CN107632603B

CN107632603B - Tunnel lining detection device capable of avoiding obstacles independently

Info

Publication number: CN107632603B
Application number: CN201710793942.3A
Authority: CN
Inventors: 齐法琳; 雷洋; 江波; 邓普
Original assignee: China Academy of Railway Sciences Corp Ltd CARS; Infrastructure Inspection Institute of CARS; Beijing IMAP Technology Co Ltd
Current assignee: China Academy of Railway Sciences Corp Ltd CARS; Infrastructure Inspection Institute of CARS; Beijing IMAP Technology Co Ltd
Priority date: 2017-09-06
Filing date: 2017-09-06
Publication date: 2020-06-19
Anticipated expiration: 2037-09-06
Also published as: CN107632603A

Abstract

The invention discloses a tunnel lining detection device capable of avoiding obstacles independently, which comprises: a movable work platform (70); the lower extreme of vault arm (10) is articulated through first round pin axle (11) and operation platform (70), and the axis of first round pin axle (11) is parallel with the advancing direction of operation platform (70), and the upper end of vault arm (10) is connected with geological radar (60), and vault arm (10) can stretch out and draw back, and vault arm (10) are connected with and can drive vault arm (10) and use first round pin axle (11) as the wobbling top arm pendulum actuating mechanism of axle swing. The tunnel lining detection device capable of avoiding obstacles autonomously is a fundamental leap for a large-scale mechanical operation mode of tunnel lining, and is characterized by full-automatic operation, greatly improved detection speed, high corresponding speed, few detection blind areas and stable performance, and can be suitable for detection of single-track and double-track railway tunnels at normal speed and high speed.

Description

Tunnel lining detection device capable of avoiding obstacles independently

Technical Field

The invention relates to the field of tunnel detection equipment, in particular to a tunnel lining detection device capable of avoiding obstacles autonomously.

Background

In the existing tunnel lining nondestructive detection technology, a geological radar detection method is taken as the most main means, and the geological radar detection mainly comprises detection modes such as manual detection, vehicle-mounted detection and the like. At present, no feasible and effective means for quickly detecting the geological radar from a long distance to a lining detected surface exists, and the geological radar needs to be placed near the surface of a tunnel lining by using a carrier. The first tunnel state inspection vehicle has been developed in China. One end of each mechanical arm is fixedly provided with a geological radar, and each mechanical arm is operated by a control system to move on the vehicle body so as to detect the tunnel lining. However, the mechanical arm has low sensitivity and long response time due to the structural characteristics of the mechanical arm system, and when the position of the mechanical arm needs to be adjusted when a contact net and other obstacles are encountered, the vehicle body needs to be stopped to adjust the position of the mechanical arm. When the barrier is denser, the user needs to stop repeatedly to adjust the mechanical arm, and the working efficiency is lower. Through subsequent technical transformation, the position of the mechanical arm can be rapidly adjusted without stopping when the mechanical arm system encounters obstacles such as a contact net and the like in the detection process, obvious progress is made compared with the prior art, the detection speed is effectively improved to a certain extent, and manpower is saved, for example, Chinese patent CN 105302143A, publication date 2016, 2, month and 3 days, discloses a tunnel lining detection device and a detection vehicle. The method still has the technical defects that the detection capability of the vault of the double-line tunnel is insufficient (the rapid adjustment distance is limited, the adjustment speed is insufficient), the automation performance of the mechanical arm is insufficient, the structural design of the detection device is underoptimized, the adjustment and avoidance of obstacles in the tunnel environment also needs manual control, the misjudgment and the missed judgment risks cannot be completely avoided, completely non-manual programmed operation cannot be realized, and the like, so that the detection work needs the operation of multiple operators, the effective detection rate is increased, the space is limited, and more detection blind areas caused by the fact that the mechanical arm of the loaded geological radar needs to avoid obstacles exist.

Disclosure of Invention

The tunnel lining detection device capable of avoiding obstacles automatically is a essential leap for a large-scale mechanized operation mode of tunnel lining, and is characterized by full-automatic operation, greatly improved detection speed, high corresponding speed, few detection blind areas and stable performance, and can be suitable for detection of single-track and double-track railway tunnels at normal speed and high speed.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a tunnel lining detection device capable of avoiding obstacles autonomously comprises:

a working platform which can move;

the lower end of the vault mechanical arm is hinged with the operation platform through a first pin shaft, the axis of the first pin shaft is parallel to the proceeding direction of the operation platform, the upper end of the vault mechanical arm is connected with a geological radar, the vault mechanical arm can stretch and retract, and the vault mechanical arm is connected with a vault arm swinging and rotating driving mechanism capable of driving the vault mechanical arm to swing by taking the first pin shaft as an axis;

and the control system can control the operation of the tunnel lining detection device capable of avoiding obstacles autonomously.

The invention has the beneficial effects that: the tunnel lining detection device capable of avoiding obstacles autonomously is a fundamental leap for a large-scale mechanical operation mode of tunnel lining, and is characterized by full-automatic operation, greatly improved detection speed, high corresponding speed, few detection blind areas and stable performance, and can be suitable for detection of single-track and double-track railway tunnels at normal speed and high speed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

Fig. 1 is a front view of the tunnel lining detection device capable of avoiding obstacles autonomously.

Fig. 2 is a top view of the tunnel lining detection device capable of avoiding obstacles autonomously.

Figure 3 is a front view of a dome arm.

Fig. 4 is a front view of the four-stage linkage transmission mechanism.

Fig. 5 is a sectional view taken along a-a in fig. 4.

Fig. 6 is a front view of the cartridge.

Fig. 7 is a plan view of the cartridge.

FIG. 8 is a front view of the automatic take-up and pay-off device.

Fig. 9 is a front view of the first haunch robot arm in an extended state.

Fig. 10 is a front view of the first haunch robot arm in a contracted state.

Fig. 11 is a schematic view of the working state of the tunnel lining detection device capable of avoiding obstacles autonomously according to the present invention.

FIG. 12 is a front view of a geological radar site.

FIG. 13 is a top view of a geological radar site.

10. A vault manipulator; 20. a first haunch robot arm; 30. a second haunch mechanical arm; 40. a third haunch mechanical arm; 50. a fourth haunch mechanical arm; 60. a geological radar; 70. an operation platform; 80. lining the tunnel;

11. a first pin shaft; 12. a first hydraulic cylinder; 13. a core barrel; 14. a secondary sleeve; 15. an outer sleeve; 16. a gear drive mechanism; 17. a first rotating shaft; 18. guiding the anti-abrasion ball; 19. a second rotating shaft; 110. a guide anti-wear roller; 111. a buffer damping pad; 112. an automatic take-up and pay-off device; 113. a protective cover; 114. a rack;

21. a scissor-type connecting rod; 22. a connecting seat; 23. a base; 24. a second pin shaft; 25. a third pin shaft; 26. a fourth pin shaft; 27. a second hydraulic cylinder; 28. a third hydraulic cylinder; 29. a protective cover;

61. an obstacle detection and identification device; 62. a distance detecting device; 63. geological radar platform board.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

a work platform 70 that is capable of moving by itself or is mounted to move with a movable object; if the tunnel lining detection device capable of avoiding obstacles automatically can be arranged on a rail vehicle, the tunnel lining detection device can become a tunnel lining detection vehicle;

the lower end of the vault mechanical arm 10 is hinged with the operation platform 70 through a first pin shaft 11, the axis of the first pin shaft 11 is parallel to the proceeding direction of the operation platform 70, the upper end of the vault mechanical arm 10 is connected with a geological radar 60, the vault mechanical arm 10 can stretch and retract, and the vault mechanical arm 10 is connected with a top arm swinging and rotating driving mechanism capable of driving the vault mechanical arm 10 to swing by taking the first pin shaft 11 as a shaft; wherein the direction of travel of the work platform 70 is perpendicular to the plane of the paper in fig. 1 and 11;

In this embodiment, the vault manipulator 10 includes a multi-stage linkage transmission mechanism, which includes at least one core cylinder 13, a secondary sleeve 14, and an outer sleeve 15, which are sequentially sleeved from inside to outside, the number of the secondary sleeves 14 is at least one, the geological radar 60 is connected and fixed with the upper end of the core cylinder 13, the lower end of the outer sleeve 15 is hinged to the work platform 70 through a first pin 11, racks 114 are fixed outside the cylinder walls of the core cylinder 13 and the secondary sleeve 14, gear driving mechanisms 16 are respectively disposed at the upper ends of the secondary sleeve 14 and the outer sleeve 15, gears of the gear driving mechanisms 16 are engaged with the racks 114 in a one-to-one correspondence, and the gear driving mechanisms 16 can drive the vault manipulator 10 to extend and retract, as shown in fig. 3 to 8.

In this embodiment, a plurality of guiding anti-wear balls 18 are fixed outside the cylinder walls of the core barrel 13 and the secondary sleeve 14 through a first rotating shaft 17, the guiding anti-wear balls 18 can rotate around the first rotating shaft 17, the guiding anti-wear balls 18 are sequentially arranged along the axis direction of the core barrel 13, the axis of the first rotating shaft 17 is perpendicular to the axis of the core barrel 13, a guiding anti-wear roller 110 is fixed outside the cylinder walls of the core barrel 13 and the secondary sleeve 14 through a second rotating shaft 19, the guiding anti-wear roller 110 can rotate around the second rotating shaft 19, the axis of the second rotating shaft 19 is perpendicular to the axis of the core barrel 13, and the guiding anti-wear rollers 110 and the racks 114 are arranged in a one-to-one up and down correspondence, as shown in fig. 5.

In the present embodiment, the multi-stage linkage transmission mechanism is embodied as a four-stage linkage transmission mechanism, i.e. the dome robot arm 10 is composed of a core barrel 13, two secondary sleeves 14 and an outer sleeve 15. The cross sections of the core barrel 13, the secondary sleeve 14 and the outer sleeve 15 are all rectangular, the core barrel 13, the secondary sleeve 14 and the outer sleeve 15 all have four side walls, the rack 114 is located outside one side wall of the same side of the core barrel 13 and the secondary sleeve 14, as shown in fig. 5, the rack 114 is located outside the left side wall of the core barrel 13 and the secondary sleeve 14, a row of guiding anti-wear balls 18 is arranged outside the other three side walls of the core barrel 13 and the secondary sleeve 14, each row of guiding anti-wear balls 18 comprises a plurality of guiding anti-wear balls 18 which are sequentially arranged along the axial direction of the core barrel 13, a buffer damping pad 111 is further arranged in the lower ends of the secondary sleeve 14 and the outer sleeve 15, the top arm swinging driving mechanism is the first hydraulic cylinders 12 located on the left side and the right side of the outer sleeve 15, the two ends of the first hydraulic cylinders 12 are respectively connected with the outer sleeve 15 and the working platform 70, the two, as shown in fig. 3 to 8.

Vault robot 10 is used to inspect the tunnel vault. In order to guarantee the simplicity and the easy control of the action of the mechanical arm, simultaneously, the obstacle avoidance is convenient to realize the maximum safety and reliability in the face of the autonomous obstacle recognition of the system, the accuracy of the action of the mechanical arm is fully automatically controlled in the face of a completely disordered and irregular tunnel environment of working conditions, the mechanical arm is designed in a linear hydraulic multistage linkage mode without adopting a complex multi-degree-of-freedom mechanical arm to introduce unnecessary motion design difficulties. In consideration of the reasonability of stress, a four-stage linkage transmission mechanism is adopted, except for the uppermost stage (the core barrel 13), the top edges of the rest sleeves (the secondary sleeve 14 and the outer sleeve 15) at all stages are welded with bearing seats and added with reinforcing ribs, a gear shaft of the gear driving mechanism 16 is embedded, and parameters such as the reference circle diameter, the modulus ratio and the like of a gear of the gear driving mechanism 16 can be selected according to the requirements of materials and speed. Except for the basic stage (outer sleeve 15), the outer wall of one side of each stage of sleeve is a rack surface which can be meshed with a gear to perform linear transmission of the sleeve. The gear of the gear driving mechanism 16 is additionally provided with a protective cover 113, and the bottom section of the rack surface of the sleeve is fixedly welded with a fixed anti-wear pulley (a guide anti-wear roller 110) which is in rolling contact with the inner wall of the next-stage sleeve, so that the functions of anti-deflection and guiding are achieved. The other three surfaces are ball arrays (three rows of guiding anti-abrasion balls 18), the rotating shaft of each ball is fixed on the outer side of the sleeve arm and is in rolling contact with the inner wall of the next-stage sleeve, and the ball arrays can also enable each stage to move without friction and can be well guided. Each gear shaft is provided with an independent power source, and is driven by a servo motor of the gear driving mechanism 16, so that repeated positioning and fine adjustment (as explained when position control is described) of the system are facilitated, and passive reverse rotation can be prevented. The servo motor body of the gear driving mechanism 16 is fixed in the welding bearing seat, and the output shaft is connected with the gear shaft. The mode of multi-axis simultaneous linkage can enable each stage of sleeve to move simultaneously when the base stage is driven, and the sleeve at each stage has corresponding lifting motion relation relative to the sleeve at the next stage due to the kinematics characteristic of linkage, so that the relative motion speed of each stage can be adjusted, and the relative speed can be unified. And in terms of a ground reference coordinate system, the lifting speed of the top level is highest, and the lifting speeds are sequentially decreased to the basic level.

Generally, in a mechanical arm structure, in order to achieve kinematic stability and stress rationality, the lifting speed is generally within 0.5m/s and the limit is not more than 1m/s from the safety perspective by means of traditional electric control or hydraulic control. The material of the vault mechanical arm 10 is greatly optimized, the total weight of the geological radar and the sensing identification module thereof is not more than 10kg, so the material of the sleeve is subjected to carbon fiber mold opening and abrasion-proof treatment, and the sum of the dead weights of the four-stage sleeves is not more than 50kg, so that the torque, the power and the dead weight of the designed and manufactured gear shaft and the selected motor are greatly reduced. Can improve limit elevating speed to 2m/s under the prerequisite that the guarantee motion is stable safe, under this elevating speed, can be when through support such as high-speed railway tunnel contact net 4m is high, the effective quick obstacle of keeping away of not stopping, reduced simultaneously by a wide margin because of keeping away the long hourglass of leading to of obstacle and examining the blind area. The 4-stage mechanical arm can be designed to be completely extended out and have the total length of 6m, the total length is 2m when the mechanical arm is completely retracted, a gear shaft of the mechanical arm utilizes a servo mode, and the mechanical arm is matched with each sensor to achieve a good positioning effect and a good buffering effect. In addition, each stage of the mechanical arm is provided with a buffering damping pad 111, so that the structural safety of high-speed lifting of the sleeves at each stage is further protected to the maximum extent, and the effect on the uppermost stage is most obvious.

In this embodiment, the tunnel lining detection device capable of avoiding obstacles autonomously further includes a first arching robot 20 and a second arching robot 30, the first arching robot 20 and the second arching robot 30 are both fixed on the work platform 70, the lower end of the arch robot 10 is located at the center of the work platform 70, the first arching robot 20 is located at the left front of the arch robot 10 (i.e., the first arching robot 20 is located at the left upper side of the arch robot 10 in fig. 2), the second arching robot 30 is located at the right front of the arch robot 10 (i.e., the second arching robot 30 is located at the right upper side of the arch robot 10 in fig. 2), the structures of the first arching robot 20 and the second arching robot 30 are completely the same, and the first arching robot 20 and the second arching robot 30 are arranged in bilateral symmetry and are mirror images of each other, as shown in fig. 1.

In this embodiment, the first haunch mechanical arm 20 includes a scissor type connecting rod 21, a connecting seat 22, a base 23 and a second hydraulic cylinder 27, the scissor type connecting rod 21 is capable of extending and retracting, one end of the scissor type connecting rod 21 is connected with a geological radar 60, the other end of the scissor type connecting rod 21 is hinged to the connecting seat 22 through a second pin 24 and a third pin 25, a third hydraulic cylinder 28 is further disposed between the scissor type connecting rod 21 and the connecting seat 22, two ends of the third hydraulic cylinder 28 are respectively connected to the scissor type connecting rod 21 and the connecting seat 22, the third hydraulic cylinder 28 is capable of driving the scissor type connecting rod 21 to extend and retract, the base 23 is fixedly connected to the work platform 70, the upper end of the base 23 is hinged to the connecting seat 22 through a fourth pin 26, two ends of the second hydraulic cylinder 27 are respectively hinged to the base 23 and the connecting seat 22, the second hydraulic cylinder 27 is capable of driving the scissor type, the axis of the fourth pin shaft 26 is parallel to the axis of the first pin shaft 11, and the telescopic direction of the scissor type link 21 is perpendicular to the axis of the fourth pin shaft 26, as shown in fig. 9 and 10.

In this embodiment, the tunnel lining detection device capable of avoiding obstacles autonomously further includes a third haunch robot 40 and a fourth haunch robot 50, both the third haunch robot 40 and the fourth haunch robot 50 are fixed on the working platform 70, the third haunch robot 40 is located at the left rear of the vault robot 10 (i.e., the third haunch robot 40 is located at the left lower side of the vault robot 10 in fig. 2), the fourth haunch robot 50 is located at the right rear of the vault robot 10 (i.e., the fourth haunch robot 50 is located at the right lower side of the vault robot 10 in fig. 2), the first haunch robot 20 and the second haunch robot 30, the third arcade robot 40 and the fourth arcade robot 50 have the same structure, the third arcade robot 40 and the fourth arcade robot 50 are arranged in bilateral symmetry and are mirror images of each other, and the third arcade robot 40 and the first arcade robot 20 are arranged in front-back symmetry and are mirror images of each other.

The haunch robot (the first haunch robot 20, the second haunch robot 30, the third haunch robot 40, and the fourth haunch robot 50) is used to detect that the geological radar 60 is mounted on the top end of the robot device so as to be close to the tunnel lining 80. The arch waist mechanical arm does not have a large number of obstacles to be avoided due to the position condition, and only needs to be within a certain range (usually within 0.1m to 0.3 m), so that the arch waist mechanical arm does not need to be designed into a mechanical structure of multi-stage linkage control. Only the last section is additionally provided with a micro pushing oil cylinder (a third hydraulic cylinder 28), so that the maximum extension length of the mechanical arm is 3m, and the mechanical arm is only 1m after recovery (all sections are randomly disassembled, the maximum and recovery length sizes can be modified, and the longest length is within 3m in terms of practice and stress rationality).

The first hydraulic cylinder 12, the second hydraulic cylinder 27 and the third hydraulic cylinder 28 (which can be 5cm in cylinder diameter) are used for adjusting the rotating and swinging angles and postures, and the swinging angle is stepless adjustable from 0 to 60 degrees. The mechanical arms (the vault mechanical arm 10 and the arch mechanical arm) are provided with a protective shell additionally so as to protect the misoperation between operating personnel and a mechanical arm movement mechanism during daily maintenance operation. A small automatic take-up and pay-off device 112 is additionally arranged at the root of each mechanical arm, and 3-4 concentric wire grooves with different diameters are arranged in the take-up and pay-off device and are respectively used for synchronously recovering related cables of different-stage sleeves at different distances and different speeds. The device is used for arranging lines such as a geological radar connecting cable, a servo motor power supply cable and an obstacle detection and identification device transmission line, and is attractive and safe to work. And the top of each mechanical arm is additionally provided with a cloud deck for rotationally adjusting the attitude of the geological radar antenna.

In the present embodiment, the control system comprises at least one obstacle detection and identification device 61 and at least one distance detection device 62, the obstacle detection and identification device 61 and the distance detection device 62 are both located outside the circumferential surface of the geological radar 60, the control system can accurately identify the obstacle according to the fuzzy algorithm and the transmittance correction algorithm from the signals collected by the obstacle detection and identification device 61, and the distance detection device 62 can measure the vertical distance between the antenna surface of the geological radar 60 and the surface of the tunnel lining 80.

The obstacle detection and recognition device 61 is the key for realizing the autonomous obstacle avoidance function of the system under the condition of non-manual operation or intervention, and according to the structural design principle of the mechanical arm, the obstacle avoidance can meet the working condition requirement only by considering the lifting action. The obstacle detection and recognition device 61 uses a plane safety laser scanner as a basic sensor, and a self-developed fuzzy algorithm and a transmittance correction algorithm improve the capability of accurately recognizing obstacles to effectively and accurately recognize any object with a minimum size of 30mm within 20m, effectively and accurately recognize any object with a minimum size of 10mm within 5m, and are smaller than the minimum size of the obstacle which is known to possibly occur in the tunnel environment and influences safety operation, and no erroneous judgment and missing judgment are caused. Meanwhile, according to the multi-sampling and transmissivity correction algorithm, the 'barriers' such as dripping water and the like which do not need to be lifted can be not judged and read, the excessive-resistance autonomous recognition capability is greatly improved, and each obstacle avoidance lifting is required to be performed. The plane scanning area is a 200-degree arc area with the radius of 20m, the alarm can be effectively given in 20m, a plurality of alarm areas with different levels can be set according to program control requirements (the program is also reflected in the introduction of a control module), and the respective use of control programs can be facilitated. The scanning field can be arbitrarily edited into a required identification area according to the requirements of working conditions.

The distance detection device 62 is used for detecting the vertical distance between the surface of a geological radar antenna mounted on the top end of the mechanical arm and the surface of a tunnel lining (including facility obstacles on the surface and the like), and a plurality of displacement sensors of a laser-photoelectric-ultrasonic combined array are mounted on four outer sides of each geological radar 60, for example, 12 displacement sensors are mounted on the four outer sides of each geological radar 60, as shown in fig. 12 and 13, the number of the displacement sensors is equivalent to four on each side, the number of the displacement sensors is not limited, but in principle, each side is equivalent to more than two, and the total number of the displacement sensors is 4, so that the accuracy of vertical. And taking the minimum display distance of the displacement sensors as a judgment basis. Specifically, a geological radar deck plate 63 is fixedly sleeved outside the geological radar 60, and the distance detection device 62 and the obstacle detection and recognition device 61 are fixed on the geological radar deck plate 63.

In this embodiment, the control system further includes a control and learning module, and the control and learning module can divide the alarm area of the obstacle detection and recognition device 61, so that the alarm area is matched and set with the vehicle speed detected in real time, the geometric size of the obstacle and the lifting speed of the geological radar 60, and an early warning position, an execution position and an emergency stop position are set; the control and learning module may also be configured to recover and maintain the distance between the geological radar 60 and the surface being measured based on data output by the distance detection device 62.

The control and learning module is a module which is established between the mechanical arm and the obstacle detection and recognition device and between the distance detection devices and completes automatic operations of obstacle recognition, obstacle avoidance, restoration and maintenance of height and position detection and the like. The control and learning module mainly has two functions, wherein the first function is to divide the alarm area of the obstacle detection and recognition device, match and set the alarm area with the vehicle speed, the obstacle geometric dimension and the mechanical arm lifting speed which are detected in real time, and set an early warning position, an execution position and an emergency stop position. And secondly, recovering and maintaining the distance between the geological radar and the measured surface based on the data output by the distance detection device. After the obstacle avoidance and descending actions are finished, the obstacle avoidance and descending actions can be executed according to the stable 0.5s after the sudden change of the vertical distance from small to large, and the obstacle avoidance and descending actions are lifted to restore the vertical distance to the position of 10 cm. In the process of avoiding obstacles, in principle, when the vertical distance is between 5cm and 15cm, the control module does not perform intervention adjustment, and after the vertical distance exceeds the range, the control module readjusts to the position of 10cm, so that the situation that excessive repeated positioning action does not exist can be guaranteed, and the reliable and effective detection data quality can be guaranteed. The module may also make necessary adjustments and modifications in the parameter settings.

In this embodiment, the control system further comprises a system integration interface and an auxiliary device, wherein the auxiliary device comprises a high-definition anti-shake camera with a light source for assisting detection, a vehicle driver-end emergency stop signal transmitter based on wifi wireless transmission, a return control key for manually and forcibly retracting the mechanical arm, and a full-mechanism forced one-key retraction control key; the system integration interface can display the detection and operation information of the tunnel lining detection device capable of avoiding obstacles automatically on one or more displays.

The control system also comprises a control unit to which the obstacle detection and recognition means 61, the distance detection means 62, the control and learning module and the system integration interface and auxiliary means are connected. The system integration and auxiliary device is a device for visual operation control of an operator in an operation room. The auxiliary device has the following functions and components: the camera is prevented shaking by the high definition of each arm top of helping detecting from taking the light source, vehicle driver end emergency stop signal transmitter based on wifi wireless transmission, and each arm of system is manual to force to withdraw the control key, and the whole mechanism of system forces a key to withdraw the control key. The system integration interface development is that state monitoring information of scenes at the front sections of all mechanical arms, vehicle speed, an obstacle detection and recognition device, a distance detection device, full-automatic control mechanical arm detection operation parameter setting and logic rule editing software (including time), geological radar data acquisition software carried by all the arms, various emergency interventions required by manual work in abnormal burst states and other functions are used as a set of integration software to be displayed on one or more displays.

The work platform 70, which is a work platform carrier that carries the geological radar, the robotic arm, and various devices, can be raised and lowered. Hydraulic drive is adopted, and a scissor type motion structure is utilized for lifting. And the limit switch and the limit pin are utilized to carry out double safety limit protection of control and machinery. The upper surface of the working platform 70 can be made into a plane area of 2.5m × 3m (at least, it is guaranteed that all the mechanical arms can be smoothly recovered to the vehicle limit), and the upper surface is limited by the height of a contact net, and the height of a platform guardrail cannot exceed the distance from a rail surface by 5.3 m. Each mechanical arm is provided with a fixed support. The fixed support and the swing oil cylinder thereof are fixed on the platform panel in a mode of foundation bolts and welding.

The working process of the tunnel lining detection device capable of avoiding obstacles autonomously is described as follows:

before the detection work is started, the operation platform is driven and adjusted to a position near a contact net by using an operation handle, the positions of swing oil cylinders (a first hydraulic cylinder 12, a second hydraulic cylinder 27 and a third hydraulic cylinder 28) of each arm are controlled and adjusted, an outer distance detection device 62 of each arm geological radar 60 is started, each arm is manually controlled to a position which is 10cm away from the surface of a tunnel lining, and the detection work can be carried out after an obstacle detection and recognition device 61 is started.

Because the sizes of the obstacles such as the contact net rack and the like are obviously different between the double-track tunnel and the single-track tunnel and between the high-speed railway tunnel and the ordinary railway tunnel, different settings, storage and reading can be carried out on the early warning position, the execution position and the emergency stop position in the control and learning module. Meanwhile, due to the complexity and spatial arrangement disorder of the vault obstacle structure, in order to prevent the obstacle avoidance from being untimely caused by overlong vertical size of the obstacle, the obstacle avoidance visual field needs to be expanded to the arm body of the mechanical arm except the front of the geological radar straight line at the top end of the mechanical arm. Therefore, two obstacle detection and recognition devices which are horizontal and vertical to the arm body are additionally arranged at the top end of the arch crown mechanical arm for simultaneous judgment, and the visual field of the horizontal device is a rectangular window with the horizontal short side being 2 times of the horizontal dimension of the geological radar. The vertical device visual field is a rectangular window with the arm length during operation as the horizontal short side, the horizontal short side of the visual field is edited and shifted, and misjudgment of obstacles caused by detection of vehicle outline and facilities in the vehicle is prevented from occurring near the visual field window.

After the detection is started, one operator or a plurality of operators can monitor the state of each mechanical arm by respectively using the integrated system, the stability of control execution is monitored, the detection data of the geological radar where each mechanical arm is located is collected, manual intervention is directly performed in different abnormal states, and the plurality of operators respectively control the mechanical arms with automatic control failure to be quickly withdrawn by manual control or withdraw control by one key of one operator. The system indicator lamp of each arm carries out autonomic obstacle avoidance action when orange, keeps setting for during the green and detects the position gesture, keeps green scintillation after keeping away the obstacle, and green is often bright after jumping steadily apart from the detection device distance, and the arm resumes to set for the gesture. Although the system is stable and safe in design, if any signal is still given during the process but the execution fails or the signal itself fails to send or other various unpredictable abnormal conditions occur, the indicator light turns red and sounds an alarm, prompting the operator to manually retrieve the mechanical arm and indicate the driver to stop the vehicle through a wifi signal transmitter. In conclusion, the invention is an essential leap and full-automatic operation for a large-scale mechanized operation mode of tunnel lining, the detection speed is greatly improved, the corresponding speed is high, the detection blind area is few, the performance is stable, and the invention can be comprehensively applied to the detection of single-track and double-track railway tunnels at normal speed and high speed.

The above description is only exemplary of the invention and should not be taken as limiting the scope of the invention, so that the invention is intended to cover all modifications and equivalents of the embodiments described herein. In addition, the technical features, the technical schemes and the technical schemes can be freely combined and used.

Claims

1. The utility model provides a tunnel lining detection device that can independently avoid barrier which characterized in that, tunnel lining detection device that can independently avoid barrier includes:

a working platform (70) which can move;

the device comprises a vault mechanical arm (10), wherein the lower end of the vault mechanical arm (10) is hinged with an operation platform (70) through a first pin shaft (11), the axis of the first pin shaft (11) is parallel to the proceeding direction of the operation platform (70), the upper end of the vault mechanical arm (10) is connected with a geological radar (60), the vault mechanical arm (10) can stretch out and draw back, and the vault mechanical arm (10) is connected with a top arm swinging and rotating driving mechanism capable of driving the vault mechanical arm (10) to swing by taking the first pin shaft (11) as a shaft;

the control system can control the operation of the tunnel lining detection device capable of avoiding obstacles autonomously;

the vault mechanical arm (10) comprises at least one core cylinder (13), a secondary sleeve (14) and an outer sleeve (15) which are sequentially sleeved from inside to outside, the number of the secondary sleeves (14) is at least one, a geological radar (60) is connected with the upper end of the core cylinder (13), the lower end of the outer sleeve (15) is hinged with an operation platform (70) through a first pin shaft (11), racks (114) are arranged outside the cylinder walls of the core cylinder (13) and the secondary sleeve (14), gear driving mechanisms (16) are arranged at the upper ends of the secondary sleeve (14) and the outer sleeve (15), gears of the gear driving mechanisms (16) are correspondingly meshed with the racks (114) one by one, and the gear driving mechanisms (16) can drive the vault mechanical arm (10) to stretch out and draw back;

a plurality of guide anti-abrasion balls (18) are fixed outside the cylinder walls of the core cylinder (13) and the secondary sleeve (14) through a first rotating shaft (17), the guide anti-abrasion balls (18) can rotate around the first rotating shaft (17), the guide anti-abrasion balls (18) are sequentially arranged along the axis direction of the core cylinder (13), the axis of the first rotating shaft (17) is perpendicular to the axis of the core cylinder (13), guide anti-abrasion rollers (110) are fixed outside the cylinder walls of the core cylinder (13) and the secondary sleeve (14) through a second rotating shaft (19), the guide anti-abrasion rollers (110) can rotate around the second rotating shaft (19), the axis of the second rotating shaft (19) is perpendicular to the axis of the core cylinder (13), and the guide anti-abrasion rollers (110) and the racks (114) are arranged in a one-to-up and down one-one correspondence manner.

2. The tunnel lining detection device capable of avoiding obstacles automatically as claimed in claim 1, wherein the cross section of the core cylinder (13) and the cross section of the secondary sleeve (14) are both rectangular, the core cylinder (13) and the secondary sleeve (14) both comprise four side walls, the rack (114) is positioned outside one side wall of the same side of the core cylinder (13) and the secondary sleeve (14), a row of guiding anti-wear balls (18) are arranged outside the other three side walls of the core cylinder (13) and the secondary sleeve (14), the lower ends of the secondary sleeve (14) and the outer sleeve (15) are also internally provided with a buffering damping pad (111), the top arm swinging and rotating driving mechanism is a first hydraulic cylinder (12) positioned on the left side and the right side of the outer sleeve (15), and two ends of the first hydraulic cylinder (12) are respectively connected with the outer sleeve (15) and the operation platform (70).

3. The tunnel lining detection device capable of avoiding obstacles autonomously as claimed in claim 1, further comprising a first arching mechanical arm (20) and a second arching mechanical arm (30), wherein the first arching mechanical arm (20) and the second arching mechanical arm (30) are both fixed on the operation platform (70), the lower end of the arch mechanical arm (10) is located in the center of the operation platform (70), the first arching mechanical arm (20) is located in the front left of the arch mechanical arm (10), the second arching mechanical arm (30) is located in the front right of the arch mechanical arm (10), and the first arching mechanical arm (20) and the second arching mechanical arm (30) are arranged in bilateral symmetry and are mirror images of each other.

4. The tunnel lining detection device capable of avoiding obstacles automatically according to claim 3, wherein the first haunch mechanical arm (20) comprises a scissor type connecting rod (21), a connecting seat (22), a base (23) and a second hydraulic cylinder (27), the scissor type connecting rod (21) can stretch and retract, one end of the scissor type connecting rod (21) is connected with a geological radar (60), the other end of the scissor type connecting rod (21) is hinged with the connecting seat (22) through a second pin shaft (24) and a third pin shaft (25), the base (23) is fixedly connected with the operation platform (70), the upper end of the base (23) is hinged with the connecting seat (22) through a fourth pin shaft (26), two ends of the second hydraulic cylinder (27) are respectively hinged with the base (23) and the connecting seat (22), the second hydraulic cylinder (27) can drive the scissor type connecting rod (21) and the connecting seat (22) to swing with the fourth pin shaft (26) as a shaft, the axis of the fourth pin shaft (26) is parallel to the axis of the first pin shaft (11), and the telescopic direction of the scissor type connecting rod (21) is perpendicular to the axis of the fourth pin shaft (26).

5. The tunnel lining detection device capable of avoiding obstacles by oneself as claimed in claim 4, further comprising a third corset mechanical arm (40) and a fourth corset mechanical arm (50), wherein the third corset mechanical arm (40) and the fourth corset mechanical arm (50) are both fixed on the working platform (70), the third corset mechanical arm (40) is located at the left rear of the vault mechanical arm (10), the fourth corset mechanical arm (50) is located at the right rear of the vault mechanical arm (10), the third corset mechanical arm (40) and the fourth corset mechanical arm (50) are arranged in bilateral symmetry and are mirror images of each other, and the third corset mechanical arm (40) and the first corset mechanical arm (20) are arranged in front-back symmetry and are mirror images of each other.

6. The tunnel lining detection device capable of avoiding obstacles autonomously as recited in claim 1, wherein said control system comprises at least one obstacle detection and identification device (61) and at least one distance detection device (62), said obstacle detection and identification device (61) and said distance detection device (62) are both located outside the circumferential surface of the geological radar (60), said control system is capable of accurately identifying obstacles from the signals collected by the obstacle detection and identification device (61) according to a fuzzy algorithm and a transmittance correction algorithm, and said distance detection device (62) is capable of measuring the vertical distance between the antenna surface of the geological radar (60) and the tunnel lining surface.

7. The tunnel lining detection device capable of avoiding obstacles automatically as claimed in claim 6, wherein the control system further comprises a control and learning module, the control and learning module can divide an alarm area of the obstacle detection and recognition device (61), so that the alarm area is matched and set with the vehicle speed detected in real time, the geometrical size of the obstacle and the lifting speed of the geological radar (60), and an early warning position, an execution position and an emergency stop position are set; the control and learning module can also recover and maintain the distance between the geological radar (60) and the measured surface according to the data output by the distance detection device (62).

8. The tunnel lining detection device capable of avoiding obstacles autonomously as claimed in claim 7, wherein the control system further comprises a system integration interface and an auxiliary device, the auxiliary device comprises a high-definition anti-shaking camera with a light source for assisting detection, a vehicle driver end emergency stop signal transmitter based on wifi wireless transmission, a return control key for enabling the mechanical arm to be retracted forcibly manually, and a full-mechanism forced one-key retraction control key; the system integration interface can display the detection and operation information of the tunnel lining detection device capable of avoiding obstacles automatically on one or more displays.