一种基于爬壁机器人装置的隧道检测方法

发布时间：2018-03-05 19:41

本文选题：铁路隧道　切入点：检测方法　出处：《铁道建筑》2017年05期 　论文类型：期刊论文

【摘要】：自主研发的爬壁机器人采用十字形框架式结构,利用海绵真空负压吸盘组进行吸附。该机器人走行过程中具有位姿保持和调整能力,可保障雷达电磁波信号的稳定性和可靠性。利用爬壁机器人搭载CAS-S800地质雷达对隧道进行检测,分析了隧道衬砌背后的缺陷情况,并手持地质雷达对左边墙测线进行了复核。复核结果表明:爬壁机器人搭载雷达测试的模式可靠,雷达与衬砌表面间的距离保持能力和走行过程的稳定性符合检测需求。
[Abstract]:The self-developed wall-climbing robot adopts a cross-shaped frame structure and is adsorbed by a sponge vacuum vacuum suction sucker group. The robot has the ability to maintain and adjust the position and posture during the walking process. It can ensure the stability and reliability of the radar electromagnetic wave signal. The tunnel is detected by the climbing robot with CAS-S800 ground penetrating radar, and the defects behind the tunnel lining are analyzed. The results show that the testing mode of the wall-climbing robot is reliable, and the distance keeping ability between the radar and the lining surface and the stability of the walking process meet the needs of the detection.
【作者单位】：中国铁道科学研究院基础设施检测研究所;
【基金】：中国铁道科学研究院基金(2014YJ054)
【分类号】：U456.3

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