CN216034977U - Long tunnel runner inspection system under high-flow-speed flowing water condition - Google Patents
Long tunnel runner inspection system under high-flow-speed flowing water condition Download PDFInfo
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Abstract
The utility model discloses a long tunnel runner inspection system under the condition of high-flow-rate flowing water, which comprises a traction device, an inspection ship, an inspection module and a navigation module, wherein the inspection ship is arranged on the traction device; the traction device comprises at least one driver and a traction rope, the driver is fixed on the shore base, one end of the traction rope is connected with the driver, and the other end of the traction rope penetrates through the tunnel and extends out of the tunnel; the inspection ship floats on the flow channel and is connected with the traction rope, so that the inspection ship flows along the traction rope under the action of the driver; the inspection module and the navigation module are both arranged on the inspection ship, the navigation module is in communication connection with the driver so that the inspection ship can flow at a constant speed in the tunnel, and the inspection module inspects the tunnel in the flowing process of the inspection ship. The long tunnel runner inspection system can inspect tunnels under the high-flow-rate flowing water operation condition, realizes full-coverage scanning of the long tunnels, and solves the problem that an ROV (remotely operated vehicle) cannot be used under the high-flow-rate flowing water operation condition.
Description
Technical Field
The utility model belongs to the technical field of inspection equipment, and particularly relates to a long tunnel runner inspection system under the condition of high-flow-speed flowing water.
Background
The diversion tunnel is a tunnel for construction diversion purposes. The engineering diversion tunnel has a designed safe operation life, and if the engineering diversion tunnel is in service for a long time, the tunnel body structure has major potential safety hazards; in order to guarantee the safe diversion of the diversion tunnel in service for a long time, the whole tunnel body section and the gate slot part structure of the diversion tunnel are required to be inspected underwater so as to ensure the integrity of the tunnel body structure of the diversion tunnel and the diversion safety of the diversion tunnel, so that the tunnel body detection of the diversion tunnel is a necessary and significant work.
In the past, the inspection of the running condition of the dam diversion tunnel is finished by a submersible, for example, the long tunnel body detection operation can be carried out by remotely supplying power and controlling through an ROV submersible under the condition that the flow rate of water flow meets the detection speed of the ROV submersible.
When the flow velocity of water flow in the diversion tunnel is large, the flow velocity is far beyond the autonomous detection velocity of the ROV (underwater vehicle) when the flow velocity is between 6 and 12 m/s; the diversion tunnel is long (about 1.3km) and is not in a straight-line path, namely a certain angle exists, the water flow state of the diversion tunnel is disordered, so that the ROV underwater vehicle is damaged by collision with the tunnel wall and cannot stably run in the disordered flow state; the tunnel body is long, which causes that the ROV cannot accurately position the defects without a positioning system, and the quality and the accuracy of the tunnel body detection of the diversion tunnel are seriously influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a long tunnel flow passage inspection system under the condition of high-flow-rate flowing water, which solves the problem that an ROV (remotely operated vehicle) cannot be used under the condition of high-flow-rate flowing water operation.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a long tunnel runner inspection system under the condition of high flow speed flowing water comprises a traction device, an inspection ship, an inspection module and a navigation module;
the traction device comprises at least one driver and a traction rope, the driver is fixed on the shore base, one end of the traction rope is connected with the driver, and the other end of the traction rope penetrates through the tunnel and extends out of the tunnel;
the inspection ship floats on the flow channel and is connected with the traction rope, so that the inspection ship flows along the traction rope under the action of the driver;
the inspection module and the navigation module are both arranged on the inspection ship, the navigation module is in communication connection with the driver so that the inspection ship can flow at a constant speed in the tunnel, and the inspection module inspects the tunnel in the flowing process of the inspection ship.
In one possible design, the inspection ship comprises two ship bodies arranged side by side, a connecting structure between the two ship bodies and an anti-collision structure positioned on the ship bodies, wherein the connecting structure is arranged into at least two layers, and a plurality of first connecting rods are arranged between the layers;
the anti-collision structure comprises an arc plate and a second connecting rod, wherein the arc plate extends to another ship body from one ship body on the plane where the arc plate is located so as to cover the front end of the inspection ship, the inner side of the arc plate is connected with the ship body through the second connecting rod, and an anti-collision layer made of anti-collision materials is laid on the outer side of the arc plate.
In one possible design, the connecting structure on the same layer is constructed into a plurality of connecting rods arranged at intervals, two ends of each connecting rod are respectively fixed on a ship body, and a plurality of supporting rods are arranged between every two adjacent connecting rods;
the connecting structures of the upper layer and the lower layer are connected through a first connecting rod, and two ends of the first connecting rod are respectively connected with a connecting rod.
In one possible design, the front end and the rear end of the ship body are both set to be streamline, the head of the ship body is in an isosceles triangle shape in plane projection, the included angle is smaller than 60 degrees, and the tail of the ship body is provided with a traction point adaptive to a traction rope;
the part of the ship body below the waterline is arc-shaped, the ballast weight is placed in the ship body, and bilge keels are arranged on the outer side of the ship body, so that the center of gravity and the center of stability of the ship body are located on the same vertical line.
In a possible design, the driver is set as a winch, the winch comprises a base, a winding drum which is rotatably arranged on the base, a motor used for driving the winding drum to rotate and three band-type brakes, wherein a traction rope is wound on the winding drum, a rope guider is further arranged on the winding drum, the motor is connected with the winding drum through a reduction gearbox, one of the band-type brakes is connected with the reduction gearbox, the other one of the band-type brakes is connected with the motor, and the other one of the band-type brakes is connected with the roller.
In one possible design, the band-type brake connected with the roller is a manual band-type brake, and the manual band-type brake comprises a pull rod, a transmission rod and a hoop;
the lower end of the pull rod is hinged on the base, the upper end of the pull rod is provided with a grab handle, and the lower end of the pull rod can be provided with a pedal;
one end of the transmission rod is connected with the pull rod, and the other end of the transmission rod extends towards the roller and is connected with the hoop;
one end of the hoop is a connecting end, the other end of the hoop is a tensioning end which bypasses the rotating shaft of the winding drum, a connecting groove is formed in the tensioning end, and the transmission rod penetrates through the connecting groove and is connected with the connecting end of the hoop;
correspondingly, the machine base is provided with at least one guide seat, and the guide seat is provided with a guide groove adaptive to the transmission rod.
In one possible design, the inspection module is configured as an underwater multi-beam side scan sonar, and the navigation module is configured as an inertial navigation system and a navigational speed assistance system.
In one possible design, the tail part of the inspection ship is provided with an illumination camera module which is provided with a plurality of cameras;
the inspection ship is also provided with a power supply module, and the power supply module is divided into an electric connection inspection module, a navigation module and an illumination camera module.
In one possible design, the inspection ship is provided with a waterproof module, the waterproof module is a waterproof box and/or a waterproof cover, and the waterproof box and/or the waterproof cover covers the inspection module, the navigation module, the lighting camera module and the power supply module.
Has the advantages that:
the utility model provides a long tunnel runner inspection system can inspect the tunnel at high velocity of flow water operation condition under the high velocity of flow water condition, has realized carrying out the full coverage scanning to long tunnel, acquires topography under water and the geomorphology data under water, can be used to the apparent integrality condition of analysis diversion tunnel hole body concrete structure, and the damaged spatial position of accurate circle concrete structure distributes and has solved the unable problem that uses of ROV diving ware under the high velocity of flow water operation condition.
Meanwhile, the power supply module is arranged on the inspection ship, a power supply is arranged, remote power supply is not needed, and construction difficulty and danger are reduced.
In addition, through the mutual cooperation of multi-beam side scan sonar under water and illumination camera module, can detect the part on water in the tunnel, under water simultaneously, and the ROV submersible can only detect the part under water, has effectively expanded the check-out range, and the inspection quality is better.
Drawings
Fig. 1 is a schematic structural diagram of a long tunnel flow channel inspection system under a high flow velocity flowing water condition.
Fig. 2 is a schematic top view of the inspection vessel.
Fig. 3 is a schematic view of the structure of the inspection ship.
Fig. 4 is a schematic view of the structure of the inspection ship when it is in the water.
Fig. 5 is a schematic structural view of the connection structure of the upper layer.
Fig. 6 is a schematic structural view of a connection structure of a lower layer.
Fig. 7 is a schematic structural diagram of the hoist when the manual band-type brake is not installed.
Fig. 8 is a schematic side view of the hoist when the manual band-type brake is installed.
Fig. 9 is a schematic diagram of the connection of the inspection module, the navigation module, the illumination camera module, and the power supply module.
In the figure:
1. a traction device; 11. a driver; 12. a hauling rope; 111. a machine base; 112. a reel; 113. a motor; 114. contracting brake; 101. a pull rod; 102. a transmission rod; 103. a hoop; 104. a pedal; 105. a guide seat; 2. inspecting the ship; 21. a hull; 22. a connecting structure; 23. an anti-collision structure; 231. an anti-collision frame; 232. An anti-collision pad; 201. an arc-shaped plate; 202. a second connecting rod; 203. a connecting rod; 204. a support bar; 205. a first connecting rod; 206. a pulling point; 207. a bilge keel.
Detailed Description
Example (b):
ROV submersibles, i.e., remotely operated unmanned submersibles, are underwater robots used for underwater observation, inspection, and construction. The system components generally include: the device comprises a power propeller, a remote control electronic communication device, a black-white or color camera, a camera pitching tripod head, a user peripheral sensor interface, a real-time online display unit, a navigation positioning device, an automatic rudder navigation unit, an auxiliary illuminating lamp, a Kevlar zero-buoyancy towing cable and other unit components. The functions are diverse, and different types of ROVs are used to perform different tasks.
However, when the ROV underwater vehicle is used for long tunnel inspection under the condition of high flow velocity running water, the ROV underwater vehicle is in a non-stable state, the detection effect is poor, and meanwhile, the controllability of the ROV underwater vehicle is reduced, so that the ROV underwater vehicle is easy to collide with a tunnel, and the ROV underwater vehicle is damaged. In view of this, the present invention provides a long tunnel flow channel inspection system under high flow velocity flowing water condition, so as to replace an ROV submersible, and to realize the detection operation under high flow velocity flowing water condition.
As shown in fig. 1-9, a long tunnel flow passage inspection system under the condition of high flow speed running water comprises a traction device 1, an inspection ship 2, an inspection module and a navigation module; wherein, inspection ship 2 can drift along the tunnel, and inspection module places on inspection ship 2, realizes the inspection to the tunnel at 2 navigation in-process of inspection ship, and the two mutually supports the purpose that has reached the substitution ROV submersible.
Meanwhile, the traction device 1 is matched with the navigation module, the navigation device controls the speed of the inspection ship 2, so that the inspection ship 2 is in a relatively stable state in the navigation process, the navigation module is also placed on the inspection ship 2 and monitors the inspection ship 2, and a worker grasps real-time information, such as course, speed and the like, of the inspection ship 2 through the navigation module and further adjusts the traction device 1, so that the inspection ship 2 is kept relatively stable, and the inspection ship 2 is prevented from colliding with the inner wall of the tunnel.
This long tunnel runner inspection system carries out the full coverage scanning to long tunnel through the inspection module that carries on inspection ship 2 under the high velocity of flow water condition, acquires topography under water and the geomorphologic data under water, can be used to the apparent integrality condition of analysis diversion tunnel hole body concrete structure, and the damaged spatial position of concrete structure distributes. The traction device 1 is matched with the navigation module to guide and control the ship speed, the position and the like of the inspection ship 2, so that the inspection ship 2 is in a relatively stable state, collision is avoided, and the detection quality under the condition of high flow speed and turbulence is also ensured.
In a possible implementation manner, the traction device 1 comprises at least one driver 11 and a traction rope 12, the driver 11 is fixed on the shore base, one end of the traction rope 12 is connected with the driver 11, and the other end of the traction rope 12 penetrates through the tunnel and extends out of the tunnel; the inspection ship 2 floats on the flow channel and is connected with a hauling rope 12, so that the inspection ship 2 flows along the hauling rope 12 under the action of a driver 11; the inspection module and the navigation module are both arranged on the inspection ship 2, the navigation module is in communication connection with the driver 11 so that the inspection ship 2 can flow in the tunnel at a constant speed, and the inspection module inspects the tunnel in the flowing process of the inspection ship 2.
After the inspection module and the navigation module are installed at proper positions on the inspection ship 2, the inspection ship 2 is launched into water and connected with the hauling rope 12, and a worker controls the driver 11 to adjust the hauling rope 12 to be retracted and retracted, so that the inspection ship 2 sails at a constant speed as much as possible. And the staff at least communicates with the navigation module through the terminal, and the inspection module can be set to work automatically, so that the terminal does not need to be connected, or the inspection module also communicates with the terminal, and the staff controls the work of the inspection module in real time through the terminal, so that the detection quality is improved. The information monitored by the navigation module in real time needs to be transmitted back to the terminal, so that the auxiliary staff can adjust the driver 11 in real time to control the navigation and the speed of the inspection ship 2.
As will be readily appreciated, terminals include, but are not limited to, desktop computers, laptop computers, smart phones, and smart tablets.
One or two drivers 11 can be arranged, when only one driver 11 is arranged, namely a driver 11 is arranged at the upstream position of the long tunnel, the retraction and release speed of the traction rope 12 is controlled through the driver 11, and the purpose of indirectly controlling the inspection ship 2 is achieved; at this time, a corresponding cable retracting structure, such as a rope pressing device or a rope retracting device, is arranged at the downstream position of the long tunnel, one end of the hauling rope 12 is connected with the driver 11, and the other end of the hauling rope 12 passes through the tunnel and then is connected with the cable retracting structure.
When two drivers 11 are arranged, the drivers 11 are respectively arranged at the upstream and the downstream of the long tunnel, and the two ends of the traction rope 12 are respectively connected with one driver 11, so that the adjustment flexibility is better.
The inspection process is described below with reference to the specific structure of each component:
under the condition of high flow velocity, even if the traction device 1 is used for guiding, the inspection ship 2 still has the possibility of overturning, so the structure of the inspection ship 2 is improved to increase the overturn prevention performance, specifically, the inspection ship 2 comprises two ship bodies 21 arranged side by side, a connecting structure 22 between the two ship bodies 21 and an anti-collision structure 23 positioned on the ship bodies 21, wherein the connecting structure 22 is arranged at least in two layers, and a plurality of first connecting rods 205 are arranged between the layers.
The inspection ship 2 forms a catamaran structure through two side-by-side ship bodies 21, compared with a monohull ship, the return moment in rolling is several times of that of the monohull ship with the same displacement, the rolling period is short, the stability of the inspection ship 2 is better, and meanwhile, the deck is wide, so that more installation space is provided; in addition, the weight is also increased, which is also helpful to improve the overturn-preventing performance.
The connecting structure 22 is used to connect the two hulls 21 together, and the connecting structure 22 is provided as a multi-layer structure, increasing the number of connecting points and also improving the structural strength of the inspection ship 2. The anti-collision structure 23 is arranged on the ship body 21, the inspection ship 2 collides with the tunnel under the unavoidable condition, the anti-collision structure 23 is used for buffering, and the influence of collision on the inspection module and the navigation module on the inspection ship 2 is reduced.
Alternatively, the hull 21 is made of several plates, and the adjacent plates are connected by bolts, so that the hull 21 is detachable and flexible to operate. Preferably, the bolts are 8.8-grade high-strength bolts to ensure that the strength of the hull 21 meets the requirements.
In this embodiment, the crash structure 23 includes a crash frame 231 and a crash pad 232, wherein the crash frame 231 is disposed at the bow of the vessel and the remainder of the vessel 21 lays the crash pad 232.
Under the high velocity of flow flowing water condition, the speed of inspection ship 2 is also relatively very fast, and any part of inspection ship 2 is all probably collided the tunnel when out of control, consequently, crashproof structure 23 will carry out comprehensive protection to inspection ship 2, and the probability of considering the bow to bump simultaneously is the biggest, so through crashproof frame 231 protection inspection ship 2's bow part, the collision mat 232 is laid to the rest of inspection ship 2, has both reached the purpose of comprehensive protection, has effectively reduced the protection cost again.
In a possible implementation manner, the anti-collision frame 231 comprises an arc-shaped plate 201 and a second connecting rod 202, the arc-shaped plate 201 extends from one ship body 21 to the other ship body 21 on the plane where the arc-shaped plate 201 is located so as to cover the front end of the inspection ship 2, the inner side of the arc-shaped plate 201 is connected with the ship body 21 through the second connecting rod 202, and an anti-collision layer made of an anti-collision material is laid on the outer side of the arc-shaped plate 201.
Since the inspection ship 2 is of a double-hull 21 structure, the arc-shaped plates 201 extend from the outer side of the bow of one hull 21 to the outer side of the bow of the other hull 21, so as to enlarge the coverage area and avoid dead angles. The second connecting rod 202 not only plays a connecting role, but also improves the structural strength of the anti-collision frame 231 by matching with the arc-shaped plate 201.
Optionally, at least the outer side of the arc-shaped plate 201 is designed to be streamline, so that the arc-shaped plate can slide away quickly when collision occurs, the rest parts are scattered and impacted, the time of the first collision part on impact is reduced, and the service life of the arc-shaped plate 201 is prolonged. In addition, the impact layer may be replaced with an impact pad 232 to reduce cost.
In one possible implementation, the crash pad 232 is made of a crash polymer material. The anti-collision polymer material includes, but is not limited to, polyoxymethylene and polyetheretherketone, or other types of anti-collision materials such as rubber or hardened and tempered alloy steel may be selected.
In a possible implementation manner, the connecting structure 22 of the same layer is constructed by a plurality of connecting rods 203 arranged at intervals, two ends of each connecting rod 203 are respectively fixed on one ship body 21, and a plurality of supporting rods 204 are arranged between adjacent connecting rods 203; the upper and lower connecting structures 22 are connected by a first connecting rod 205, and two ends of the first connecting rod 205 are respectively connected with a connecting rod 203.
In this way, the connecting structures 22 are arranged in layers, and the supporting rods 204 are connected with the adjacent connecting rods 203, so that the connecting structures 22 on the same layer form a net structure; the upper and lower layer connecting structures 22 are connected by the first connecting rod 205, so that the upper and lower layers are connected with each other to form a three-dimensional net structure, and the structural strength of the connecting structure 22 is further improved, and the strength of the inspection ship 2 is also improved. Meanwhile, the number of the rod pieces is increased due to the dense three-dimensional net-shaped structure, the total weight of the inspection ship 2 is also increased, and the stability of the inspection ship 2 is increased to a certain extent.
Optionally, connection structure 22 can be dismantled and connect in hull 21, makes inspection ship 2 possess detachability, and the flexible operation, simultaneously, can reduce shared space with inspection ship 2 split during the transportation, has improved the convenience of transportation.
In a possible implementation manner, referring to fig. 5, four support rods 204 are disposed at the connecting structure 22 of the upper layer at equal intervals, two ends of each support rod 204 are provided with a connecting seat, three connecting rods 203 are disposed between adjacent support rods 204, one connecting rod 203 is perpendicular to the support rod 204, and the other two connecting rods 203 are obliquely disposed and located at two sides of the perpendicular connecting rod 203.
In a possible implementation manner, referring to fig. 6, four support rods 204 are disposed at the lower layer of the connecting structure 22 at equal intervals, a connecting plate is disposed on each side of each support rod 204, and two connecting rods 203 are disposed between adjacent support rods 204.
In a possible implementation manner, the front end and the rear end of the hull 21 are both streamlined, the head of the hull 21 is in an isosceles triangle in planar projection, and the included angle is less than 60 degrees.
At the moment, a water flow resistance coefficient formula F is calculated according to Port engineering load Specification (JTS144-1-2010)W＝CW×ρ/2×A×v2Wherein A is the projection area of the calculation component on the plane vertical to the flow direction, the size data of the ship body 21 is designed to be an isosceles triangle with the waist length of 1.118m and the bottom side length of 1.0m on the plane projection, the water flow resistance coefficient of the ship body 21 is less than or equal to 0.65, the water flow resistance coefficient which is far less than that of the ship body with the rectangular or truss type section is more than 1, the water flow resistance is greatly reduced, and the reduction of the water flow resistance is facilitatedThe difficulty of operation of the small traction device 1.
Optionally, the stern of the hull 21 is provided with a tow point 206 adapted to the tow line 12; the tow points 206 may be configured in any suitable configuration, and the number of tow points 206 may be selected according to the actual use requirements.
In one possible implementation, the portion of the hull 21 below the waterline is provided in the shape of a circular arc. At this time, according to the formula of longitudinal component of water flow force generated by water flow on the ship in Port engineering load Specification (JTS 144-1-2010): fYC＝CYC×ρ/2×S×v2Wherein S is the surface area below the ship waterline, and the smaller the surface area below the ship waterline under the condition of the same flow speed and weight, the larger the buoyancy; but in calculating the longitudinal water flow force FYCIn (1), consideration is given to the Reynolds number (R)E) Water flow longitudinal component coefficient C with large influenceYCCoefficient of component force C in the longitudinal direction of water flowYC＝0.046RE -0.134+ B and Reynolds number REIn VL/V, the viscosity coefficient V, which is required to be high in water temperature, and the flow velocity V of water are determined, and the hull 21 is designed to be in the shape of an arc with a small area under the condition that the length (L) and the width (B) are fixed, so that the buoyancy of water is increased, by combining the above-mentioned influencing factors.
In one possible implementation, ballast is placed inside the hull 21, and the outside of the hull 21 is provided with bilge keels 207. When the ship works under the condition of high-flow-speed flowing water, the ship body 21 can be directly overturned and laterally overturned due to the high gravity center of the ship body 21 under the action of high-speed impact of water flow, so that a ballast is arranged in the ship body 21, preferably, the ballast is arranged at the bottom of the ship body 21, a low-gravity-center and high-stability structure is formed, and the stability of the ship body 21 in water is improved.
Meanwhile, bilge keels 207 are arranged on two sides of the hull 21, so that rolling and pitching are greatly reduced, certain operability of the hull 21 is sacrificed, and stability is greatly improved. And the possibility of overturning in the operation process is greatly reduced by matching with the ballast weight.
Namely, through the design, the center of gravity and the center of stability of the ship body 21 are positioned on the same vertical line, and the stability of the ship body 21 in the using process is improved. It is easy to understand that when the inspection ship is used in the diversion tunnel with shallow water depth, the overall shrinkage ratio of the inspection ship 2 is increased, and the distance between the inspection ship 2 and the bottom of the diversion tunnel is increased, so that the ship body 21 is prevented from colliding with the bottom of the diversion tunnel in the flowing process.
In this embodiment, the driver 11 is configured as a winch, the winch includes a base 111, a winding drum 112 rotatably disposed on the base 111, a motor 113 for driving the winding drum 112 to rotate, and three band-type brakes 114, wherein the traction rope 12 is wound on the winding drum 112, the winding drum 112 is further provided with a rope guider, the motor 113 is connected to the winding drum 112 through a reduction gearbox, one of the band-type brakes 114 is connected to the reduction gearbox, the other is connected to the motor 113, and the other is connected to the drum.
The hoist is a small and light hoisting device for hoisting or pulling a heavy object by winding a wire rope or a chain around a drum 112, can vertically hoist, horizontally or obliquely drag the heavy object, and is widely used due to simple operation, large rope winding amount and convenient displacement. Obviously, the specifications of the winch are adapted to the inspection vessel 2 in order to be able to tow the inspection vessel 2. In addition, the winch in this embodiment is provided with a plurality of band-type brakes 114, so that multiple tightening is realized, and the winding and unwinding speed of the traction rope 12 can be effectively controlled. A rope arranger is provided on the spool 112 to facilitate release and retrieval of the pull rope 12.
To explain with reference to the actual inspection working environment, it is assumed that the weight of the inspection ship 2 is about 4.75 tons, the length of the tunnel body is about 1300 m, and the tail of the inspection ship 2 is provided with four towing points 206. At this time, according to the formula of longitudinal component of water flow force generated by water flow on the ship in Port engineering load Specification (JTS 144-1-2010): fYC＝CYC×ρ/2×S×v2When the ship body 21 is parallel to the water flow, the impact force in the water is between 8 tons and 10 tons, the operation track of the ship body 2 in the water is parallel to the water flow direction, the maximum water flow impact force of 10 tons is an extreme value, the power condition that the ship body 21 is dragged by the traction rope 12 to recover upstream is considered, the safety factor of the operation is 2, 20 tons is taken as the normal impact force of the water flow of the ship in the water, and the conditions that the ship body 21 receives the water flow impact force along the water flow and along the reverse water flow are comprehensively considered, so a 20-ton variable-frequency winch is selected as the winch, namely, 20 tons of variable-frequency winchThe frequency winch provides traction power to the inspection vessel 2.
The haulage rope 12 adopts the wire rope that intensity accords with the standard to pull, considers that wire rope can sink in the bottom of tunnel and then produce the anchor chain effect for overlength, if the frictional force of anchor chain and concrete bottom plate is equal with the rivers impact force, can lead to the somewhere of inspection ship 2 stagnation in the tunnel, leads to detecting failure under water. Therefore, through comparison and selection, the hauling cable 12 selects a cable made of ultra-high molecular weight polyethylene to replace a steel wire rope, 2 ultra-high molecular weight polyethylene floating cables with the length L equal to 2000m and the diameter phi equal to 32mm are selected according to the impact force borne by the inspection ship 2, the arrangement position of the winch and the length of the tunnel body, and the tensile strength is not less than 70 tons, so that the use requirement is met. Optionally, when the long tunnel is detected to be in cold seasons, ice layers are accumulated on the tunnel wall of the tunnel, and the outer side of one ultra-high molecular weight polyethylene floating cable is sleeved with a 2mm protective sleeve to protect the cable and increase the abrasion strength.
Accordingly, in consideration of the length and diameter of the hauling rope 12, the rope capacity is large, so on the basis of ensuring the strength of the winch, the winding drum 112 for storage needs to be increased appropriately to store the hauling rope 12, so as to meet the requirements of site construction.
The ultra-high molecular weight polyethylene floating mooring rope is light in weight, can float on the water surface, and is about 87.5% lighter than a steel wire mooring rope with the same diameter. Meanwhile, the steel wire rope has the characteristic of high strength, and the strength is about 1.5 times higher than that of a steel wire rope with the same diameter. And the material has stronger impact resistance, durability, seawater resistance, chemical resistance, ultraviolet radiation resistance and temperature difference change resistance, and the repeated use quality is not changed.
The three band-type brakes 114 are arranged on the winch, two of the motors 113 and the reduction gearbox are arranged, a double-band-type brake 114 system is formed, and the speed controllability and the use safety of the winch are guaranteed. Meanwhile, a manual brake 114 is arranged on the winding drum 112, and the specific structure is as follows:
in one possible implementation mode, the band-type brake 114 connected with the roller is provided as a manual band-type brake 114, and the manual band-type brake 114 comprises a pull rod 101, a transmission rod 102 and a hoop 103; the lower end of the pull rod 101 is hinged on the base 111, the upper end of the pull rod 101 is provided with a grab handle, and the lower end of the pull rod 101 can be provided with a pedal 104; one end of the transmission rod 102 is connected with the pull rod 101, and the other end of the transmission rod 102 extends towards the roller and is connected with the hoop 103; one end of the hoop 103 is a connecting end, the other end of the hoop 103 is a tensioning end which bypasses the rotating shaft of the winding drum 112, a connecting groove is formed in the tensioning end, and the transmission rod 102 penetrates through the connecting groove and is connected with the connecting end of the hoop 103; correspondingly, the base 111 is provided with at least one guide seat 105, and the guide seat 105 is provided with a guide groove adapted to the transmission rod 102.
By the manual operation, the motor 113 reduces the inertial movement of the traction rope 12 in the stopped state. Specifically, the handle of the pull rod 101 is held by hand, the pull rod 101 is pulled in a direction away from the drum 112, and the pull rod 101 rotates about a hinge point with the base 111. The transmission rod 102 slides with the pull rod 101, and due to the position limitation of the guide seat 105, the transmission rod 102 slides along a straight line. The sliding of the driving rod 102 causes the tension of the band 103, i.e. the connection and tension ends of the band 103 move closer to each other, thereby clamping the rotating shaft of the reel 112 to stop the rotation of the reel 112.
Meanwhile, the lower end of the pull rod 101 is provided with a pedal 104 to increase the acting force applied by the staff, so that the use convenience and the effectiveness of stopping the winding drum 112 are improved. Furthermore, the guide shoe 105 may be configured in any suitable configuration.
In this embodiment, the inspection module is set as an underwater multi-beam side-scan sonar, and the navigation module is set as an inertial navigation system and a navigational speed assistance system.
The method comprises the steps of performing side scanning by using an underwater multi-beam side scanning sonar, performing combined positioning by using a full-function inertial navigation system and a navigation speed auxiliary system PathfineDVL of a measurement level, and performing RTK real-time differential positioning by using a global positioning system to perform measurement positioning.
The underwater multi-beam side-scan sonar has a series of underwater topography investigation advantages of high measurement precision, wide range, high resolution, high measurement efficiency and the like. Inspection ship 2 carries on multi-beam side scan sonar under water and carries out defect detection under water, and sonar information is independently preserved in the testing process, and hull 21 is advancing by the wall in single sonar alright cover the tunnel all-round section, the guarantee because of the unable data blind area that causes of control of hull 21.
The existing mapping technology is based on the GPS to perform accurate positioning, but the satellite positioning information cannot be received in the long tunnel. The problem can be well solved by using an inertial navigation system with real-time navigational speed assistance. The inertial navigation system solves the problem that the accumulated error of the traditional inertial navigation system is increased too fast, the total error is only 0.1 percent of the course, high-precision heading and attitude data can be provided for an underwater multi-beam side-scan sonar, the integration level is high, and the installation and the use are very convenient.
The main error sources of the combined navigation and positioning precision of the full-function inertial navigation system and the navigation speed auxiliary system PathfinedDVL of the magnitude measurement comprise DVL scale errors, inertial navigation course errors, inertial navigation and DVL course installation declination. If a DVL is chosen with a velocity accuracy better than 1.2% + -0.2 cm/s, then the DVL scale error causes a maximum positioning error of 1.2% D. Inertial navigation heading error (9 angular divisions) induced positioning error 0.3% D. In order to ensure the comprehensive positioning accuracy to be 3% D, the positioning error caused by the course mounting deflection angle of the inertial navigation system and the navigational speed auxiliary system PathfinedvL is less than 1.5% D, namely the deflection angle is less than 45 angular minutes. By utilizing a method combining mechanical installation alignment and underwater calibration, the deflection angle is easily controlled within 45 degrees, and the advancement of the detection process is reflected.
Specifically, the installation method of the underwater multi-beam side scan sonar comprises the following steps:
calculating the draft height of the inspection ship 2 according to the water buoyancy; determining the side-scanning height and range of the underwater multi-beam side-scanning sonar according to the water depth and width of the tunnel; adjusting the position of the underwater multi-beam side-scan sonar on the inspection ship 2 according to the underwater calibration position and the underwater multi-beam side-scan sonar side-scan angle; according to the effect of side scanning, the position of the underwater multi-beam side-scanning sonar on the inspection ship 2 is determined.
The side-scan angle of the multi-beam side-scan sonar under water is fixed, so that the position of the multi-beam side-scan sonar on the inspection ship 2 can be adjusted, the distance from the multi-beam side-scan sonar to the bottom of the diversion tunnel can be adjusted, the most appropriate setting height can be found, and the side-scan range of the multi-beam side-scan sonar under water can be maximized.
In the embodiment, the tail of the inspection ship 2 is provided with an illumination camera module which is provided with a plurality of cameras; on one hand, the tunnel is illuminated, and on the other hand, the tunnel is subjected to video recording, so that the tunnel is convenient for workers to analyze. As can be easily understood, the camera is provided with a memory card, and the recorded video is stored in the memory card.
In this embodiment, the inspection boat 2 is further provided with a power supply module, and the power supply module is divided into an electric connection inspection module, a navigation module and an illumination camera module. Preferably, the power supply module is arranged at the center of gravity of the inspection ship 2.
Alternatively, the modules may be located at any suitable location on the inspection vessel 2, and the utility model is not limited in this respect.
In this embodiment, the inspection ship 2 is provided with a waterproof module, the waterproof module is a waterproof box and/or a waterproof cover, and the waterproof box and/or the waterproof cover covers the inspection module, the navigation module, the illumination camera module and the power supply module. Therefore, the influence of collision damage on equipment in the diversion tunnel on data acquisition is avoided, the waterproofness is improved, the selection range of each module is expanded, and equipment with slightly poor waterproofness can be selected.
Alternatively, both the waterproof case and the waterproof cover may be configured in any suitable shape, and may be provided in a suitable irregular shape according to actual use conditions.
Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A long tunnel runner inspection system under the condition of high flow speed flowing water is characterized by comprising a traction device (1), an inspection ship (2), an inspection module and a navigation module;
the traction device (1) comprises at least one driver (11) and a traction rope (12), the driver (11) is fixed on a shore base, one end of the traction rope (12) is connected with the driver (11), and the other end of the traction rope (12) penetrates through the tunnel and extends out of the tunnel;
the inspection ship (2) floats on the flow channel and is connected with a traction rope (12) so that the inspection ship (2) flows along the traction rope (12) under the action of a driver (11);
the inspection module and the navigation module are both arranged on the inspection ship (2), the navigation module is in communication connection with the driver (11) so that the inspection ship (2) can flow at a constant speed in the tunnel, and the inspection module inspects the tunnel in the flowing process of the inspection ship (2).
2. The long tunnel flow channel inspection system under the condition of high flowing water according to claim 1, wherein the inspection ship (2) comprises two ship bodies (21) arranged side by side, a connecting structure (22) between the two ship bodies (21) and an anti-collision structure (23) positioned on the ship bodies (21), wherein the connecting structure (22) is arranged in at least two layers, and a plurality of first connecting rods (205) are arranged between the layers;
the anti-collision structure (23) comprises an anti-collision frame (231) and an anti-collision pad (232), wherein the anti-collision frame (231) is arranged at the bow of the ship, and the anti-collision pad (232) is laid on the rest part of the ship body (21).
3. The long tunnel runner inspection system under the condition of high flowing water flow rate according to claim 2, characterized in that the anti-collision frame (231) comprises an arc-shaped plate (201) and a second connecting rod (202), the arc-shaped plate (201) is arranged on a plane, the arc-shaped plate (201) extends from one ship body (21) to the other ship body (21) to cover the front end of the inspection ship (2), the inner side of the arc-shaped plate (201) is connected with the ship bodies (21) through the second connecting rod (202), and an anti-collision layer made of anti-collision materials is laid on the outer side of the arc-shaped plate (201);
the crash pad (232) is made of a crash-proof polymer material.
4. The long tunnel flow channel inspection system under the condition of high flowing speed of running water according to claim 2, wherein the connecting structure (22) of the same layer is constructed into a plurality of connecting rods (203) arranged at intervals, two ends of each connecting rod (203) are respectively fixed on a ship body (21), and a plurality of supporting rods (204) are arranged between every two adjacent connecting rods (203);
the connecting structures (22) of the upper layer and the lower layer are connected through a first connecting rod (205), and two ends of the first connecting rod (205) are respectively connected with a connecting rod (203).
5. The long tunnel flow passage inspection system under the condition of high flowing speed and flowing water of claim 2, wherein the front end and the rear end of the ship body (21) are both streamlined, the head part of the ship body (21) is in an isosceles triangle shape in plane projection, the included angle is less than 60 degrees, and the tail part of the ship body (21) is provided with a traction point (206) which is adapted to the traction rope (12);
the part of the ship body (21) below the waterline is in a circular arc shape, the ballast weight is placed in the ship body (21), and the bilge keels (207) are arranged on the outer side of the ship body (21) so that the center of gravity and the center of stability of the ship body (21) are positioned on the same vertical line.
6. The long tunnel runner inspection system under the condition of high flowing speed and running water according to claim 1, characterized in that the driver (11) is provided as a winch, the winch comprises a base (111), a winding drum (112) rotatably arranged on the base (111), a motor (113) for driving the winding drum (112) to rotate and three band-type brakes (114), wherein the traction rope (12) is wound on the winding drum (112), a rope discharger is further arranged on the winding drum (112), the motor (113) is connected with the winding drum (112) through a reduction gearbox, one of the band-type brakes (114) is connected with the reduction gearbox, the other is connected with the motor (113), and the other is connected with the drum.
7. The long tunnel runner inspection system under high-flow-rate running water conditions as claimed in claim 6, wherein the band-type brake (114) connected with the roller is provided as a manual band-type brake (114), and the manual band-type brake (114) comprises a pull rod (101), a transmission rod (102) and a hoop (103);
the lower end of the pull rod (101) is hinged on the base (111), the upper end of the pull rod (101) is provided with a grab handle, and the lower end of the pull rod (101) can be provided with a pedal (104);
one end of the transmission rod (102) is connected with the pull rod (101), and the other end of the transmission rod (102) extends towards the roller direction and is connected with the hoop (103);
one end of the hoop (103) is a connecting end, the other end of the hoop (103) is a tensioning end which bypasses a rotating shaft of the winding drum (112), a connecting groove is formed in the tensioning end, and the transmission rod (102) penetrates through the connecting groove and is connected with the connecting end of the hoop (103);
correspondingly, at least one guide seat (105) is arranged on the base (111), and a guide groove adapted to the transmission rod (102) is formed in the guide seat (105).
8. The long tunnel runner inspection system under high flow rate flowing water condition of claim 1, wherein the inspection module is configured as an underwater multi-beam side scan sonar, and the navigation module is configured as an inertial navigation system and a navigational speed assistance system.
9. The long tunnel flow channel inspection system under the condition of high flowing water according to claim 8, characterized in that an illuminating camera module is arranged at the tail part of the inspection ship (2), and the illuminating camera module is provided with a plurality of cameras;
the inspection ship (2) is also provided with a power supply module, and the power supply module is divided into an electric connection inspection module, a navigation module and an illumination camera module.
10. The inspection system for the flow channel of the long tunnel under the condition of the high flowing water of claim 9, wherein the inspection ship (2) is provided with a waterproof module, the waterproof module is a waterproof box and/or a waterproof cover, and the waterproof box and/or the waterproof cover covers the inspection module, the navigation module, the lighting camera module and the power supply module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122650323.3U CN216034977U (en) | 2021-11-01 | 2021-11-01 | Long tunnel runner inspection system under high-flow-speed flowing water condition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122650323.3U CN216034977U (en) | 2021-11-01 | 2021-11-01 | Long tunnel runner inspection system under high-flow-speed flowing water condition |
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| CN216034977U true CN216034977U (en) | 2022-03-15 |
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| CN202122650323.3U Active CN216034977U (en) | 2021-11-01 | 2021-11-01 | Long tunnel runner inspection system under high-flow-speed flowing water condition |
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