CN208588350U - Tunnel defect detection device - Google Patents
Tunnel defect detection device Download PDFInfo
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- CN208588350U CN208588350U CN201821086991.XU CN201821086991U CN208588350U CN 208588350 U CN208588350 U CN 208588350U CN 201821086991 U CN201821086991 U CN 201821086991U CN 208588350 U CN208588350 U CN 208588350U
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Abstract
The utility model provides a kind of tunnel defect detection device, the traction unit including tunnel one end is arranged in, and the detection trolley for connecting with the traction unit and walking under the effect of the tractive force of the traction unit along tunnel row；The detection trolley includes mounting platform, the traveling wheel of the mounting platform bottom is set, upper laser scanner, isochronous controller, computer and the inertance element for detecting the posture for detecting trolley of the mounting platform are set, photoelectric encoder is provided on the axle center of the traveling wheel, the isochronous controller is connect with the laser scanner, computer, inertance element and photoelectric encoder, and the computer is connect with the inertance element and the laser scanner.The utility model can be walked in tunnel by detecting trolley to detect automatically to tunnel, entered tunnel internal detection without testing staff, improved the safety of detection and reduce costs.
Description
Technical field
The utility model relates to Tunnel testing technical field more particularly to a kind of tunnel defect detection devices.
Background technique
Water power occupies very big specific gravity in developed country's power generation total amount, cuts as a kind of renewable resource and clean energy resource
To the end of the year 2016, China's water power specific gravity about 12.2%.In hydraulic power generation process, the water in upper pond passes through one
The biggish seepage tunnel vertical shaft of height difference or inclined shaft obtain larger flow velocity, push the generating set work of penstock bottom end.
Diversion tunnel is for years during high pressure, the water flow of high speed are constantly washed away, and there are the risk of concrete erosion, is easy to lead
Multiple diseases on seepage tunnel are caused to occur, such as abrasion, peeling, crack, reinforcing steel bars exposed, infiltration slurry etc., these diseases gently then cause
The maintenance of generating set disorderly closedown, it is heavy then Turbines is caused to damage, it influences entire power station generating system by piloting water and runs,
And then jeopardize the safety in the power station downstream masses and city, cause serious consequence.Therefore, large-scale seepage tunnel is carried out apparent
Defect inspection analyzes disease development trend, is the important leverage of large hydropower station safe and stable operation.
Seepage tunnel is usually the buried bad environments in underground, tunnel, the penstock lower curved section big for drop, personnel
It can not be directly entered, the mode capital investment for building scaffold is big, long in time limit, operating risk is high, low efficiency and is not easy to implement, mesh
Preceding there has been no mature solutions to carry out systematic inspection work to large-scale seepage tunnel, and it is mixed can not to grasp inclined shaft comprehensively
Solidifying soil surface disease incidence, belongs to detection " blind area ", therefore, the Defect inspection of large-scale seepage tunnel inclined shaft is urgently in the world
The difficulties of solution.
Therefore, the existing technology needs to be improved and developed.
Utility model content
In view of the deficiencies in the prior art, the utility model aim is to provide a kind of tunnel defect detection device, it is intended to solve
Certainly in the prior art the detection of seepage tunnel need to set up scaffold make testing staff enter tunnel internal detection, testing cost
Height, the big problem of risk.
In order to solve the above technical problems, the technical solution adopted in the utility model is as follows:
A kind of tunnel defect detection device, the traction unit including tunnel one end is arranged in, and with the traction unit
The detection trolley for connecting and being walked under the effect of the tractive force of the traction unit along tunnel row；The detection trolley includes installation
The traveling wheel of the mounting platform bottom is arranged in platform, and the upper laser scanner of the mounting platform is arranged in, synchronizes control
The inertance element of device processed, computer and the posture for detecting the detection trolley is provided on the axle center of the traveling wheel
Photoelectric encoder, the isochronous controller are connect with the laser scanner, computer, inertance element and photoelectric encoder, institute
Computer is stated to connect with the inertance element and the laser scanner.
Further, the traction unit is hoist engine, the front end that the hoist engine passes through hawser and the detection trolley
Connection.
Further, fixed pulley is provided between the hoist engine and detection trolley.
Further, the laser scanner is the 2D laser scanner of model Z+F9012.
Further, packaging cartridge, the isochronous controller, computer and inertance element are provided on the mounting platform
It is mounted in the packaging cartridge.
Further, the laser scanner is the 3D laser scanner of model Z+F5010C.
Further, the 3D laser scanner is mounted on the mounting platform by a tilt stand.
Further, the mounting platform edge is equipped with protective fence and waterproof cover.
Further, the height of the traveling wheel is not less than 40cm.
Further, the front bottom end of the detection trolley is provided with clump weight.
The utility model can be walked in tunnel by detecting trolley to detect automatically to tunnel, without detecting people
Member enters tunnel internal and detects, and improves the safety of detection and reduces costs；2D laser scanner can be selected as needed
Or scanning-tunnelling, 2D laser scanner can scan to obtain the profile data in tunnel, 3D 3D laser scanner in the detection process
Laser scanner can scan to obtain the three-dimensional data in tunnel at each base sites, then according to the profile data of scanning or three-dimensional
Data carry out processing and judge Damage Types；Trolley is detected using that can be installed in by tilt stand when 3D laser scanner
On mounting platform, the angle of tilt stand can be adjusted according to the tilt angle in tunnel, make 3D laser scanner when detecting
It generally remains horizontal, scanner is made not make the subtle shaking of scanner because of own wt in the course of rotation, improve inspection
Survey precision；Isochronous controller, computer and inertance element are mounted in packaging cartridge, these components can be protected, together
When detection trolley mounting platform edge protective fence is installed and waterproof cover can further protect and waterproof.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Embodiment and its explanation please is not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the utility model tunnel defect detection device embodiment.
Fig. 2 is the structural schematic diagram for detecting trolley first embodiment.
Fig. 3 is the positive structure schematic that trolley is detected in Fig. 2.
Fig. 4 is the connection relationship diagram of each sensor.
Fig. 5 is the structural schematic diagram for detecting trolley second embodiment.
Fig. 6 is detection schematic diagram when being detected using 3D laser scanner.
Specific embodiment
Presently filed embodiment is described in detail below in conjunction with accompanying drawings and embodiments, how the application is applied whereby
Technological means solves technical problem and reaches the realization process of technical effect to fully understand and implement.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combine.
In the description of the present invention, it should be understood that term " on ", "lower", "top", "bottom", "inner" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the utility model and
Simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construction
And operation, therefore should not be understood as limiting the present invention.
Referring to Fig. 1, the utility model tunnel defect detection device includes traction unit 10 and detection trolley 20, traction is single
The one end in tunnel 30 is arranged in member 10, and traction unit 10 is connect with detection trolley 20 makes detection trolley 20 walk along tunnel 30,
To detect in tunnel with the presence or absence of diseases such as abrasion, peeling, crack, reinforcing steel bars exposed, infiltration slurries.Traction unit 10 is arranged in tunnel
30 one end makes detection trolley 20 walk under the tractive force effect of traction unit 10 along tunnel 30 and detects, avoids detection
Personnel enter tunnel and carry out artificial detection, improve safety, and especially in the big inclined tunnel detection of drop, personnel can not be straight
It taps into needing to build scaffold, capital investment is big, long in time limit, operating risk is high, low efficiency and is not easy to implement.
Traction unit 10 is hoist engine, and hoist engine is light and small with reel winding wire ropes or chain lifting or traction
Heavy-duty hoisting equipment, also known as winch, hoist engine can with vertical-lift, horizontally or diagonally drag and draw weight.As shown in Figure 1, hoist engine is logical
It crosses hawser 11 and is connect with the front end for detecting trolley 20.Preferably, detection trolley 20 is connected to by fixed pulley 40 in hawser 11
Front end can scrape the wall surface of tunnel top in this way to avoid hawser 11.Hawser 11 can be wirerope, be also possible to chain,
This is with no restriction.
Fig. 2 is the structural schematic diagram for detecting trolley first embodiment, and Fig. 3 is the Facad structure signal that trolley is detected in Fig. 2
Figure, as shown in Fig. 2, detection trolley 20 includes mounting platform 21, traveling wheel 22, packaging cartridge 23 and laser scanner 24.Installation
Platform 21 is the main body for detecting installation and the support of trolley 20, and the bottom of mounting platform 21 is arranged in traveling wheel 22.Laser scanning
The part sensing that instrument 24 and the setting of packaging cartridge 23 need to use in mounting platform 21, packaging cartridge 23 for fixed and closing detection
Device plays protective action to sensor.
Isochronous controller, computer and inertance element are provided in packaging cartridge 23.Inertance element is small for detecting detection
The posture of vehicle 20, such as detection trolley 20 are horizontal positioned or slant setting, tilt angle are how many, and inertance element uses
33 POS2010 laser inertial.It include crystal oscillator in isochronous controller, crystal oscillator is called crystal oscillator, for controlling to synchronous
Device processed provides clock frequency, and crystal oscillator uses high temperature crystal oscillator, model Epson FC-135.Isochronous controller is a synchronously control
Circuit, for providing unified time reference for each sensor.Computer uses industrial personal computer, is responsible for system as host computer
Acquisition and the human-computer interactions such as control and parameter setting.Isochronous controller and laser scanner 24, computer, inertance element connect
It connects, computer is also connect with inertance element and laser scanner, as shown in Figure 4.
Photoelectric encoder 221 is provided on the axle center of traveling wheel 22, photoelectric encoder 221 is for recording detection 20 row of trolley
Into mileage information, model Omron E6B2-CWZ6C, photoelectric encoder 221 connect with isochronous controller.
2D laser scanner or 3D laser scanner may be selected in laser scanner 24.When using 2D laser scanner,
Laser scanner 24 can be mounted on to the top of packaging cartridge 23, as shown in Figure 2.When using 2D laser scanner, tunnel can detect
Section (i.e. section), and the 3-D image in entire tunnel cannot be detected as 3D laser scanner.As shown in Figure 1, detection
Trolley 20 is along tunnel uniform motion under the traction of hoist engine, and the probe of 2D laser scanner is along the circle 31 in Fig. 1
Direction does not stop to rotate, and to detect the profile data in tunnel, carries out the three-dimensional point cloud that processing generates tunnel to the profile data in tunnel
It can determine whether out whether tunnel has disease after data.The model Z+F 9012 of 2D laser scanner.
As shown in Figure 1, when laser scanner 24 be 2D laser scanner when, hoist engine be mounted on inclined tube upstream horizontal segment or
It is mounted on ground and hawser 11 is guided to by horizontal segment by fixed pulley 40, then hawser 11 redirect to inclined tube section by fixed pulley 40,
Be fixed on detection trolley 20 front end, the traction of hoist engine and pulling effect under, detection trolley 20 swash along tunnel wall or
It glides.Specific construction step are as follows:
1) check whether each equipment working condition is normal, detection trolley 20 is from downstream into being placed on inclined tunnel bottom, roll up
The machine of raising is mounted on upstream, and hawser 11 is put into inclined tunnel bottom back through inclined tunnel by 40 turns of fixed pulley from upstream, and fixed
In detection 20 front end of trolley, if downstream is inconvenient to enter, detection trolley can be slowly loose by hoist engine hawser 11 from upstream
It is put into downstream；
2) rear end for detecting trolley 20 does not install 2D laser scanner first, but pacifies in the position of installation 2D laser scanner
Headlamp and video camera are filled, trolley 20 is will test and forgets about it at the top of inclined tunnel from inclined tunnel bottom, then unclasped at the top of inclined tunnel
To inclined tunnel bottom, in the picture of inclined tunnel bottom scene viewing video camera shooting, it is ensured that detection 20 travel segment of trolley does not have
Security risk guarantees that detecting trolley 20 in formal measurement process will not be stuck among tunnel, tangles or drop, then carries out down
The detection of one step；
3) headlamp and video camera are removed, changes the sensors such as 2D laser scanner and inertance element, check each component
Whether working condition is normal, prepares formal acquisition full section of tunnel three-dimensional data；
4) starting detection 20 capture program of trolley, is detected trolley 20 static at least 5 minutes, hoist engine is opened, in hoist engine
Traction under detection trolley 20 along inclined tunnel tube wall climbed to from bottom top, detect trolley 20 static at least 5 minutes, elevator
Machine, which slowly unclasps wirerope, allows detection trolley 20 to be snapped down to inclined tunnel bottom, measures trolley static at least 5 minutes, it is small to stop detection
20 capture program of vehicle completes a tunnel Complete three-dimensional data acquisition；
5) step 4 is repeated, multi collect data are saved, verifies repeatable accuracy；
6) each equipment stops working, and unlocks flexible steel wire, and detection trolley is withdrawn from downstream, hoist engine, fixed pulley 40 and cable
Rope 11 is withdrawn from upstream, guarantees scene without article is left, and personnel safety is withdrawn, and on-site data gathering task is completed.
When laser scanner 24 is 3D laser scanner, since 3D laser scanner needs sectional acquisition tunnel
Then the three-dimensional data that each section acquires is spliced into the three-dimensional data in entire tunnel by interior three-dimensional data, so being swept using fixed point
The mode retouched, detection trolley 20 stop static detection every preset distance, as shown in Figure 6.Hoist engine is mounted on inclined tunnel
It swims horizontal segment or is mounted on ground and hawser 11 is guided to by horizontal segment by fixed pulley 40, then hawser 11 is turned to by fixed pulley 40
To inclined tunnel section, be fixed on the front end of detection trolley 20, under the traction of hoist engine and pulling effect, survey detection trolley 20 along
Tunnel wall swashes or glides.The model Z+F 5010C of 3D laser scanner.In view of detection trolley 20 will on inclined tunnel it is quiet
Only measure, and when trolley is static in inclined tunnel, it can not wirelessly control the starting of 3D laser scanner and stop
Only three-dimensional acquisition task, so external control signal is connected on trolley together by control line and hawser 11, Specific construction
Step are as follows:
1) check whether each equipment working condition is normal, detection trolley 20 is from downstream into being placed on inclined tunnel bottom, roll up
The machine of raising is mounted on upstream, and hawser 11 is unclasped back through inclined tunnel to inclined tunnel bottom from upstream by 40 turns of fixed pulley, and solid
Due to detection 20 front end of trolley, hawser 11 and safety rope are fixed on trolley front end, the control line of external control signal and guarantor simultaneously
Danger rope accomplishes that together when construction is linked into acquisition system, if downstream is inconvenient to enter, detecting trolley 20 can pass through from upstream
Hoist engine is slowly unclasped with hawser 11 to downstream；
2) detection 20 rear end of trolley installation headlamp and video camera, will test trolley 20 from inclined tunnel bottom and forget about it inclined tunnel
Then top unclasps at the top of inclined tunnel to inclined tunnel bottom, in the picture of inclined tunnel bottom scene viewing video camera shooting, really
Protecting detection 20 travel segment of trolley does not have security risk, guarantees that detection trolley will not be among tunnel by card in formal measurement process
Firmly, it tangles or drops, then carry out in next step；
3) headlamp and video camera are removed, changes the sensors such as 3D laser scanner and inertance element, check each component
Whether working condition is normal, prepares formal acquisition in the tunnel three dimensional point cloud of each detection website；
4) since inclined tunnel bottom, detection website number, setting inspection are calculated according to length of tunnel and detection website distance
Survey station point 1,2 ... ..., n, detection website Position Approximate pass through the length computation of hawser 11, the opposite position between actually detected website
Relationship is set by inertance element and photoelectric encoder 221 to calculate；
5) hoist engine will test trolley 20 and successively be pulled to static, the starting detection acquisition journey of trolley 20 after each detection website
Sequence, 3D laser scanner are set as three-dimensional measurement mode, open 3D laser scanner by external control signal, measure each
The tunnel three dimensional point cloud of website is detected, detection trolley 20 guarantees that detection trolley 20 is static at least when each measuring station stops
5 minutes, guarantees that the inertance element static condition of each survey station point is stablized, stop 3D laser scanner, it is complete to complete a tunnel
Three dimensional point cloud acquisition；
6) the tunnel three dimensional point cloud of the 1st to n-th detection website is completed at the top from inclined tunnel bottom to inclined tunnel
Acquisition, obtains the three-dimensional point cloud in tunnel at each detection website, while obtaining the relative positional relationship between each detection website,
Then from inclined tunnel top to inclined tunnel bottom, step 5 is repeated, obtains reverse data；
7) each equipment stops working, and unlocks hawser 11 and safety rope, and detection trolley 20 is withdrawn from downstream, and hoist engine is slided calmly
Wheel 40 and hawser 11 are withdrawn from upstream, guarantee scene without article is left, and personnel safety is withdrawn, and on-site data gathering task is completed.
Fig. 5 is the structural schematic diagram for detecting trolley second embodiment, needs to keep horizontal when 3D laser scanner detects, can
3D laser scanner is mounted on mounting platform 21 by a tilt stand 241, as shown in figure 5, tilt stand 241 can
It is adjusted according to the tilt angle in tunnel, makes 3D laser scanner that can also keep horizontal in inclined tunnel, improve detection essence
Degree.
Detection trolley 20 is overturned when road gradient in highway tunnel is larger in order to prevent, can be matched in detection 20 front bottom end of trolley addition
Weight, counterweight situation are adjusted depending on the specific gradient.Such as clump weight can be hung in the bottom of detection 20 front end of trolley.
As shown in Fig. 2, power module 50 is additionally provided on mounting platform 21, for detection and the signal to detect trolley 20
Transmission provides power supply.
The edge of mounting platform 21 can install protective fence and waterproof cover, guarantee not collide with when detection trolley 20 is toppled over
The sensor valuable to the inside, and avoid the injury to splash to sensor.
The height of traveling wheel 22 is not less than 40cm, ensures that detection trolley 20 can have in tunnel in the case where ponding and remains to work
Make and sensor device is protected not impregnate in water, since tunnel inner product water depth is generally less than 40cm, so traveling wheel 22
Height can guarantee that sensor device does not impregnate in water completely in 40cm or more.Detect two rear-wheels of trolley 20
It can not turn to, two front-wheels can turn to simultaneously, and the range of steering angle is limited by limit hole, and photoelectric encoder 221 is arranged rear
On the central axis of wheel.
The utility model can be walked in tunnel by detecting trolley to detect automatically to tunnel, without detecting people
Member enters tunnel internal and detects, and improves the safety of detection；2D laser scanner or 3D laser can be selected to sweep as needed
Instrument scanning-tunnelling in the detection process is retouched, 2D laser scanner can scan to obtain the profile data in tunnel, and 3D laser scanner can
It scans to obtain the three-dimensional data in tunnel at each base sites, then be handled according to the profile data of scanning or three-dimensional data
Judge Damage Types；Using can be installed in by tilt stand when 3D laser scanner detection trolley mounting platform on,
The angle of tilt stand can be adjusted according to the tilt angle in tunnel, and making 3D laser scanner, holding is horizontal when detecting, be mentioned
High measurement accuracy；Isochronous controller, crystal oscillator, computer and inertance element are mounted in packaging cartridge, can to these components into
Row protection, while the mounting platform edge for detecting trolley is equipped with protective fence and waterproof cover can further protect and waterproof.
It should be understood that the application of the utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
It says, it can be modified or changed according to the above description, and all these modifications and variations all should belong to the appended power of the utility model
The protection scope that benefit requires.
Claims (10)
1. a kind of tunnel defect detection device, which is characterized in that the traction unit including tunnel one end is arranged in, and with it is described
Traction unit connection and the detection trolley walked under the effect of the tractive force of the traction unit along tunnel row；The detection trolley
Including mounting platform, the traveling wheel of the mounting platform bottom is set, the upper laser scanning of the mounting platform is set
Instrument, isochronous controller, computer and the inertance element for detecting the posture for detecting trolley, the axle center of the traveling wheel
On be provided with photoelectric encoder, the isochronous controller and the laser scanner, computer, inertance element and photoelectric encoder
Connection, the computer are connect with the inertance element and the laser scanner.
2. tunnel defect detection device according to claim 1, which is characterized in that the traction unit is hoist engine, institute
It states hoist engine and is connect by hawser with the front end of the detection trolley.
3. tunnel defect detection device according to claim 2, which is characterized in that between the hoist engine and detection trolley
It is provided with fixed pulley.
4. tunnel defect detection device according to claim 1, which is characterized in that the laser scanner is model Z+
The 2D laser scanner of F9012.
5. tunnel defect detection device according to claim 1, which is characterized in that be provided with encapsulation on the mounting platform
Box, the isochronous controller, computer and inertance element are mounted in the packaging cartridge.
6. tunnel defect detection device according to claim 1, which is characterized in that the laser scanner is model Z+
The 3D laser scanner of F5010C.
7. tunnel defect detection device according to claim 6, which is characterized in that the 3D laser scanner inclines by one
Tilted supporter is mounted on the mounting platform.
8. tunnel defect detection device according to claim 1, which is characterized in that the mounting platform edge is equipped with anti-
Guardrail and waterproof cover.
9. tunnel defect detection device according to claim 1, which is characterized in that the height of the traveling wheel is not less than
40cm。
10. tunnel defect detection device according to claim 1, which is characterized in that the front bottom end of the detection trolley
It is provided with clump weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821086991.XU CN208588350U (en) | 2018-07-10 | 2018-07-10 | Tunnel defect detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821086991.XU CN208588350U (en) | 2018-07-10 | 2018-07-10 | Tunnel defect detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208588350U true CN208588350U (en) | 2019-03-08 |
Family
ID=65540778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821086991.XU Active CN208588350U (en) | 2018-07-10 | 2018-07-10 | Tunnel defect detection device |
Country Status (1)
| Country | Link |
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| CN (1) | CN208588350U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912857A (en) * | 2020-06-28 | 2020-11-10 | 深圳大学 | Diversion tunnel rope climbing detection robot and detection method thereof |
| CN112345536A (en) * | 2020-11-02 | 2021-02-09 | 上海交大海科检测技术有限公司 | Pumped storage power station inclined shaft tunnel appearance inspection measuring device and arrangement method |
-
2018
- 2018-07-10 CN CN201821086991.XU patent/CN208588350U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912857A (en) * | 2020-06-28 | 2020-11-10 | 深圳大学 | Diversion tunnel rope climbing detection robot and detection method thereof |
| CN111912857B (en) * | 2020-06-28 | 2023-04-07 | 深圳大学 | Diversion tunnel rope climbing detection robot and detection method thereof |
| CN112345536A (en) * | 2020-11-02 | 2021-02-09 | 上海交大海科检测技术有限公司 | Pumped storage power station inclined shaft tunnel appearance inspection measuring device and arrangement method |
| CN112345536B (en) * | 2020-11-02 | 2024-02-20 | 上海交大海科检测技术有限公司 | Pumped storage power station inclined shaft tunnel appearance inspection measuring device and arrangement method |
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