CN106595562B - The online Imaging fast detection device of seepage tunnel quality and method - Google Patents
The online Imaging fast detection device of seepage tunnel quality and method Download PDFInfo
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- CN106595562B CN106595562B CN201611115854.XA CN201611115854A CN106595562B CN 106595562 B CN106595562 B CN 106595562B CN 201611115854 A CN201611115854 A CN 201611115854A CN 106595562 B CN106595562 B CN 106595562B
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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Abstract
本发明涉及一种引水隧道质量在线成像快速检测装置，它的检测器密封仓的外壁沿周向至少设置三个居中扶正杆，全景摄像机和频闪灯设置在透光腔内，超声发射接收换能器位于透声腔内，第一步进电机的输出转轴穿过检测器密封仓的壳体前端进入透声腔内并固定连接超声发射接收换能器，处理器的第一电机控制信号输出端连接第一步进电机的控制端，处理器的超声波控制及超声波接收通信端连接超声发射接收换能器的通信端，处理器的视频信号输入端连接全景摄像机的视频信号输出端，处理器的三维姿态信号输入端连接三维姿态传感器的信号输出端。本发明可在不中断引水隧道运行的情况下自动快速的对引水隧道进行检测。
The invention relates to an on-line imaging rapid detection device for the quality of a water diversion tunnel. At least three centralizing rods are arranged on the outer wall of the detector sealing chamber along the circumferential direction. The transducer is located in the sound-transmitting cavity, the output shaft of the first step motor enters the sound-transmitting cavity through the front end of the housing of the detector sealing chamber and is fixedly connected to the ultrasonic transmitting and receiving transducer, and the first motor control signal output end of the processor is connected to The control end of the first step motor, the ultrasonic control and ultrasonic receiving communication end of the processor are connected to the communication end of the ultrasonic transmitting and receiving transducer, the video signal input end of the processor is connected to the video signal output end of the panoramic camera, and the three-dimensional The attitude signal input terminal is connected to the signal output terminal of the three-dimensional attitude sensor. The invention can automatically and quickly detect the water diversion tunnel without interrupting the operation of the water diversion tunnel.
Description
Technical field
The present invention relates to the technology necks that hydraulic engineering detects operation seepage tunnel with optical photography, Imaging sonar
Domain, and in particular to a kind of online Imaging fast detection device of seepage tunnel quality and method.
Background technique
China has been the country that seepage tunnel is most, with the fastest developing speed in the world, due to geological conditions, orographic condition,
The influence of various factors during weather conditions and design, construction, operation, seepage tunnel is in the long-term use process than common
Tunnel is easier disease occur, such as Lining cracks, Tunnel Water Leakage, lining corrosion.These diseases both affect hydraulic engineering
Safe operation, and seriously endanger people's lives, the safety of industrial water.
Hydroelectric project diversion tunnel in process of construction due to construction or Geological Reasons, it is understood that there may be concrete lining with enclose
When rock comes to nothing, Excavation blasting loosens and tunnel excavation the problems such as country rock avalanche, finds out the above engineering defect and geological conditions is
Exploration worker must and pair project.For the these problems being commonly encountered during construction of Diversion Tunnels, traditional way is
The water being allowed to dry in seepage tunnel, then with Acoustic Reflection Method, supercritical ultrasonics technology and borehole geologic radar method to water diversion tunnel project
Defect is detected.But since the diversion of some seepage tunnels is to interrupt diversion once amount for urban life and industrial water
City people's lives and industry park plan are endangered, is influenced greatly；Some seepage tunnel engineerings are difficult to interrupt once running.Therefore,
Seepage tunnel engineering is few under the operating condition of many years to carry out the case where research checks；In this way, being buried to seepage tunnel engineering
The factor of lower harm.
Summary of the invention
The purpose of the present invention is to provide a kind of online Imaging fast detection device of seepage tunnel quality and method, the devices
And method can be automatic quickly to seepage tunnel with the presence or absence of Lining Crack, lining cutting in the case where not interrupting seepage tunnel and running
Infiltration, leak, peel off, come to nothing, lining cutting deformation is detected.
In order to solve the above technical problems, the online Imaging fast detection device of a kind of seepage tunnel quality disclosed by the invention,
It is characterized by: it include detector gas-tight silo, processor, panoramic camera, stroboscopic lamp, light transmission chamber, ultrasound emission reception change
Energy device, entrant sound chamber, the first stepper motor, three-dimensional attitude sensor, righting rod placed in the middle, wherein the entrant sound chamber setting is detecting
The middle part of detector gas-tight silo, the processor, the first stepper motor and 3 d pose is arranged in device gas-tight silo front end, light transmission chamber
Sensor is arranged in detector gas-tight silo, and three rightings placed in the middle are circumferentially at least arranged in the outer wall of the detector gas-tight silo
Bar, the panoramic camera and stroboscopic lamp setting are intracavitary in light transmission, and the ultrasound emission receives energy converter, and to be located at entrant sound intracavitary, thoroughly
Transformer oil is equipped in the operatic tunes, the housing forward end that the output revolving shaft of the first stepper motor passes through detector gas-tight silo enters entrant sound chamber
Interior and be fixedly connected with ultrasound emission and receive energy converter, the first motor control signal output of the processor connects the first stepping
The control terminal of motor, the ultrasonic wave control of processor and ultrasonic wave receive the communication that communication ends connection ultrasound emission receives energy converter
End, the video signal output of the video signal input terminal connection panoramic camera of processor, the camera control letter of processor
The control signal input of number output end connection panoramic camera, processor stroboscopic lamp control signal output connect stroboscopic lamp
Control terminal, the signal output end of the 3 d pose signal input part connection three-dimensional attitude sensor of processor.
A kind of online Imaging fast detection method of the seepage tunnel quality of above-mentioned apparatus:
Step 1: quality online Imaging fast detection device in seepage tunnel is placed in the water inlet of seepage tunnel, adjustment weight
The inflow for measuring balance bunker, the weight and displaced weight for sealing detector are equal, further according to the big ditty of seepage tunnel diameter
The length of whole each righting rod placed in the middle, occupy detector sealing bin device on the central axes of seepage tunnel；
Step 2: promoting detector gas-tight silo mobile from the water inlet of seepage tunnel to water outlet using the flow velocity of water；
Step 3: during detector gas-tight silo is mobile to water outlet from the water inlet of seepage tunnel, processor control
To drive ultrasound emission to receive energy converter rotation, processor is changed the rotation of first stepper motor by the ultrasound emission reception of rotation
Can the supersonic sounding data of device feedback be calculated the diameter of seepage tunnel, and by the diameter data storage to storage of seepage tunnel
In device；
Processor controls panoramic camera and carries out seepage tunnel full-view image shooting, and simultaneous processor receives panoramic camera
The seepage tunnel full-view image of intake, and by the storage of full-view image data into memory；
The 3 d pose data of processor acquisition testing device gas-tight silo from three-dimensional attitude sensor, and by 3 d pose number
According to storage into memory；
Step 4: processor by wireless communication module by the diameter data of seepage tunnel, seepage tunnel full-view image number
Be transferred to host computer according to the 3 d pose data of, detector gas-tight silo, host computer according to the diameter data of the seepage tunnel of acquisition,
Seepage tunnel full-view image data, the 3 d pose data of detector gas-tight silo generate corresponding draw according to photogrammetry principle
Water tunnel tomograph and seepage tunnel three-dimensional imaging figure；
Step 5: naked eyes identification being carried out to above-mentioned seepage tunnel tomograph and seepage tunnel three-dimensional imaging figure, judges to examine
Survey seepage tunnel with the presence or absence of crack, infiltration, leak, peel off, come to nothing or deformation form.
Beneficial effects of the present invention:
(1) present invention is changed with snapshots and ultrasound emission reception in detection device operational process and is thanked to device rotary test
The image mosaic of the diameter of seepage tunnel, 360 degree of panoramic photographies is got up, and the deformation and defect tunnel surface are all clapped very clear
Chu, the data three-dimensional seepage tunnel resizing of supersonic sounding, can detecte out the deformation of seepage tunnel.
(2) present invention detects seepage tunnel, and there is no any testing staff's safety, does not also need to interrupt seepage tunnel
Operation finds the hidden danger disease of the seepage tunnel of institute in rudiment, it is possible to reduce the loss of people's property is brought social
Safety.Avoid existing method need to interrupt to seepage tunnel and be allowed to dry water just can be carried out detection the very more problems of bring.
Detailed description of the invention
Fig. 1 is working state structure schematic diagram of the invention；
Fig. 2 is the structural block diagram of electric control part in the present invention；
The structural schematic diagram of detector gas-tight silo and righting rod placed in the middle in the present invention of the position Fig. 3.
Wherein, 1-detector gas-tight silo, 2-processors, 3-panoramic cameras, 4-stroboscopic lamps, 5-light transmission chambers, 6-
Ultrasound emission receive energy converter, 7-entrant sound chambers, 8-transformer oil, the 9-the first stepper motor, 10-three-dimensional attitude sensors,
11-power storage cells, 12-second stepper motors, 13-sealing rotary shafts, 14-rotation oars, 15-weight balancing storehouses, 16-occupy
Middle righting rod, 17-water, 18-seepage tunnels, 19-wireless communication modules, 20-memories.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The online Imaging fast detection device of seepage tunnel quality of the invention, as shown in Figures 1 to 3, it includes that detector is close
Seal storehouse 1, processor 2, panoramic camera 3, stroboscopic lamp 4, light transmission chamber 5, ultrasound emission reception energy converter 6, entrant sound chamber 7, the first step
Into motor 9, three-dimensional attitude sensor 10, righting rod placed in the middle 16, wherein the entrant sound chamber 7 is arranged before detector gas-tight silo 1
The middle part of detector gas-tight silo 1, the processor 2, the first stepper motor 9 and three-dimensional attitude sensor is arranged in end, light transmission chamber 5
10 are arranged in detector gas-tight silo 1, and three righting rods placed in the middle are circumferentially at least arranged in the outer wall of the detector gas-tight silo 1
16, the panoramic camera 3 and stroboscopic lamp 4 are arranged in light transmission chamber 5, and the ultrasound emission receives energy converter 6 and is located at entrant sound chamber 7
Interior, equipped with transformer oil 8, (wave impedance (product of density and velocity of wave) and water of transformer oil are close, are conducive to surpass in entrant sound chamber 7
Sound wave all transmits), the housing forward end that the output revolving shaft of the first stepper motor 9 passes through detector gas-tight silo 1 enters in entrant sound chamber 7
And be fixedly connected with ultrasound emission and receive energy converter 6, the first motor control signal output of the processor 2 connects the first stepping
The control terminal of motor 9, the ultrasonic wave control of processor 2 and ultrasonic wave receive communication ends connection ultrasound emission and receive energy converter 6
Communication ends, the video signal output of the video signal input terminal connection panoramic camera 3 of processor 2, the video camera of processor 2
Control signal output connects the control signal input of panoramic camera 3, the connection of 2 stroboscopic lamp control signal output of processor
The control terminal of stroboscopic lamp 4, the signal output end of the 3 d pose signal input part connection three-dimensional attitude sensor 10 of processor 2.
In above-mentioned technical proposal, it further includes second stepper motor 12 and rotation oar 14, the second stepper motor 12
Sealing rotary shaft 13 is pierced by the housing rear end of detector gas-tight silo 1, the fixed rotation oar 14 in sealing 13 rear end of rotary shaft.
In above-mentioned technical proposal, leading portion and back segment in the detector gas-tight silo 1 are equipped with weight balancing storehouse 15.Pass through
The inflow in adjustment weight balancing storehouse 15 keeps the weight of detector gas-tight silo 1 and displaced weight equal, so that detector be made to seal
Storehouse 1 is placed in the water 17 of seepage tunnel 18.
In above-mentioned technical proposal, the telecommunication end of the processor 2 is connected with wireless communication module 19.
In above-mentioned technical proposal, the data storage end of the processor 2 is also connected with memory 20.
In above-mentioned technical proposal, all electricity consumptions in detector gas-tight silo 1 are all provided by power storage cell 11.
It is according to diversion on the central axes for occuping seepage tunnel 18 of the detector gas-tight silo 1 in above-mentioned technical proposal
The diameter in tunnel 18 is realized to adjust the length of righting rod 16 placed in the middle.
A kind of online Imaging fast detection method of the seepage tunnel quality of above-mentioned apparatus:
Step 1: quality online Imaging fast detection device in seepage tunnel being placed in the water inlet of seepage tunnel 18, is adjusted
The inflow in weight balancing storehouse 15 keeps the weight of detector gas-tight silo 1 and displaced weight equal, further according to 18 diameter of seepage tunnel
The each placed in the middle righting rod 16 of size adjustment length, occupy 1 device of detector gas-tight silo on the central axes of seepage tunnel 18；
Step 2: promoting detector gas-tight silo 1 to be moved from the water inlet of seepage tunnel 18 to water outlet using the flow velocity of water 17
It is dynamic；
Step 3: during detector gas-tight silo 1 is mobile to water outlet from the water inlet of seepage tunnel 18, processor 2
The rotation of the first stepper motor 9 is controlled to drive ultrasound emission to receive energy converter 6 and rotate, the ultrasound hair that processor 2 passes through rotation
It penetrates the supersonic sounding data that reception energy converter 6 is fed back and the diameter of seepage tunnel 18 is calculated (using echo principle, processor 2
Start ultrasound emission and receive energy converter 6 and emit ultrasonic signal, reflection echo and is surpassed when ultrasonic signal encounters tunnel wall
Sound emission receives energy converter 6 and receives, and processor 2 calculates the time for being emitted to and receiving echo, according to ultrasound in echo time and water
Wave velocity is multiplied and divided by 2, and obtaining ultrasound emission reception energy converter 6 to the distance of tunnel wall can calculate according to these rangings
Tunnel diameter), and by the storage of the diameter data of seepage tunnel 18 into memory 20；
Processor 2 controls panoramic camera 3 and carries out 18 full-view image shooting of seepage tunnel, and simultaneous processor 2 receives panorama
18 full-view image of seepage tunnel that video camera 3 absorbs, and by the storage of full-view image data into memory 20；
The 3 d pose data of the acquisition testing device gas-tight silo 1 from three-dimensional attitude sensor 10 of processor 2, and by three-dimensional appearance
State data are stored into memory 20；
Step 4: processor 2 by wireless communication module 19 by the diameter data of seepage tunnel 18,18 panorama of seepage tunnel
Image data, detector gas-tight silo 13 d pose data be transferred to host computer, host computer is according to the seepage tunnel 18 of acquisition
Diameter data, 18 full-view image data of seepage tunnel, the 3 d pose data of detector gas-tight silo 1 are according to photogrammetry principle
Generate 18 three-dimensional imaging figure of corresponding 18 tomograph of seepage tunnel and seepage tunnel；
Step 5: naked eyes identification being carried out to above-mentioned 18 tomograph of seepage tunnel and 18 three-dimensional imaging figure of seepage tunnel, is sentenced
Disconnected detection seepage tunnel 18 with the presence or absence of crack, infiltration, leak, peel off, come to nothing or deformation form；
Step 6: if being detected in step 5 in seepage tunnel 18 there are crack, infiltration, leak, peeling off, come to nothing or deformation
Form, then according to the coordinate of 18 tomograph of seepage tunnel, 18 three-dimensional imaging figure of seepage tunnel judge crack, infiltration, leak,
It peels off, come to nothing or specific location of the deformation form in seepage tunnel 18.
In above-mentioned technical proposal, when the water flow in seepage tunnel 18 is too small is unable to drive the movement of detector gas-tight silo 1, step
Processor 2 drives 14 turns of rotation oar by control second stepper motor 12 to 12 emissioning controling signal of second stepper motor in rapid 2
It is dynamic, to provide the onward impulse of detector gas-tight silo 1.The rotation of rotation oar 14 makes detector gas-tight silo 1 in seepage tunnel
The speed of a ship or plane in 18 is 1.0m/s.Guarantee to take a picture for 1 second.
In above-mentioned technical proposal, in the claim 3 panoramic camera 3 pan image while, processor 2 control
Stroboscopic lamp 4 processed is lighted.Stroboscopic lamp 4 improves the clarity of 18 full-view image of seepage tunnel for carrying out environment light-supplementing.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (9)
1. a kind of online Imaging fast detection of seepage tunnel quality using the online Imaging fast detection device of seepage tunnel quality
Method, the online Imaging fast detection device of seepage tunnel quality include that detector gas-tight silo (1), processor (2), panorama are taken the photograph
Camera (3), stroboscopic lamp (4), light transmission chamber (5), ultrasound emission receive energy converter (6), entrant sound chamber (7), the first stepper motor (9),
Three-dimensional attitude sensor (10), righting rod placed in the middle (16), wherein the entrant sound chamber (7) is arranged before detector gas-tight silo (1)
End, light transmission chamber (5) setting is in the middle part of detector gas-tight silo (1), the processor (2), the first stepper motor (9) and three-dimensional appearance
State sensor (10) is arranged in detector gas-tight silo (1), and the outer wall of the detector gas-tight silo (1) is circumferentially at least arranged
Three righting rods (16) placed in the middle, the panoramic camera (3) and stroboscopic lamp (4) setting are in light transmission chamber (5), the ultrasound emission
It receives energy converter (6) to be located in entrant sound chamber (7), is equipped with transformer oil (8) in entrant sound chamber (7), the output of the first stepper motor (9)
The housing forward end that shaft passes through detector gas-tight silo (1), which enters in entrant sound chamber (7) and is fixedly connected with ultrasound emission, receives energy converter
(6), the control terminal of the first motor control signal output connection the first stepper motor (9) of the processor (2), processor
(2) ultrasonic wave control and ultrasonic wave receives the communication ends that communication ends connection ultrasound emission receives energy converter (6), processor (2)
Video signal input terminal connection panoramic camera (3) video signal output, the camera control signal of processor (2) is defeated
Outlet connects the control signal input of panoramic camera (3), and processor (2) stroboscopic lamp control signal output connects stroboscopic lamp
(4) control terminal, the signal output end of 3 d pose signal input part connection three-dimensional attitude sensor (10) of processor (2)；
It is characterized in that, the online Imaging fast detection method of seepage tunnel quality, includes the following steps: step 1: by seepage tunnel
The online Imaging fast detection device of quality is placed in the water inlet of seepage tunnel (18), adjusts the water inlet of weight balancing storehouse (15)
Amount, keeps the weight of detector gas-tight silo (1) and displaced weight equal, adjusts each further according to the size of seepage tunnel (18) diameter
The length of righting rod (16) placed in the middle, occupy detector gas-tight silo (1) device on the central axes of seepage tunnel (18)；
Step 2: promoting detector gas-tight silo (1) to be moved from the water inlet of seepage tunnel (18) to water outlet using the flow velocity of water (17)
It is dynamic；
Step 3: during detector gas-tight silo (1) is mobile to water outlet from the water inlet of seepage tunnel (18), processor
(2) to drive ultrasound emission to receive energy converter (6) rotation, processor (2) passes through rotation for control the first stepper motor (9) rotation
Ultrasound emission receive the supersonic sounding data of energy converter (6) feedback and be calculated the diameters of seepage tunnel (18), and by diversion
The diameter data in tunnel (18) is stored in memory (20)；
Processor (2) controls panoramic camera (3) and carries out seepage tunnel (18) full-view image shooting, and simultaneous processor (2) receives
Seepage tunnel (18) full-view image of panoramic camera (3) intake, and by the storage of full-view image data in memory (20)；
The 3 d pose data of processor (2) acquisition testing device gas-tight silo (1) from three-dimensional attitude sensor (10), and will be three-dimensional
Attitude data is stored in memory (20)；
Step 4: processor (2) by wireless communication module (19) by the diameter data of seepage tunnel (18), seepage tunnel (18)
Full-view image data, the 3 d pose data of detector gas-tight silo (1) are transferred to host computer, and host computer is according to the diversion tunnel of acquisition
Diameter data, seepage tunnel (18) full-view image data, the 3 d pose data foundation of detector gas-tight silo (1) in road (18) are taken the photograph
Shadow surveying principle generates corresponding seepage tunnel (18) tomograph and seepage tunnel (18) three-dimensional imaging figure；
Step 5: naked eyes identification being carried out to above-mentioned seepage tunnel (18) tomograph and seepage tunnel (18) three-dimensional imaging figure, is sentenced
Disconnected detection seepage tunnel (18) with the presence or absence of crack, infiltration, leak, peel off, come to nothing or deformation form.
2. quality online Imaging fast detection method in seepage tunnel according to claim 1, it is characterised in that: it further includes
Second stepper motor (12) and rotation oar (14), it is close that the sealing rotary shaft (13) of the second stepper motor (12) is pierced by detector
The housing rear end of storehouse (1) is sealed, sealing rotary shaft (13) rear end is fixed rotation oar (14).
3. quality online Imaging fast detection method in seepage tunnel according to claim 1, it is characterised in that: the detection
Leading portion and back segment in device gas-tight silo (1) are equipped with weight balancing storehouse (15).
4. quality online Imaging fast detection method in seepage tunnel according to claim 1, it is characterised in that: the processing
The telecommunication end of device (2) is connected with wireless communication module (19).
5. quality online Imaging fast detection method in seepage tunnel according to claim 1, it is characterised in that: the processing
The data storage end of device (2) is also connected with memory (20).
6. quality online Imaging fast detection method in seepage tunnel according to claim 1, it is characterised in that: the step
Further include step 6 after 5: if detected in step 5 in seepage tunnel (18) there are crack, infiltration, leak, peel off, come to nothing or
Deformation form then judges crack according to the coordinate of seepage tunnel (18) tomograph, seepage tunnel (18) three-dimensional imaging figure, seeps
Water leak, is peeled off, is come to nothing or specific location of the deformation form in seepage tunnel (18).
7. quality online Imaging fast detection method in seepage tunnel according to claim 1, it is characterised in that: the step
Processor (2) drives rotation oar by control second stepper motor (12) to second stepper motor (12) emissioning controling signal in 2
(14) it rotates, to provide the onward impulse of detector gas-tight silo (1).
8. quality online Imaging fast detection method in seepage tunnel according to claim 1, it is characterised in that: the right
It is required that in 3 panoramic camera (3) pan image while, processor (2) control stroboscopic lamp (4) light.
9. quality online Imaging fast detection method in seepage tunnel according to claim 7, it is characterised in that: the rotation
Paddle (14) rotation makes speed of a ship or plane 1.0m/s of the detector gas-tight silo (1) in seepage tunnel (18).
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| CN109387339B (en) * | 2018-09-13 | 2020-12-04 | 南京睿盾工程科技有限公司 | Subway tunnel construction leak protection water installation |
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| CN104819362A (en) * | 2015-04-30 | 2015-08-05 | 合肥林晨信息科技有限公司 | Pipeline robot system |
| CN105299473A (en) * | 2015-09-21 | 2016-02-03 | 武汉特瑞升电子科技有限公司 | Sonar video amphibious detection method and system for pipelines |
| CN205652314U (en) * | 2015-12-03 | 2016-10-19 | 上海航士海洋装备有限公司 | Diversion tunnel inner wall inspection robot system |
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| EP0282687A2 (en) * | 1987-03-20 | 1988-09-21 | Nippon Kokan Kabushiki Kaisha | Intrapipe spot examination pig device |
| CN104819362A (en) * | 2015-04-30 | 2015-08-05 | 合肥林晨信息科技有限公司 | Pipeline robot system |
| CN105299473A (en) * | 2015-09-21 | 2016-02-03 | 武汉特瑞升电子科技有限公司 | Sonar video amphibious detection method and system for pipelines |
| CN205652314U (en) * | 2015-12-03 | 2016-10-19 | 上海航士海洋装备有限公司 | Diversion tunnel inner wall inspection robot system |
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