CN206554950U - A kind of tunnel slot repair system based on wall-attaching type unmanned plane - Google Patents

Abstract

A tunnel crack repair system based on a wall-mounted drone, including: a wall-mounted drone that is attached to the tunnel lining surface and moves according to a set path; a GPS/ INS integrated navigation module; on-board communication and transmission module for two-way communication with ground workstations; motion controller for controlling the movement of drones; camera device for confirming the location of cracks and monitoring the pouring process; for repairing tunnel lining Crack repair module; a ground workstation used to design and control the navigation path of the wall-mounted UAV, and can receive, analyze and display the detection data returned by the UAV; GPS/INS integrated navigation module, vehicle communication and The transmission module, the motion controller, the camera device and the repair module are all installed on the wall-mounted drone. The utility model does not need to close the traffic, has lower cost and higher efficiency.

Description

A tunnel crack repair system based on wall-attached UAV

technical field

The utility model belongs to the field of tunnel repair in civil engineering, and relates to the repair of tunnel cracks, in particular to a tunnel crack repair system based on a wall-attached drone.

Background technique

With the development of my country's economy, the comprehensive national strength is increasing, and the transportation construction has developed rapidly. However, there are many mountainous areas in our country, and it is often necessary to build a large number of tunnels in engineering construction. After a long period of use, cracks and other common diseases will appear in the tunnel lining. , if effective countermeasures are not taken, it will seriously affect the traffic safety of the tunnel. At present, the repair of tunnel cracks in China mainly relies on manual repair, which generally requires experienced technicians to implement, which is inefficient and poor in reliability. Especially when repairing the top of the tunnel, it is generally necessary to use a lifting table to help technicians perform short-distance repairs, so that traffic needs to be closed, which is not only time-consuming and laborious, but also poor in safety. Generally speaking, the current tunnel crack repair technology is still very backward, and there is an urgent need to develop tunnel crack repair equipment and methods that are low in price, high in efficiency, high in precision, and do not affect traffic.

The crack surface repair method is a relatively common repair method. It is mainly based on pouring repair materials into the cracks to repair the cracks. It is suitable for the treatment of surface cracks that have no impact on the structural bearing capacity. Compared with other repair methods, the surface repair method has the advantages of simple operation, high adaptability and low cost.

Contents of the invention

In order to overcome the disadvantages of closed traffic, high cost and low efficiency in existing tunnel repair methods, the utility model provides a tunnel crack repair system based on a wall-attached UAV that does not need to close traffic, has low cost and high efficiency .

The technical scheme that the utility model solves its technical problem adopts is:

A tunnel crack repair system based on a wall-attached drone, the tunnel crack repair system comprising:

A wall-mounted drone that attaches to the tunnel lining surface and moves along a set path;

GPS/INS integrated navigation module for navigating drones;

It is used for two-way communication with the ground workstation, accepts the command signal of the workstation, and transmits the positioning signal and detection signal to the airborne communication and transmission module of the workstation;

A motion controller for controlling the movement of the drone;

A camera device to confirm the location of the crack and monitor the perfusion process;

A repair module for repairing cracks in tunnel linings;

A ground workstation that is used to design and control the navigation path of the wall-mounted UAV, and can receive, analyze and display the detection data returned by the UAV;

The GPS/INS integrated navigation module, vehicle communication and transmission module, motion controller, camera device and repair module are all installed on the wall-mounted UAV.

Further, the wall-mounted UAV includes a rotor, a platform and wheels, the vehicle is installed on the bottom of the platform, the rotor is installed on the top of the platform, and the GPS/INS integrated navigation system is placed on the platform module, vehicle communication and transmission module, motion controller, camera device and ultrasonic detection module.

Still further, there is a steering mechanism at the connection between the wheels and the platform.

The GPS/INS integrated navigation module realizes integrated navigation and positioning by coupling GPS and INS, internally encapsulates GPS module and IMU module, can carry out autonomous navigation in the environment without signal in the tunnel, and performs error analysis and analysis when receiving GPS signal Adjustment.

The camera device includes two cameras with light sources, which are used to confirm the position of the crack and monitor the perfusion process.

The repair module includes a compressed air tank, a piston, a filling device and a telescopic spring. The compressed air tank is installed on a fixed support, and the filling device is close to the crack under the action of the telescopic spring; when the filling is not performed, the telescopic spring Retract and lift the filling device to leave the lining surface; there is a control valve at the air outlet of the compressed air tank and enter the filling material tank through a hose and push the piston in it; the roller is connected with the car body through a connecting rod, and the roller in the roller Equipped with heating wire.

The technical concept of the utility model is: in recent years, unmanned aerial vehicles have been widely used in various engineering fields because of their low cost, good cost-effectiveness ratio, good maneuverability, and convenient use. The utility model intends to carry out innovative optimization and transformation based on the UAV, combined with the principle of tunnel lining crack surface repair, to provide a new method for tunnel maintenance and management.

The beneficial effects of the utility model are mainly manifested in:

1) The tunnel lining damage detection system based on the wall-mounted UAV does not need to close the tunnel during repair, and does not affect normal traffic.

2) GPS/INS integrated navigation is adopted, where there is a GPS signal at the entrance and exit of the tunnel, and the GPS navigation is used to correct the INS navigation error to realize autonomous cruise in the tunnel.

3) When repairing, the drone sticks to the surface of the tunnel through the wheels, which can increase the smoothness of the repair and ensure the repair effect.

4) The camera takes close-range images of cracks, which can distinguish tiny cracks with an opening greater than 0.01mm, monitor the position of the perfusion device, and repair the cracks by remotely controlling the drone through the workstation.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the bottom bottom view of the utility model;

Fig. 3 is the front view of the utility model;

Fig. 4 is the top plan view of the utility model;

Fig. 5 is a side view of the utility model;

Fig. 6 is the structural diagram of inertial navigation of the present utility model;

Fig. 7 is a schematic diagram of the system of the utility model;

Among Fig. 1-6, 1-rotor; 2-platform; 3-wheel; 4-cantilever; 5-servo motor; 6-rotor protective cover; 7-steering gear; Navigation system) Integrated navigation module; 9-motion controller; 10-communication and transmission module; 11-camera; 12-light source; 13-air compression tank; 14-support; 15-hose; 16-piston; 17- Buckle; 18-perfusion device; 19-telescopic spring; 20-roller; 21-connecting rod; 22-battery; in Figure 7, 23-ground workstation; 24-mobile power supply; 25-signal receiver; 26-computer .

detailed description

Below in conjunction with accompanying drawing, the utility model is further described.

Referring to Figures 1 to 7, a tunnel crack repair system based on a wall-mounted UAV is characterized in that it includes a wall-mounted UAV that can be adsorbed on the surface of the tunnel lining and move according to a set path; A GPS/INS integrated navigation module for navigating the drone; a motion controller for controlling the movement of the drone; an airborne communication and transmission module; a camera device for confirming the location of cracks and monitoring the filling process; a repair module for repairing cracks in the tunnel lining; A ground workstation that can design and control the navigation path of the wall-mounted UAV, and can accept, analyze and display the detection data returned by the UAV.

The wall-attached UAV includes a rotor, a platform and wheels, and repair devices and monitoring equipment are placed on the platform.

The wall-attached UAV adopts the rotor to provide reverse thrust, so that the UAV is close to the lining surface. The rotor can deflect in direction, thereby providing forward, backward and turning power.

There is a steering mechanism at the connection between the wheel of the wall-attached drone and the platform, which can flexibly realize steering.

The GPS/INS integrated navigation module realizes integrated navigation and positioning by coupling GPS and INS, and internally encapsulates a GPS module and an IMU (Inertial Measurement Unit, inertial measurement unit) module, which can carry out autonomous navigation in the environment without signals in the tunnel, and It can perform error analysis and adjustment when receiving GPS signal.

The communication and transmission module communicates bidirectionally with the ground workstation, receives command signals from the workstation, and transmits positioning signals and detection signals to the workstation.

The motion controller controls the movement of the drone through the motor after receiving the instructions from the ground workstation through the communication and transmission module.

The camera device includes two cameras with light sources for confirming the position of the crack and monitoring the perfusion process.

The tunnel crack repair module includes a compressed air tank, a piston, a pouring device and a telescopic spring, and is used for pouring tunnel cracks, and uses a heated roller to flatten the poured lining surface.

As shown in Figures 1-5, the wall-attached UAV includes a rotor (1), a stand (2) and wheels (3). In order to reduce the weight of the car body and increase the effective load, the rotor (1), platform (2) and wheels (3) are all made of carbon fiber composite materials. Servomotor (5) is installed on the cantilever (4) and is connected with stand (2); Servomotor (5) converts electric signal into torque and rotating speed; Rotor (1) produces the reverse thrust perpendicular to the wall to make The UAV is adsorbed on the detection surface; the rotor (1) can be rotated at a certain angle to push the UAV to move back and forth; 6) It can protect the rotor (1) from damage. Restoration device and control device can be installed on the stand (2). There is a steering device (7) at the connection between the wheel (3) and the stand (2); the steering device (7) includes a steering transmission shaft, a gear and a rack; when turning, the steering transmission shaft drives the pinion to rotate, and the small gear The gear and the rack are meshed to drive the rack to move left and right in a straight line, which can push the wheel (3) to rotate left and right, thereby realizing the steering function. In this example, a four-rotor structure is selected. In actual use, an appropriate rotor structure can be selected according to the specific weight and size, such as a six-rotor structure.

The GPS/INS integrated navigation module (8) includes a GPS module and an IMU module. As shown in Figure 6, the GPS module is an integrated circuit that can receive satellite positioning signals and locate the position of the drone; the IMU inertial measurement module is a parameter calculation system composed of three gyroscopes and three accelerometers, based on The output value of the gyro can get the position of the UAV in the navigation coordinate system, and based on the output value of the accelerometer, the speed and position of the car body can be calculated. In this embodiment, the SPAN-IGM-A1 integrated navigation module produced by Canadian NovAtel Company is selected to control navigation.

The communication and transmission module (10) includes a coding module and a high-frequency transmitting and receiving module. It can communicate with the ground work station (24) bidirectionally, accept the command signal of the work station, and transmit the positioning signal and detection signal to the work station (24).

The motion controller (9) is composed of a stand-alone chip. It is a dedicated controller for controlling the operation of the servo motor (5), which can control the torque and speed of the servo motor so as to achieve the purpose of controlling the movement of the drone.

The camera device includes a camera (11) and a light source (12). The camera can choose a model with more than 1 million pixels and a full-frame camera with more than 50 frames per second. Because it is very close to the lining surface, the obtained image can distinguish cracks with an opening greater than 0.01mm; sufficient light can be provided by the light source (12) , to help the high-definition camera (11) to take a clear crack image; the images detected by the two cameras (11) are transmitted to the ground workstation (25) for processing through the transmission module (10); the operator can remotely control the fracture according to the real-time image car body, ensure that the pouring device (18) is aligned with the crack.

As shown in Figure 5, the repair module includes a compressed air tank (13), a filling material tank (16), a perfusion device (18) and a telescopic spring (19). The compressed air tank (13) is installed on the fixed support (14), fastened with a buckle (17) to prevent the compressed air tank (13) from falling off; under the action of the telescopic spring (19), the filling device (18) is close to the At the crack, it can provide cushioning to protect the device when encountering surface undulations; when not pouring, the telescopic spring (19) retracts, lifting the pouring device (18) to leave the lining surface, and facilitates the movement of the drone; compression There is a control valve at the air outlet of the air tank (13), when the control valve is opened, the compressed air flows through the hose (15) into the filling material tank (16) and pushes the piston in it, and the filling material is poured through the filling device (18). poured into the cracks. Cylinder (20) is connected with car body by connecting rod (21), and after the heating wire in cylinder (20) is heated to certain temperature for cylinder (20), the fissure surface that just poured filling material is carried out flattening. The compressed air tank (13) can be repeatedly injected with gas, the filling material tank (16) can be repeatedly injected with filling material, and the car body battery (22) can be repeatedly charged and quickly replaced. In this example, the restoration material is epoxy-quartz mortar.

Servo motor (5), communication and transmission module (10), GPS/INS (Global Positioning System/Inertial Navigation System) integrated navigation module (8), camera (11) and light source (12) are all powered by battery (22) supply. The electric quantity situation of unmanned aerial vehicle is subjected to the monitoring of ground workstation, when the electric quantity of battery (22) is not enough to keep unmanned vehicle sticking to the wall to advance, ground workstation (24) sends signal, and motion controller (9) can control unmanned aerial vehicle from The tunnel surface moves to the ground, preventing falls.

As shown in Figure 7, the ground work station (24) includes a computer (27), a mobile power supply (25) and a signal transceiver (26). The signal transceiver (26) can accept the images taken by the camera (11), and can transmit navigation detection instructions to control the repair path of the drone; the drone can run to the crack by itself according to the three-dimensional coordinate address of the crack input in advance; the computer (27) data can be stored for later analysis and processing; the data processing software in the computer (27) can process the repair data received, and generate an intuitive tunnel surface crack distribution and repair map; the display of the computer (27) can repair The results are displayed intuitively, and the images taken by the camera can be displayed in real time, so as to monitor the position of perfusion; the mobile power supply (25) can provide power for the computer (27) and the signal transceiver (26), and when the battery of the drone is short of power The battery can be charged at any time.

Claims (6)

1. A tunnel crack repair system based on a wall-mounted unmanned aerial vehicle, characterized in that: the tunnel crack repair system includes: A wall-mounted drone that attaches to the tunnel lining surface and moves along a set path; GPS/INS integrated navigation module for navigating drones; It is used for two-way communication with the ground workstation, accepts the command signal of the workstation, and transmits the positioning signal and detection signal to the airborne communication and transmission module of the workstation; A motion controller for controlling the movement of the drone; A camera device to confirm the location of the crack and monitor the perfusion process; A repair module for repairing cracks in tunnel linings; A ground workstation that is used to design and control the navigation path of the wall-mounted UAV, and can receive, analyze and display the detection data returned by the UAV; The GPS/INS integrated navigation module, vehicle communication and transmission module, motion controller, camera device and repair module are all installed on the wall-mounted UAV. 2. The tunnel crack repair system based on the wall-attached UAV as claimed in claim 1, wherein the wall-attached UAV includes a rotor, a platform and wheels, and the wheels are installed on the platform At the bottom, the rotor is installed on the top of the platform, and the GPS/INS integrated navigation module, vehicle communication and transmission module, motion controller, camera device and ultrasonic detection module are placed on the platform. 3. The tunnel crack repair system based on the wall-attached UAV as claimed in claim 2, characterized in that: there is a steering mechanism at the connection between the wheel and the stand. 4. The tunnel crack repair system based on the wall-attached UAV according to any one of claims 1 to 3, characterized in that: the GPS/INS integrated navigation module realizes integrated navigation and positioning by coupling GPS and INS, and the internal Encapsulate the GPS module and IMU module, which can carry out autonomous navigation in the environment without signals in the tunnel, and perform error analysis and adjustment when receiving GPS signals. 5. The tunnel crack repair system based on the wall-mounted drone according to any one of claims 1 to 3, wherein the camera device includes two cameras with light sources for confirming the position of the crack and monitoring Perfusion process. 6. The tunnel crack repair system based on the wall-attached UAV according to any one of claims 1 to 3, characterized in that: the repair module includes a compressed air tank, a piston, a perfusion device and a telescopic spring, and the The compressed air tank is installed on the fixed support, and the filling device is close to the crack under the action of the telescopic spring; when the filling is not performed, the telescopic spring retracts and lifts the filling device to leave the lining surface; the air outlet of the compressed air tank There is a control valve, which enters the filling material tank through a hose and pushes the piston in it; the drum is connected with the car body through a connecting rod, and an electric heating wire is arranged in the drum.