CN104833680A - Rapid intelligent detection system and rapid intelligent detection method for inclined shaft section of water delivery gallery - Google Patents
Rapid intelligent detection system and rapid intelligent detection method for inclined shaft section of water delivery gallery Download PDFInfo
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- CN104833680A CN104833680A CN201510275253.4A CN201510275253A CN104833680A CN 104833680 A CN104833680 A CN 104833680A CN 201510275253 A CN201510275253 A CN 201510275253A CN 104833680 A CN104833680 A CN 104833680A
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Abstract
Disclosed are a rapid intelligent detection system and a rapid intelligent detection method for an inclined shaft section of a water delivery gallery. The system comprises an operating platform and a detection trolley. The operating platform is connected with the detection trolley through a cable. A ballast water tank is arranged on the operating platform. A high-definition infrared camera is arranged on the detection trolley and looks around and scans by 360 degrees along the vertical movement direction of the detection trolley, and data are transmitted outwardly by a wireless communication device. The method includes scanning a first profile of an inclined shaft of the water delivery gallery, positioning chromatic aberration of the first profile of the inclined shaft of the water delivery gallery, judging the first profile of the inclined shaft of the water delivery gallery, moving to and scanning a second profile of the inclined shaft of the water delivery gallery, positioning chromatic aberration of the second profile of the inclined shaft of the water delivery gallery, judging the second profile of the inclined shaft of the water delivery gallery, repeating the steps until moving to a Yth profile of the inclined shaft of the water delivery gallery, and completing scanning, chromatic aberration positioning and judging of the Yth profile. The rapid intelligent detection system and the rapid intelligent detection method have the advantages that defects of the profiles of the water delivery gallery of a ship lock can be recognized and positioned rapidly and accurately, so that the defects such as low manual detection efficiency and poor effect are overcome.
Description
Technical field
The present invention relates to the research of the quick, intelligent detection system of a kind of Shiplock Culvert lower curved section.
Background technology
Ship lock at different levels, as same linker, is communicated with to get up by Shiplock Culvert.During ship lockage, opened by gallery gate, front and back stages ship lock is communicated with, when both water levels are identical, boats and ships just can be walked between two-stage ship lock.Because dealing ship is more, culvert is in running order for a long time, all can produce certain destruction to gallery, cause gallery wall to produce certain crack during water flow to the erosion of gallery inside and geologic hazard etc., repair if can not get for a long time, bring major hidden danger will to the safety of ship lock.
At present, Shiplock Culvert surface imperfection generally finds via eye-observation, but it exists some deficiency following; (1) wet and slippery entirely black in gallery, maintainer can only, by secondary light sources such as torch, rely on naked eyes to detect the defect of inwall.Due to bad environments, the light of torch is partially dark, cannot find trickle defect; (2) there is the lower curved section of 57 ° in gallery, because the gradient is too large, ground is wet and slippery, and maintainer cannot detect the defect of this section fast, and there is the security risks such as personnel's landing during maintenance.
Summary of the invention
The object of the invention is to propose the quick, intelligent detection system of a kind of Shiplock Culvert lower curved section and detection method thereof, this detection system possesses Real-Time Monitoring, radio communication and data transmission, the function such as defect location and state recognition, can carry out accurately identifying and location to Shiplock Culvert section defect rapidly, thus it be low to overcome manual detection efficiency, the shortcomings such as weak effect, guarantee suspends period service work efficiently, and its detection method is positioned by aberration, improves the accuracy of detection.
The object of the present invention is achieved like this: the quick, intelligent detection system of a kind of culvert lower curved section comprises operator's console, detects dolly, operator's console is connected by rope with detection dolly, operating platform is provided with ballast water tank water, detect waterwheel and be provided with high definition camera, described high definition camera is along the vertical direction 360 degree of round-looking scans detecting dolly movement, and data are outwards transmitted by secondary wireless telecommunications system.
Further, operator's console comprises main wireless telecommunications system, operating rod, and main wireless telecommunications system and secondary wireless telecommunications system form LAN (Local Area Network);
Described detection dolly also comprises clutch coupling, steering gear, row's rope winch, travel servo-driver, turn to servo-driver, winch servo-driver, servo-driver is turned to drive front-wheel steer by steering gear, travelling servo-driver drives trailing wheel to rotate by clutch coupling, rope is connected on row's rope winch, winch servo driver drives row rope winch rotates folding and unfolding rope, high definition camera, travel servo-driver, turn to servo-driver, winch servo-driver is communicated with the network switch by serial communication modular, the network switch is received by secondary wireless telecommunications system or sends data,
Described operating rod sends director data by main wireless telecommunications system to secondary wireless telecommunications system, and operating rod can to travelling servo-driver, turning to servo-driver, winch servo-driver to send director data.
Further, operator's console also comprises Surveillance center;
Described detection dolly also comprises auxiliary camera, and auxiliary camera is communicated with the network switch by serial communication modular, and auxiliary camera is located at the front end detecting dolly;
Surveillance center forms LAN (Local Area Network) by main wireless telecommunications system and secondary wireless telecommunications system and receives high definition camera, auxiliary camera data.
Further, detect dolly and comprise range radar, multiple range radar symmetry is arranged on and detects dolly two sides, and range finder module receives range radar information, and data is outwards transmitted by secondary wireless telecommunications system.
Further, detect on dolly and be also provided with auxiliary lamp source.
Further, detect on dolly and be also provided with high-pressure jet head, high-pressure jet head is communicated with gas tank by tracheae, multiple marker space is provided with in gas tank, place one block of dry ice in each marker space, marker space inwall is provided with one and adds thermoelectric wire, and high-pressure jet head rotates together with high definition camera.
The quick, intelligent detection method of a kind of culvert lower curved section comprises culvert inclined shaft first profile scanning, and---culvert inclined shaft first section aberration is located, and---culvert inclined shaft first section judges---to be moved to culvert inclined shaft second section and scans---culvert inclined shaft second section aberration location---culvert inclined shaft second section to judge ... repeat above step to moving to culvert inclined shaft Y section and completing scanning, aberration location, judgement;
Culvert inclined shaft first profile scanning, carries out panoramic scanning along the Vertical Square rotating 360 degrees of culvert longitudinal direction to culvert inclined shaft first section inwall with high definition camera, generates original panoramic figure N1;
Culvert inclined shaft first section aberration is located, if culvert inclined shaft first section has crack to produce, original panoramic figure N1 occurring, crack place can not have crack place dark than other, analyze original panoramic figure N1 aberration distribution situation, find out the place that there is aberration in original panoramic figure N1, and to aberration occur place in the enterprising row labels of original panoramic figure N1, mark mode marks by high definition rotation angle of camera, first gauge point is designated as N1M1 degree 1, second gauge point and is designated as N1M2 degree 2 ... X gauge point is designated as N1MX degree X;
Culvert inclined shaft first section judges, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is again carried out to culvert inclined shaft first section inwall with high definition camera, respectively to the first mark N1M1 degree 1, second gauge point N1M2 degree 2 ... X marks N1MX degree X, carry out amplification imaging successively, produce N1M1 degree 1 figure respectively, N1M2 degree 2 figure ... N1MX degree X schemes, and input repair center by wireless telecommunications system, differentiate successively, select the crack needed repairing;
Move to culvert inclined shaft second section and scan, after completing the detection of culvert inclined shaft first section inwall, mobility detect position proceeds to the detection of culvert inclined shaft second section, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is carried out to culvert inclined shaft second section inwall with high definition camera, generate original panoramic figure N2;
Culvert inclined shaft second section aberration is located, if culvert inclined shaft second section has crack to produce, original panoramic figure N2 occurring, crack place can not have crack place dark than other, analyze original panoramic figure N2 aberration distribution situation, find out the place that there is aberration in original panoramic figure N2, and to aberration occur place in the enterprising row labels of original panoramic figure N2, mark mode marks by high definition rotation angle of camera, first gauge point is designated as N2M1 degree 1, second gauge point and is designated as N2M2 degree 2 ... X gauge point is designated as N2MX degree X; :
Culvert inclined shaft second section judges, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is again carried out to culvert inclined shaft first section inwall with high definition camera, respectively to the first mark N2M1 degree 1, second gauge point N2M2 degree 2 ... X marks N2MX degree X, carry out amplification imaging successively, produce N2M1 degree 1 figure respectively, N2M2 degree 2 figure ... N2MX degree X schemes, and input repair center by wireless telecommunications system, differentiate successively, select the crack needed repairing;
Repeat above step to moving to culvert inclined shaft Y section and completing scanning, aberration location, judgement.
Further, culvert inclined shaft first section judges, culvert inclined shaft second section judges ... culvert inclined shaft Y section also comprises directed purging in judging, at generation N1M1 degree or N2M1 degree or NYM1 degree 1 figure, N1M2 degree or N2M2 degree or NYM2 degree 2 figure ... after N1MX degree or N2MX degree or NYMX degree X figure, gases at high pressure are adopted to carry out orientation purging successively to each mark.
Further, culvert inclined shaft adjacent sections at least covers 5 percent on longitudinal along culvert inclined shaft.
The invention has the advantages that, operator's console and the handling of detection dolly are delivered to the detection basic point place in gallery, close water drain valve and also fill water by ballast water tank water, make operator's console as the movable hanging point of detection dolly in gallery during operation.By realizing detecting the movement of dolly in culvert inclined shaft to rope folding and unfolding, the row's of control rope winch puts rope by the step pitch of setting, accurately dolly to be detected can be travelled to target location, vertical direction 360 ° of round-looking scans that high definition camera moves along detection dolly, adjust camera focal length after finding out suspicious object and examine suspected defects and catch by aberration contrasts.When after the scanner uni defect record completing a section, carry out the detection of next section until whole lower curved section detects complete.In testing process, by comparing the data detecting dolly both sides range radar, controlling to detect dolly and walking along culvert inclined shaft axis.
Beneficial effect of the present invention:
(1) the present invention adopts intelligent gallery detection system to detect gallery wall defect, overcome that conventional manual's detection efficiency is low, weak effect and the shortcoming such as security is low, by the information such as position and type of accurate definition defect, the requirement of culvert lower curved section Quick overhaul can be met.
(2) mode of low-frequency wireless signals transmission, servo driving, DC power supply and ballast water tank water is adopted, solve in gallery without fixing hanging point, without power supply and the problem such as bad environments (complete black wet and slippery), make in-site installation, simple and convenient, without the need to increasing other guarantee conditions.
(3) integrated and light-weight design is adopted, being positioned over by row's rope winch detects on dolly, only rope tail end need be connected with operator's console, avoid when winch is placed on operator's console before detecting, folding and unfolding rope causes rope and slope mouth arcwall face generation severe friction, accelerates rope wear.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 is the quick, intelligent detection system working state schematic representation of a kind of culvert lower curved section of the present invention.
Fig. 2 is a kind of culvert lower curved section of the present invention quick, intelligent detection system theory of constitution figure.
Fig. 3 is waterproof control box of the present invention composition and annexation schematic diagram.
Fig. 4 is high-pressure jet structural representation of the present invention.
Fig. 5 is that the present invention adds thermoelectric wire control schematic diagram.
Fig. 6 is the quick, intelligent detection method schematic flow sheet of a kind of culvert lower curved section of the present invention.
In figure: 1-operator's console; 2-detects dolly; 3-high strength cord; The main wireless telecommunications system of 4-1-; The secondary wireless telecommunications system of 4-2-; 5--operating rod; 6-power supply; 7-Surveillance center; 8-ballast water tank water; 9-front-wheel; 10-steering gear; 11-direct current power box; 12-range radar; 13-row rope winch; 14-high-pressure jet head; 15-gas tank; 16-clutch coupling; 17-rear wheel; 18-waterproof control box; 19-marker space; 20-auxiliary camera; 21-high definition camera; 22-secondary light source; 23-power module; 24-serial communication modular; 25-winch servo-driver; 26-travels servo-driver; 27-turns to servo-driver; 28-range finder module; 29-relay module; The 30-network switch; 31-adds thermoelectric wire.
Embodiment
Figure below develops simultaneously embodiment by reference to the accompanying drawings, describes the present invention.
As shown in Figure 1, the present invention devises the quick, intelligent detection system of a kind of culvert lower curved section and comprises operator's console 1, detects dolly 2, and the high strength cord 3 both be connected.During work, operator's console 1 is fixed near gallery slope mouth, and detection dolly enters gallery lower curved section and detects under the traction of high strength cord 3.
As shown in Figure 2, operator's console 1 is the control center detecting frock, can carry out Real-Time Monitoring and issue action command to detection dolly 2 to testing process.Operator's console 1 mainly comprises main wireless telecommunications system 4-1, operating rod 5, power supply 6, Surveillance center 7, ballast water tank water 8, power supply 6 provides electric energy to main wireless telecommunications system 4-1, operating rod 5, Surveillance center 7, Surveillance center 7 is placed on operator's console, its built-in manipulation software is also connected with main wireless telecommunications system 4-1 by netting twine, and outwards sends instruction by main wireless telecommunications system 4-1.Ballast water tank water 8 is fixed on operator's console 1, and its top is provided with water inlet, and bottom is provided with water drain valve, can be used as and detect the movable hanging point of dolly 2 in gallery during operation after inner filling water.Preferably, be also provided with castor and lower margin bottom operator's console 1, handled easily platform 1 is carried and is fixed.
Detect dolly 2 and comprise front-wheel 9, steering gear 10, direct current power box 11, range radar 12, secondary wireless telecommunications system 4-2, row's rope winch 13, clutch coupling 16, rear wheel 17, waterproof control box 18, auxiliary camera 20, high definition camera 21, auxiliary lamp source 22, preferably, front-wheel 9 adopts large friction force light aluminum alloy wagon wheel, increase the friction force in wheel and inclined shaft face, front-wheel 9 is connected with steering gear 10 machinery, steering gear 10 preferably rack and pinion steering gear, and turn to servo-driver 27 to drive front-wheel 9 to turn to by steering gear 10, and accurately can control the anglec of rotation.Preferably, chargeable 48V lithium battery is equipped with in direct current power box 11 inside, can meet 6-8 continuous throughout the twenty-four hour24.Range radar 12(two or more) be arranged on the side detecting dolly 2 correspondence respectively, symmetrically install, after installing, test surface is parallel with culvert skewed surface, by comparing the measured data of respective side range radar 12 during work, detection dolly 2 can be understood in real time and whether travel on the oblique axis of culvert.Row's rope winch 13 is arranged on and detects the afterbody middle of dolly 2, and winch servo-driver 25 is used for the row's of driving rope winch 13 folding and unfolding rope rope arranging automatically, preferably, also can arrange record winch rotating cycle register at row's rope winch 13.Travel servo-driver 26 to rotate in order to driving clutch 16, thus drive the rear wheel 17 be mechanically connected with clutch coupling 16 move ahead at gallery slope mouth place or retreat, rear wheel 17 also possesses tally function.Preferably, clutch coupling 16 is open type electromagnetic clutch, and the housing of clutch coupling is fixed with detection dolly 2, and input and output hole is then connected with traveling servo-driver 26 and rear wheel 17 respectively.Waterproof control box 18 possesses more than IPX5 classification of waterproof, is the control center detecting dolly 2.Auxiliary camera 20 is arranged on and detects dolly 2 front portion, can its angle of pitch of manual adjustments and field angle.High definition camera 21 is arranged on car top, can be increased to gallery center, detects complete, regains.High definition is made a video recording 21 and is possessed 360 degree of round-looking scans, and the functions such as auto-focusing focusing and radio communication, can be increased to specified altitude assignment according to actual needs.Auxiliary lamp source 22 is evenly arranged multiple LED light source, in order to promote the imaging effect of high definition camera 21 along detection dolly 2 axis direction.
Main Wireless Telecom Equipment 4-1 and secondary wireless telecommunications system 4-2 forms LAN (Local Area Network), in order to transmit action command and data communication.Control lever 5 is technical grade multiaxis operating rod, forms LAN (Local Area Network) travel detecting dolly 2, rectify a deviation and the quick control of the process such as defects detection by main Wireless Telecom Equipment 4-1 and secondary wireless telecommunications system 4-2.
As shown in Figure 3, waterproof control box 18 built with power module 23, serial communication modular 24, winch servo-driver 25, travel servo-driver 26, turn to servo-driver 27, range finder module 28, relay module 29 and the network switch 30.The input end of power module 23 connects with direct current power box 11, export then for secondary wireless telecommunications system 4-2, auxiliary camera 20, high definition camera 21, secondary light source 22, serial communication modular 24, winch servo-driver 25, travel servo-driver 26, turn to servo-driver 27, range finder module 28, relay module 29 and the network switch 30 to power.Serial communication modular 24 has multiple serial ports, respectively with winch servo-driver 25, travel servo-driver 26, turn to servo-driver 27, relay module 29, auxiliary camera 20 and high definition camera 21 etc. are connected and carry out serial communication, serial communication modular 24 is communicated with secondary wireless telecommunications system 4-2 by the network switch 30.Winch servo-driver 25, travel servo-driver 26, turn to servo-driver 27 respectively by driving row rope winch 13, clutch coupling 16, steering gear 10, the folding and unfolding of the row's of realization rope winch 13 pairs of ropes, realize clutch coupling 16 pairs of rear wheels 17 and rotate control, realize the course changing control of steering gear 10 pairs of front-wheels 9.Data in order to the detection data of real-time reception range radar 12, and are inputted secondary wireless telecommunications system 4-2 by the network switch 30 by range finder module 28.Relay module 29 is in order to the break-make of Long-distance Control clutch coupling 16.The network switch 30 is connected with serial communication module 24 and secondary wireless telecommunications system 4-2, by data by wireless telecommunications system 4-2 with transfer to Surveillance center 7, control lever 5 instruction forms LAN (Local Area Network) and the network switch 30, serial communication module 24 by main Wireless Telecom Equipment 4-1 and secondary wireless telecommunications system 4-2, to winch servo-driver 25, traveling servo-driver 26, turns to servo-driver 27, relay module 29, high definition camera 21 to carry.
As in Fig. 4, detect dolly and be provided with high-pressure jet head 14, high-pressure jet head 14 by tracheae for be communicated with gas tank 15, preferred tracheae is flexible pipe, gas tank 15 li is provided with multiple marker space 19, place one block of dry ice in each marker space 19, marker space 19 inwall is provided with one and adds thermoelectric wire 31, and high-pressure jet head 14 can rotate together with high definition camera 21.As in Fig. 5, add thermoelectric wire 31 and form LAN (Local Area Network) by ft connection with main Wireless Telecom Equipment 4-1 and secondary wireless telecommunications system 4-2 by serial communication modular 24, the network switch 30, and accept external control.
As in Fig. 6, the quick, intelligent detection method of a kind of culvert lower curved section comprises culvert inclined shaft first profile scanning, and---culvert inclined shaft first section aberration location---judgement of culvert inclined shaft first section---moves to culvert inclined shaft second section, and scan the judgement of---culvert inclined shaft second section aberration location---culvert inclined shaft second section ... repeat above step to moving to culvert inclined shaft Y section, and complete scanning, aberration is located, judge, preferred culvert inclined shaft adjacent sections at least covers 5 percent on longitudinal along culvert inclined shaft, by undetected for adjacent culvert inclined shaft wall when preventing from detecting, the division of culvert inclined shaft different section, determined by the shooting width of high definition camera rotating 360 degrees, suppose that culvert inclined shaft length is five meters, the shooting width of high definition camera rotating 360 degrees is 20 centimetres, consider that culvert inclined shaft adjacent sections at least covers 5 percent, culvert inclined shaft is divided into 500/19.5=25.6 altogether and approximates 26 sections,
Culvert inclined shaft first profile scanning, carries out panoramic scanning along the Vertical Square rotating 360 degrees of culvert longitudinal direction to culvert inclined shaft first section inwall with high definition camera, generates original panoramic figure N1;
Culvert inclined shaft first section aberration is located, if culvert inclined shaft first section has crack to produce, original panoramic figure N1 occurring, crack place can not have crack place dark than other, analyze original panoramic figure N1 aberration distribution situation, find out the place that there is aberration in original panoramic figure N1, and aberration is occurred that (value of chromatism controls 5 percent, point more than 5 percent is marked) place in the enterprising row labels of original panoramic figure N1, mark mode marks by high definition rotation angle of camera, first gauge point is designated as N1M1 degree 1, second gauge point is designated as N1M2 degree 2 ... X gauge point is designated as N1MX degree X,
Culvert inclined shaft first section judges, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is again carried out to culvert inclined shaft first section inwall with high definition camera, respectively to the first mark N1M1 degree 1, second gauge point N1M2 degree 2 ... X marks N1MX degree X, carry out amplification imaging successively, produce N1M1 degree 1 figure respectively, N1M2 degree 2 figure ... N1MX degree X schemes, adopt gases at high pressure to the first mark N1M1 degree 1, second gauge point N1M2 degree 2 ... X marks N1MX degree place and carries out orientation purging successively, removes surface irregularities.By wireless telecommunications system, the image after purging is inputted repair center simultaneously, carry out machinery and artificial cognition respectively successively, machinery differentiation is analyzed by aberration contrast, select the mark that value of chromatism is greater than percentage ten, artificial cognition is undertaken by observing picture, selects the crack needed repairing;
Move to culvert inclined shaft second section and scan, after completing the detection of culvert inclined shaft first section inwall, mobility detect position proceeds to the detection of culvert inclined shaft second section, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is carried out to culvert inclined shaft second section inwall with high definition camera, generate original panoramic figure N2;
Culvert inclined shaft second section aberration is located, if culvert inclined shaft second section has crack to produce, original panoramic figure N2 occurring, crack place can not have crack place dark than other, analyze original panoramic figure N2 aberration distribution situation, find out the place that there is aberration in original panoramic figure N2, and to aberration occur place in the enterprising row labels of original panoramic figure N2, mark mode marks by high definition rotation angle of camera, first gauge point is designated as N2M1 degree 1, second gauge point and is designated as N2M2 degree 2 ... X gauge point is designated as N2MX degree X; :
Culvert inclined shaft second section judges, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is again carried out to culvert inclined shaft first section inwall with high definition camera, respectively to the first mark N2M1 degree 1, second gauge point N2M2 degree 2 ... X marks N2MX degree X, carry out amplification imaging successively, produce N2M1 degree 1 figure respectively, N2M2 degree 2 figure ... N2MX degree X schemes, adopt gases at high pressure successively to the first mark N2M1 degree 1, second gauge point N2M2 degree 2 ... X marks N2MX degree X and purges, by wireless telecommunications system, the image after purging is inputted repair center simultaneously, carry out machinery and artificial cognition respectively successively, machinery differentiation is analyzed by aberration contrast, select the mark that value of chromatism is greater than percentage ten, artificial cognition is undertaken by observing picture, select the crack needed repairing,
Repeat above step to moving to culvert inclined shaft Y section and completing scanning, aberration location, judgement.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the quick, intelligent detection system of culvert lower curved section, it is characterized in that: described intelligent checking system comprises operator's console, detects dolly, operator's console is connected by rope with detection dolly, operating platform is provided with ballast water tank water, detect waterwheel and be provided with high definition camera, data along the vertical direction 360 degree of round-looking scans detecting dolly movement, and are outwards transmitted by secondary wireless telecommunications system by described high definition camera.
2. the quick, intelligent detection system of a kind of culvert lower curved section as claimed in claim 1, is characterized in that: described operator's console comprises main wireless telecommunications system, operating rod, and main wireless telecommunications system and secondary wireless telecommunications system form LAN (Local Area Network);
Described detection dolly also comprises clutch coupling, steering gear, row's rope winch, travel servo-driver, turn to servo-driver, winch servo-driver, servo-driver is turned to drive front-wheel steer by steering gear, travelling servo-driver drives trailing wheel to rotate by clutch coupling, rope is connected on row's rope winch, winch servo driver drives row rope winch rotates folding and unfolding rope, high definition camera, travel servo-driver, turn to servo-driver, winch servo-driver is communicated with the network switch by serial communication modular, the network switch is received by secondary wireless telecommunications system or sends data,
Described operating rod sends director data by main wireless telecommunications system to secondary wireless telecommunications system, and operating rod can to travelling servo-driver, turning to servo-driver, winch servo-driver to send director data.
3. the quick, intelligent detection system of a kind of culvert lower curved section as claimed in claim 1, is characterized in that: described operator's console also comprises Surveillance center;
Described detection dolly also comprises auxiliary camera, and auxiliary camera is communicated with the network switch by serial communication modular, and auxiliary camera is located at the front end detecting dolly;
Surveillance center forms LAN (Local Area Network) by main wireless telecommunications system and secondary wireless telecommunications system and receives high definition camera, auxiliary camera data.
4. the quick, intelligent detection system of a kind of culvert lower curved section as claimed in claim 1, it is characterized in that: described detection dolly comprises range radar, multiple range radar symmetry is arranged on and detects dolly two sides, range finder module receives range radar information, and data is outwards transmitted by secondary wireless telecommunications system.
5. the quick, intelligent detection system of a kind of culvert lower curved section as claimed in claim 1, is characterized in that: described detection dolly is also provided with auxiliary lamp source.
6. the quick, intelligent detection system of a kind of culvert lower curved section as claimed in claim 1, it is characterized in that: described detection dolly is also provided with high-pressure jet head, high-pressure jet head is communicated with gas tank by tracheae, multiple marker space is provided with in gas tank, one block of dry ice is placed in each marker space, marker space inwall is provided with one and adds thermoelectric wire, and high-pressure jet head rotates together with high definition camera.
7. the quick, intelligent detection method of culvert lower curved section, is characterized in that: described method comprises culvert inclined shaft first profile scanning, and---culvert inclined shaft first section aberration is located, and---culvert inclined shaft first section judges---to be moved to culvert inclined shaft second section and scans---culvert inclined shaft second section aberration location---culvert inclined shaft second section to judge ... repeat above step to moving to culvert inclined shaft Y section and completing scanning, aberration location, judgement;
Culvert inclined shaft first profile scanning, carries out panoramic scanning along the Vertical Square rotating 360 degrees of culvert longitudinal direction to culvert inclined shaft first section inwall with high definition camera, generates original panoramic figure N1;
Culvert inclined shaft first section aberration is located, if culvert inclined shaft first section has crack to produce, original panoramic figure N1 occurring, crack place can not have crack place dark than other, analyze original panoramic figure N1 aberration distribution situation, find out the place that there is aberration in original panoramic figure N1, and to aberration occur place in the enterprising row labels of original panoramic figure N1, mark mode marks by high definition rotation angle of camera, first gauge point is designated as N1M1 degree 1, second gauge point and is designated as N1M2 degree 2 ... X gauge point is designated as N1MX degree X;
Culvert inclined shaft first section judges, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is again carried out to culvert inclined shaft first section inwall with high definition camera, respectively to the first mark N1M1 degree 1, second gauge point N1M2 degree 2 ... X marks N1MX degree X, carry out amplification imaging successively, produce N1M1 degree 1 figure respectively, N1M2 degree 2 figure ... N1MX degree X schemes, and input repair center by wireless telecommunications system, differentiate successively, select the crack needed repairing;
Move to culvert inclined shaft second section and scan, after completing the detection of culvert inclined shaft first section inwall, mobility detect position proceeds to the detection of culvert inclined shaft second section, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is carried out to culvert inclined shaft second section inwall with high definition camera, generate original panoramic figure N2;
Culvert inclined shaft second section aberration is located, if culvert inclined shaft second section has crack to produce, original panoramic figure N2 occurring, crack place can not have crack place dark than other, analyze original panoramic figure N2 aberration distribution situation, find out the place that there is aberration in original panoramic figure N2, and to aberration occur place in the enterprising row labels of original panoramic figure N2, mark mode marks by high definition rotation angle of camera, first gauge point is designated as N2M1 degree 1, second gauge point and is designated as N2M2 degree 2 ... X gauge point is designated as N2MX degree X; :
Culvert inclined shaft second section judges, along the Vertical Square rotating 360 degrees of culvert longitudinal direction, panoramic scanning is again carried out to culvert inclined shaft first section inwall with high definition camera, respectively to the first mark N2M1 degree 1, second gauge point N2M2 degree 2 ... X marks N2MX degree X, carry out amplification imaging successively, produce N2M1 degree 1 figure respectively, N2M2 degree 2 figure ... N2MX degree X schemes, and input repair center by wireless telecommunications system, differentiate successively, select the crack needed repairing;
Repeat above step to moving to culvert inclined shaft Y section and completing scanning, aberration location, judgement.
8. the quick, intelligent detection method of a kind of culvert lower curved section according to claim 7, it is characterized in that: described culvert inclined shaft first section judges, culvert inclined shaft second section judges ... culvert inclined shaft Y section also comprises directed purging in judging, at generation N1M1 degree or N2M1 degree or NYM1 degree 1 figure, N1M2 degree or N2M2 degree or NYM2 degree 2 figure ... after N1MX degree or N2MX degree or NYMX degree X figure, gases at high pressure are adopted to carry out orientation purging successively to each mark.
9. the quick, intelligent detection method of a kind of culvert lower curved section according to claim 7, is characterized in that: described culvert inclined shaft adjacent sections at least covers 5 percent on longitudinal along culvert inclined shaft.
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| Publication number | Priority date | Publication date | Assignee | Title |
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