CN207816842U - A kind of lossless device for fast detecting of cable tunnel defect - Google Patents
A kind of lossless device for fast detecting of cable tunnel defect Download PDFInfo
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- CN207816842U CN207816842U CN201820212440.7U CN201820212440U CN207816842U CN 207816842 U CN207816842 U CN 207816842U CN 201820212440 U CN201820212440 U CN 201820212440U CN 207816842 U CN207816842 U CN 207816842U
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Abstract
The utility model belongs to tunnel defects detection field, and discloses a kind of lossless device for fast detecting of cable tunnel defect.Mechanical arm includes multiple connecting rods and artis, it is connect with chassis and holder while the mechanical arm, height for adjusting holder, thermal infrared imager and visible image capturing head are provided on holder, arranged in parallel, the photo of shooting tunnel metope whether there is crackle and seepage defect to the two for detecting tunnel metope in horizontal or vertical direction, when the holder is rotated horizontally around end artis with pitching movement so that thermal infrared imager and visible image capturing head test position accordingly convert；Controller is arranged on chassis, is connect with remote control host computer by the wireless communicator on chassis, and carry out the interaction of data.By the utility model, realize detection speed is fast, accuracy of detection is high, non-destructive testing and remote control to Tunnel testing.
Description
Technical field
The utility model belongs to tunnel defects detection field, lossless quickly more particularly, to a kind of cable tunnel defect
Detection device.
Background technology
With China's expanding economy, overall national strength is increasingly enhanced, and transport development is rapidly developed, and China mountain
Ground is numerous, is frequently necessary to build a large amount of tunnel in engineering construction, and after prolonged use, tunnel will appear crack, cavity etc.
Common disease will seriously affect the current safety in tunnel if not taking effective countermeasure.Currently, the country is to tunnel defect
Detection rely primarily on artificial detection, generally require the technical staff of rich experiences to implement, efficiency is low and reliability is poor,
Often there is inconsistent situation in testing result between technical staff.Especially when being detected to tunnel top, generally
Technical staff is helped to carry out close-ups using lifting platform, it is not only time-consuming and laborious but also safe to need close traffic
Property is poor.
The method for occurring detecting tunnel automatically with detection vehicle in recent years, but the price for detecting vehicle is very high
It is expensive, it popularizes very difficult；With the development of urban construction, buried cable tunnel is increasingly used in the laying of cable, but by
In cable tunnel generally existing percolating water in operation, the problems such as cable overheats, current main detection mode be it is artificial periodically
The mode of the mode of inspection, manual inspection can not judge the operating status and temperature of cable, therefore can not accurately judge tunnel
Operating status, while manual inspection takes time and effort when extracting water seepage of tunnel feature and is difficult to realize quickly detect.
Utility model content
For the disadvantages described above or Improvement requirement of the prior art, it is lossless that the utility model provides a kind of cable tunnel defect
Device for fast detecting is passed through by the way that the binocular detection mode of mechanical arm, holder and thermal infrared imager and visible image capturing head is arranged
The defects of tunnel is really restored to the image procossing of shooting, enters tunnel without operating personnel, it is low thus to solve detection efficiency
With the technical problem of accuracy of detection difference.
To achieve the above object, according to the utility model, a kind of lossless device for fast detecting of cable tunnel defect is provided,
The device includes remote control host computer, controller, chassis, mechanical arm and holder, which is characterized in that
The mechanical arm includes multiple connecting rods and artis, and the head end artis of the mechanical arm is connect with the chassis, end
End artis is connect with the holder, the height for adjusting the holder, be provided on the holder thermal infrared imager with can
Light-exposed camera, the two arranged in parallel in horizontal or vertical direction, the photo for shooting tunnel metope, whether to detect tunnel metope
There are crackle and seepage defect, when which rotates horizontally around the end artis with pitching movement so that the infrared heat
As instrument and visible image capturing head test position accordingly convert；
The controller is arranged on the chassis, passes through wireless communicator on chassis and the remote control host computer
Connection, and carries out the interaction of data, wherein the controller by the mechanical arm, chassis and holder respective positions information and
The image information that the thermal infrared imager and visible image capturing head detect passes to the long-range host computer, long-range host computer hair
Go out instruction and adjust the mechanical arm, chassis and holder movement so that the thermal infrared imager and visible image capturing head are corresponding
Position is shot,
In addition, range sensor is additionally provided on the holder, when the thermal infrared imager and visible image capturing head are lateral
When arrangement, at the point midway which is disposed there between, when the thermal infrared imager and visible image capturing head
When longitudinal arrangement, the range sensor and the thermal infrared imager and visible image capturing head are on the same line.
It is further preferred that it is provided with angular transducer in each artis, the angle for detecting the connecting rod.
It is further preferred that the bottom on the chassis is provided with odometer, the distance for measuring chassis movement.
It is further preferred that the tray bottom is provided with driving wheel, it to be used for the movement on the chassis.
A kind of detection method of the above-mentioned lossless device for fast detecting of tunnel defect, which is characterized in that under this method includes
Row step：
(a) detection device is placed in tunnel to be detected, adjust holder height until its reach height preset value, detect
Axial direction of the device along tunnel to be detected is detected, and the image shot according to thermal infrared imager and visible image capturing head judges
It whether there is defect in the tunnel；
(b) for the tunnel metope of existing defects, keep holder height in height preset value, detection device moves to the defect
The tunnel cross sectional at place is radially detected the cross section, is as follows：
(b1) adjustment holder makes thermal infrared imager and visible image capturing head direction and perpendicular to tunnel metope, and holder passes through
Pitching makes the shooting of thermal infrared imager and visible image capturing head to tunnel cross sectional circumferencial direction, Distance-sensing in shooting process
Device records distance and holder pitch angle of each shooting point holder apart from tunnel metope；
(b2) Infrared Thermogram and visible images that storage shooting obtains in shooting process, and cloud when records photographing image
The angle of platform, the Infrared Thermogram and visible images obtained to shooting carry out image processing and analyzing and judge current location figure in real time
Whether it is metope at inconocenter, if it is, range sensor measures apart from the distance of metope and records the pitching of holder at this time
Angle, otherwise, Infrared Thermogram and visible images continue to shoot tunnel section, until completing the shooting in entire tunnel section；
(b3) establish plane right-angle coordinate by coordinate origin of holder, the holder obtained according to range sensor measurement away from
With a distance from tunnel metope and holder pitch angle, coordinate of each distance measurement point in plane right-angle coordinate is determined, it will
All distance measurement point points are fitted to tiltedly oval so that loss function is minimum, and according to this, tiltedly elliptical equation obtains holder and tunnel
The position relationship of cross-section center；
(b4) image shot to thermal infrared imager and visible image capturing head carries out processing acquisition and synthesizes tunnel cross sectional
Panorama Infrared Thermogram and panorama visible images, in combination with the holder obtained in step (b3) and tunnel cross sectional center
Position relationship determines specific location of the defect on tunnel cross sectional.
It is further preferred that in step (a), judge whether the height of the holder reaches height preset value, preferably adopts
With following expression formula,
Wherein, H1It is distance of the raising mechanical arm bottom installation hinge apart from ground, L1It is raising machinery arm roots connecting rod
Length, L2It is the length of raising mechanical arm top links, H2It is the distance of the centre distance installation hinge of two axle The Cloud Terraces,It is bottom
The angle of the raising machinery arm roots connecting rod that portion's angular transducer measurement obtains and driving chassis,It is that middle part angular transducer is surveyed
The angle of the raising machinery arm roots connecting rod and top links that measure,It is the lifting machine that apex angles sensor measurement obtains
The angle of tool arm top links and holder, H are height preset values.
It is further preferred that in step (b3), the oblique ellipse preferably uses following expression formula,
(x(i),y(i))=(d(i)cosθ(i),d(i)sinθ(i))
Wherein, L (a, b, θ, x0,y0) it is loss function, d(i)And θ(i)Indicate that i-th of range data measurement point measures respectively
Distance of the obtained holder apart from metope and the at this time angle in the direction and horizontal plane of corresponding holder pitching, x(i)And y(i)Point
The x-axis and y-axis coordinate of the point that i-th of range data measurement point is transformed into plane right-angle coordinate, x are not indicated0、y0For holder
Distance apart from the horizontal and vertical direction of tunnel kernel of section point, θ are the angle of inclination of holder entirety, and i is range sensor
The measurement point of distance of the holder apart from tunnel metope is measured, m is the total quantity of measurement point.
In general, it can obtain down the above technical solutions conceived by the present invention are compared with the prior art,
Row advantageous effect：
1, the utility model may be implemented remote control by using the technology of wireless communication and be detected, so that behaviour
Make personnel to be detected without in person entering in tunnel, improves the safety of detection；
2, the utility model by having used thermal infrared imager and visible light thermal imaging system to acquire tunnel environment respectively simultaneously
Infrared thermal-image data and visible data can improve the richness of Tunnel testing data and the precision of Tunnel testing.
3, the utility model passes through midpoint that range sensor is arranged between thermal infrared imager and visible image capturing head
At position, ensure that range sensor has shorter distance apart from thermal infrared imager and visible image capturing head, so that distance
The distance and the distance between thermal infrared imager and metope and visible image capturing head and metope apart from metope that sensor measures
The distance between deviation it is smaller, improve range sensor measured distance confidence level；
4, the utility model has recorded the relative position and holder of holder and tunnel metope in data acquisition
Rotational angle can be accurately positioned the posture of detection data acquisition using this information, and detection device can pass through odometer
The distance of device for recording and detecting operation is so that operating personnel can quick position abnormal in localized tunnel.
Description of the drawings
Fig. 1 is the structural schematic diagram of the detection device constructed by the preferred embodiment according to the utility model；
Fig. 2 is infrared thermal imagery head, range sensor and the visible light constructed by the preferred embodiment according to the utility model
The structural schematic diagram of longitudinal arrangement of the camera on holder；
Fig. 3 is infrared thermal imagery head, range sensor and the visible light constructed by the preferred embodiment according to the utility model
Transversely arranged structural schematic diagram of the camera on holder；
Fig. 4 is the structural representation of tunnel to be detected axially and radially constructed by the preferred embodiment according to the utility model
Figure；
Fig. 5 is the structural representation of the calculating machine arm lifting altitude constructed by the preferred embodiment according to the utility model
Figure；
Fig. 6 is the flow chart of the detection method constructed by the utility model preferred embodiment.
In all the appended drawings, identical reference numeral is used for indicating identical element or structure, wherein：
1-chassis, 2-raising mechanical arms, 3-angular transducers, 4-controllers, 5-wireless communicators, 6-holders,
7-thermal infrared imagers, 8-range sensors, 9-visible image capturing heads, 10-odometers, 11-control host computers.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
Fig. 1 is the structural schematic diagram of the detection device constructed by the preferred embodiment according to the utility model, such as Fig. 1 institutes
Show, a kind of lossless device for fast detecting of cable tunnel defect, which is used for the inspection of buried cable tunnel defect comprising drive
Dynamic chassis 1, raising mechanical arm 2, angular transducer 3, controller 4, wireless communicator 5, two axle The Cloud Terraces 6, thermal infrared imager 7, away from
From sensor 8, visible image capturing head 9, odometer 10, control host computer 11.
Chassis 1 is driven to be mounted on the bottom of detection device, for realizing the movement, steering and brake of detection device, raising
Mechanical arm 2 is mounted on driving chassis 1, and raising mechanical arm 2 can realize 2 top of raising mechanical arm by rotating each section connecting rod
Raising, angular transducer 3 be mounted on raising mechanical arm 2 each rotation hinge at, for measuring 1 each connecting rod of raising mechanical arm
The relative angle of rotation, to calculate position of the raising mechanical arm 2 relative to driving chassis 1, controller 4 is mounted on driving bottom
On disk 1, and by signal wire with driving chassis 1, raising mechanical arm 2, wireless communicator 5, two axle The Cloud Terraces 6, thermal infrared imager 7,
Range sensor 8, visible image capturing head 9 are connected with odometer 10, are used to receive the signal from wireless communicator 5, control is driven
The movement on dynamic chassis 1, is received from 7 range sensor of thermal infrared imager, 8 visible image capturing head, 9 and the raising of raising mechanical arm 2
The data that odometer 10 acquires, and device 5 is sent to remote control host computer 11 by radio communication by the data.
Wireless communicator 5 is mounted on driving chassis 1, and wireless communicator 5 passes through wireless signal and remote control host computer
11, which are connected, may be implemented long distance wireless data transmission, and two axle The Cloud Terraces 6 are mounted on the top of raising mechanical arm, and two axle The Cloud Terraces 6 can be with
It makes and horizontally rotating and pitching movement.
Fig. 2 is infrared thermal imagery head, range sensor and the visible light constructed by the preferred embodiment according to the utility model
The structural schematic diagram of longitudinal arrangement of the camera on holder；Fig. 3 is constructed by the preferred embodiment according to the utility model
The transversely arranged structural schematic diagram of infrared thermal imagery head, range sensor and visible image capturing head on holder, such as the institutes of Fig. 2 and 3
Showing, thermal infrared imager 7 is mounted in two axle The Cloud Terraces 6, can do horizontal rotation and pitching movement with the two axle The Cloud Terraces 6,
To shoot the infrared image of different angle, range sensor 8 is mounted in two axle The Cloud Terraces 6, can be done with two axle The Cloud Terraces 6
Horizontal rotation and pitching movement, to measure distance of the holder apart from tunnel metope under different angle, it is seen that light video camera head 9 is installed
In two axle The Cloud Terraces 6, horizontal rotation and pitching movement can be done with two axle The Cloud Terraces 6, to shoot the visible of different angle
Light image.When thermal infrared imager and transversely arranged visible image capturing, middle point that range sensor is disposed there between
Place is set, when thermal infrared imager and visible image capturing head longitudinal arrangement, range sensor and the thermal infrared imager and visible light
On the same line, the form positioned opposite of thermal infrared imager 7, range sensor 8 and visible image capturing head has but not camera
The vertically and horizontally arrangement form being limited in Fig. 2 and Fig. 3..
The bottom that odometer 10 is mounted on driving chassis 1 is used to measure the distance that detection device moves.Join in remote control
Position machine 11 is connect by wireless signal with detection device, and operator can be detected by 11 remote control of remote control host computer and be filled
The movement set, remote control host computer can receive 11 carry out self-test device visible data, infrared data, range data,
Operator's viewing is analyzed, preserves and are shown to mileage and running state data simultaneously.
Detection device mainly have during being detected to tunnel but be not limited to along tunnel extension method axial detection and
Along two kinds of detection patterns of tunnel cross-section radial.
Fig. 4 is the structural representation of tunnel to be detected axially and radially constructed by the preferred embodiment according to the utility model
Figure, Fig. 6 is the flow chart of the detection method constructed by the utility model preferred embodiment, and as shown in figs. 4 and 6, detection device is along tunnel
Road extending direction carries out axial detection, and in the detection pattern, specific detection process is as follows：
1) 2 raising of raising mechanical arm makes two axle The Cloud Terraces 6 reach preset height, the generally center in tunnel, if reaches
Judgment formula to preset height is given by：
With reference to Fig. 5, in formula：
H1It is distance of 2 bottom of the raising mechanical arm installation hinge apart from ground；
L1It is the length of 2 root connecting rod of raising mechanical arm；
L2It is the length of 2 top links of raising mechanical arm；
H2It is the distance of the centre distance installation hinge of two axle The Cloud Terraces 6；
It is the angle that bottom angle sensor 3 measures obtained 2 root connecting rod of raising mechanical arm and driving chassis 1；
It is the angle that middle part angular transducer 3 measures obtained raising mechanical arm 2 root connecting rod and top links；
It is the angle that apex angles sensor 3 measures obtained raising mechanical arm 2 top links and holder；
H is preset height.
Indicate that two axle The Cloud Terraces 6 reach preset height if above formula result of calculation is 0, otherwise not up to preset height.
2) two axle The Cloud Terraces 6 turn to the axial direction along tunnel extending direction and make 9 court of thermal infrared imager 7 and visible image capturing head
To the extending direction in tunnel；
3) driving device 1 drives detection device steadily to advance along tunnel extending direction；
4) Infrared Thermogram and visible images in 9 captured in real-time tunnel of thermal infrared imager 7 and visible image capturing head；
5) controller 4 passes through infrared thermal imagery diagram data, visible images data and mileage that detection obtains wireless
Communicator 5 is transferred to remote control host computer 11；
6) remote control host computer handles the data of reception and judges to whether there is defect in tunnel in real time, and by the number of reception
According to the result preservation with analysis.
In existing defects in detecting tunnel, detection device carries out radial inspection along the tunnel cross-section radial where defect
It surveys, in the detection pattern, specific detection process is as follows：
1) driving device 1 drives detection device to be moved to a check bit and stops；
2) two axle The Cloud Terraces 6 turn to the position of tunnel cross-section radial so that thermal infrared imager 7 and visible image capturing head 9 hang down
Directly in tunnel metope；
3) and then holder does pitching movement thermal infrared imager 7 and visible image capturing head 9 is shot in each pitch angle at this time
Infrared Thermogram and visible images.
Infrared Thermogram, visible images and the angle for recording cloud platform rotation that shooting obtains are preserved in shooting process, and
And judge at picture centre whether to be tunnel metope to shooting obtained Infrared Thermogram and visible images detection in real time, if
It is that range sensor record the distance between holder and metope and records this apart from corresponding cloud platform rotation angle, Zhi Houyun at this time
Platform is rotated further shooting, until cloud platform rotation one encloses so that thermal infrared imager 7, visible image capturing head 9, range sensor and two axis
Holder records Infrared Thermogram, visible images, range data and the angle-data of the check bit one circle；
4) device 5 receives the data that detection obtains to remote control host computer 11 by radio communication.
5) when remote control host computer 11 calculates shooting by the range data and angle-data of reception holder relative to
The position of tunnel kernel of section, detailed process are as follows.
5.1) range data and angle-data that detection obtains are converted into the point in plane right-angle coordinate, coordinate system
Origin is the position of holder, and transfer equation is given by：
(x(i),y(i))=(d(i)cosθ(i),d(i)sinθ(i))
In formula：
d(i)And θ(i)I-th of range data measurement point is indicated respectively, distance of the two axle The Cloud Terraces 6 measured apart from metope
And the direction of two axle The Cloud Terraces pitching at this time and the angle of horizontal plane；
x(i)And y(i)The x-axis and y of the point that i-th of range data measurement point is transformed into plane right-angle coordinate are indicated respectively
Axial coordinate.
5.2) point of all range data measurement points in plane right-angle coordinate is fitted using oblique ellipse, is fitted
Equation is given by：
It minimizes above formula and a, b, θ, x is calculated0、y0, wherein x0、y0Level for holder apart from tunnel kernel of section point
With the distance of vertical direction, θ is the angle of inclination of holder entirety,
The angle of holder and shooting metope can be calculated by following formula：
6) remote control host computer 11 is by shooting obtained Infrared Thermogram, measuring obtained range data, shooting figure
As when two axle The Cloud Terraces 6 angle-data and the panorama Infrared Thermogram that the holder position synthesis check bit one encloses is calculated, lead to
Cross the angle-data of two axle The Cloud Terraces 6 and calculating when shooting obtained visible images, measuring obtained range data, shooting image
Obtain the panorama visible images of the holder position synthesis check bit one circle.
7) analyze and preserve the panorama Infrared Thermogram and panorama visible images of synthesis.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (4)
1. a kind of lossless device for fast detecting of cable tunnel defect, which includes remote control host computer (11), controller
(4), chassis (1), mechanical arm (2) and holder (6), which is characterized in that
The mechanical arm (2) includes multiple connecting rods and artis, and the head end artis of the mechanical arm is connect with the chassis (1),
End artis is connect with the holder, the height for adjusting the holder, and thermal infrared imager (7) is provided on the holder
With visible image capturing head (9), the two arranged in parallel in horizontal or vertical direction, the photo for shooting tunnel metope, to detect tunnel
Metope whether there is crackle and seepage defect, when which rotates horizontally around the end artis with pitching movement so that institute
It states thermal infrared imager and visible image capturing head test position accordingly converts；
The controller (4) is arranged on the chassis (1), passes through wireless communicator (5) on chassis and the remote control
Host computer (11) connects, and carries out the interaction of data, wherein the controller is respective by the mechanical arm, chassis and holder
The image information that location information and the thermal infrared imager and visible image capturing head detect passes to the long-range host computer, far
Journey host computer sends out instruction and adjusts the mechanical arm, chassis and holder movement so that the thermal infrared imager and visible image capturing
Head is shot in corresponding position,
In addition, range sensor (8) is additionally provided on the holder, when the thermal infrared imager and visible image capturing head are laterally arranged
When row, at the point midway which is disposed there between, when the thermal infrared imager and visible image capturing head are vertical
To when arrangement, the range sensor and the thermal infrared imager and visible image capturing head are on the same line.
2. a kind of lossless device for fast detecting of cable tunnel defect as described in claim 1, which is characterized in that each pass
Angular transducer is provided on node, the angle for detecting the connecting rod.
3. a kind of lossless device for fast detecting of cable tunnel defect as claimed in claim 1 or 2, which is characterized in that the bottom
The bottom of disk is provided with odometer (10), the distance for measuring chassis movement.
4. a kind of lossless device for fast detecting of cable tunnel defect as claimed in claim 1 or 2, which is characterized in that the bottom
Pan bottom is provided with driving wheel, is used for the movement on the chassis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820212440.7U CN207816842U (en) | 2018-02-06 | 2018-02-06 | A kind of lossless device for fast detecting of cable tunnel defect |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820212440.7U CN207816842U (en) | 2018-02-06 | 2018-02-06 | A kind of lossless device for fast detecting of cable tunnel defect |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108303426A (en) * | 2018-02-06 | 2018-07-20 | 华中科技大学 | A kind of lossless device for fast detecting of cable tunnel defect and its detection method |
| CN111648482A (en) * | 2020-06-10 | 2020-09-11 | 吉林省易智科技有限公司 | Intelligent park network construction equipment and construction method thereof |
| CN113640308A (en) * | 2021-08-31 | 2021-11-12 | 郑州铁路职业技术学院 | Track abnormity monitoring system based on machine vision |
| WO2022241756A1 (en) * | 2021-05-21 | 2022-11-24 | 深圳市大疆创新科技有限公司 | Gimbal control method and robotic arm |
| CN116061147A (en) * | 2021-11-04 | 2023-05-05 | 中国科学院沈阳自动化研究所 | Cable tunnel inspection robot |
-
2018
- 2018-02-06 CN CN201820212440.7U patent/CN207816842U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108303426A (en) * | 2018-02-06 | 2018-07-20 | 华中科技大学 | A kind of lossless device for fast detecting of cable tunnel defect and its detection method |
| CN111648482A (en) * | 2020-06-10 | 2020-09-11 | 吉林省易智科技有限公司 | Intelligent park network construction equipment and construction method thereof |
| WO2022241756A1 (en) * | 2021-05-21 | 2022-11-24 | 深圳市大疆创新科技有限公司 | Gimbal control method and robotic arm |
| CN113640308A (en) * | 2021-08-31 | 2021-11-12 | 郑州铁路职业技术学院 | Track abnormity monitoring system based on machine vision |
| CN113640308B (en) * | 2021-08-31 | 2024-03-29 | 夏冰心 | Rail anomaly monitoring system based on machine vision |
| CN116061147A (en) * | 2021-11-04 | 2023-05-05 | 中国科学院沈阳自动化研究所 | Cable tunnel inspection robot |
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