CN206557155U - A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type - Google Patents
A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type Download PDFInfo
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- CN206557155U CN206557155U CN201720086579.7U CN201720086579U CN206557155U CN 206557155 U CN206557155 U CN 206557155U CN 201720086579 U CN201720086579 U CN 201720086579U CN 206557155 U CN206557155 U CN 206557155U
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Abstract
A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type, it is included：For being attached to tunnel-liner surface, and by the wall-attaching type detection car of setting path movement；For the GPS/INS integrated navigation modules navigated to detection car；For the vehicle-carrying communication and transport module with the two-way communication of ground handling station；Motion controller for controlling detection car movement；Camera device for shooting lining cutting surface image；Ultrasound examination module for detecting lining cutting surface and internal fissure；For wall-attaching type detection car guidance path to be designed and controlled, and it can receive, analyze and show the ground handling station for the detection data that detection car is passed back；GPS/INS integrated navigations module, vehicle-carrying communication and transport module, motion controller, camera device and ultrasound examination module are installed on the wall-attaching type detection car.The utility model is without close traffic, cost be relatively low, precision is higher.
Description
Technical field
The Tunnel testing field that the utility model belongs in civil engineering, is related to Tunnel Lining Cracks detection, specifically one
Plant the Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type.
Background technology
With China's expanding economy, the increasingly enhancing of overall national strength, transport development is rapidly developed, and China mountain
Ground is numerous, is frequently necessary to build substantial amounts of tunnel in engineering construction, and after a long time use, crack, sky occurs in tunnel-liner
The common disease such as hole, if not taking effective countermeasure, will have a strong impact on the current safety in tunnel.At present, the country is to tunnel
The detection of Lining Crack relies primarily on artificial detection, generally requires the technical staff of rich experiences to implement, efficiency it is low and
Reliability is poor, and inconsistent situation often occurs in the testing result between technical staff.Particularly examined to tunnel top
During survey, typically to help technical staff to carry out close-ups using lifting platform, so as to need close traffic, not only waste time and energy
And security is poor.
The method for carrying out automatic detection to tunnel with detection car is occurred in that in recent years, but the price of detection car is very high
It is expensive, popularize very difficult；The camera loaded on detection car also has a certain distance from lining cutting, and obtained image can only be told
The larger crack of aperture (generally higher than 0.2mm), can not also accomplish and manually detect same closely observation, to lined internal
Crack then can not effectively detect.
Generally speaking, current tunnel-liner detection technique is also very backward, is badly in need of low research and development price, efficiency high, precision
It is high, do not influence the tunnel-liner detection device and method of traffic.
The method for studying internal structure of body with ultrasonic wave starts from last century the '30s, and nowadays ultrasound examination is
Develop into one of method for being most widely used in industrial detection.Ultrasound examination have strong adaptability, detection sensitivity it is high,
It is harmless, the features such as cost is relatively low.In Tunnel testing, ultrasound examination can be preferably compared with some other detection means
The depth for detecting crack and distribution.But existing common detection methods still need artificial progress, exist efficiency it is low, into
The problems such as this is high.
The content of the invention
In order to overcome the shortcomings of that existing tunnel lining method needs close traffic and cost height, precision are low, this practicality
It is new there is provided a kind of without close traffic, cost be relatively low, the higher Tunnel Lining Cracks that car is detected based on wall-attaching type of precision
Ultrasonic wave detecting system.
The utility model solves the technical scheme that its technical problem used：
A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type, the ultrasonic wave detecting system bag
Include：
For being attached to tunnel-liner surface, and by the wall-attaching type detection car of setting path movement；
For the GPS/INS integrated navigation modules navigated to detection car；
For with the two-way communication of ground handling station, receive the command signal of work station, and positioning signal, detection signal are passed
Vehicle-carrying communication and transport module to work station；
Motion controller for controlling detection car movement；
Camera device for shooting lining cutting surface image；
Ultrasound examination module for detecting lining cutting surface and internal fissure；
For wall-attaching type detection car guidance path to be designed and controlled, and it can receive, analyze and show that detection car is passed
The ground handling station for the detection data returned；
The GPS/INS integrated navigations module, vehicle-carrying communication and transport module, motion controller, camera device and ultrasound
Ripple detection module is installed on the wall-attaching type detection car.
Further, the wall-attaching type detection car includes rotor, stand and wheel, and the vehicle is arranged on stand bottom, institute
State and the GPS/INS integrated navigations module, vehicle-carrying communication and transmission mould are placed on the bench top installation rotor, the stand
Block, motion controller, camera device and ultrasound examination module.
Further, there is steering mechanism the junction of the wheel and stand.
Further, described GPS/INS integrated navigations module realizes integrated navigation and location by GPS and INS couplings, internal
GPS module and IMU modules are encapsulated, independent navigation can be carried out in the environment of no signal in tunnel, entered when receiving gps signal
Row error analysis and adjustment.
The camera device includes two the camera with light source, for carrying out high-definition camera to lining cutting surface.
Described ultrasound examination module includes ultrasonic sensor, support and protection device, the depth for detecting crack
Degree and distribution；The ultrasonic sensor is constructed using normal probe, can be launched and be received compressional wave；In the probe of ultrasonic sensor
Place connects a spherical protection device by support hypsokinesis inclined.
Technical concept of the present utility model is：In recent years, unmanned plane because its cost it is low, efficiency-cost ratio is good, and mobility is good,
Easy to use the features such as, has obtained extensive utilization in each engineering field.The utility model is intended carrying out novelty based on unmanned plane
Optimizing Reconstruction, with reference to ultrasound examination principle, a kind of new method is provided for Tunnel testing.
The beneficial effects of the utility model are mainly manifested in：
1) the Tunnel Lining Cracks detecting system of car is detected based on wall-attaching type, tunnel need not be closed in detection, not influence
Normal traffic.
2) GPS/INS integrated navigations are used, tunnel gateway has at gps signal, is navigated and missed using GPS navigation amendment INS
Difference, realizes the autonomous cruise in tunnel.
3) detection car is close to tunnel surface by wheel when detecting, can increase the smoothness of detection, improves accuracy of detection.
4) high definition camera shooting at close range crack pattern picture, can tell the minute crack that aperture is more than 0.01mm, utilize
Ultrasonic wave detecting system can detect depth and the distribution in lined internal crack；Both are combined and can obtained from surface to inside
High-precision fractue spacing data.
5) navigation system is utilized, the photographs and ultrasonic listening result of each point contain coordinate information, rear
Phase can splice the Three-dimensional damage information for obtaining whole tunnel-liner surface when handling by data.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is bottom upward view of the present utility model；
Fig. 3 is front view of the present utility model；
Fig. 4 is top plan view of the present utility model；
Fig. 5 is side view of the present utility model；
Fig. 6 is inertial navigation structure chart of the present utility model；
Fig. 7 is ultrasonic sensor figure of the present utility model；
Fig. 8 is system schematic of the present utility model；
In Fig. 1-5 and Fig. 8,1- rotors；2- stands；3- wheels；4- cantilevers；5- servomotors；6- rotor protective covers；7- turns
To mechanism；8-GPS/INS (global positioning system/inertial navigation system) integrated navigation module；9- motion controllers；10- communicates
And transport module；11- high definition cameras；12- light sources；13- ultrasonic sensors；14- supports；The spherical protection devices of 15-；16- electricity
Pond；17- ground handlings station；18- computers；19- signal transceivers；20- movable type power supplys.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.
1~Fig. 8 of reference picture, a kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type, including energy
Enough adsorb on tunnel-liner surface, and by the wall-attaching type detection car of setting path movement；For what is navigated to detection car
GPS/INS integrated navigation modules；The motion controller of control detection car movement；Vehicle-carrying communication and transport module；Shoot lining cutting table
The camera device of face image；Detect the ultrasound examination module of lining cutting surface and internal fissure；Wall-attaching type detection car can be led
Bit path is designed and controlled, and can receive, analyzes and show the ground handling station for the detection data that detection car is passed back.
Described wall-attaching type detection car includes placing the related inspection of Lining Crack on rotor, stand and wheel, the stand
Survey device and control device.
Described wall-attaching type detection car provides deboost using rotor, allows detection car to be close to lining cutting surface.The rotation
The deflectable direction of the wing, so as to provide advance, the power for retreating and turning to.
The described wheel of wall-attaching type detection car and the junction of stand has steering mechanism, can flexibly realize steering.
Described GPS/INS integrated navigations module realizes integrated navigation and location, enclosed inside GPS moulds by GPS and INS couplings
Block and IMU (Inertial Measurement Unit, Inertial Measurement Unit) module, can be in tunnel in the environment of no signal
Independent navigation is carried out, and error analysis and adjustment can be carried out when receiving gps signal.
Described communication and transport module and the two-way communication of ground handling station, receive the command signal of work station, and fixed
Position signal, detection signal are transmitted to work station.
Described motion controller is received after the instruction at ground handling station by communication and transport module, passes through motor control
Detect the motion of car.
Described camera device includes two the camera with light source, for carrying out high-definition camera to lining cutting surface.
Described ultrasound examination module includes ultrasonic sensor, support and protection device, the depth for detecting crack
Degree and distribution；The ultrasonic sensor is constructed using normal probe, can be launched and be received compressional wave.
As Figure 1-5, the wall-attaching type detection car includes rotor (1), stand (2) and wheel (3).In order to mitigate car body
Weight, increase load, rotor (1), stand (2) and wheel (3) are using carbon fibre composite.Pacify on cantilever (4)
Dress servomotor (5) is simultaneously connected with stand (2)；Servomotor (5) converts electrical signals into torque and rotating speed；Rotor (1) is produced
The raw deboost perpendicular to metope makes detection car adsorb in detection faces；The rotatable certain angle of rotor (1), promotes detection car
All around move；The rotating speed of four rotors (1) is consistent, and detection car can be made evenly to move；Rotor protective cover (6) can
Rotor (1) is protected from damage.Can installation detecting device and control device on stand (2).The connection of wheel (3) and stand (2)
There is transfer (7) at place.The steering mechanism (7), including steering drive axle, gear and rack；During steering, steering drive axle band
Dynamic pinion rotation, little gear is engaged with rack, band carry-over bar or so linear motion, can promote wheel (3) left-right rotation, from
And realize turning function.The selection of this example is four rotor structures, in actual use can be according to specific weight and size selection
Suitable rotor structure, such as six rotor structures.
Described GPS/INS integrated navigations module (8), including GPS module and IMU modules.As shown in fig. 6, GPS module is
One integrated circuit, can receive the positioning signal of satellite, orient the position of detection car；IMU inertia measuring modules are by three
The parameter calculation system of gyro and three accelerometer compositions, the output valve based on gyro can be detected car and be sat in navigation
Position in mark system, while the output valve based on accelerometer, can calculate speed and the position of car body.In the present embodiment
In, control to navigate from the SPAN-IGM-A1 integrated navigations module that Canadian NovAtel companies produce.
Described communication and transport module (10), including coding module and high-frequency emission receiving module.Energy and ground handling
Stand (17) two-way communication, receive the command signal of work station, and positioning signal, detection signal are transmitted to work station (17).
Described motion controller (9), is made up of one piece of unit piece.It is the special control for controlling servomotor (5) operation
Device, can control servomotor torque and rotating speed so as to reach control detection car movement purpose.
Described camera device, including high definition camera (11) and light source (12).High definition camera may be selected 1,000,000 pixels with
On, the model of 50 frame above silent frame per second shooting is realized, due to close apart from lining cutting surface, obtained image can be told
Aperture is more than 0.01mm crack；Substantial light can be provided by light source (12) to shine, help high definition camera (11) to shoot clearly
Crack pattern picture；The image later stage that two cameras are obtained can realize splicing in computer；Detect the image drawn and waveform by passing
Defeated module biography (10), which is sent in ground handling station (17), to be handled.
As shown in fig. 7, described ultrasound examination module, including ultrasonic sensor (13), support (14), spherical protection
Device (15).Ultrasonic sensor (13) is constructed using normal probe, when being moved ahead along tunnel bearing of trend, can be launched and be received to indulge
Ripple；In order to prevent probe from wearing and tearing, a spherical protection device (15) is connected by support (14) hypsokinesis inclined at probe,
Cushioning effect can be played by running into bossing spring during detection car traveling, so as to protect spherical protection device (15)；Ultrasound
Wave apparatus can carry out effective detection, the closed one ultrasounds of such as selection T/R40-16 to the depth in lined internal crack and distribution
Wave sensor, crack deep detectable lined internal 0-0.5m.
Servomotor (5), communication and transport module (10), GPS/INS integrated navigations module (8), ultrasonic sensor
(13), the power supply of high definition camera (11) and light source (12) is provided by battery (16).Detect the charge condition of car by ground
The monitoring of work station (17), during when the not enough power supply of battery (16) to maintain to detect that traffic allowance wallflow is entered, ground handling station (17) hair
Go out signal, motion controller (9) can control detection car to be moved to ground from tunnel surface, prevent from dropping.
As shown in figure 8, described ground handling station (17), including computer (18), signal transceiver (19) and movable type electricity
Source (20).Signal transceiver (19) can receive the detection data of ultrasonic sensor (13) and high definition camera (11), and can energy
Enough transmitting navigation detection instructions, the detection path of control detection car；Computer (18) can store detection data, facilitate post analysis
Processing；Data processing software in computer (18) can be handled the detection data of reception, generate intuitively tunnel surface three
Dimension damage figure；The display of computer (18) can intuitively show testing result, and can show that camera is shot in real time
Image, be easy to be monitored and controlled；Portable power supply (20) can provide electric power for computer (18), signal transceiver (19),
Battery can be charged during detection car battery short of electricity.
Claims (6)
1. a kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type, it is characterised in that：The ultrasonic wave
Detecting system includes：
For being attached to tunnel-liner surface, and by the wall-attaching type detection car of setting path movement；
For the GPS/INS integrated navigation modules navigated to detection car；
For with the two-way communication of ground handling station, receive the command signal of work station, and positioning signal, detection signal are transmitted to work
Make the vehicle-carrying communication and transport module stood；
Motion controller for controlling detection car movement；
Camera device for shooting lining cutting surface image；
Ultrasound examination module for detecting lining cutting surface and internal fissure；
For wall-attaching type detection car guidance path to be designed and controlled, and it can receive, analyze and show what detection car was passed back
Detect the ground handling station of data；
The GPS/INS integrated navigations module, vehicle-carrying communication and transport module, motion controller, camera device and ultrasonic wave inspection
Module is surveyed to be installed on the wall-attaching type detection car.
2. the Tunnel Lining Cracks ultrasonic wave detecting system of car, its feature are detected based on wall-attaching type as described in claim 1
It is：The wall-attaching type detection car includes rotor, stand and wheel, and the wheel is arranged on stand bottom, the bench top
Install and the GPS/INS integrated navigations module, vehicle-carrying communication and transport module, motion control are placed on the rotor, the stand
Device processed, camera device and ultrasound examination module.
3. the Tunnel Lining Cracks ultrasonic wave detecting system of car, its feature are detected based on wall-attaching type as described in claim 2
It is：There is steering mechanism the junction of the wheel and stand.
4. the Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type as described in one of claims 1 to 3, its
It is characterised by：Described GPS/INS integrated navigations module realizes integrated navigation and location, enclosed inside GPS by GPS and INS couplings
Module and IMU modules, independent navigation can be carried out in tunnel, error is carried out when receiving gps signal in the environment of no signal
Analysis and adjustment.
5. the Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type as described in one of claims 1 to 3, its
It is characterised by：The camera device includes two the camera with light source, for carrying out high-definition camera to lining cutting surface.
6. the Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type as described in one of claims 1 to 3, its
It is characterised by：Described ultrasound examination module includes ultrasonic sensor, support and spherical protection device, for detecting crack
Depth and distribution；The ultrasonic sensor is constructed using normal probe, can be launched and be received compressional wave；In ultrasonic sensor
A spherical protection device is connected at probe by support hypsokinesis inclined.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802322A (en) * | 2017-01-20 | 2017-06-06 | 绍兴文理学院 | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type |
| CN109239199A (en) * | 2018-09-18 | 2019-01-18 | 安徽宝龙电器有限公司 | A kind of multi-functional application method for tapping detector based on sonic detection |
-
2017
- 2017-01-20 CN CN201720086579.7U patent/CN206557155U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802322A (en) * | 2017-01-20 | 2017-06-06 | 绍兴文理学院 | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type |
| CN109239199A (en) * | 2018-09-18 | 2019-01-18 | 安徽宝龙电器有限公司 | A kind of multi-functional application method for tapping detector based on sonic detection |
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