CN110058224A - Tunnel-liner detection method based on robot automatic tracing technology and radar detection technique - Google Patents
Tunnel-liner detection method based on robot automatic tracing technology and radar detection technique Download PDFInfo
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- CN110058224A CN110058224A CN201811321815.4A CN201811321815A CN110058224A CN 110058224 A CN110058224 A CN 110058224A CN 201811321815 A CN201811321815 A CN 201811321815A CN 110058224 A CN110058224 A CN 110058224A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
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Abstract
A kind of tunnel-liner detection method based on robot automatic tracing technology and radar detection technique, including moving body, detection job platform, GPR detection system and robot automatic tracking system；Detection job platform is mounted on moving body, including the detection equipment such as cabin and Working mechanism, generating set, hydraulic system and system.The lining cutting of tunnel top and a plurality of survey line of bottom inverted arch can be detected simultaneously.It is stretched out when operation by elevating mechanism lifting, robot expansion, extension rod, radar antenna can be sent to tunnel-liner any point position；Elevating mechanism landing, robot withdrawal, extension rod retracted mode, can be placed in detection cabin operation area when returning the vehicle to the garage and knock off.Robot automatic tracking system combination profile scanner and distance measuring sensor acquire data, can adjust radar antenna and tunnel wall spacing in real time, guarantee the accuracy and continuity of detection.
Description
Technical field
The tunnel-liner detection method based on robot automatic tracing technology and radar detection technique that the present invention relates to a kind of.
Background technique
Currently, Concerning Railway Tunnel Construction process is using visual, broken inspection or artificial lossless detection method (geological radar etc.).Manually
GPR detection can only detect a survey line every time, detections of radar limited coverage area, and detection speed is slow, low efficiency, safety
Property not high, testing conditions, opportunity disunity, the technical level of testing staff is irregular, causes some tunnels in repeated detection
In the case of there is also some biggish security risks.
Summary of the invention
It is served as a contrast the purpose of the present invention is to provide a kind of based on the tunnel of robot automatic tracing technology and radar detection technique
Detection method is built, is suitable for after the completion of railway tunnel perforation, lining cutting and filled layer construction operation, the tunnel-liner before linked network operation
Quality quickly detects.
The technical scheme is that including moving body, detection job platform, GPR detection system and robot
Automatic tracking system；Detection job platform is mounted on moving body, including detection cabin, the detection operation being mounted in detection cabin
The auxiliary devices such as mechanism, generating set, hydraulic system and system.It detects cabin (2) and passes through TEU (Twenty-foot Equivalent Unit) angled seat and moving body
(1) it connects, detection Working mechanism (3), which is bolted, to be installed in detection cabin (2), lining radar antenna (4.1) peace
Loaded on detection Working mechanism (3) end, inverted arch detection radar antenna (4.2) hangs on moving body (1) tail portion；It can examine simultaneously
Survey a plurality of survey line of tunnel top lining cutting and a plurality of survey line of tunnel bottom inverted arch；Working mechanism (3) are detected when detecting operation, are passed through
The modes such as elevating mechanism (3.1) lifting, robot (3.2) expansion, robot extension rod (3.3) stretching, can be by radar antenna
(4.1) it is sent to tunnel (10) top any test point position of liner structure；It returns the vehicle to the garage and knock off when transporting, elevating mechanism (3.1) landing, machine
People (3.2) withdrawal, robot extension rod (3.3) retracted mode, can be placed in detection cabin operation area (2.2).Robot is automatic
Tracing system lifts radar antenna to specified survey line position for controlling detection Working mechanism, in conjunction with profile scanner (1.1) and
Laser range sensor (3.8) acquires data, can adjust the spacing of radar antenna and tunnel wall, in real time to guarantee radar detection
Accuracy and continuity.
Detailed description of the invention
Fig. 1 is the schematic diagram of the present invention that returns the vehicle to the garage and knock off.
Fig. 2 is operation position of the present invention schematic diagram.
Fig. 3 is tunnel vault detection operation schematic diagram of the present invention.
Fig. 4 is tunnel haunch and abutment wall detection operation schematic diagram of the present invention.
Fig. 5 is robot automatic tracing schematic illustration of the present invention.
Fig. 6 is detection method abstract of description attached drawing of the present invention.
Specific embodiment
As shown in Figure 1 and Figure 2, a kind of tunnel-liner detection based on robot automatic tracing technology and radar detection technique
Method, including moving body, detection job platform, GPR detection system and robot automatic tracking system；Detect operation
Stage+module is on moving body, including detection cabin, detection Working mechanism, the generating set, hydraulic pressure system being mounted in detection cabin
Auxiliary devices and the systems such as system.
GPR detection system of the present invention includes geological radar host, radar antenna, data acquisition and processing
Hardware and software, the detection for tunnel top liner structure and lower part inverted arch architecture quality；Robot automatic tracking system is used
Radar antenna is lifted to specified survey line in control detection Working mechanism, and adjusts the spacing of radar antenna and tunnel wall in real time, with
Guarantee the accuracy and continuity of radar detection.
Moving body front end of the present invention is equipped with profile scanner (1.1), real time scan tunnel contour, for sentencing
Break and adjusts car body traveling-position；Velocity sensor (1.2) are installed in car body axle end, for being calculated in detection traveling in real time
Journey.
Detection job platform of the present invention is installed on moving body by TEU (Twenty-foot Equivalent Unit) angled seat, solely as one
Three-dimensional Liftable；Detection cabin (2) is divided into powerhouse (2.1), operation area (2.2) and (2.3) three regions of control room；Powerhouse
(2.1) generating set (6) and hydraulic power unit (7) are disposed with；Operation area (2.2) top installation opposite opened mobile door (2.4),
(2.5), it can manually or automatically operate, in operation and when returning the vehicle to the garage and knock off, operation area be opened or closed and is closed, alternate internal arrangement detection
Working mechanism (3)；Control room (2.3) arranges Operation control platform (5.1), geological radar station (5.2), and is equipped in headwall
Side-mounted air-conditioning (8)；At the top of operation area (2.2), control room (2.3) and windowpane (2.6), (2.7) is respectively set in side wall, is convenient for
Operation observation.
Detection Working mechanism (3) of the present invention is by elevating mechanism (3.1), robot (3.2), robot extension rod
(3.3), the structure compositions such as radar antenna installing frame (3.4), elevating mechanism can be used hydraulic-driven or be driven by electricity mode and realize
Lifting action.
Robot (3.2) of the present invention uses industrial robot, and robot extension rod (3.3) is installed on robot the
On six axis, there is Telescopic, radar antenna installing frame (3.4) is installed on robot extension rod end, installing frame by flange
(3.4) two sides installation is symmetrically installed with 4 laser range sensors (3.8)；Robot and robot extension rod are all made of and watch
Motor drive mode is taken, radar antenna (4.1) is lifted and reaches tunnel-liner test point position, and radar antenna can be adjusted in real time
(4.1) with the spacing of tunnel wall, to guarantee the accuracy and continuity of radar detection.
Detection Working mechanism (3) of the present invention passes through elevating mechanism (3.1) lifting, robot when detecting operation
(3.2) radar antenna (4.1), can be sent to tunnel (10) top lining cutting knot by the modes such as expansion, robot extension rod (3.3) stretching
Any test point position of structure；It returns the vehicle to the garage and knock off when transporting, elevating mechanism (3.1) landing, robot (3.2) withdraw, robot extension rod
(3.3) retracted mode can be placed in detection cabin operation area (2.2).
Generating set (6) of the present invention is used to provide power to each system in detection cabin (2) and equipment, in detection cabin
Control room (2.3) is equipped with generating set long-distance intelligent control panel, it can be achieved that start-stop of generator set, oiling, principal parameter and oil level
The remote control operations such as display.
Hydraulic power unit (7) of the present invention uses electric drive mode, is equipped with long-range control in detection cabin control room (2.3)
Case processed can separately or simultaneously control the lifting action of 1 set or more set detection Working mechanisms.Various necessary oil are arranged in hydraulic system
Liquid filter, loop protection and fault alarm function；And it is equipped with and prevents the safety devices such as overload, hydraulic shock and hydraulic lock.
Operation control platform (5.1) of the present invention should be able to be lifted elevating mechanism (3.1), landing controls, to machine
Device people (3.2) expansion, withdrawal, pose adjustment and dynamically track detection control, and stretch to robot extension rod (3.3)
Out, it retracts and is controlled, the starting of generating set (6), emergency stop are controlled and protected, it is attached to air-conditioner set (8), illumination etc.
Belong to electric appliance to be controlled；Geological radar station (5.2) should be able to detect radar day to lining radar antenna (4.1), inverted arch
The acquisition of line (4.2) data, storage, transmission, analysis etc. are controlled.
As shown in figure 3, detection vehicle traveling is in tunnel (10) midline position when carrying out the detection of tunnel vault lining quality, 3
Set detection Working mechanism (3), which respectively lifts radar antenna (4.1) to tunnel vault region, to be detected.
As shown in figure 4, detection vehicle traveling is in tunnel (10) side when carrying out tunnel haunch and side wall lining quality testing
Position, 3 sets of detection Working mechanisms (3), which respectively lift radar antenna (4.1) to tunnel haunch and abutment wall survey line, to be detected.
As shown in figure 5, robot automatic tracking system operation process of the present invention:
1) control moving body lifts radar antenna respectively and reaches each test point in tunnel in tunnel traveling, each set detection Working mechanism
Position；
2) profile sensor real time scan acquires tunnel contour offset data, and obliquity sensor acquires the posture of moving body in real time
Angle, laser range sensor acquire radar antenna at a distance from tunnel-liner measuring point in real time；
3) between the data collected moving body position reflected and the variation and radar antenna and tunnel wall of robot pose
Away from delta data, Real-time Feedback to robot automatic tracking system, system by earth coordinates, robot basis coordinates system and
The conversion and adjusting of robot tool coordinate system, posture and the position of radar antenna are lifted by adjustment robot, to realize radar
The stability of antenna and tunnel measuring point spacing.
Claims (11)
1. a kind of tunnel-liner detection method based on robot automatic tracing technology and radar detection technique, it is characterised in that:
The detection method includes moving body, detection job platform, GPR detection system and robot automatic tracking system, detection
Job platform is mounted on moving body；
The moving body can be the rail flat car that rubber-tyred truck chassis is either drawn by railcar；
The detection job platform includes detection cabin, detection Working mechanism, the generating set, hydraulic pressure system being mounted in detection cabin
Auxiliary devices and the systems such as system；
The GPR detection system includes geological radar host, radar antenna, data acquisition and handles hardware and software,
Detection for tunnel top liner structure and lower part inverted arch architecture quality；
The robot automatic tracking system lifts radar antenna to specified survey line for controlling detection Working mechanism, and in real time
The spacing of radar antenna and tunnel wall is adjusted, to guarantee the accuracy and continuity of radar detection.
2. the tunnel-liner detection method based on robot automatic tracing technology and radar detection technique as described in right 1,
It is characterized in that moving body front end is equipped with profile scanner (1.1), real time scan tunnel contour, for judging and adjusting car body
Traveling-position；Velocity sensor (1.2) are installed in car body axle end, detect traveling mileage for calculating in real time.
3. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, it is characterised in that detection job platform is installed on moving body by TEU (Twenty-foot Equivalent Unit) angled seat, can as a separate component
Lifting.
4. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, it is characterised in that detection cabin (2) is divided into powerhouse (2.1), operation area (2.2) and (2.3) three regions of control room；Powerhouse
(2.1) generating set (6) and hydraulic power unit (7) are disposed with；Operation area (2.2) top installation opposite opened mobile door (2.4),
(2.5), it can manually or automatically operate, in operation and when returning the vehicle to the garage and knock off, operation area be opened or closed and is closed, alternate internal arrangement detection
Working mechanism (3)；Control room (2.3) arranges Operation control platform (5.1), geological radar station (5.2), and is equipped in headwall
Side-mounted air-conditioning (8)；At the top of operation area (2.2), control room (2.3) and windowpane (2.6), (2.7) is respectively set in side wall, is convenient for
Operation observation.
5. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, it is characterised in that detection Working mechanism (3) can be 1 set, 2 sets .. or 5 set, and every set is by elevating mechanism (3.1), robot
(3.2), the structure compositions such as robot extension rod (3.3), radar antenna installing frame (3.4), be radar antenna (4.1) installation and
Job platform；Elevating mechanism, which can be used hydraulic-driven or be driven by electricity mode, realizes lifting action.
6. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, it is characterised in that robot (3.2) uses industrial robot, and robot extension rod (3.3) is installed on the 6th axis of robot,
With Telescopic, radar antenna installing frame (3.4) is installed on robot extension rod end, installing frame (3.4) two by flange
Side installation is symmetrically installed with 4 laser range sensors (3.8)；Robot and robot extension rod are all made of servo motor drive
Flowing mode lifts radar antenna (4.1) and reaches tunnel-liner test point position, and can adjust radar antenna (4.1) and tunnel in real time
The spacing of road wall, to guarantee the accuracy and continuity of radar detection.
7. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, it is characterised in that detection Working mechanism (3) is opened up when detecting operation by elevating mechanism (3.1) lifting, robot (3.2)
Open, robot extension rod (3.3) stretch out etc. modes, it is any that radar antenna (4.1) can be sent to tunnel (10) top liner structure
Test point position；It returns the vehicle to the garage and knock off when transporting, elevating mechanism (3.1) landing, robot (3.2) are withdrawn, robot extension rod (3.3) retracts
State can be placed in detection cabin operation area (2.2).
8. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, feature generating set (6) is used to provide power to each system in detection cabin (2) and equipment, in detection cabin control room (2.3)
Generating set long-distance intelligent control panel is equipped with, it can be achieved that long-range controls such as start-stop of generator set, oiling, principal parameter and oil level are shown
System operation.
9. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, it is characterised in that hydraulic power unit (7) uses electric drive mode, is equipped with long-range control cabinet in detection cabin control room (2.3), can
Separately or simultaneously control the lifting action of 3 sets of detection Working mechanisms；Various necessary oil filter devices, circuit are arranged in hydraulic system
Protection and fault alarm function；And it is equipped with and prevents the safety devices such as overload, hydraulic shock and hydraulic lock.
10. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, it is characterised in that Operation control platform (5.1) should be able to be lifted elevating mechanism (3.1), landing controls, to robot
(3.2) it is unfolded, withdraws, pose adjustment and dynamically track detection is controlled, stretching, contracting to robot extension rod (3.3)
It is controlled back into row, the starting of generating set (6), emergency stop is controlled and protected, to attached electricity such as air-conditioner set (8), illuminations
Device is controlled；Geological radar picking platform (5.2) should be able to detect radar antenna to lining radar antenna (4.1), inverted arch
(4.2) data acquisition, storage, transmission, analysis etc. are controlled.
11. the tunnel-liner detection side based on robot automatic tracing technology and radar detection technique as described in claim 1
Method, which is characterized in that robot automatic tracking system operation comprising steps of
1) control moving body lifts radar antenna respectively and reaches each test point in tunnel in tunnel traveling, each set detection Working mechanism
Position；
2) profile sensor real time scan acquires tunnel contour offset data, and obliquity sensor acquires the posture of moving body in real time
Angle, laser range sensor acquire radar antenna at a distance from tunnel-liner measuring point in real time；
3) between the data collected moving body position reflected and the variation and radar antenna and tunnel wall of robot pose
Away from delta data, Real-time Feedback to robot automatic tracking system, system by earth coordinates, robot basis coordinates system and
The conversion and adjusting of robot tool coordinate system, posture and the position of radar antenna are lifted by adjustment robot, to realize radar
The stability of antenna and tunnel measuring point spacing.
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| CN201811321815.4A CN110058224A (en) | 2018-11-08 | 2018-11-08 | Tunnel-liner detection method based on robot automatic tracing technology and radar detection technique |
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| CN201811321815.4A CN110058224A (en) | 2018-11-08 | 2018-11-08 | Tunnel-liner detection method based on robot automatic tracing technology and radar detection technique |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111025418A (en) * | 2019-11-19 | 2020-04-17 | 山东大学 | Rail transit tunnel geological radar mobile intelligent detection equipment and operation method |
| CN111314801A (en) * | 2020-02-13 | 2020-06-19 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Data acquisition system and method supporting dynamic scheduling |
| CN111398950A (en) * | 2020-04-03 | 2020-07-10 | 中铁隧道局集团有限公司 | Radar detection evasion system of tunnel defect comprehensive detection vehicle |
| CN111413353A (en) * | 2020-04-03 | 2020-07-14 | 中铁隧道局集团有限公司 | Tunnel lining disease comprehensive detection vehicle |
| WO2021068846A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Multi-arm robot for tunnel lining detection and disease diagnosis in operating period |
| EP3862775A1 (en) * | 2020-02-10 | 2021-08-11 | Thales Nederland B.V. | Radar system |
| CN113715714A (en) * | 2021-09-27 | 2021-11-30 | 中冶交通建设集团有限公司 | Tunnel lining quality detection data acquisition vehicle and acquisition method thereof |
| CN113759428A (en) * | 2021-08-05 | 2021-12-07 | 山东大学 | System for finely detecting tunnel lining cavity and working method |
| CN114166848A (en) * | 2021-11-24 | 2022-03-11 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel detection vehicle and detection method thereof |
| CN115816465A (en) * | 2023-01-06 | 2023-03-21 | 山东大学 | Geological radar survey line selection and follow-up control method and system for tunnel detection |
| US12031922B2 (en) | 2019-10-09 | 2024-07-09 | Shandong University | Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US12031922B2 (en) | 2019-10-09 | 2024-07-09 | Shandong University | Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period |
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| CN111398950A (en) * | 2020-04-03 | 2020-07-10 | 中铁隧道局集团有限公司 | Radar detection evasion system of tunnel defect comprehensive detection vehicle |
| CN113759428A (en) * | 2021-08-05 | 2021-12-07 | 山东大学 | System for finely detecting tunnel lining cavity and working method |
| CN113715714A (en) * | 2021-09-27 | 2021-11-30 | 中冶交通建设集团有限公司 | Tunnel lining quality detection data acquisition vehicle and acquisition method thereof |
| CN114166848A (en) * | 2021-11-24 | 2022-03-11 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel detection vehicle and detection method thereof |
| CN115816465A (en) * | 2023-01-06 | 2023-03-21 | 山东大学 | Geological radar survey line selection and follow-up control method and system for tunnel detection |
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