CN117073570A - Tunnel deformation degree detection system and method based on unmanned aerial vehicle - Google Patents
Tunnel deformation degree detection system and method based on unmanned aerial vehicle Download PDFInfo
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- CN117073570A CN117073570A CN202311317916.5A CN202311317916A CN117073570A CN 117073570 A CN117073570 A CN 117073570A CN 202311317916 A CN202311317916 A CN 202311317916A CN 117073570 A CN117073570 A CN 117073570A
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- 238000001514 detection method Methods 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title abstract description 12
- 238000007689 inspection Methods 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000003990 capacitor Substances 0.000 description 22
- 230000004048 modification Effects 0.000 description 11
- 238000012986 modification Methods 0.000 description 11
- 230000006872 improvement Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000012806 monitoring device Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The application provides a tunnel deformation degree detection system and method based on an unmanned aerial vehicle, which belong to the technical field of tunnel deformation degree detection, and comprise the following steps: the top of the unmanned aerial vehicle is provided with a first supporting rod; the bearing seat is arranged at one end of the first support rod, which is far away from the unmanned aerial vehicle; the rotating shaft is rotationally connected with the first supporting rod through a bearing seat; the 2 idler wheels are sleeved on the rotating shaft and synchronously rotate with the rotating shaft; the inspection groove is arranged at the top of the tunnel, the top is a transverse channel capable of accommodating the rotating shaft and the roller, and the middle part is a longitudinal channel capable of accommodating the first supporting rod so as to form a T-shaped groove; 2 photoelectric sensors, wherein 2 transmitters are equal in height and symmetrically arranged at the left side and the right side of the transverse channel, and 2 receivers are equal in height and symmetrically arranged at the two ends of the rotating shaft; at least 2 electron levels, along the length direction setting of pivot. The tunnel deformation degree detection method is suitable for detecting tunnel deformation degree in daily inspection.
Description
Technical Field
The application relates to the technical field of tunnel deformation degree detection, in particular to a tunnel deformation degree detection system and method based on an unmanned aerial vehicle.
Background
The degree of deformation of the tunnel is one of the important factors affecting the safety of the tunnel. At present, in daily inspection of a tunnel, generally, only various devices in the tunnel, such as lighting devices, ventilation devices, traffic guidance devices, environment monitoring devices, fire protection devices, network monitoring devices, video monitoring devices, emergency telephone devices, emergency broadcasting devices and the like, are inspected, but the deformation degree of the tunnel is rarely inspected, and the detection of the deformation degree of the tunnel generally needs relatively professional detection devices for detection, so that the detection time is relatively long, the detection cost is relatively high, and the method is not suitable for daily inspection.
Disclosure of Invention
The application provides a tunnel deformation degree detection system and method based on an unmanned aerial vehicle, which are more suitable for detecting tunnel deformation degree in daily inspection.
In order to achieve the above purpose, the application adopts the following technical scheme:
a tunnel deformation degree detection system based on unmanned aerial vehicle, comprising:
the top of the unmanned aerial vehicle is provided with a first supporting rod;
the bearing seat is arranged at one end of the first support rod far away from the unmanned aerial vehicle;
the rotating shaft is rotationally connected with the first supporting rod through the bearing seat;
2 rollers sleeved on the rotating shaft and synchronously rotating with the rotating shaft, wherein the 2 rollers are symmetrically arranged with the bearing seat as a center;
the inspection groove is arranged at the top of the tunnel, the top is a transverse channel capable of accommodating the rotating shaft and the roller, and the middle part is a longitudinal channel capable of accommodating the first support rod so as to form a T-shaped groove;
2 photoelectric sensors, wherein 2 transmitters are equal in height and symmetrically arranged on the left side and the right side of the transverse channel, and 2 receivers are equal in height and symmetrically arranged on the two ends of the rotating shaft;
at least 2 electronic level meters are arranged along the length direction of the rotating shaft and are symmetrically arranged by taking the bearing seat as a center;
the electronic level meter comprises a rotating shaft, a photoelectric sensor, a roller, a transmitter and a receiver, wherein the transmitter and the receiver belong to the photoelectric sensor oppositely, and the roller is positioned between the end part of the rotating shaft and the electronic level meter.
In some embodiments, a roller type first pressure sensor is arranged at the top of the bearing seat, and the first pressure sensor is used for detecting the pressure at the top of the transverse channel.
In some embodiments, the electronic level meters are arranged in groups of 4 and two by two, and 2 electronic level meters of each group are symmetrically arranged on the rotating shaft up and down, and the two groups of electronic level meters are symmetrically arranged or staggered by taking the bearing seat as a center.
In some embodiments, at least 2 first ranging sensors are arranged on the rotating shaft, at least 2 first ranging sensors are symmetrically arranged with the bearing seat as a center, and the first ranging sensors are used for ranging the top or the bottom of the transverse channel.
In some embodiments, the number of the first ranging sensors is 4, and each two of the first ranging sensors is a group, and 2 of each group of the first ranging sensors are symmetrically arranged on the rotating shaft up and down, and the two groups of the first ranging sensors are symmetrically arranged or staggered with the bearing seat as a center.
In some embodiments, both the left and right sidewalls of the longitudinal channel are provided with bristles.
In some embodiments, the bearing seat, the rotating shaft, the roller, the electronic level and the photoelectric sensor form a patrol mechanism, wherein 2 patrol mechanisms are symmetrically arranged on the unmanned aerial vehicle, and 2 patrol grooves are symmetrically arranged at the top of the tunnel.
In some embodiments, be equipped with the second bracing piece on the unmanned aerial vehicle, the second bracing piece is kept away from unmanned aerial vehicle's tip is equipped with the second pressure sensor of roller type, second pressure sensor is used for right the tunnel top carries out pressure detection, the second bracing piece is located 2 inspection mechanism's intermediate position.
In some embodiments, 2 third support rods are arranged on the unmanned aerial vehicle, roller-type third pressure sensors are arranged at the ends, far away from the unmanned aerial vehicle, of the third support rods, the third pressure sensors are used for detecting pressure at the top of the tunnel, and the 2 third support rods are symmetrically arranged with the second support rods as centers;
and/or, the left and right edges of the unmanned aerial vehicle are provided with second ranging sensors, 2 second ranging sensors are symmetrically arranged with the second supporting rod as a center, and the second ranging sensors are used for ranging the top of the tunnel.
The tunnel deformation degree detection method based on the unmanned aerial vehicle is realized by the tunnel deformation degree detection system based on the unmanned aerial vehicle;
the tunnel deformation degree detection method based on the unmanned aerial vehicle comprises the following steps:
controlling the unmanned aerial vehicle to fly along the top of the tunnel, placing the first support rod into the longitudinal channel, placing the roller and the rotating shaft into the transverse channel, and rolling the roller along the bottom of the transverse channel under the driving of the rotating shaft and the unmanned aerial vehicle;
detecting levelness of the rotating shaft through an electronic level meter;
transmitting the light beam by a transmitter and receiving the light beam by a receiver;
if the levelness of the rotating shaft of the first inspection and the second inspection is inconsistent at the same detection point, the bottom of the transverse channel is deformed; if the receiver does not receive the light beam or the time of receiving the light beam is inconsistent in two successive rounds at the same detection point, the bottom or the side wall of the transverse channel is deformed.
In summary, the application has at least the following advantages:
according to the application, tunnel deformation degree detection is carried out through the unmanned aerial vehicle, the bearing seat, the rotating shaft, the 2 rollers, the inspection groove, the 2 photoelectric sensors and the at least 2 electronic levels, and the used equipment is a common device with relatively low price, so that the detection cost is low, the detection process is simple and effective, the detection time is short, and the tunnel deformation degree detection method is suitable for detecting the tunnel deformation degree in daily inspection.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of 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 application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an application schematic diagram of a tunnel deformation degree detection system based on an unmanned aerial vehicle according to the present application.
Fig. 2 is a schematic structural view of the inspection groove, the first support rod, the bearing seat, the rotating shaft, the roller, the photoelectric sensor and the electronic level meter according to the present application.
Fig. 3 is a circuit schematic diagram of the analog-to-digital converter U1 according to the present application.
Fig. 4 is a circuit schematic of the digital isolator U2 according to the present application.
Fig. 5 is a circuit schematic of the analog-to-digital converter U12 according to the present application.
Fig. 6 is a circuit schematic of the digital isolator U15 according to the present application.
Fig. 7 is a circuit schematic of the connector J3 according to the present application.
Fig. 8 is a circuit diagram of a memory U8 according to the present application.
Reference numerals:
1. unmanned plane; 11. a first support bar; 12. a bearing seat; 121. a first pressure sensor; 13. a second support bar; 131. a second pressure sensor; 14. a third support bar; 141. a third pressure sensor; 15. a second ranging sensor;
2. a rotating shaft; 21. a roller; 22. an electronic level; 23. a first ranging sensor;
3. a tunnel top; 31. a patrol groove; 311. a transverse channel; 312. a longitudinal channel;
4. a photoelectric sensor; 41. a transmitter; 42. a receiver;
5. and (3) brushing.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in numerous different ways without departing from the spirit or scope of the embodiments of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
The following disclosure provides many different implementations, or examples, for implementing different configurations of embodiments of the application. In order to simplify the disclosure of embodiments of the present application, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit embodiments of the present application. Furthermore, embodiments of the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present embodiment provides a tunnel deformation degree detection system based on an unmanned aerial vehicle, including:
the top of the unmanned aerial vehicle 1 is provided with a first supporting rod 11;
the bearing seat 12 is arranged at one end of the first support rod 11 far away from the unmanned aerial vehicle 1;
the rotating shaft 2 is rotationally connected with the first supporting rod 11 through a bearing seat 12;
2 rollers 21 are sleeved on the rotating shaft 2 and synchronously rotate with the rotating shaft 2, and the 2 rollers 21 are symmetrically arranged by taking the bearing seat 12 as a center;
the inspection groove 31 is arranged at the top 3 of the tunnel, the top is a transverse channel 311 which can accommodate the rotating shaft 2 and the roller 21, and the middle is a longitudinal channel 312 which can accommodate the first supporting rod 11, so as to form a T-shaped groove;
2 photoelectric sensors 4, 2 transmitters 41 of which are equally high and symmetrically arranged at the left side and the right side of the transverse channel 311, and 2 receivers 42 of which are equally high and symmetrically arranged at the two ends of the rotating shaft 2;
at least 2 electronic level gauges 22 arranged along the length direction of the rotating shaft 2 and symmetrically arranged with the bearing seat 12 as a center;
wherein, the transmitter 41 and the receiver 42 which belong to one photoelectric sensor 4 are oppositely arranged, and the roller 21 is positioned between the end of the rotating shaft 2 and the electronic level 22.
It should be understood that the unmanned aerial vehicle 1 is an existing device, and reference is made to an existing solution; the inspection groove 31 is arranged along the direction of the entrance and the exit of the tunnel, and controls the unmanned aerial vehicle 1 to fly along the top 3 of the tunnel during inspection, and fly from the entrance to the exit of the tunnel (the inspection can also be reversed); when the rotating shaft 2 and the roller 21 enter the transverse channel 311, and the first supporting rod 11 enters the longitudinal channel 312, the weight of the unmanned aerial vehicle 1 cannot influence the rolling of the roller 21 (and cannot influence the detection of each pressure sensor in the subsequent embodiment) because the unmanned aerial vehicle 1 is in a flying state; when the unmanned aerial vehicle 1 flies, the unmanned aerial vehicle 1 can drive the rotating shaft 2 and the idler wheels 21 to rotate through the first supporting rod 11 and the bearing seat 12; then, at the detection points in the inspection groove 31, the levelness of the rotating shaft 2 is detected by the electronic level meter 22, the light beam is emitted by the transmitter 41 of the photoelectric sensor 4, and the light beam is received by the receiver 42 until the detection is finished at all the detection points, and the inspection is finished.
Wherein, 2 number values of the symmetrically arranged electronic level meter 22 are used as a comparison group, so that the data reliability is improved; if the levelness of the rotating shaft 2 inspected twice is inconsistent at the same detection point, the bottom of the transverse channel 311 is deformed, and particularly, the contact position of the transverse channel with the roller 21 is provided with a bulge or a recess; if the receiver 42 does not receive the light beam, or the time of receiving the light beam is inconsistent in the same inspection point, the bottom or the side wall of the transverse channel 311 is deformed, specifically, the position contacting the roller 21 has a protrusion or a recess, or the mounting position of the transmitter 41 is deformed.
It should be noted that if the time of receiving the light beam is consistent at the same detection point at the left and right sides of the two subsequent rounds, it is indicated that the positions of the rollers 21 at the detection point are the same, and there is no left and right offset; if the total time of the received light beams at the left and right sides of the two subsequent rounds is consistent at the same detection point, and if the time at the left side of the second round is long, it is indicated that at the detection point, the roller 21 is shifted to the right during the second round, that is, the distance between the transmitter 41 and the receiver 42 at the left side is longer than the corresponding distance during the first round; the rest is the same, namely in the embodiment, the problem of detection error caused by left-right offset during detection is solved by the photoelectric sensor 4. For example, if the time of receiving the light beam at the left and right sides of the two inspection points is identical at the same inspection point, the levelness of the rotating shaft 2 obtained by the electronic level meter 22 at the inspection point is taken as the inspection result. Similarly, the data detected in the following examples may be used as a criterion. The reverse application is as follows: and controlling the unmanned aerial vehicle 1 to fly along the tunnel top 3 under the condition that the time of receiving the light beams at the left side and the right side of the inspection at the same detection point is consistent, so that the rolling routes of the rollers 21 inspected at the two times are consistent.
It is clear that the detection point may be set according to actual requirements, for example, the setting position of the transmitter 41 may be used as the detection point.
In some embodiments, the top of the bearing seat 12 is provided with a first pressure sensor 121 of a roller 21 type, and the first pressure sensor 121 is used for detecting the pressure at the top of the transverse channel 311.
In this embodiment, if the detection data of the first pressure sensor 121 of two consecutive inspection is inconsistent at the same detection point, the top of the transverse channel 311 is deformed. At the same detection point, if the time of receiving the light beam at the left and right sides of the two subsequent inspection is respectively consistent, the detection data of the detection point obtained by the first pressure sensor 121 is taken as an inspection result.
In some embodiments, the electronic levels 22 are arranged in groups of 4 and two by two, and each group of 2 electronic levels 22 is symmetrically arranged on the rotating shaft 2 up and down, and the electronic levels 22 of the two groups are symmetrically arranged or staggered by taking the bearing seat 12 as a center.
In this embodiment, the 4 electronic level meters 22 can be used as a control group, so as to effectively improve the reliability of detection and data thereof.
In some embodiments, at least 2 first distance measuring sensors 23 are disposed on the rotating shaft 2, and at least 2 first distance measuring sensors 23 are symmetrically disposed around the bearing seat 12, where the first distance measuring sensors 23 are used for measuring distance on the top or bottom of the transverse channel 311.
In this embodiment, since the rotating shaft 2 rotates during the inspection process, the same first ranging sensor 23 can range the top or bottom of the transverse channel 311; if the detection data of the same first ranging sensor 23, which is inspected twice in succession, is inconsistent at the same detection point, the top or bottom of the lateral channel 311 is deformed. The symmetrical 2 first distance measuring sensors 23 can be used as a control group to improve the data reliability. At the same detection point, if the time of receiving the light beam at the left and right sides of the two subsequent inspection is respectively consistent, the detection data of the detection point obtained by the first ranging sensor 23 is taken as an inspection result.
In some embodiments, the roller 21 is provided with a roller 21 counter. By the roller 21 counter, the displacement of the roller 21 rotation can be used as a dividing basis for the detection point of the first distance measuring sensor 23 (or other distance measuring sensor). Meanwhile, through the roller 21 counter, the total displacement of the roller 21 during each inspection can be obtained, and if the total displacement is inconsistent, the deformation of the bottom of the transverse channel 311 is indicated. At the same detection point, if the time of receiving the light beam at the left side and the time of receiving the light beam at the right side of the two successive inspection are respectively consistent, the detection data obtained by the counter of the roller 21 at the detection point is taken as an inspection result.
In some embodiments, the first distance measuring sensors 23 are arranged in groups of 4 and two by two, and each group of 2 first distance measuring sensors 23 is symmetrically arranged on the rotating shaft 2 up and down, and the first distance measuring sensors 23 of the two groups are symmetrically arranged or staggered by taking the bearing seat 12 as a center.
In this embodiment, 4 first ranging sensors 23 may be used as a control group, so as to effectively improve the reliability of detection and data thereof.
In some embodiments, both the left and right sidewalls of the longitudinal channel 312 are provided with bristles 5.
In this embodiment, the bristles 5 can prevent sand or excessive dust from entering the transverse channel 311 to affect detection, and the bristles 5 do not affect movement of the first support rod 11 in the longitudinal channel 312; similarly, the openings at the two ends of the transverse channel 311 for the rotation shaft 2 and the roller 21 to enter and exit can be provided with corresponding electric cover plates, the electric cover plates are only opened during inspection, and the rest of the time is closed, so that sand and dust or excessive dust can be prevented from entering the transverse channel 311, and the detection is affected.
In some embodiments, the bearing seat 12, the rotating shaft 2, the roller 21, the electronic level 22 and the photoelectric sensor 4 form a patrol mechanism, wherein 2 patrol mechanisms are symmetrically arranged on the unmanned aerial vehicle 1, and 2 patrol grooves 31 are symmetrically arranged on the tunnel top 3.
In this embodiment, 2 inspection mechanisms are used as a control group, so that the reliability and accuracy of detection can be effectively improved.
In some embodiments, the unmanned aerial vehicle 1 is provided with a second supporting rod 13, the end part of the second supporting rod 13 away from the unmanned aerial vehicle 1 is provided with a second pressure sensor 131 of a roller 21 type, the second pressure sensor 131 is used for detecting the pressure of the tunnel top 3, and the second supporting rod 13 is located at the middle position of 2 inspection mechanisms.
In this embodiment, if the detection data of the second pressure sensor 131 of two successive inspection is inconsistent at the same detection point, the tunnel top 3 is deformed. At the same detection point, if the time of receiving the light beam at the left and right sides of the two subsequent inspection is respectively consistent, the detection data of the detection point obtained by the second pressure sensor 131 is taken as an inspection result.
In some embodiments, 2 third support rods 14 are arranged on the unmanned aerial vehicle 1, the end part, far away from the unmanned aerial vehicle 1, of the third support rods 14 is provided with a roller 21 type third pressure sensor 141, the third pressure sensor 141 is used for detecting the pressure of the tunnel top 3, and the 2 third support rods 14 are symmetrically arranged by taking the second support rod 13 as a center;
and/or, the left and right edges of the unmanned aerial vehicle 1 are respectively provided with a second ranging sensor 15, the 2 second ranging sensors 15 are symmetrically arranged by taking the second supporting rod 13 as a center, and the second ranging sensors 15 are used for ranging the tunnel top 3.
In this embodiment, if the detection data of the third pressure sensor 141 (the second ranging sensor 15) of the two successive inspection at the same detection point is inconsistent, the tunnel top 3 is deformed. Meanwhile, if the detection data of 2 second ranging sensors 15 (third pressure sensor 141) are identical at the same detection point, it is indicated that the second support bar 13 is located at the middle position of the tunnel roof 3. That is, if the detection data of the 2 second ranging sensors 15 (the third pressure sensor 141) of the two subsequent inspection are respectively identical, it is indicated that the detection positions of the second pressure sensor 131 of the two subsequent inspection are the same, so as to improve the detection reliability. At the same detection point, if the times of receiving the light beams at the left and right sides of the two subsequent inspection are respectively consistent, the detection data of the detection point obtained by the second ranging sensor 15 (the third pressure sensor 141) is taken as the inspection result.
In some embodiments, the first support bar 11, the second support bar 13, and the second support bar 13 may be motorized telescopic bars.
In some embodiments, the first ranging sensor 23 and the second ranging sensor 15 may be laser ranging sensors, infrared ranging sensors, ultrasonic ranging sensors, optical ranging sensors, radar ranging sensors.
In some embodiments, the first pressure sensor 121 and/or the second pressure sensor 131 and/or the third pressure sensor 141 and/or the first ranging sensor 23 and/or the second ranging sensor 15 are configured with a signal synchronization sampling circuit.
In some embodiments, as shown in fig. 3-8, the signal synchronous sampling circuit includes a capacitor C3, a capacitor C4, a capacitor C5, a capacitor C6, a capacitor C17, a capacitor C18, a capacitor C20, a capacitor C21, a capacitor C22, a capacitor C23, a capacitor C24, a signal input terminal J5, a signal input terminal J7, a resistor R1, a resistor R2, a resistor R19, a resistor R20, a resistor R21, a resistor R22, a resistor R23, an analog-to-digital converter U1, an analog-to-digital converter U12, an operational amplifier U4, an operational amplifier U14, a logic gate U11, a monostable flip-flop U16, a digital isolator U2, a digital isolator U15, a connector J3, a resistor R13, a resistor R14, a resistor R15, and a memory U8;
the signal input end J5 is connected with one end of a resistor R2, the other end of the resistor R2 is connected with one end of a resistor R1 and the opposite end of an operational amplifier U4, the in-phase end of the operational amplifier U4 is externally connected with a voltage end of +1.84V, the output end of the operational amplifier U4 is connected with the other end of the resistor R1 and one end of a resistor R22, the other end of the resistor R22 is connected with a grounded capacitor C23 and a grounded capacitor C4 and then externally connected with a voltage end of +5V, the pin 1 of the analog-to-digital converter U1 is externally connected with a grounded capacitor C3 and then externally connected with a voltage end of +4.5V, the pin 7 of the analog-to-digital converter U1 is connected with the pin 3 of a digital isolator U2, the pin 8 of the analog-to-digital converter U1 is connected with the pin 8 of the analog-to-digital converter U12 and the output end of a logic gate U11, the pin 6 of the analog-to-digital converter U1 is connected with the pin 6 of the analog-to-digital converter U12 and the pin 4 of the monostable trigger U16, and the pin 9 of the analog-to-digital converter U1 is connected with the pin 7 of the analog-to-digital converter U12;
the signal input end J7 is connected with one end of a resistor R20, the other end of the resistor R20 is connected with one end of a resistor R19 and the opposite end of an operational amplifier U14, the in-phase end of the operational amplifier U14 is externally connected with a voltage end of +1.84V, the output end of the operational amplifier U14 is connected with the other end of the resistor R19 and one end of a resistor R23, the other end of the resistor R23 is connected with a grounded capacitor C24 and a pin 3 of an analog-digital converter U12, a pin 2 and a pin 10 of the analog-digital converter U12 are connected with a grounded capacitor C21 and then externally connected with a voltage end of +5V, and a pin 1 of the analog-digital converter U12 is connected with a grounded capacitor C20 and then externally connected with a voltage end of +4.5V;
pin 2, pin 10 and pin 16 of monostable trigger U16 are connected with one end of resistor R21 and then externally connected with voltage end +5v, the other end of resistor R21 is connected with one end of capacitor C22 and pin 15 of monostable trigger U16, the other end of capacitor C22 is connected with pin 14 of monostable trigger U16, pin 3 of monostable trigger U16 is connected with first input end (pin 1) of logic gate U11, pin 6 of digital isolator U2 and pin 3 of digital isolator U15, second input end (pin 2) of logic gate U11 is connected with pin 4 and pin 5 of digital isolator U2, pin 1 and pin 7 of digital isolator U2 are connected with grounded capacitor C5 and then externally connected with voltage end +3.3 (V), pin 14, pin 13, pin 12 and pin 11 of digital isolator U2 are connected with pin 91, pin 92, pin 87 and pin 89 of digital isolator U15 one-to-one, pin 10 and pin 15 of digital isolator U2 are connected with grounded capacitor C6 and then externally connected with digital isolator C3 and pin 15 of digital isolator U3 and then externally connected with voltage end 17 and pin 15 of digital isolator U2 and then externally connected with grounded capacitor C5;
pin 56 of the connector J3 is connected with a grounded resistor R15 and pin 1 of the memory U8, pin 2 of the memory U8 is connected with one end of a resistor R13 and a grounded resistor R14, the other end of the resistor R13 is connected with pin 3 and pin 8 of the memory U8 and then externally connected with a voltage end +3.3 (V), pin 6 of the memory U8 is connected with pin 79 of the connector J3, and pin 5 of the memory U8 is connected with pin 80 of the connector J3.
In this embodiment, devices, parameters and models which are not described may be shown in fig. 3 to 8, and each voltage terminal may be set as shown in fig. 3 to 8, or may be set correspondingly according to actual requirements. During operation, sensor signals are respectively input from a signal input end J5 and a signal input end J7, are respectively amplified through an operational amplifier U4 and an operational amplifier U14, are respectively subjected to analog-to-digital conversion through an analog-to-digital converter U1 and an analog-to-digital converter U12, are subjected to monostable triggering through a logic gate U11 and a monostable trigger U16, and are subjected to signal transmission under an electrical isolation state through a digital isolator U2 and a digital isolator U15, so that signal synchronous sampling is completed.
The tunnel deformation degree detection method based on the unmanned aerial vehicle is realized through the tunnel deformation degree detection system based on the unmanned aerial vehicle;
the tunnel deformation degree detection method based on the unmanned aerial vehicle comprises the following steps:
controlling the unmanned aerial vehicle 1 to fly along the tunnel top 3, placing the first supporting rod 11 into the longitudinal channel 312, placing the roller 21 and the rotating shaft 2 into the transverse channel 311, and rolling the roller 21 along the bottom of the transverse channel 311 under the driving of the rotating shaft 2 and the unmanned aerial vehicle 1;
detecting levelness of the rotating shaft 2 through an electronic level meter 22;
transmitting the light beam by the transmitter 41 and receiving the light beam by the receiver 42;
if the levelness of the rotating shaft 2 inspected twice is inconsistent at the same detection point, the bottom of the transverse channel 311 is deformed; if the receiver 42 does not receive the light beam, or the time of receiving the light beam is inconsistent in two subsequent rounds at the same detection point, the bottom or the side wall of the transverse channel 311 is deformed.
The detailed description of the tunnel deformation degree detection system based on the unmanned aerial vehicle in the above embodiment also belongs to the content of the tunnel deformation degree detection method based on the unmanned aerial vehicle in the present embodiment, and will not be repeated here.
The above embodiments are provided to illustrate the present application and not to limit the present application, so that the modification of the exemplary values or the replacement of equivalent elements should still fall within the scope of the present application.
From the foregoing detailed description, it will be apparent to those skilled in the art that the present application can be practiced without these specific details, and that the present application meets the requirements of the patent statutes.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application. The foregoing description of the preferred embodiment of the application is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
It should be noted that the above description of the flow is only for the purpose of illustration and description, and does not limit the application scope of the present specification. Various modifications and changes to the flow may be made by those skilled in the art under the guidance of this specification. However, such modifications and variations are still within the scope of the present description.
While the basic concepts have been described above, it will be apparent to those of ordinary skill in the art after reading this application that the above disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations of the application may occur to one of ordinary skill in the art. Such modifications, improvements, and modifications are intended to be suggested within the present disclosure, and therefore, such modifications, improvements, and adaptations are intended to be within the spirit and scope of the exemplary embodiments of the present disclosure.
Meanwhile, the present application uses specific words to describe embodiments of the present application. For example, "one embodiment," "an embodiment," and/or "some embodiments" means a particular feature, structure, or characteristic in connection with at least one embodiment of the application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the application may be combined as suitable.
Furthermore, those of ordinary skill in the art will appreciate that aspects of the application are illustrated and described in the context of a number of patentable categories or conditions, including any novel and useful processes, machines, products, or materials, or any novel and useful improvements thereof. Accordingly, aspects of the present application may be implemented entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or a combination of hardware and software. The above hardware or software may be referred to as a "unit," module, "or" system. Furthermore, aspects of the present application may take the form of a computer program product embodied in one or more computer-readable media, wherein the computer-readable program code is embodied therein.
Furthermore, the order in which the elements and sequences are presented, the use of numerical letters, or other designations are used in the application is not intended to limit the sequence of the processes and methods unless specifically recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of example, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the application. For example, while the implementation of the various components described above may be embodied in a hardware device, it may also be implemented as a purely software solution, e.g., an installation on an existing server or mobile device.
Likewise, it should be noted that in order to simplify the presentation of the disclosure and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed subject matter requires more features than are expressly recited in each claim. Rather, the inventive subject matter should be provided with fewer features than the single embodiments described above.
Claims (10)
1. Tunnel deformation degree detecting system based on unmanned aerial vehicle, characterized by comprising:
the top of the unmanned aerial vehicle is provided with a first supporting rod;
the bearing seat is arranged at one end of the first support rod far away from the unmanned aerial vehicle;
the rotating shaft is rotationally connected with the first supporting rod through the bearing seat;
2 rollers sleeved on the rotating shaft and synchronously rotating with the rotating shaft, wherein the 2 rollers are symmetrically arranged with the bearing seat as a center;
the inspection groove is arranged at the top of the tunnel, the top is a transverse channel capable of accommodating the rotating shaft and the roller, and the middle part is a longitudinal channel capable of accommodating the first support rod so as to form a T-shaped groove;
2 photoelectric sensors, wherein 2 transmitters are equal in height and symmetrically arranged on the left side and the right side of the transverse channel, and 2 receivers are equal in height and symmetrically arranged on the two ends of the rotating shaft;
at least 2 electronic level meters are arranged along the length direction of the rotating shaft and are symmetrically arranged by taking the bearing seat as a center;
the electronic level meter comprises a rotating shaft, a photoelectric sensor, a roller, a transmitter and a receiver, wherein the transmitter and the receiver belong to the photoelectric sensor oppositely, and the roller is positioned between the end part of the rotating shaft and the electronic level meter.
2. The unmanned aerial vehicle-based tunnel deformation degree detection system according to claim 1, wherein a roller-type first pressure sensor is arranged at the top of the bearing seat, and the first pressure sensor is used for detecting pressure at the top of the transverse channel.
3. The tunnel deformation degree detection system based on the unmanned aerial vehicle according to claim 2, wherein the number of the electronic level meters is 4, the electronic level meters are in a group, 2 electronic level meters in each group are symmetrically arranged on the rotating shaft up and down, and the electronic level meters in the two groups are symmetrically arranged or staggered by taking the bearing seat as a center.
4. The unmanned aerial vehicle-based tunnel deformation degree detection system according to claim 3, wherein at least 2 first ranging sensors are arranged on the rotating shaft, at least 2 first ranging sensors are symmetrically arranged with the bearing seat as a center, and the first ranging sensors are used for ranging the top or the bottom of the transverse channel.
5. The unmanned aerial vehicle-based tunnel deformation degree detection system according to claim 4, wherein the number of the first ranging sensors is 4, each two of the first ranging sensors is one, 2 of the first ranging sensors of each group are symmetrically arranged on the rotating shaft up and down, and the two groups of the first ranging sensors are symmetrically arranged or staggered with the bearing seat as a center.
6. The unmanned aerial vehicle-based tunnel deformation degree detection system according to claim 1, wherein the left and right side walls of the longitudinal channel are provided with bristles.
7. The unmanned aerial vehicle-based tunnel deformation degree detection system according to claim 5, wherein the bearing seat, the rotating shaft, the rollers, the electronic level meter and the photoelectric sensor form a patrol mechanism, 2 patrol mechanisms are symmetrically arranged on the unmanned aerial vehicle, and 2 patrol grooves are symmetrically arranged on the top of the tunnel.
8. The unmanned aerial vehicle-based tunnel deformation degree detection system according to claim 7, wherein a second supporting rod is arranged on the unmanned aerial vehicle, a roller-type second pressure sensor is arranged at the end part, away from the unmanned aerial vehicle, of the second supporting rod, the second pressure sensor is used for detecting pressure at the top of the tunnel, and the second supporting rod is located at the middle position of 2 inspection mechanisms.
9. The tunnel deformation degree detection system based on the unmanned aerial vehicle according to claim 8, wherein 2 third support rods are arranged on the unmanned aerial vehicle, roller-type third pressure sensors are arranged at the ends, far away from the unmanned aerial vehicle, of the third support rods, the third pressure sensors are used for detecting pressure at the top of the tunnel, and the 2 third support rods are symmetrically arranged with the second support rods as centers;
and/or, the left and right edges of the unmanned aerial vehicle are provided with second ranging sensors, 2 second ranging sensors are symmetrically arranged with the second supporting rod as a center, and the second ranging sensors are used for ranging the top of the tunnel.
10. A tunnel deformation degree detection method based on an unmanned aerial vehicle, which is characterized by being realized by the tunnel deformation degree detection system based on an unmanned aerial vehicle according to any one of claims 1 to 9;
the tunnel deformation degree detection method based on the unmanned aerial vehicle comprises the following steps:
controlling the unmanned aerial vehicle to fly along the top of the tunnel, placing the first support rod into the longitudinal channel, placing the roller and the rotating shaft into the transverse channel, and rolling the roller along the bottom of the transverse channel under the driving of the rotating shaft and the unmanned aerial vehicle;
detecting levelness of the rotating shaft through an electronic level meter;
transmitting the light beam by a transmitter and receiving the light beam by a receiver;
if the levelness of the rotating shaft of the first inspection and the second inspection is inconsistent at the same detection point, the bottom of the transverse channel is deformed; if the receiver does not receive the light beam or the time of receiving the light beam is inconsistent in two successive rounds at the same detection point, the bottom or the side wall of the transverse channel is deformed.
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| CN117073570B (en) | 2023-12-19 |
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