CN112254636A - Tunnel detection equipment capable of simultaneously acquiring lining image and three-dimensional spatial information - Google Patents
Tunnel detection equipment capable of simultaneously acquiring lining image and three-dimensional spatial information Download PDFInfo
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- CN112254636A CN112254636A CN202011092260.8A CN202011092260A CN112254636A CN 112254636 A CN112254636 A CN 112254636A CN 202011092260 A CN202011092260 A CN 202011092260A CN 112254636 A CN112254636 A CN 112254636A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/002—Investigating fluid-tightness of structures by using thermal means
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Abstract
The invention discloses tunnel detection equipment for simultaneously acquiring lining images and three-dimensional space information, which belongs to the technical field of tunnel engineering informatization, and comprises a moving assembly, a rotating shaft, a plurality of linear drivers, a plurality of data acquisition assemblies and a lifting driving device for driving the rotating shaft to lift, wherein the lifting driving device is positioned on the moving assembly; the plurality of data acquisition assemblies are spirally arranged; each linear driver is respectively fixed between the rotating shaft and each data acquisition assembly so as to drive each data acquisition assembly to radially extend and retract along the rotating shaft; each data acquisition assembly comprises an acquisition seat fixed on the linear driver, and a thermal imager, a laser radar and an industrial camera are fixed on the acquisition seat. The method has high adaptability to the existing tunnels with different tunnel section types, the acquired data types are various, the analyzed results are various, and the equipment is easy to move.
Description
Technical Field
The invention belongs to the technical field of tunnel engineering informatization, and particularly relates to tunnel detection equipment for simultaneously acquiring lining images and three-dimensional space information.
Background
With the increase of the total mileage of the high-speed railway, the number of the existing tunnels in China is gradually increased. At present, the mainstream tunnel detection method in China still adopts manual detection as the mainstream method. However, the tunnel is often only free for one to two hours of detection time every day, and the labor cost is high, so that it is difficult for workers to quickly and accurately obtain information of tunnel diseases without the assistance of professional equipment.
There is also tunnel detection professional equipment among the prior art, and patent CN209051374U comprises arc type support and a plurality of industrial camera, through arc type support in order to try to can just to guarantee with the tunnel inner wall that the camera obtains clear image. Realized before detecting the tunnel inner wall, operating personnel can adjust the position of industry camera on the first segmental arc of body through the installation department, and adjust the every single move position of industry camera on the installation department, treat that the camera lens of industry camera adjusts the back that targets in place, can be with the rigidity of installation department through locking portion, and with the rigidity of industry camera, thereby realized when detecting the tunnel inner wall, the visual angle of all industry cameras on the camera support can cover half a tunnel completely, and there is partial overlap in the field of vision of two adjacent industry cameras, thereby make the industry camera can take clear image information.
However, the method still has the problems of huge equipment, difficulty in moving, high cost, weak adaptability to tunnels with different section types and single detected tunnel type. And the acquired data type is single, and only the tunnel crack can be detected.
Disclosure of Invention
The invention aims to provide tunnel detection equipment for simultaneously acquiring lining images and three-dimensional space information, which is combined with modules such as a camera, a thermal imager, a laser radar and the like to quickly, comprehensively and accurately acquire the existing tunnel condition so as to solve the problems in the prior art.
In order to realize the purpose of the invention, the technical scheme is as follows: a tunnel detection device for simultaneously acquiring lining images and three-dimensional spatial information comprises a moving assembly, a rotating shaft, a plurality of linear drivers, a plurality of data acquisition assemblies and a lifting driving device for driving the rotating shaft to lift, wherein the lifting driving device is positioned on the moving assembly; the plurality of data acquisition assemblies are spirally arranged; each linear driver is respectively fixed between the rotating shaft and each data acquisition assembly so as to drive each data acquisition assembly to radially extend and retract along the rotating shaft; each data acquisition assembly comprises an acquisition seat fixed on the linear driver, and a thermal imager, a laser radar and an industrial camera are fixed on the acquisition seat.
As a further alternative, a light source assembly is also included.
As a further alternative, the light source assembly comprises a plurality of fan-shaped discs which are fixed on the rotating shaft and correspond to the data acquisition assemblies, and a plurality of illuminating lamps are arranged on the outer circular surface of each fan-shaped disc; the sector openings of the sector plates are respectively corresponding to the outside of the data acquisition assemblies.
As a further alternative, the lifting driving device comprises two telescopic assemblies respectively positioned at two ends of the rotating shaft; each telescopic assembly comprises two linear driving elements, the two linear driving elements are arranged at an included angle, one end of each linear driving element is hinged to the rotating shaft, and the other end of each linear driving element is hinged to the moving assembly.
As a further alternative, the device further comprises an inertial navigation unit arranged on the rotating shaft and used for acquiring the device position and the rotation attitude parameter of the data acquisition assembly.
As a further alternative, the circumferential included angles between two adjacent data acquisition assemblies are equal.
As a further alternative, a plurality of the data acquisition assemblies occupy no less than 2/3 circumferences.
As a further alternative, the linear drive is a telescopic rod.
As a further alternative, the moving assembly comprises a base, and the bottom of the base is provided with a travelling wheel.
The invention has the beneficial effects that:
1. the method has high adaptability to the existing tunnels with different tunnel section types. Through sharp drive formula structure to at data acquisition subassembly integrated laser radar, can accurate measurement gather subassembly to tunnel lining's distance, so that adjust flexible distance, adapt to different tunnel section types.
2. The data collected by the invention has various types. Not only lining pictures obtained by photographing with a camera, but also thermal imaging pictures generated by a thermal imager and point cloud data generated by a laser radar can be combined together to be analyzed through the relative position relationship of equipment.
3. The invention has various analyzed results. In addition to detecting cracks, the present invention is equipped with a thermal imager to identify leakage water and a laser radar to detect tunnel clearance.
4. The invention adopts the lifting device and the linear driving telescopic structure, so that the data acquisition assembly and the like can be moved easily after being retracted.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it should be understood that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a tunnel inspection apparatus for simultaneously acquiring a lining image and three-dimensional spatial information according to an embodiment of the present invention, wherein a data acquisition assembly is in an extended state;
FIG. 2 is a front view of the tunnel detection apparatus of FIG. 1;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a top view of FIG. 2;
reference numerals: 1-a moving assembly; 2-a rotating shaft; 3-a linear drive; 4-a linear drive element; 5-collecting seat; 6-thermal imaging camera; 7-laser radar; 8-an industrial camera; 9-a sector disc; 10-lighting lamp.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention. It is to be understood that the drawings are provided solely for the purposes of reference and illustration and are not intended as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The invention is further described with reference to the following figures and specific embodiments.
Fig. 1 to 4 show tunnel detection equipment for simultaneously acquiring a lining image and three-dimensional spatial information, which is provided by the invention, and the tunnel detection equipment comprises a moving assembly 1, a rotating shaft 2, a plurality of linear drivers 3, a plurality of data acquisition assemblies, and a lifting driving device for driving the rotating shaft 2 to lift, wherein the lifting driving device is positioned on the moving assembly 1; the plurality of data acquisition assemblies are spirally arranged; each linear driver 3 is respectively fixed between the rotating shaft 2 and each data acquisition assembly so as to drive each data acquisition assembly to radially extend and retract along the rotating shaft 2; each data acquisition assembly comprises an acquisition seat 5 fixed on the linear driver 3, and a thermal imager 6, a laser radar 7 and an industrial camera 8 are fixed on the acquisition seat 5.
The thermal imager 6, the laser radar 7 and the industrial camera 8 are integrated together to form a data acquisition module, and are connected with the rotating shaft 2 through the linear driver 3 to control the data acquisition module to stretch. The lidar 7 may be located between the thermal imager 6 and the industrial camera 8. The purpose of adapting to the size of the section of the tunnel to acquire data is achieved by controlling the rotation of the data acquisition assembly. The rotating shaft 2 is connected with a driving device such as a motor and the like for driving the rotating shaft to rotate.
The equipment also comprises a light source component, which is used for illumination during data acquisition, moves along with the equipment and does not need to be additionally provided with illumination. The light source component can adopt a lighting lamp, and the lighting lamp is arranged on the equipment. The light source assembly in the embodiment comprises a plurality of fan-shaped discs 9 which are fixed on the rotating shaft 2 and correspond to the data acquisition assemblies, and a plurality of illuminating lamps 10 are distributed on the outer circular surface of each fan-shaped disc 9; the fan-shaped openings of the fan-shaped discs 9 correspond to the data acquisition assemblies respectively, the illuminating lamps 10 are integrated on the fan-shaped discs 9 and rotate along with the rotating shaft 2 together with the data acquisition assemblies, data acquisition is facilitated, and the light sources are more uniform.
The linear driver 3 is a telescopic rod, and can adopt an electric push rod, so that the telescopic adjustment is convenient and fast. The lifting driving device comprises two telescopic assemblies which are respectively positioned at two ends of the rotating shaft 2; every flexible subassembly all includes two linear drive element 4, and two linear drive element 4 are the contained angle setting, and one end is articulated with pivot 2, and the other end is articulated with removal subassembly 1. The linear driving element 4 can also be a telescopic rod, specifically, an electric push rod can be adopted, and the position of the rotating shaft 2 can be adjusted by adjusting the lengths of the four rods.
The equipment also comprises an inertial navigation unit arranged on the rotating shaft 2 and used for acquiring the equipment position and the rotation attitude parameters of the data acquisition assembly so as to solve the problems of the positioning and attitude parameters of the equipment, and the equipment is not shown in the figure and can be directly purchased. The moving assembly 1 comprises a base, and a traveling wheel is installed at the bottom of the base. And can be replaced by rail cars, trolleys, automobiles and the like for railways.
Adjacent two the circumference contained angle between the data acquisition subassembly equals, and is even and do benefit to the collection of adjacent data acquisition subassembly and link up. 2/3 circumferences are no less than to the shared circumference of a plurality of data acquisition assemblies, and the suitable effective area of tunnel information acquisition is ensured.
Before entering the tunnel, the posture of the upper equipment can be adjusted in advance through the lifting driving device for the double-line tunnel. The device is driven into the tunnel by moving the assembly 1. After entering the tunnel, the rotating shaft 2 starts to rotate, and the distance from the rotating shaft to the tunnel lining in each direction is measured through the laser radar 7. Accordingly, the linear driver 3 starts to extend and contract to adapt to the size of the section of the tunnel, then the power supply of the illuminating lamp is started, and the thermal imager 6, the laser radar 7 and the industrial camera 8 start to formally acquire data.
The detection equipment combines the laser radar 7 and the industrial camera 8, can quickly perform tunnel lining and clearance detection, and determines the position and attitude parameters of the detection equipment through the inertial navigation unit. The problem that manual detection is slow can be solved in the application of this equipment, has combined the industrial camera 8 to shoot the precision height of crack and the high advantage of the precision of laser scanner measurement headroom simultaneously again, has the significance to the detection in existing tunnel.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (9)
1. A tunnel detection device for simultaneously acquiring lining images and three-dimensional spatial information is characterized by comprising a moving assembly, a rotating shaft, a plurality of linear drivers, a plurality of data acquisition assemblies and a lifting driving device for driving the rotating shaft to lift, wherein the lifting driving device is positioned on the moving assembly; the plurality of data acquisition assemblies are spirally arranged; each linear driver is respectively fixed between the rotating shaft and each data acquisition assembly so as to drive each data acquisition assembly to radially extend and retract along the rotating shaft; each data acquisition assembly comprises an acquisition seat fixed on the linear driver, and a thermal imager, a laser radar and an industrial camera are fixed on the acquisition seat.
2. The tunnel inspection device for simultaneously acquiring lining images and three-dimensional spatial information as claimed in claim 1, further comprising a light source assembly.
3. The tunnel detection equipment for simultaneously acquiring the lining image and the three-dimensional spatial information according to claim 2, wherein the light source assembly comprises a plurality of fan-shaped discs which are fixed on the rotating shaft and correspond to the data acquisition assemblies, and a plurality of illuminating lamps are arranged on the outer circular surface of each fan-shaped disc; the sector openings of the sector plates are respectively corresponding to the outside of the data acquisition assemblies.
4. The tunnel detection equipment for simultaneously acquiring the lining image and the three-dimensional space information according to claim 1, wherein the lifting driving device comprises two telescopic assemblies respectively positioned at two ends of a rotating shaft; each telescopic assembly comprises two linear driving elements, the two linear driving elements are arranged at an included angle, one end of each linear driving element is hinged to the rotating shaft, and the other end of each linear driving element is hinged to the moving assembly.
5. The tunnel detection device for simultaneously acquiring the lining image and the three-dimensional spatial information according to claim 1, further comprising an inertial navigation unit installed on the rotating shaft and used for acquiring device position and data acquisition component rotation attitude parameters.
6. The tunnel detection device for simultaneously acquiring the lining image and the three-dimensional spatial information according to claim 1, wherein the included circumferential angles between two adjacent data acquisition assemblies are equal.
7. The tunnel inspection device of claim 1, wherein the plurality of data acquisition assemblies occupy no less than 2/3 circumferences.
8. The tunnel inspection device of claim 1, wherein the linear actuator is a telescopic rod.
9. The tunnel detection equipment for simultaneously acquiring the lining image and the three-dimensional space information according to claim 1, wherein the moving assembly comprises a base, and a traveling wheel is installed at the bottom of the base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011092260.8A CN112254636A (en) | 2020-10-13 | 2020-10-13 | Tunnel detection equipment capable of simultaneously acquiring lining image and three-dimensional spatial information |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011092260.8A CN112254636A (en) | 2020-10-13 | 2020-10-13 | Tunnel detection equipment capable of simultaneously acquiring lining image and three-dimensional spatial information |
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| CN202011092260.8A Pending CN112254636A (en) | 2020-10-13 | 2020-10-13 | Tunnel detection equipment capable of simultaneously acquiring lining image and three-dimensional spatial information |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798530A (en) * | 2021-01-28 | 2021-05-14 | 华北水利水电大学 | Rail transit shield lining disease detection equipment |
| CN116358492A (en) * | 2023-06-01 | 2023-06-30 | 辽宁省交通规划设计院有限责任公司 | Tunnel intelligent detection device and method |
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