CN210243838U - Unmanned patrol equipment for non-pressure water delivery tunnel - Google Patents
Unmanned patrol equipment for non-pressure water delivery tunnel Download PDFInfo
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- CN210243838U CN210243838U CN201920791560.1U CN201920791560U CN210243838U CN 210243838 U CN210243838 U CN 210243838U CN 201920791560 U CN201920791560 U CN 201920791560U CN 210243838 U CN210243838 U CN 210243838U
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Abstract
The utility model relates to a tour technical field on water discloses an unmanned tour equipment for non-pressure water delivery tunnel, and unmanned tour equipment for non-pressure water delivery tunnel equips the tour ship of surface of water navigation, surveys the sonar system of section information under water, shoots the video camera system of hole wall on water and stores section information under water with the data storage equipment of hole wall information on water, the sonar system camera system bears on the tour ship. The utility model discloses an among the unmanned tour equipment for non-pressure water delivery tunnel, through integrated sonar system, photographic system and data storage equipment on the tour ship, realize under water and the integrated monitoring on water, need not to send personnel to go into the hole and tour the monitoring, tour the visual angle and can cover the whole section main part of tunnel, realized the local destruction of tunnel, the timely discovery of silt siltation scheduling problem, reduce the danger of artifical tour by a wide margin.
Description
Technical Field
The invention relates to the technical field of on-water patrol, in particular to unmanned patrol equipment for a non-pressure water delivery tunnel.
Background
In thirteen five periods, among 172 key water conservancy projects vigorously propelled by China, many projects are cross-basin water diversion and transfer projects (such as Hanjiwei project, Dianzhong water diversion project, northeast water diversion project and the like), the lines of the water diversion and transfer projects cross mountains and cross mountains, and water delivery buildings mostly adopt a long-distance non-pressure water delivery tunnel form. The non-pressure water delivery tunnel faces the challenges of poor geologic body, high ground stress, active fault, silt deposition, long-term erosion and the like, and local damages such as deformation, collapse, cracking, silting, erosion and the like can be generated, so that the normal operation and the structural safety of the engineering are influenced. In order to ensure the normal operation and safety of the tunnel, the safety monitoring of the water delivery tunnel is an important way for comprehensively knowing the operation state of the cavern structure and realizing disaster prediction and early warning.
The safety monitoring of the non-pressure water delivery tunnel or the non-pressure water delivery culvert pipe comprises two parts of instrument measurement and inspection. Due to the investment of monitoring projects, the monitoring instruments are only arranged at representative or typical parts of the building, and the complete monitoring of all positions of the building is impossible. The inspection tour is an important link of safety monitoring, is also a powerful supplement for instrument measurement, and has an indispensable effect on guaranteeing the operation safety of the water delivery tunnel. Inspection usually takes a portable device such as a measuring scale, a measuring cup, a camera, and a video camera with an inspector, and is performed by visual observation, manual measurement, image recording, and the like.
Under the normal operating condition of the water delivery tunnel, because the tunnel is in a stable open flow state (the tunnel wall is partially underwater and partially overwater), the tunnel is not provided with personnel entering conditions, and is difficult to regularly carry out patrol inspection work, so that the potential safety hazards cannot be timely discovered and eliminated. The inspection tour of the water conveying tunnels in China is usually performed by utilizing water conveying intermittence or tunnel maintenance time intervals to completely drain accumulated water in the tunnels, and then the inspection tour enters the tunnels to be checked by carrying equipment of inspection personnel. Such manual inspection tour has the following disadvantages:
1) because the inspection is carried out once every 1-3 years after the water delivery is intermittent or the tunnel is overhauled, the inspection frequency is very low, and a plurality of local slope faults cannot be found and treated in time;
2) the water delivery tunnel is lack of illumination and traffic conditions, and when the length of the tunnel is large, the work difficulty of carrying out manual inspection is large;
3) the partial tunnel has oxygen deficiency or harmful gas, and the personal safety of patrolmen can be endangered.
Disclosure of Invention
The invention aims to provide unmanned inspection equipment for a non-pressure water delivery tunnel, which realizes unmanned automatic inspection and avoids the defects of manual inspection.
In order to achieve the purpose, the unmanned patrol equipment for the non-pressure water delivery tunnel comprises a patrol boat sailing on the water surface, a sonar system for detecting underwater section information, a photographic system for shooting video of an overwater tunnel wall and data storage equipment for storing the underwater section information and the overwater tunnel wall information, wherein the sonar system and the photographic system are borne on the patrol boat.
As a preferred scheme, the unmanned patrol equipment for the non-pressure water delivery tunnel further comprises a track and course control system for controlling the track and course of the patrol boat, wherein the track and course control system is arranged on the patrol boat; the track and course control system comprises a track control ring, a course control ring, a laser ranging radar, a track feedback device and a course feedback device, wherein the track feedback device and the course feedback device receive information of the patrol boat measured by the laser ranging radar and respectively send the information to the track control ring and the course control ring, and the track control ring and the course control ring determine the track and the course of the patrol boat according to the received information.
Preferably, the track control loop compares the current track sent by the track feedback device with a planned track to obtain a track deviation of the patrol boat so as to control the track of the patrol boat; and the course control loop compares the current course sent by the course feedback device with a planned course to obtain the course deviation of the patrol boat so as to control the course of the patrol boat.
As an optimized scheme, the track course control system comprises two laser ranging radars for measuring horizontal distance data, and the two laser ranging radars are respectively arranged on two sides of the patrol boat to respectively measure the horizontal distance data on the two sides and send the horizontal distance data to the course feedback device to obtain the current course.
Preferably, the unmanned patrol equipment for the non-pressure water delivery tunnel further comprises a travel recording system arranged on the patrol boat, wherein the travel recording system comprises a log sensor for measuring the current navigational speed in real time and a timer for recording the current time.
The invention has the beneficial effects that: according to the unmanned inspection equipment for the non-pressure water delivery tunnel, the sonar system, the photographic system and the data storage device are integrated on the inspection boat, so that the underwater and overwater integrated monitoring is realized, the personnel do not need to be dispatched to enter the tunnel for inspection and monitoring, the inspection visual angle can cover the main part of the whole section of the tunnel, the problems of local damage of the tunnel, sediment deposition and the like are timely discovered, and the danger of manual inspection is greatly reduced.
Drawings
Fig. 1 is a schematic diagram of the unmanned inspection equipment for the pressureless water delivery tunnel according to the preferred embodiment of the present invention applied to the pressureless water delivery tunnel.
Fig. 2 is a schematic structural diagram of the unmanned inspection equipment for the pressureless water delivery tunnel in fig. 1.
FIG. 3 is a schematic structural diagram of the track and heading control system in FIG. 2.
Fig. 4 is a schematic diagram of the sonar detection principle of the sonar system of fig. 2.
The components in the figures are numbered as follows: the navigation system comprises a patrol boat 10, a track and heading control system 20 (wherein the track and heading control system comprises a track control loop 21, a heading control loop 22, a laser ranging radar 23, a track feedback device 24 and a heading feedback device 25), a sonar system 30, a travel recording system 40 (a timer 41 and a log sensor 42), a camera system 50 (wherein the camera 51 and the lighting equipment 52) and a data storage device 60.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
Please refer to fig. 1, which is a schematic structural diagram of an unmanned inspection device 100 for a non-pressure water delivery tunnel according to a preferred embodiment of the present invention, which enters the non-pressure water delivery tunnel to inspect the tunnel and then returns.
Referring to fig. 2, the unmanned patrol equipment 100 for a non-pressure water-delivery tunnel according to the preferred embodiment of the present invention includes a patrol boat 10, a track and heading control system 20, a sonar system 30, a trip recording system 40, a lighting device 52, a camera system 50, and a data storage device 60.
The patrol boat 10 is the body of patrol equipment that enables surface navigation and carries a track heading control system 20, a sonar system 30, a trip recording system 40, a camera system 50, and a data storage device 60.
The track course control system 20 and the patrol boat 10 work cooperatively to jointly determine the track course of the patrol equipment, so that the automatic barrier of the patrol equipment is realized.
The sonar system 30 is mainly used for detecting underwater structures, acquiring underwater section information one by one along with the navigation of the patrol equipment, and judging whether silt is deposited in the tunnel or not.
The trip recording system 40 primarily measures and records the course of the cruise vessel 10, including the speed and time of the voyage.
The camera 51 and the lighting device 52 in the photographic system 50 work cooperatively, and the lighting device 52 adaptively provides a light source for the camera 51 to ensure photographic quality and ensure that the shot video data can cover the main area above the water surface of the whole non-pressure water delivery tunnel.
The data storage device 60 ensures the normal operation, data recording and automatic storage of the whole system.
Referring to FIG. 3, the track and heading control system 20 includes a track control loop 21, a heading control loop 22, a laser ranging radar 23, a track feedback device 24, and a heading feedback device 25. By receiving the information scanned from the laser ranging radar 23, the track and the course of the patrol boat 10 are automatically corrected through the control of the track control loop 21 and the course control loop 22 and the automatic feedback correction. The track control loop 21 and the heading control loop 22 respectively receive the feedback information of the track feedback device 24 and the heading feedback device 25, and adjust the track and the heading accordingly.
The laser range radar 23 is used to measure the horizontal distance of the radar from the wall of the hole. The left side and the right side of the patrol boat 10 are respectively provided with a laser ranging radar, and the laser ranging radars 23 on the left side and the right side can respectively acquire data of a horizontal distance so as to be used for the course feedback device 25 to judge the current course.
The track feedback device 24 judges the current track of the patrol equipment according to the recorded current speed and patrol time of the patrol equipment, and feeds back the information to the track control loop 21. The current track is corrected by comparing the planned track with the current track obtained by the feedback of the track feedback device 24.
The course feedback device 25 obtains the left and right horizontal distance data at the same time through the laser ranging radar 23, and judges the current course. And correcting the current course of the inspection equipment by comparing the current course with the ideal course.
Specifically, the route of the patrol boat 10 is consistent with the planned route under the ideal condition, the patrol boat 10 is located in the middle of the patrol water surface, and the course of the patrol boat is parallel to the central axis of the patrol water surface in the non-pressure water delivery tunnel. The automatic correction process for the track and heading of the cruise boat 10 is as follows: the track control loop 21 compares the current track received by the track feedback device 24 with a planned route to obtain the position deviation information of the patrol boat 10, obtains the expected value of the track control loop 21 by adopting a guidance algorithm, and sends a command to the patrol boat 10 to eliminate the track deviation; the course control loop 22 receives the current course obtained by the course feedback device 25, calculates the course deviation, and sends a command to the cruise ship 10 to eliminate the course deviation. Through the above process, the track course control of the patrol boat 10 is realized.
The sonar system 30 can acquire the underwater section including the sediment accumulation condition and the like by utilizing the characteristics of sound waves propagating underwater and combining the electroacoustic conversion and information processing. As shown in FIG. 4, suppose the speed of sound wave propagation in water is V, t0At any moment, sound waves are emitted from the sonar, sound wave signals are transmitted into water, reflected from the water bottom and transmitted into the water, and the received reflected signals are t1Time, then sonar o point to water bottom o1Is h, i.e.: h ═ Vx (t)1-t0)/2. The sonar system 30 can emit sound waves to a large underwater angle range (less than 180 degrees and more than 90 degrees), so that the structure of the large underwater angle range can be detected, an underwater section diagram is obtained after the electroacoustic signals are subjected to information processing, and underwater local damage and sludge deposition areas of the tunnel are identified.
The trip recording system 40 includes a timer 41 and an odometer sensor 422, the odometer sensor 42 measures the speed of the flight in real time, and the timer 41 measures the current time and the time history.
In the camera system 50, a camera 51 cooperates with an illumination device 52. The power supply system provides power for the normal operation of the camera 51 and the lighting device 52, and the lighting device 52 automatically adjusts the intensity of the lighting light according to the brightness intensity in the hole. The photographing system 50 starts to photograph the above-water tunnel wall area from the inspection equipment entering the non-pressure water delivery tunnel, and forms continuous photographed video data for checking the integrity of the tunnel wall.
Data obtained by the sonar system 30 and the camera system 50 is stored in the data storage device 60.
Above-mentioned an unmanned tour equipment for non-pressure water delivery tunnel, its implementation step that is used for non-pressure tunnel tour inspection is as follows:
step a, determining an inlet of the non-pressure water delivery tunnel, starting a power switch of the patrol equipment, setting the initial advancing speed of the patrol boat 10, and righting the posture of the patrol boat 10 and placing the patrol boat on the water surface of the non-pressure water delivery tunnel.
B, automatically planning the current track course by means of a track course control system 20 in the process of the cruise ship 10 going on; in the journey recording system 40, a log inductor 42 measures the navigation speed in real time, and a timer 41 records the time history; the sonar system 30 collects information for each section step by step at a certain frequency.
And c, determining the outlet of the non-pressure water delivery tunnel, and recovering inspection equipment at the hole according to the estimated time according to the roughly estimated length of the tunnel and the speed of the inspection boat 10.
And d, deriving video data collected by the photographing system 50 from the data storage device 60, analyzing the data frame by frame, judging whether the cavity wall above the water surface has cracks, damages, water leakage and the like, and calibrating the cavity wall section with the cracks, damages and the like by combining the time and the speed recorded in the data storage device 60 so as to facilitate subsequent repair.
And e, determining an underwater section structure through processing of electroacoustic signals according to sonar data collected by the sonar system 30 stored in the data storage device 60, checking generated section diagrams according to time sequence, and calibrating sections with problems of local damage, sediment accumulation and the like.
And f, collecting the above-water hole wall information obtained by processing the video data shot by the shooting system 50 and the underwater space structure information obtained by processing the sonar data obtained by the sonar data collected by the sonar system 30 to form the automatic full-section unmanned inspection result of the full-section of the non-pressure water delivery tunnel.
The unmanned patrol equipment for the non-pressure water delivery tunnel has the following beneficial effects:
(1) the full-section automatic inspection tour inspection in the normal operation of the non-pressure water delivery tunnel can be realized. The conventional manual inspection needs to be carried out in a water-free state in a hole in the maintenance period, the inspection frequency is low, and local damage is difficult to find in time; high cost of manpower and time and large danger coefficient. The non-pressure water delivery tunnel is difficult to manually patrol under the limitation of space, cost, danger and the like in a normal operation state. According to the invention, the sonar system, the lighting system, the photographic system and the data storage equipment are integrated on the patrol boat, so that integrated monitoring on water and water is realized, no need to send personnel to enter the tunnel for patrol monitoring is required, the patrol visual angle can cover the main part of the whole section of the tunnel, the problems of local damage, sediment deposition and the like of the tunnel are timely discovered, and the danger of manual patrol is greatly reduced.
(2) The automatic correction of the navigation posture of the inspection equipment in the normal operation of the non-pressure water delivery tunnel can be realized. In a long-distance non-pressure water delivery tunnel, the transmission of long-distance signals is difficult to realize, the automatic positioning of a patrol boat is difficult to realize, and the course and navigation are difficult to preset. The patrol boat is provided with the track and course control system, so that the track and course of the patrol boat are adjusted and corrected in real time, the automatic correction of the navigation attitude is ensured, a positioning system and a communication cable connected with the outside are not needed, and the automatic obstacle avoidance and navigation without the positioning system are realized.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. An unmanned tour equipment (100) for non-pressure water delivery tunnels, characterized in that: the unmanned patrol equipment for the non-pressure water delivery tunnel comprises a patrol boat (10) sailing on the water surface, a sonar system (30) for detecting underwater section information, a photographing system (50) for photographing underwater tunnel wall videos and a data storage device (60) for storing the underwater section information and the water tunnel wall information, wherein the sonar system (30) and the photographing system (50) are borne on the patrol boat (10).
2. The unmanned inspection rig for a pressureless water delivery tunnel according to claim 1, wherein: the unmanned patrol equipment (100) for the non-pressure water delivery tunnel further comprises a track and course control system (20) for controlling the track and course of the patrol boat (10), wherein the track and course control system (20) is arranged on the patrol boat (10); the track and course control system (20) comprises a track control ring (21), a course control ring (22), a laser ranging radar (23), a track feedback device (24) and a course feedback device (25), the track feedback device (24) and the course feedback device (25) receive information of the patrol boat (10) measured by the laser ranging radar (23) and respectively send the information to the track control ring (21) and the course control ring (22), and the track control ring (21) and the course control ring (22) determine the track and the course of the patrol boat (10) according to the received information.
3. The unmanned inspection rig for a pressureless water delivery tunnel according to claim 2, wherein: the track control loop (21) compares the current track sent by the track feedback device (24) with a planned track to obtain the track deviation of the patrol boat (10) so as to control the track of the patrol boat (10); the course control ring (22) compares the current course sent by the course feedback device (25) with the planned course to obtain the course deviation of the patrol boat (10) so as to control the course of the patrol boat (10).
4. The unmanned inspection rig for a pressureless water delivery tunnel according to claim 3, wherein: the track course control system (20) comprises two laser ranging radars (23) for measuring horizontal distance data, wherein the two laser ranging radars (23) are respectively arranged on two sides of the patrol boat (10) to respectively measure the horizontal distance data of the two sides and send the horizontal distance data to the course feedback device (25) to obtain the current course.
5. The unmanned patrol rig for a pressureless water delivery tunnel according to any one of claims 1 to 4, wherein: the unmanned patrol equipment (100) for the non-pressure water delivery tunnel further comprises a travel recording system (40) arranged on the patrol boat (10), wherein the travel recording system (40) comprises a log inductor (42) for measuring the current navigational speed in real time and a timer (41) for recording the current time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920791560.1U CN210243838U (en) | 2019-05-29 | 2019-05-29 | Unmanned patrol equipment for non-pressure water delivery tunnel |
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| CN201920791560.1U CN210243838U (en) | 2019-05-29 | 2019-05-29 | Unmanned patrol equipment for non-pressure water delivery tunnel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110146896A (en) * | 2019-05-29 | 2019-08-20 | 长江勘测规划设计研究有限责任公司 | Unmanned tour equipment and method for free flow water conveyer tunnel |
| CN113650763A (en) * | 2021-07-16 | 2021-11-16 | 哈尔滨工程大学 | Water delivery tunnel detection robot and control method thereof |
-
2019
- 2019-05-29 CN CN201920791560.1U patent/CN210243838U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110146896A (en) * | 2019-05-29 | 2019-08-20 | 长江勘测规划设计研究有限责任公司 | Unmanned tour equipment and method for free flow water conveyer tunnel |
| CN110146896B (en) * | 2019-05-29 | 2024-04-19 | 长江勘测规划设计研究有限责任公司 | Unmanned inspection equipment and method for pressureless water conveyance tunnel |
| CN113650763A (en) * | 2021-07-16 | 2021-11-16 | 哈尔滨工程大学 | Water delivery tunnel detection robot and control method thereof |
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