基于机器人检测的引水隧洞结构缺陷特征分析

机器人在水工隧洞的安全检测是解决引水隧洞斜井段巡检的有效手段。本文采用爬行机器人搭载三维激光扫描仪及高清摄像装备进行结构巡检，并通过三维点云处理与缺陷数据拼接获取了引水隧洞断面的缺陷信息。结合缺陷数据处理成果分析引水隧洞结构缺陷特征及分布规律，实现引水隧洞表观缺陷形态不规则、分布不均、多种缺陷共存的巡检与分析。结果表明：引水隧洞内存在的缺陷包括裂缝、渗漏、漏筋等，而裂缝是引水隧洞主要的缺陷类型，上平段缺陷数量明显多于斜井段。上平段裂缝主要分布在洞顶位置，裂缝多以垂直洞轴线的横线裂缝存在，斜井段裂缝均匀分布在洞周各个位置，走向以斜向裂缝居多。可见，上平段和斜井段缺陷数量和裂缝特征均存在较大差异，在后期的安全巡检过程中更应该主要关注裂缝的扩展情况。

Characteristic analysis of structural defects of Diversion tunnel Based on Robot Detection

The safety detection of robot in hydraulic tunnel is an effective means to solve the inspection of inclined shaft section of diversion tunnel. In this paper, the crawling robot is equipped with three-dimensional laser scanner and high-definition camera equipment for structural inspection, and the defect information of the diversion tunnel section is obtained through three-dimensional point cloud processing and defect data splicing. Combined with the defect data processing results, the structural defect characteristics and distribution law of the diversion tunnel are analyzed to realize the inspection and analysis of the irregular shape, uneven distribution and coexistence of multiple defects of the diversion tunnel. The results show that the defects in the diversion tunnel include cracks, leakage and reinforcement leakage, and cracks are the main defect type of the diversion tunnel, and the number of defects in the upper flat section is significantly more than that in the inclined shaft section. The cracks in the upper flat section are mainly distributed at the top of the tunnel, and most of the cracks are horizontal cracks perpendicular to the tunnel axis. Fractures in inclined shaft section are evenly distributed in all positions around the tunnel, and most of them are inclined fractures. It can be seen that there are great differences in the number of defects and fracture characteristics between the upper flat section and the inclined section. In the later safety inspection process, we should mainly pay attention to the expansion of fractures.