CN209102898U - A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle - Google Patents
A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle Download PDFInfo
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- CN209102898U CN209102898U CN201821719720.3U CN201821719720U CN209102898U CN 209102898 U CN209102898 U CN 209102898U CN 201821719720 U CN201821719720 U CN 201821719720U CN 209102898 U CN209102898 U CN 209102898U
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Abstract
The Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle that the utility model discloses a kind of, it includes GPS/INS integrated navigation system, unmanned plane detection system and operation center；It is connected between the operation center and unmanned plane detection system by wireless telecommunications.This detection system can replace the high altitude operation of testing staff, to ensure the personal safety and instrument safety of testing staff, improve the efficiency and safety of tunnel double-lining detection.
Description
Technical field
The Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle that the utility model relates to a kind of belongs to tunnel measurement
Technical field.
Background technique
Existing constructing tunnel stage non-destructive testing device mainly uses geological radar to be detected, but this geology thunder
Up to antenna must be tightly attached to lining cutting surface when detection, meanwhile, it needs mobile to realize regional tunnel-liner by longitudinal, circumferential
Quality detection work just can guarantee the accuracy of arched tunnel detection in this way.In existing detection device, high-altitude is used substantially
Operation Van is welded simple rack on construction machinery, by testing staff station in operation box hand lift radar antenna, and by its
Lining cutting surface is tightly attached to cooperate and complete detection work.
Its major drawbacks has: one, allowing testing staff to carry out high altitude operation by machinery, can threaten the life of testing staff
Safety, two, current detection be that testing staff holds geological radar to carry out non-destructive testing its efficiency lower, be delayed construction speed,
Three, the problems such as testing staff holds geological radar and carries out non-destructive testing, and there are radar antenna detection speed and unstable positions,
Four, current detection method requires operator's long-time hand to lift antenna, this will because operator fatigue caused by antenna and
The close property on lining cutting surface generates fluctuation or error, and then generates adverse effect to non-destructive testing result, five, presently, there are
Other tunnel-liner system detection vehicle boom system is bulky, hydraulic system is complicated, control adjustment is complicated, car body is heavy, uses
It is at high cost, it is unfavorable for promoting.
Utility model content
The utility model aim is to provide a kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle, this detection
System can replace the high altitude operation of testing staff, to ensure the personal safety and instrument safety of testing staff, improve tunnel two
Serve as a contrast the efficiency and safety of detection.
In order to realize above-mentioned technical characteristic, purpose of the utility model is realized as follows: it is a kind of based on high-performance without
Man-machine Tunnel Second Lining detection system, it includes GPS/INS integrated navigation system, unmanned plane detection system and floor manager
Center；It is connected between the operation center and unmanned plane detection system by wireless telecommunications.
The unmanned plane detection system includes unmanned aerial vehicle body, automatic pilot, geological radar antenna, information reception mould
Block, information transfer module, high-precision laser range-finding sensor, motion controller, full-view camera, headlamp and power supply；It is described
Communication connection between information receiving module and automatic pilot, and receive leading for flight directive and GPS/INS integrated navigation system
Boat information；The headlamp and full-view camera are mounted on the head of unmanned aerial vehicle body, and by the image information in tunnel and nobody
Machine location information carries out unmanned plane auxiliary positioning by wireless communication transmission to operation center.
The GPS/INS integrated navigation system realizes integrated navigation and location by GPS and INS coupling, encapsulates GPS inside it
Module and IMU module can carry out independent navigation in tunnel in the environment of no signal, and can the progress when receiving GPS signal
It is adaptively adjusted after error analysis.
The high-precision laser range-finding sensor is mounted on the bottom of unmanned aerial vehicle body, and measures unmanned plane apart from ground
Distance.
The geological radar antenna is fixedly mounted on the top of unmanned aerial vehicle body, and movement is equipped in geological radar antenna
Controller makes it be close to the operation of lining cutting outer surface.
The geological radar antenna is connected by wireless telecommunications with operation center.
The utility model has the advantages that:
1, the Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle of the utility model uses unmanned machine operation, gram
Testing staff station has ensured testing staff life security the shortcomings that hand lifts radar antenna in operation box is taken.
2, the utility model can biggish raising detection efficiency, and then ensure that detection can be rapidly completed, it is minimum
The influence construction speed of limit.
3, the secondary lining detection system of the utility model holds geological radar without testing staff and carries out non-destructive testing, and solves
It has determined and there is a problem of that radar antenna detection speed and position are unstable, to improve the precision of detection.
4, the utility model realizes that integrated navigation is determined by GPS and INS coupling by using GPS/INS integrated navigation system
Position, enclosed inside GPS module and IMU module, can carry out independent navigation, and can receive in tunnel in the environment of no signal
Error analysis is carried out when GPS signal to adjust well.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the utility model unmanned plane detection system organigram.
Fig. 2 is that the utility model detection system information transmits schematic diagram.
In figure: unmanned aerial vehicle body 1, automatic pilot 2, geological radar antenna 3, information receiving module 4, information transfer module
5, high-precision laser range-finding sensor 6, unmanned plane detection system 7, motion controller 8, full-view camera 9, headlamp 10, power supply
11, GPS/INS integrated navigation system 12, operation center 13.
Specific embodiment
The embodiments of the present invention is described further with reference to the accompanying drawing.
A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle referring to FIG. 1-2, it includes GPS/INS
Integrated navigation system 12, unmanned plane detection system 7 and operation center 13；The operation center 13 and unmanned machine testing
It is connected between system 7 by wireless telecommunications；The unmanned plane detection system 7 includes unmanned aerial vehicle body 1, automatic pilot 2, geology
Radar antenna 3, information receiving module 4, information transfer module 5, high-precision laser range-finding sensor 6, motion controller 8, panorama
Camera 9, headlamp 10 and power supply 11；Communication connection between the information receiving module 4 and automatic pilot 2, and receive and fly
The navigation information of row instruction and GPS/INS integrated navigation system 12；The headlamp 10 and full-view camera 9 are mounted on unmanned plane
The head of fuselage 1, and the image information in tunnel and unmanned plane location information are passed through into wireless communication transmission to operation center
13 carry out unmanned plane auxiliary positioning.By using the Tunnel Second Lining detection system of above structure, it is secondary to can be used in tunnel
The automatic detection of lining cutting,
Further, the GPS/INS integrated navigation system 12 realizes integrated navigation and location by GPS and INS coupling, at it
Enclosed inside GPS module and IMU module can carry out independent navigation in tunnel, and can receive GPS in the environment of no signal
It is adaptively adjusted after carrying out error analysis when signal.
Further, the high-precision laser range-finding sensor 6 is mounted on the bottom of unmanned aerial vehicle body 1, and measures nobody
Distance of the machine apart from ground.And then constantly height of the feedback regulation unmanned aerial vehicle body 1 inside tunnel, it ensure that the safety of flight
Property.
Further, the geological radar antenna 3 is fixedly mounted on the top of unmanned aerial vehicle body 1, in geological radar antenna 3
On motion controller is installed, make its be close to lining cutting outer surface operation.It overcomes testing staff station hand in operation box and lifts radar
The shortcomings that antenna, has ensured the life security of testing staff.Moreover, can be to geological radar antenna 3 by motion controller
Position is accurately controlled, and ensure that it in the detection process, is close to lining cutting outer surface always, be ensure that the precision of detection.
Further, the geological radar antenna 3 is connected by wireless telecommunications with operation center 13.By by geology
The image that radar antenna 3 acquires passes to operation center 13, carries out radar image analysis by operation center, and to tunnel
The technology of road structure, operation situation are objectively evaluated.
The course of work and working principle of the utility model:
In operation process, flight path is inspected periodically according to tunnel basic document to be measured design unmanned plane detection system
Function after unmanned plane detection system 7 is awaited orders in place, issues flight directive to its information receiving module 4, is powered by power supply 11
Fly, the guidance flight of automatic pilot 2, unmanned plane detection system is illuminated, panoramic shooting in flight course by 10 light filling of headlamp
The image information within the scope of unmanned plane that machine 9 acquires instructs flight, and unmanned plane drive system provides unmanned plane during flying power by geology
Radar antenna is close to lining cutting surface.Motion controller is installed on radar antenna and guarantees that unmanned plane can be close in radar antenna
The operation of lining cutting surface, after the completion of secondary lining detection, the landing of unmanned plane detection system return.
Above-described embodiment is used to illustrate the utility model, rather than limits the utility model, practical at this
In novel spirit and scope of protection of the claims, to any modifications and changes that the utility model is made, this reality is both fallen within
With novel protection scope.
Claims (5)
1. a kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle, it is characterised in that: it includes GPS/INS combination
Navigation system (12), unmanned plane detection system (7) and operation center (13)；The operation center (13) and unmanned plane
It is connected between detection system (7) by wireless telecommunications；
The unmanned plane detection system (7) includes unmanned aerial vehicle body (1), automatic pilot (2), geological radar antenna (3), information
Receiving module (4), information transfer module (5), high-precision laser range-finding sensor (6), motion controller (8), full-view camera
(9), headlamp (10) and power supply (11)；Communication connection between the information receiving module (4) and automatic pilot (2), and connect
Receive the navigation information of flight directive and GPS/INS integrated navigation system (12)；The headlamp (10) and full-view camera (9) peace
It is arrived mounted in the head of unmanned aerial vehicle body (1), and by the image information in tunnel and unmanned plane location information by wireless communication transmission
Operation center (13) carries out unmanned plane auxiliary positioning.
2. a kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle according to claim 1, feature exist
In: the GPS/INS integrated navigation system (12) realizes integrated navigation and location by GPS and INS coupling, encapsulates GPS inside it
Module and IMU module can carry out independent navigation in tunnel in the environment of no signal, and can the progress when receiving GPS signal
It is adaptively adjusted after error analysis.
3. a kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle according to claim 1, feature exist
In: the high-precision laser range-finding sensor (6) is mounted on the bottom of unmanned aerial vehicle body (1), and measures unmanned plane apart from ground
Distance.
4. a kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle according to claim 1, feature exist
In: the geological radar antenna (3) is fixedly mounted on the top of unmanned aerial vehicle body (1), is equipped on geological radar antenna (3)
Motion controller makes it be close to the operation of lining cutting outer surface.
5. a kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle according to claim 1, feature exist
In: the geological radar antenna (3) is connected by wireless telecommunications with operation center (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821719720.3U CN209102898U (en) | 2018-10-23 | 2018-10-23 | A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821719720.3U CN209102898U (en) | 2018-10-23 | 2018-10-23 | A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle |
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| CN209102898U true CN209102898U (en) | 2019-07-12 |
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| CN201821719720.3U Expired - Fee Related CN209102898U (en) | 2018-10-23 | 2018-10-23 | A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
| CN112068170A (en) * | 2020-08-17 | 2020-12-11 | 四川铁集共联科技股份有限公司 | Positioning system based on low-orbit satellite transmission and implementation method |
| CN112099066A (en) * | 2020-08-17 | 2020-12-18 | 四川铁集共联科技股份有限公司 | Positioning system based on Beidou short message and implementation method |
| CN115220036A (en) * | 2022-09-21 | 2022-10-21 | 江苏筑升土木工程科技有限公司 | Intelligent road cavity online detection system and detection method |
| CN117518158A (en) * | 2023-12-04 | 2024-02-06 | 北京城建勘测设计研究院有限责任公司 | Tunnel full-section inspection equipment and method based on unmanned airborne geological radar |
-
2018
- 2018-10-23 CN CN201821719720.3U patent/CN209102898U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
| CN110261849B (en) * | 2019-07-24 | 2021-11-02 | 长江师范学院 | Tunnel lining structure detection device |
| CN112068170A (en) * | 2020-08-17 | 2020-12-11 | 四川铁集共联科技股份有限公司 | Positioning system based on low-orbit satellite transmission and implementation method |
| CN112099066A (en) * | 2020-08-17 | 2020-12-18 | 四川铁集共联科技股份有限公司 | Positioning system based on Beidou short message and implementation method |
| CN115220036A (en) * | 2022-09-21 | 2022-10-21 | 江苏筑升土木工程科技有限公司 | Intelligent road cavity online detection system and detection method |
| CN117518158A (en) * | 2023-12-04 | 2024-02-06 | 北京城建勘测设计研究院有限责任公司 | Tunnel full-section inspection equipment and method based on unmanned airborne geological radar |
| CN117518158B (en) * | 2023-12-04 | 2024-06-11 | 北京城建勘测设计研究院有限责任公司 | Tunnel full-section inspection equipment and method based on unmanned airborne geological radar |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190712 Termination date: 20201023 |
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| CF01 | Termination of patent right due to non-payment of annual fee |