CN206847600U - A kind of tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle - Google Patents
A kind of tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle Download PDFInfo
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- CN206847600U CN206847600U CN201720661713.1U CN201720661713U CN206847600U CN 206847600 U CN206847600 U CN 206847600U CN 201720661713 U CN201720661713 U CN 201720661713U CN 206847600 U CN206847600 U CN 206847600U
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Abstract
The utility model discloses a kind of tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle, and it includes unmanned plane detecting system, position detecting system, operation center and remote data processing center composition.Connected between the unmanned plane detecting system and position detecting system using wireless telecommunications, the operation center is connected with unmanned plane detecting system and remote data processing center by wireless telecommunications respectively.With efficient and convenient, precise and high efficiency, it is safe and reliable the characteristics of, accurate detection data can be obtained while testing staff's security risk is reduced, it is ensured that the objectivity of testing result.
Description
Technical field
It the utility model is related to unmanned plane tunnel detector field, particularly a kind of tunnel based on High Performance Unmanned Aerial Vehicle
Structure detection system.
Background technology
At present, highway in China, railway tunnel are always about 20,000 kilometers, and all kinds of submerged tunnel overall lengths are more than 10,000 kilometers, largely
Tunnel Years Of Service is longer, and operation condition is poor, it is often necessary to carries out tunnel structure detection, tunnel structure detection is to find disease class
Type and the work for carrying out tunnel test and appraisal, based on visual detection, supplemented by a small amount of detecting instrument, at present, frequently with detection means
It is that testing staff enters hole inspection, testing staff is all kinds of with the presence or absence of crack, peeling, infiltration etc. by each position in naked-eye observation tunnel
Defect, and position, defect type, the position of existing defects are recorded, transfer to interior page personnel whole record material again after the completion of detection
Reason analysis forms report.
First, inspect periodically use to estimate, the data obtained information is recognized to perceive by testing staff to be limited, subjectivity more
By force, it is difficult to obtain accurate detection data；Secondly, tunnel is as a kind of semiclosed building being embedded in stratum, in tunnel
The problems such as insufficient light, air circulation difference being present, dealing wagon flow can produce the pollutants such as dust, carbon monoxide, nitrogen oxides,
Testing staff's operation in tunnel for a long time, easily produce and have a dizzy spell, respiratory tract discomfort phenomenon, the health of testing staff is made
Into harm；Again, the change of light is than stronger during discrepancy tunnel, and the change of light causes driver vision dead zone to increase, to inspection
Survey personnel bring very big potential safety hazard.
Existing unmanned plane Tunnel testing technology equally exists deficiency, and first, in tunnel, the vehicle of traveling can be kicked up greatly
Measure dust, particularly when slag-soil truck by when, low visibility in tunnel, the image or video information mould for causing unmanned plane to shoot
Paste, brings certain difficulty, testing result can produce very big error to image post-processing；Second, existing unmanned machine testing skill
Art is only applicable to the local disease inspection of tunnel structure, can not accurately hold overall performance index, as the linear elevation of tunnel road surface,
Vertical and horizontal gradient etc.；3rd, tunnel is located in stratum, and communication signal is weak, and unmanned plane easily deviates flight path, can not be to unmanned plane
Accurate control and positioning.
Utility model content
In order to overcome above difficulty and defect, this patent proposes a kind of tunnel structure detection based on High Performance Unmanned Aerial Vehicle
System, there is the characteristics of efficient and convenient, precise and high efficiency, safe and reliable, can be obtained while testing staff's security risk is reduced
Accurately detection data, it is ensured that the objectivity of testing result.
In order to solve the above-mentioned technical problem, the utility model proposes following technical scheme：One kind is based on High Performance Unmanned Aerial Vehicle
Tunnel structure detecting system, it include unmanned plane detecting system, position detecting system, operation center and teledata at
Reason center forms.
Connected between the unmanned plane detecting system and position detecting system using wireless telecommunications, the operation center
It is connected respectively with unmanned plane detecting system and remote data processing center by wireless telecommunications.
The unmanned plane detecting system includes unmanned aerial vehicle body, information receiving module, information transfer module, automatic Pilot
Instrument, fog-penetrating camera, information storage card, high-precision laser range-finding sensor, power supply and illuminating lamp, described information receiving module with
Automatic pilot communication connection, information receiving module receives the positional information of flight directive and position detecting system, and is transferred to
Automatic pilot, automatic pilot can be accurately positioned nobody according to the relative distance and direction with two neighboring position sensor
Machine, location information and flight path are contrasted, correct deviation route in time；Described information transfer module is used for into floor manager
Heart transmission information, the fog-penetrating camera use the CCD with Chromatically compensated camera lens and near-infrared high sensitivity, can utilized red
Outside line accurately focuses on shooting image or video and is stored in information storage card, and high-precision laser range-finding sensor is installed on unmanned plane
Bottom, unmanned plane can be measured to the distance on ground.
The position detecting system is made up of the two or more position sensors being arranged in tunnel.
The operation center plans flight path, and sends instruction of taking off, while receives and come from unmanned machine testing system
The detection information of system is simultaneously sent to remote data processing center；
The remote data processing center receives the detection information from operation center, and to the skill of tunnel structure
Art, operation situation carry out objective evaluation.
The beneficial effects of the utility model：
1st, the tunnel structure detecting system of the present utility model based on High Performance Unmanned Aerial Vehicle uses unmanned machine operation, overcomes
The limitation manually estimated, the risk for reducing testing staff, detection process is continuously accurate, efficient and convenient.
2nd, using fog-penetrating camera acquisition testing image information, when airborne dust in tunnel, remain to obtain more visible image
Or video information, facilitate image post-processing, reduce the error of testing result.
3rd, the bridge section model system of the present utility model based on High Performance Unmanned Aerial Vehicle is using in automatic pilot and hole
Fixed position sensor carries out triangulation, in real time positioning, flight path of rectifying a deviation, and it is weak to overcome communication signal in tunnel, existing
The problem of field command centre can not be to the accurate control of unmanned plane and positioning.
4th, the bridge section model system of the present utility model based on High Performance Unmanned Aerial Vehicle is simultaneously suitable for the conventional disease in tunnel
Evil inspection, Pavement linear, vertical and horizontal gradient measurement, have wide range of applications.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is Tthe utility model system organigram.
Fig. 2 is the utility model detecting system information transmission schematic diagram.
In figure：Unmanned aerial vehicle body 1, information receiving module 2, information transfer module 3, automatic pilot 4, fog-penetrating camera 5,
Information storage card 6, high-precision laser range-finding sensor 7, power supply 8, illuminating lamp 9.
Embodiment
Embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
Such as Fig. 1-2, a kind of tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle, it include unmanned plane detecting system,
Position detecting system, operation center and remote data processing center composition.
Further, connected between the unmanned plane detecting system and position detecting system using wireless telecommunications, it is described existing
Field command centre is connected with unmanned plane detecting system and remote data processing center by wireless telecommunications respectively.
Further, the unmanned plane detecting system includes unmanned aerial vehicle body 1, information receiving module 2, information transfer module
3rd, automatic pilot 4, fog-penetrating camera 5, information storage card 6, high-precision laser range-finding sensor 7, power supply 8 and illuminating lamp 9, institute
State information receiving module 2 to connect with the communication of automatic pilot 4, information receiving module 3 receives flight directive and position detecting system
Positional information, and be transferred to automatic pilot 4, automatic pilot 4 can be according to relative with two neighboring position sensor
Distance and direction are accurately positioned unmanned plane, and location information and flight path are contrasted, correct deviation route in time；Described information passes
Pass module 3 to be used for operation center transmission information, the fog-penetrating camera 5 is using having Chromatically compensated camera lens and near red
The CCD of outer high sensitivity, it can accurately focus on shooting image or video using infrared ray and be stored in information storage card 6, high accuracy
Laser range sensor 7 is installed on uav bottom, can measure unmanned plane to the distance on ground.
Further, the position detecting system is by two or more position sensor groups for being arranged in tunnel
Into.
Further, the operation center planning flight path, and instruction of taking off is sent, while receive and come from nobody
The detection information of machine examination examining system is simultaneously sent to remote data processing center；
Further, the remote data processing center receives the detection information from operation center, and to tunnel
The technology of structure, operation situation carry out objective evaluation.
Further, by using with Chromatically compensated camera lens, the CCD of near-infrared high sensitivity fog-penetrating camera profit
Shooting image or video information are accurately focused on infrared ray.
Further, triangulation is carried out using position sensor fixed in automatic pilot and hole, positioning, entangles in real time
Inclined flight path.
The course of work and operation principle of the present utility model：
A, operation center establishes the space coordinates using hole as origin, and nothing is designed according to tunnel basic document to be measured
Man-machine detecting system inspects periodically flight path function, after unmanned plane detecting system is awaited orders in place, to its information receiving module 2
Send flight directive, by power supply 8 power supply take off, automatic pilot 4 instruct flight, unmanned plane detecting system in flight course,
Illuminated by the light filling of illuminating lamp 9, the continuous acquisition testing image information of fog-penetrating camera 5 is simultaneously stored in information storage card 6, while information
Receiving module 2 receives the coordinate information of two neighboring position sensor, and unmanned machine testing system is determined according to relative distance and direction
The coordinate position of system, if the point, not on flight path function, automatic pilot 4 corrects bias in time, return flying for setting
Row lopcus function, after the completion of tunnel is inspected periodically, the landing of unmanned plane detecting system return；
B, operation center designs unmanned plane detecting system along road center line, the flight path function in sideline, then
Commander's unmanned plane detecting system is taken off, and is passed every fixed range in hovering, automatic pilot according to two neighboring position
The relative distance of sensor and direction determine the coordinate of unmanned plane detecting system, and high-precision laser range-finding sensor measures 7 unmanned planes
Coordinate, range information are stored in information storage card 6 to the distance on road surface by detecting system, after the completion of whole piece tunnel measure, nobody
Machine examination examining system return is landed.All information gathered in above-mentioned steps are sent to floor manager by information transfer module 3
The collection information of collection is forwarded to remote data processing center by center, operation center；
C, remote data processing center handles tunnel by image processing techniques and inspects periodically image document, obtains accurate
The type of tunnel defect, size, position；Utilize unmanned plane the detecting system coordinate of hovering point and its distance to road surface in the air
Analysis obtains the coordinate of road surface measuring point, connection road surface center line, the coordinate of each measuring point in sideline, makees with design load or last time measured value
Contrast, obtains the off normal information and vertical and horizontal gradient in three directions of tunnel road surface, and the technology, operation situation to tunnel structure carry out visitor
See evaluation.
By above-mentioned description, those skilled in the art completely can be without departing from this item utility model technological thought
In the range of, various changes and amendments are carried out all within the scope of protection of the utility model.It is of the present utility model not most
Matters, belong to the common knowledge of those skilled in the art.
Claims (4)
- A kind of 1. tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle, it is characterised in that：It include unmanned plane detecting system, Position detecting system, operation center and remote data processing center composition；Connected between the unmanned plane detecting system and position detecting system using wireless telecommunications, the operation center difference It is connected with unmanned plane detecting system and remote data processing center by wireless telecommunications；The unmanned plane detecting system includes unmanned aerial vehicle body（1）, information receiving module（2）, information transfer module（3）, it is automatic Pilot（4）, fog-penetrating camera（5）, information storage card（6）, high-precision laser range-finding sensor（7）, power supply（8）And illuminating lamp （9）, described information receiving module（2）With automatic pilot（4）Communication connection, information receiving module（2）Receive flight directive and The positional information of position detecting system, and it is transferred to automatic pilot（4）, automatic pilot（4）Can according to it is two neighboring The relative distance of position sensor and direction are accurately positioned unmanned plane, and location information and flight path are contrasted, and correct in time inclined From route；Described information transfer module（3）For to operation center transmission information, the fog-penetrating camera（5）Using tool There are Chromatically compensated camera lens and the CCD of near-infrared high sensitivity, can accurately focus on shooting image or video using infrared ray and store up It is stored in information storage card（6）, high-precision laser range-finding sensor（7）Uav bottom is installed on, unmanned plane can be measured to ground The distance in face.
- A kind of 2. tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle according to claim 1, it is characterised in that：Institute Position detecting system is stated to be made up of the two or more position sensors being arranged in tunnel.
- A kind of 3. tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle according to claim 1, it is characterised in that：Institute Operation center planning flight path is stated, and sends instruction of taking off, while receives the detection letter from unmanned plane detecting system Cease and send to remote data processing center.
- A kind of 4. tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle according to claim 1, it is characterised in that：Institute State remote data processing center and receive the detection information from operation center, and technology to tunnel structure, operation situation Carry out objective evaluation.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445524A (en) * | 2018-05-11 | 2018-08-24 | 山东大学 | Radioactivity monitoring system and method in tunnel based on unmanned aerial vehicle platform |
| CN108593842A (en) * | 2018-03-26 | 2018-09-28 | 山东大学 | Based on explosion-proof unmanned aerial vehicle platform tunnel gas automatic monitoring system and method |
| CN113701820A (en) * | 2021-08-31 | 2021-11-26 | 石家庄铁道大学 | Device suitable for carry out image investigation and infrared spy water fire detection to tunnel structure in operation |
| DE202022106442U1 (en) | 2022-11-17 | 2024-02-20 | Herrenknecht Aktiengesellschaft | Tunnel boring machine |
-
2017
- 2017-06-08 CN CN201720661713.1U patent/CN206847600U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108593842A (en) * | 2018-03-26 | 2018-09-28 | 山东大学 | Based on explosion-proof unmanned aerial vehicle platform tunnel gas automatic monitoring system and method |
| CN108445524A (en) * | 2018-05-11 | 2018-08-24 | 山东大学 | Radioactivity monitoring system and method in tunnel based on unmanned aerial vehicle platform |
| CN113701820A (en) * | 2021-08-31 | 2021-11-26 | 石家庄铁道大学 | Device suitable for carry out image investigation and infrared spy water fire detection to tunnel structure in operation |
| CN113701820B (en) * | 2021-08-31 | 2024-04-09 | 石家庄铁道大学 | Device suitable for carrying out image investigation and infrared water exploration fire exploration on tunnel structure in operation |
| DE202022106442U1 (en) | 2022-11-17 | 2024-02-20 | Herrenknecht Aktiengesellschaft | Tunnel boring machine |
| WO2024104640A1 (en) | 2022-11-17 | 2024-05-23 | Herrenknecht Aktiengesellschaft | Tunnel boring machine |
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