space 11a at intervals so as to avoid mutual interference.
Referring to fig. 3, 5 and 6, in an embodiment, the apparent disease detection apparatus 20 includes a visible light collecting member 232 and an infrared light collecting member 231 disposed toward the surface of the tunnel 200, and the visible light collecting member 232 and the infrared light collecting member 231 are electrically connected to the control module to collect tunnel data.
In this embodiment, the apparent disease detection device 20 includes an installation frame 21, a light supplement device 22, and an image acquisition device 23, where the installation frame 21 is fixed to the vehicle body 10 and is provided with an installation side 2121 in an arched shape; the light supplement device 22 is arranged on the mounting frame 21 and used for illuminating the surface of the tunnel 200; the image capturing device 23 includes a plurality of visible light capturing members 232 and a plurality of infrared light capturing members 231, and the plurality of visible light capturing members 232 and the plurality of infrared light capturing members 231 are spaced along the mounting side 2121 and face the surface of the tunnel 200 to capture tunnel data.
The mounting side 2121 is substantially a major arc, the shape of the mounting side 2121 substantially matches the profile of the tunnel 200 in the cross-sectional direction, and the plurality of visible light collectors 232 and the plurality of infrared light collectors 231 are spaced apart from each other along the mounting side 2121, so that each of the visible light collectors 232 and the infrared light collectors 231 captures images of the tunnel 200 in different directions.
It can be understood that both the visible light collecting piece 232 and the infrared light collecting piece 231 are connected with the control module, the visible light and the infrared light simultaneously collect images of a surface area, the control module collects image data, and data collaborative analysis is performed by utilizing the imaging characteristics of disease targets such as cracks under different wave band spectrums, so that disease positions are located.
On the basis, the visible light collecting part 232 and the infrared light collecting part 231 can be independently controlled by software, and a synchronous framework of the visible light collecting part 232 and the infrared light collecting part 231 is established so as to facilitate collaborative analysis. Furthermore, the images collected by the visible light collection members 232 and the infrared light collection members 231 can be spliced through the operation of the control module to obtain complete image information.
Alternatively, the visible light collector 232 may be a high-precision camera unit having a resolution of 0.2mm/pix (pixel), and the infrared light collector 231 may be an infrared imaging unit having a resolution of ± 0.2 ℃ to improve precision and recognition rate.
The light supplement device 22 is used for polishing the surface of the tunnel 200 to ensure the brightness of the visual field, thereby ensuring the imaging quality of the image.
In the technical scheme of this embodiment, the installation side 2121 that the arch set up suits with the tunnel 200 profile, and the tunnel 200 surface of different positions can be carried out image acquisition towards respectively to a plurality of visible light collection pieces 232 and a plurality of infrared light collection piece 231 that arrange along installation side 2121, and light filling device 22 is used for polishing the tunnel 200 surface, and visible light collection piece 232 and infrared light collection piece 231 both can independently operate, also can gather in step. The image data that a plurality of visible light collection pieces 232 and a plurality of infrared light collection pieces 231 gathered can be spliced and/or coprocessed through the control module, the completeness of the image data is guaranteed, the identification precision and accuracy of the surface diseases of the tunnel 200 are improved, and the detection efficiency is improved conveniently.
Referring to fig. 5, in an embodiment, the apparent disease detection apparatus 20 of the tunnel diagnosis vehicle 100 further includes a plurality of first distance measuring devices 24, and the plurality of first distance measuring devices 24 are connected to the outer surface of the mounting frame 21 and are arranged at intervals along the mounting side edge 2121. In this embodiment, the apparent disease detection apparatus 20 includes three first distance measuring devices 24, which face the arch crown and the arch shoulders on both sides, respectively, and record the distance between the apparatus and the surface of the tunnel 200 in real time as a reference basis for data analysis. For example, when the tunnel diagnostic vehicle 100 turns, the distance between the two sides of the shoulder changes, and the focusing of the camera may become problematic, resulting in blurred images. The first distance measuring device 24 records the change in real time, so that the position and reason of data ambiguity can be clearly known when data is analyzed, thereby facilitating subsequent analysis and improving efficiency.
The hidden disease detection device 30 is provided with a plurality of mechanical arm tools and a plurality of radar antennas 35, wherein the mechanical arm tools are arranged at intervals along the length direction of the vehicle body 10; the end part of a mechanical arm tool far away from the vehicle body 10 is connected with a radar antenna 35, and the mechanical arm tool and the radar antenna 35 are electrically connected with a control module.
Referring to fig. 3, 7 to 9, in some embodiments, the hidden disease detection apparatus 30 includes a support device 31 and at least three radar antennas 35, the support device 31 is connected to the vehicle body 10, and the support device 31 includes at least three robot arm fixtures, each robot arm fixture is provided with one robot arm 32, ends of the at least three robot arms 32 far away from the vehicle body 10 are spaced apart along the cross-sectional direction of the tunnel 200, and ends of the robot arms 32 far away from the vehicle body 10 are correspondingly provided with one radar antenna 35.
In one embodiment, the radar antenna 35 uses a set frequency of 600mhz to perform detection, so as to ensure that the data image is complete and clear to a greater extent.
The radar antenna 35 is fixed to the vehicle body 10 of the tunnel diagnostic vehicle 100 through the support device 31, and detects and collects data information inside the tunnel 200 around the corresponding survey line as the tunnel diagnostic vehicle 100 advances. The ends of at least three mechanical arms 32 are arranged at intervals to correspond to the measuring lines of different positions of the tunnel 200, so that data of the tunnel 200 can be comprehensively collected as far as possible, and the radar antennas 35 with too close surface distances can interfere with each other.
Alternatively, the number of the robot arms 32 may be three, five, seven, or the like, and the robot arms 32 may be provided on one side or both sides in the advancing direction of the vehicle body 10.
Through a plurality of arms 32 and a plurality of radar antenna 35 cooperation connection to survey each part in tunnel 200 in automobile body 10 motion process, thereby comprehensively and fast survey and collect data the inside hidden disease in tunnel 200, improve detection efficiency and improve degree of automation.
Referring to fig. 7 and 8, specifically, in another embodiment, the supporting device 31 is provided with a dome fixture 311, two arch shoulder fixtures 312, two arch waist fixtures 313 and two arch foot fixtures 314; two arch shoulder fixtures 312 are symmetrically arranged on two sides of the vehicle body 10, two arch waist fixtures 313 are symmetrically arranged on two sides of the vehicle body 10, and two arch foot fixtures 314 are symmetrically arranged on two sides of the vehicle body 10. That is, in the present embodiment, the supporting device 31 includes seven mechanical arms 32, one mechanical arm 32 is provided for each tool, and each mechanical arm 32 is provided corresponding to each measuring line, so as to be uniformly spaced in the end surface direction of the tunnel 200, so as to perform comprehensive detection on the tunnel 200. The tunnel diagnostic vehicle 100 moves once in a single pass, so that comprehensive tunnel data can be conveniently acquired, and comprehensive tunnel 200 defect analysis can be performed.
For the stability of the even, assurance automobile body 10 of counter weight, vault frock 311 is located the automobile body 10 middle part, and all two bisymmetry settings of all the other each frock.
In one embodiment, at least two radar antennas 35 are disposed at the bottom of the vehicle body 10 for detecting the damage condition of the track slab, so as to further improve the detection comprehensiveness of the hidden damage detection device 30.
In one embodiment, the radar antenna 35 is provided with a second distance measuring device facing the surface of the tunnel 200, and the second distance measuring device is used for detecting and recording the distance from the radar antenna 35 to the surface of the tunnel 200 in real time, and can be used as a parameter for judging abnormal tunnel data or as a data reference of control logic.
Further, the mechanical arm tool is provided with a mechanical arm 32 which is arranged in a telescopic manner.
The mechanical arm 32 may be a multi-joint mechanical arm 32, and includes at least two joints 321 and at least one extension arm 322, each joint 321 is provided with at least one rotating shaft, and two ends of the extension arm 322 are respectively connected to the rotating shafts of two different joints 321. The spindle rotates to rotate the boom 322 to achieve extension and retraction of the robotic arm 32.
Specifically, referring to fig. 9, in an embodiment, the mechanical arm 32 includes a first joint, a second joint and a third joint, the first joint includes a first rotating shaft 321a and a second rotating shaft 321b disposed on one side of the first rotating shaft 321a, the first rotating shaft 321a is used for being fixedly connected with the vehicle body 10, the second joint is provided with a third rotating shaft 321c, the third joint is provided with a fourth rotating shaft 321d, a fifth rotating shaft 321e disposed at one end of the fourth rotating shaft 321d, and a sixth rotating shaft 321f disposed at one end of the fifth rotating shaft 321e, and the sixth rotating shaft 321f is provided with a third rotating shaft 321d for being connected with the radar antenna 35; the mechanical arm 32 further includes a first arm 322a and a second arm 322b, the first arm 322a is connected to the second rotating shaft 321b and the third rotating shaft 321c, and the second arm 322b is connected to the third rotating shaft 321c and the fourth rotating shaft 321d. The mechanical arm 32 of this embodiment is a six-axis mechanical arm 32, and has a high degree of freedom, and is flexible fast and convenient, and efficiency is high.
Of course, the mechanical arm may also be a multi-stage telescopic mechanical arm 32, which is not limited herein.
It will be appreciated that the tunnel data detected by the radar antenna 35 is collected by the control module, which may also send control commands to the robotic arm 32 to control the retraction and extension of the robotic arm 32.
In one embodiment, the end of the mechanical arm 32 away from the vehicle body 10 is provided with a detecting member for detecting an obstacle in the traveling direction of the radar antenna 35, and the detecting member may be a probe or a millimeter wave radar. It can be understood that, the mechanical arm 32 and the detecting member are both electrically connected to the control module, when the detecting member detects a certain obstacle on the traveling path, the detecting member will generate a signal containing obstacle information, the control module generates a corresponding command through calculation after collecting the signal, and sends the command to the mechanical arm 32, and the mechanical arm 32 is controlled to retract, so that the radar antenna 35 keeps a sufficient safety distance from the surface of the tunnel 200, and the obstacle is avoided, thereby ensuring the safety of the detection process and protecting the safety of the equipment.
Furthermore, an obstacle avoidance radar 40 is arranged at the front end of the vehicle body 10 in the traveling direction, and the obstacle avoidance radar 40 is electrically connected with the control module. In one embodiment, the obstacle avoidance radar 40, the second distance measuring device and the detecting element cooperate to achieve obstacle avoidance operation. The obstacle avoidance radar 40 is used for detecting obstacles on the surface of the tunnel 200 and in front of the tunnel 200 and avoiding collision of the vehicle body 10, the obstacle avoidance radar 40 has low detection accuracy on the obstacles on the surface of the tunnel 200, and the detection piece can accurately detect obstacle information on the surface of the tunnel 200 in front of the mechanical arm 32 in the advancing direction. The second distance measuring device is used for detecting and recording the distance of the radar antenna 35 from the surface of the tunnel 200 in real time.
Specifically, when the obstacle avoidance radar 40 and/or the detection member detects that an obstacle needs to be avoided, the control module controls the mechanical arm 32 to contract, at this time, the distance between the radar antenna 35 and the surface of the tunnel 200 is increased, and the second distance measurement device records in real time and can be used as a judgment basis for abnormal tunnel data. That is, when data is collated, it can be determined that the robot arm 32 has performed an obstacle avoidance operation according to the distance abnormality, the tunnel data is not accurate, and it can be inferred that there is an abnormal protrusion on the surface of the tunnel 200.
Further, the second distance measuring device can be matched with the running of the tunnel diagnostic vehicle 100, and when the line measurement scanning is carried out, only the wheels 13 of the tunnel diagnostic vehicle 100 rotate to generate pulse signals and the second distance measuring device detects that the position of the radar antenna 35 is within a specified range, the tunnel data are recorded; and when the number of the tunnel data is less than the preset threshold, the data recording is stopped, so that the effectiveness of the acquired tunnel data is ensured, and the influence of abnormal data is reduced.
Referring to fig. 1 and 2, in an embodiment, the tunnel deformation detection device is a three-dimensional laser radar 50, and the three-dimensional laser radar 50 is disposed in the middle of the rear end of the vehicle body 10, so that the three-dimensional laser radar 50 can better scan the tunnel 200 to establish a tunnel 200 model.
Referring to fig. 3, in one embodiment, the tunnel diagnostic vehicle 100 is further provided with a power device 60, and the power device 60 is arranged at the bottom of the vehicle body 10 and electrically connected with the control module; at least two pairs of wheels 13 are arranged at the bottom of the vehicle body 10, and the output end of the power device 60 is in transmission connection with at least one pair of wheels 13 so as to drive the wheels 13 to rotate.
Alternatively, the power device 60 may be a motor driving device with an energy storage device, and the output end of the motor is in transmission connection with the wheels 13 through a gear or a chain.
Alternatively, the wheels 13 may be rail wheels for movement on rails; the wheels 13 may also be ordinary wheels 13 to adapt to ordinary road conditions.
The invention further provides a diagnosis system, which comprises a cloud platform and the tunnel diagnosis vehicle 100, the specific structure of the tunnel diagnosis vehicle 100 refers to the above embodiments, and the central control device is in communication connection with the cloud platform. The data acquired by the tunnel diagnostic vehicle 100 can be uploaded to a cloud platform for further analysis, so as to perform detailed diagnosis on the disease condition of the tunnel 200.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A tunnel diagnostic cart, comprising:
a vehicle body;
the detection equipment is arranged on the vehicle body and used for acquiring tunnel data; and
well accuse equipment, well accuse equipment is located the automobile body to be equipped with the control module and the diagnostic module that the communication links to each other, control module with check out test set communication connection, in order to collect tunnel data, diagnostic module is used for right tunnel data fusion handles and output preliminary diagnosis result, just control module and high in the clouds platform communication connection, upload tunnel data carries out the analysis and diagnosis.
2. The tunnel diagnostic vehicle of claim 1, wherein the detection devices comprise an apparent disease detection device, a hidden disease detection device and a tunnel deformation detection device, and the apparent disease detection device, the hidden disease detection device and the tunnel deformation detection device are arranged on the vehicle body at intervals and are all electrically connected with the control module.
3. The tunnel diagnostic vehicle according to claim 2, wherein said tunnel deformation detecting device is provided at a rear end in a traveling direction of said vehicle body, said vehicle body comprising:
the detection area is provided with a detection space, and the apparent disease detection equipment and the hidden disease detection equipment are arranged in the detection space; and
the control area is arranged on at least one side of the detection area, a control space is arranged in the control area, and the central control equipment is arranged in the control space.
4. The tunnel diagnostic vehicle according to claim 3, wherein the hidden defect detecting device and the apparent defect detecting device are provided at intervals in a longitudinal direction of the vehicle body, and the hidden defect detecting device is provided in front of the apparent defect detecting device in a traveling direction;
and/or the apparent disease detection equipment comprises a visible light acquisition piece and an infrared light acquisition piece which are arranged towards the surface of the tunnel, and the visible light acquisition piece and the infrared light acquisition piece are electrically connected with the control module to acquire tunnel data.
5. The tunnel diagnostic vehicle of claim 3, wherein the hidden disease detection device is provided with a plurality of mechanical arm tools and a plurality of radar antennas, the plurality of mechanical arm tools being arranged at intervals along the length direction of the vehicle body;
and one end part of the mechanical arm tool, which is far away from the vehicle body, is connected with one radar antenna, and the mechanical arm tool and the radar antenna are electrically connected with the control module.
6. The tunnel diagnostic vehicle of claim 5, wherein at least two of said radar antennas are provided at the bottom of said vehicle body for detecting track slabs;
and/or the radar antenna is provided with a second distance measuring device facing the surface of the tunnel, and the second distance measuring device is electrically connected with the control module;
and/or the mechanical arm tool is provided with a mechanical arm which can be telescopically arranged;
and/or the front end of the vehicle body in the advancing direction is provided with an obstacle avoidance radar which is electrically connected with the control module.
7. The tunnel diagnostic vehicle according to claim 3, wherein said tunnel deformation detection device is a three-dimensional lidar disposed at a middle portion of a rear end of said vehicle body;
and/or, the tunnel diagnostic vehicle further comprises an interactive device, the interactive device is arranged in the control space and electrically connected with the central control device, and the interactive device is used for displaying data and inputting instructions.
8. The tunnel diagnostic vehicle according to claim 3, wherein the steering zone comprises a first steering chamber provided at a front end in a vehicle body traveling direction and a second steering chamber provided at a rear end in the vehicle body traveling direction, the center control device is provided in the first steering chamber, the tunnel deformation detection device is provided outside the second steering chamber, and the detection region is provided between the first steering chamber and the second steering chamber;
and/or the detection area is provided with a cabin door for covering the vehicle body, the cabin door covers the vehicle body, and the cabin door can be arranged in a push-and-pull mode along the length direction of the vehicle body so as to open or close the detection space.
9. The tunnel diagnostic vehicle of claim 1, further comprising a power plant disposed at the bottom of the vehicle body and electrically connected to the control module;
the bottom of the vehicle body is provided with at least two pairs of wheels, and the output end of the power equipment is in transmission connection with at least one pair of wheels so as to drive the wheels to rotate.
10. A diagnostic system, comprising:
a cloud platform; and
the tunnel diagnostic vehicle of any one of claims 1 to 9, the central control device being in communicative connection with the cloud platform.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211183376.1A CN115610462A (en) | 2022-09-27 | 2022-09-27 | Tunnel diagnosis vehicle and diagnosis system |
| PCT/CN2022/127481 WO2024065920A1 (en) | 2022-09-27 | 2022-10-25 | Tunnel diagnostic vehicle and diagnostic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211183376.1A CN115610462A (en) | 2022-09-27 | 2022-09-27 | Tunnel diagnosis vehicle and diagnosis system |
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| CN115610462A true CN115610462A (en) | 2023-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211183376.1A Pending CN115610462A (en) | 2022-09-27 | 2022-09-27 | Tunnel diagnosis vehicle and diagnosis system |
Country Status (2)
| Country | Link |
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| CN (1) | CN115610462A (en) |
| WO (1) | WO2024065920A1 (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108944997A (en) * | 2018-10-19 | 2018-12-07 | 四川理工学院 | A kind of intelligent track flaw detection combination vehicle and control method |
| CN110161043B (en) * | 2019-05-10 | 2021-03-26 | 同济大学 | Subway tunnel structure comprehensive detection vehicle |
| WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
| CN111391585B (en) * | 2020-03-26 | 2022-08-26 | 中国矿业大学(北京) | Multifunctional detection vehicle for potential safety hazards of subway tunnel |
| CN111413353A (en) * | 2020-04-03 | 2020-07-14 | 中铁隧道局集团有限公司 | Tunnel lining disease comprehensive detection vehicle |
| CN112902918B (en) * | 2021-01-15 | 2022-07-08 | 中国铁道科学研究院集团有限公司 | Tunnel lining detection device |
| CN113320447A (en) * | 2021-07-13 | 2021-08-31 | 魏运 | Track-contact net equipment health state integration comprehensive detection robot |
| CN113504780B (en) * | 2021-08-26 | 2022-09-23 | 上海同岩土木工程科技股份有限公司 | Full-automatic intelligent inspection robot and inspection method for tunnel structure |
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- 2022-09-27 CN CN202211183376.1A patent/CN115610462A/en active Pending
- 2022-10-25 WO PCT/CN2022/127481 patent/WO2024065920A1/en unknown
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| WO2024065920A1 (en) | 2024-04-04 |
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