CN-122016931-A - Hydraulic tunnel operation period concrete crack inspection system and test method thereof

CN122016931ACN 122016931 ACN122016931 ACN 122016931ACN-122016931-A

Abstract

The invention discloses a hydraulic tunnel operation period concrete crack inspection system and a test method thereof, which relate to the field of hydraulic tunnel operation period concrete crack detection, the system comprises a power box and a main control box, the power box is connected with the main control box through a balance table, the power box comprises a hydraulic cylinder and a sliding pulley, the main control box comprises a three-dimensional laser scanner and an infrared thermal imager which are arranged at the bottom of the main control box, an environment monitoring unit and a camera which are arranged at the front side of the main control box, and a communication unit, a storage unit, a control unit and a power supply unit which are arranged in the main control box. Aiming at the limitations of low detection efficiency, manual intervention and the like of concrete cracks in the hydraulic tunnel operation period, the invention realizes the functions of automatically processing data and extracting key parameters such as crack positions, sizes and the like by simultaneously using a three-dimensional laser scanning technology and an infrared thermal imaging technology and integrating an image processing algorithm and an artificial intelligence technology, and completes the inspection test of the concrete cracks in the hydraulic tunnel operation period.

Inventors

QIAN HONGJIAN
TIAN GANG
WANG WANQIAN
ZHANG BIXING
LI TAO
JIANG PENG
HE PINJIE
Zheng Ronggang
XIANG CAIHUA
MAO XIAOTAO
Luo Lianli
LIN KAISHENG

Assignees

国家能源集团金沙江旭龙水电有限公司
中国水利水电第十四工程局有限公司
中国水利水电建设工程咨询北京有限公司
四川能源发展集团有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260127

Claims (9)

1. The utility model provides a hydraulic tunnel operation period concrete crack inspection system, its characterized in that includes headstock (1) and master control case (2), headstock (1) bottom is connected with master control case (2) top through balancing stand (5), the bottom of master control case (2) distributes has three-dimensional laser scanner (3) and infrared thermal imaging detector (4) that have same level height.
2. The hydraulic tunnel operation period concrete crack inspection system according to claim 1 is characterized in that an inverted T-shaped groove is formed in the top of the power box (1) and is used for being matched with an inverted T-shaped track to enable the system to move along a designated path, and a transmission pulley (6) and a hydraulic cylinder (7) are arranged in the inverted T-shaped groove of the power box (1), wherein the transmission pulley (6) is powered by the hydraulic cylinder (7).
3. The hydraulic tunnel operation period concrete crack inspection system according to claim 1, characterized in that an environment monitoring unit (8) and a camera (9) are embedded in the front side of the main control box (2), the three-dimensional laser scanner (3) and the infrared thermal imaging detector (4) are connected with the bottom of the main control box (2) through a stabilizing table (10), the three-dimensional laser scanner (3) is connected with the stabilizing table (10) through a rotating connecting rod (11), the rotating connecting rod (11) is used for realizing 360-degree horizontal rotation of the three-dimensional laser scanner (3), and the infrared thermal imaging detector (4) is connected with the stabilizing table (10) through a fixed connecting rod (12).
4. A hydraulic tunnel operation period concrete crack inspection system according to claim 3, characterized in that the bottom surface inside the main control box (2) is provided with a communication unit (13), a storage unit (14), a control unit (15) and a power supply unit (16) which are positioned in a protective shell.
5. The hydraulic tunnel operation period concrete crack inspection system according to claim 4, wherein the control unit (15) comprises a PLC control chip, a positioning chip and an artificial intelligent chip, and is used for generating control instructions based on data obtained by the three-dimensional laser scanner (3), the infrared thermal imaging detector (4), the environment monitoring unit (8) and the camera (9), controlling the operation of the hydraulic tunnel operation period concrete crack inspection system, completing automatic processing of collected data, and realizing movement of a hydraulic tunnel detection section and full-automatic detection of concrete cracks.
6. The hydraulic tunnel operation period concrete crack inspection system according to claim 4, wherein the power supply unit (16) is used for providing power for the three-dimensional laser scanner (3), the infrared thermal imaging detector (4), the environment monitoring unit (8), the camera (9), the communication unit (13), the storage unit (14) and the control unit (15).
7. The hydraulic tunnel operation period concrete crack inspection system according to claim 1, wherein the outside of the power box (1) and the outside of the main control box (2) are respectively provided with a protective shell, and the protective shells are fixedly connected and sealed through bolts.
8. A hydraulic tunnel operation period concrete crack inspection method, which is characterized by being implemented by adopting the hydraulic tunnel operation period concrete crack inspection system as claimed in any one of claims 1-7, comprising the following steps: S1, installing an inverted T-shaped track suitable for a clamping groove at the top of a power box (1) at the vault of a hydraulic tunnel detection section, installing a hydraulic tunnel operation period concrete crack inspection system on the track, fixing the power box (1) and the installation track through the clamping groove at the top of the power box (1) and a transmission pulley (6), guiding a detection path into a control unit (15) to be matched with a power supply unit (16), the transmission pulley (6) and a hydraulic cylinder (7) to realize the movement on the paved track, sensing the inspection environment through an environment monitoring unit (8) and a photographic instrument (9) in the movement process, judging the working environment state, controlling the movement path by an auxiliary system, and acquiring data through a three-dimensional laser scanner (3) and an infrared thermal imaging detector (4) in the movement process; S2, inputting point cloud data acquired by a three-dimensional laser scanner (3) and thermal imaging data acquired by an infrared thermal imaging detector (4) into a control unit (15), automatically reading the point cloud data and the thermal imaging data through an artificial intelligent chip, carrying out data preprocessing of positioning, filtering and splicing on the point cloud data and the thermal imaging data, transmitting the processed data to a rear server through a communication unit (13), completing recognition and information extraction of concrete cracks in the data, and outputting a final detection section concrete crack test result after summarizing.
9. The hydraulic tunnel operation period concrete crack inspection test method according to claim 8, wherein the step S2 specifically comprises the following steps: s201, clustering the preprocessed point cloud data based on a density distribution function through DENCLUE algorithm, wherein the density of the point cloud at a smooth position of the concrete is basically consistent, and the density of the point cloud at a region with cracks is obviously increased due to the unevenness, so that the identification of the concrete cracks is realized, and specifically, a Gaussian kernel function is selected as an influence function for estimating the contribution degree of the point: ; Wherein, the In order to influence the function, Controlling the attenuation speed of the influence function as a bandwidth parameter; Defining a density function as: ; Wherein, the As a density function, n is the total number of data concentration points, Is each point in the dataset; the gradient guiding the selection of the clustering center points is as follows: ; S202, recognizing concrete cracks through a Canny edge detection algorithm on the basis of temperature differences on the thermal imaging data after preprocessing, firstly removing noise in the thermal imaging data again by Gaussian filtering, performing smoothing treatment on non-edge areas with weaker textures to obtain more accurate edges, then calculating gradient amplitude values and gradient directions in the thermal imaging data to determine the edges, and calculating by adopting a sobel operator: ; ; ; Wherein, the The weights obtained for the thermal imaging data via gaussian filters have a convolution kernel with gaussian distribution characteristics, Is the convolution kernel of the Sobel filter in the horizontal direction, Is the convolution kernel of the Sobel filter in the vertical direction, For the magnitude of the gradient, Is the direction of the gradient; After the gradient amplitude and the gradient direction of the data are obtained, non-maximum suppression is applied to the edges of the image according to the result so as to remove most non-edge points, a double-threshold technology is applied, and the edges are automatically judged by selecting strong and weak thresholds, so that the automatic identification of the potential positions of the concrete cracks based on the thermal imaging data is realized; S203, integrating judgment results in the point cloud data and the thermal imaging data, extracting corresponding crack data with the same positions in the two results, completing automatic identification of concrete cracks in the hydraulic tunnel operation period, extracting the corresponding positions and sizes, and automatically generating test results.

Description

Hydraulic tunnel operation period concrete crack inspection system and test method thereof Technical Field The invention relates to the technical field of concrete crack detection in the operation period of hydraulic tunnels, in particular to a hydraulic tunnel operation period concrete crack inspection system and a test method thereof. Background Hydraulic tunnels serve as an important infrastructure, and monitoring and evaluation of the structural integrity thereof is critical to the safe operation of the tunnel. In hydraulic tunnel structural integrity monitoring, the importance of detecting the hydraulic tunnel concrete cracks is reflected in the aspects of protecting the safe operation of the tunnel, reducing the maintenance cost, ensuring the structural integrity, guaranteeing the operation of hydraulic engineering and the like. Through timely detection and discernment concrete crack, can prevent structural strength decline and possible accident, effectively reduce maintenance cost and increase of service life, keep reliability and the stability of tunnel simultaneously to guarantee the normal operating of tunnel and hydraulic engineering's going on smoothly. However, the conventional crack detection method has the problems of complex operation, low detection efficiency and the like, so that development and application of an efficient and accurate hydraulic tunnel concrete crack inspection system and a test method thereof are urgently needed. The three-dimensional laser scanning technology can rapidly acquire geometric data in the tunnel, accurately presents the structural form of the tunnel, generates an accurate three-dimensional panoramic model, and provides a reliable basis for concrete crack detection. Infrared thermal imaging technology can analyze the temperature distribution by measuring the thermal radiation of the object surface, so as to detect the possible cracks or hot spot areas. The non-contact thermal imaging technology has the characteristics of high efficiency and accuracy, and can be widely applied to detection and evaluation of concrete cracks in tunnels. Therefore, the three-dimensional laser scanning and the infrared thermal imaging technology are combined into a whole, and the full-automatic crack detection is realized, so that great technical advantages and convenience can be brought to the concrete crack detection in the hydraulic tunnel operation period. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides a hydraulic tunnel operation period concrete crack inspection system and a test method thereof, so as to realize full-automatic non-contact scanning and automatically process data to finish result discrimination. The system can efficiently acquire a three-dimensional panoramic model in the hydraulic tunnel by utilizing a three-dimensional laser scanning technology and an infrared thermal imaging technology, and can accurately detect and evaluate the concrete crack by analyzing the geometric form and the thermal radiation characteristic of the crack. In order to achieve the purpose, the technical scheme is that the hydraulic tunnel operation period concrete crack inspection system comprises a power box (1) and a main control box (2), wherein the bottom of the power box (1) is connected with the top of the main control box (2) through a balance table (5), and a three-dimensional laser scanner (3) and an infrared thermal imaging detector (4) with the same horizontal height are distributed at the bottom of the main control box (2). As a further improvement of the invention, the top of the power box (1) is provided with an inverted T-shaped groove which is used for being matched with an inverted T-shaped track to enable the system to move along a designated path, and a transmission pulley (6) and a hydraulic cylinder (7) are arranged in the inverted T-shaped groove of the power box (1), wherein the transmission pulley (6) is powered by the hydraulic cylinder (7). As a further improvement of the invention, the front side of the main control box (2) is embedded with an environment monitoring unit (8) and a camera (9), the three-dimensional laser scanner (3) and the infrared thermal imaging detector (4) are connected with the bottom of the main control box (2) through a stabilizing table (10), the three-dimensional laser scanner (3) is connected with the stabilizing table (10) through a rotating connecting rod (11), the rotating connecting rod (11) is used for realizing 360-degree horizontal rotation of the three-dimensional laser scanner (3), and the infrared thermal imaging detector (4) is connected with the stabilizing table (10) through a fixed connecting rod (12). As a further improvement of the invention, the bottom surface inside the main control box (2) is provided with a communication unit (13), a storage unit (14), a control unit (15) and a power supply unit (16) which are positioned in the protective shell. As a further improve