Tunnel arch wall detection device and method

Abstract

The invention provides a tunnel arch wall detection device and method, relates to the field of seismic survey, and aims to solve the problem that seismic survey elements are inconvenient to arrange in a tunnel at present, a loading assembly is carried by an unmanned aerial vehicle, a rod type structure is utilized to adapt to the tunnel space, and the arrangement problem of equipment in a narrow space is solved. Geophones of the wave detection assembly can be firmly pasted on the tunnel arch wall after being glued through a gluing structure, the arrangement accuracy and reliability are improved, the shock excitation assembly is directly installed on the loading assembly, the unmanned aerial vehicle is used for driving the shock excitation assembly to adjust the position to reach the needed shock excitation position, it is ensured that seismic waves can accurately act on the tunnel arch wall, and the shock excitation efficiency is improved. And the detection precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of seismic survey, and in particular to a tunnel arch wall detection device and method. Background Art

[0002] At present, the point-by-point observation process in the process of seismic exploration of tunnel arch walls is cumbersome and inefficient. In addition, it is easy for human factors to cause inaccurate detection results during the observation process. At the same time, when the receiving device is arranged in the tunnel, the space is relatively small and the surface of the tunnel arch wall is uneven, which makes detection inconvenient.

[0003] A Chinese patent (publication number: CN 115616654 B) discloses a source excitation device, which uses an aircraft to carry a source excitation component to efficiently complete the source excitation work under different terrains and ground conditions. While greatly improving work efficiency, it can also prevent personal accidents when detecting in dangerous terrains such as mountains. At the same time, the seismic source excitation component is retracted and released by a retractable component, which effectively eliminates the influence of errors caused by manual hammering on the detection accuracy, and the seismic source excitation component can be recycled, reducing the cost of use and preventing the impact on the field environment. However, it is not suitable for the space inside the tunnel. The tunnel space is relatively small, and the equipment mounted on the aircraft is difficult to be effectively deployed in the tunnel space. In addition, the tunnel arch wall is not in a horizontal posture. The drop-type layout method is not suitable for the structure of the tunnel arch wall, which affects the layout accuracy and reliability of the equipment detection equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a tunnel arch wall detection device and method in view of the defects of the prior art. The device and method solve the problem of equipment layout in a narrow space by carrying a loading component on an unmanned aerial vehicle and utilizing a rod-type structure to adapt to the tunnel space. The detector of the detection component can be firmly adhered to the tunnel arch wall after being coated with glue by a coating structure, thereby improving the accuracy and reliability of the layout. The excitation component is directly installed on the loading component and is driven by an unmanned aerial vehicle to adjust its position to reach the desired excitation position, thereby ensuring that the seismic waves can accurately act on the tunnel arch wall and improving the detection accuracy.

[0005] The first object of the present invention is to provide a tunnel arch wall detection device, which adopts the following scheme:

[0006] include:

[0007] Drones;

[0008] The loading assembly is a pole-type structure and is mounted on the drone;

[0009] The detector assembly includes a plurality of detector mechanisms sequentially distributed along the axial direction of the loading assembly, the detector mechanisms respectively cooperate with the loading assembly, the detector mechanism includes a cabin, a glue coating structure and a detector, the detector is detachably mounted on the cabin, and the output end of the glue coating structure faces the detector to release the adhesive to the detector;

[0010] The vibration component is installed on the loading component, and the output end of the vibration component faces the tunnel arch wall.

[0011] Furthermore, the loading assembly is provided with a bearing slider and a source loading part, a plurality of bearing sliders arranged in sequence are respectively provided on both sides of the source loading part, the detection mechanisms are installed on the bearing sliders one by one, and the excitation assembly is installed on the source loading part.

[0012] Furthermore, the main body of the loading assembly is a loading frame of a rod-type structure, on which a slideway distributed along its axial direction is provided, on which a plurality of bearing sliders run, and on which a locking piece capable of cooperating with the loading frame is provided to lock the loading frame after adjusting the position of the bearing slider.

[0013] Furthermore, an adjustment mechanism is installed at the position of the UAV mounting assembly, and the adjustment mechanism can drive the mounting assembly to rotate to adjust the directions of the detection assembly and the excitation assembly.

[0014] Furthermore, the glue coating structure is installed on the cabin and located at one side of the detector, and the glue coating structure contains adhesive inside and is released through the output end.

[0015] Furthermore, a pushing element is provided in the cabin, and one end of the detector away from the output end of the detector is detachably connected to the pushing element, and the pushing element drives the adhesive end of the detector to extend out of the cabin or retract into the cabin.

[0016] Furthermore, the vibration excitation component includes a weight and an energy storage mechanism, the energy storage mechanism is installed on the loading component, and the weight is installed on the output end of the energy storage mechanism and serves as the output end of the vibration excitation component.

[0017] Furthermore, the energy storage mechanism is provided with a trigger, the trigger is connected to the controller, and the detector communicates with the controller to send the collected data to the controller.

[0018] A second object of the present invention is to provide a working method of the tunnel arch wall detection device as described in the first object, comprising:

[0019] A plurality of detector mechanisms are installed on a loading assembly, a shock assembly is fixed to the loading assembly, and the loading assembly is mounted on a UAV;

[0020] The drone drives the loading assembly to move in the tunnel to the location where the geophone is installed;

[0021] The adhesive coating structure releases adhesive to the end of the geophone, and the geophone is bonded to the tunnel arch wall at the target position through the adhesive and is separated from the cabin;

[0022] After arranging multiple detectors in sequence, the drone drives the loading assembly to adjust to the shock position, uses the shock assembly to hammer and release the seismic signal, and the detector collects the seismic wave data and sends it to the controller for processing.

[0023] Furthermore, according to the installation angle of the detector, the mounting assembly is adjusted so that the detector of the cabin is in a desired posture and installed at the target position.

[0024] Compared with the prior art, the present invention has the following advantages and positive effects:

[0025] (1) In view of the inconvenience in arranging seismic survey components in tunnels, the problem of arranging equipment in a narrow space is solved by using a drone equipped with a loading assembly and a rod-type structure to adapt to the tunnel space. The detector of the detection assembly can be firmly attached to the tunnel arch wall after being coated with glue by a coating structure, thereby improving the accuracy and reliability of the arrangement. The excitation assembly is directly installed on the loading assembly and is driven by the drone to adjust its position to the desired excitation position, thereby ensuring that the seismic waves can accurately act on the tunnel arch wall and improving the detection accuracy.

[0026] (2) The internal space of the tunnel is often limited and complex in shape. The design of multiple bearing sliders allows the detector mechanism to be flexibly arranged axially on the loading frame to meet the detection needs of different tunnel sections. By sliding the bearing slider and locking it in the desired position, the distance and angle between the detector mechanism and the tunnel arch wall can be accurately adjusted to ensure accurate reception of seismic wave signals. Multiple bearing sliders enable the detector mechanism to be quickly arranged to multiple locations in the tunnel in a short period of time, thereby completing data collection at more detection points in a single flight mission. By accurately adjusting the position of the bearing slider, the distance and angle between the detector mechanism and the tunnel arch wall can be optimized, thereby minimizing signal attenuation and interference and improving the reception quality of seismic wave signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] Figure 1 Schematic diagram of the tunnel arch wall detection device in Examples 1 and 2 of the present invention.

[0029] Figure 2 Schematic diagram of the loading components in Examples 1 and 2 of the present invention.

[0030] Figure 3Schematic diagram of the shock assembly in Examples 1 and 2 of the present invention.

[0031] Figure 4 Schematic diagram of the detection mechanism in Examples 1 and 2 of the present invention.

[0032] Among them, 1. scale plate; 2. load-bearing slider; 3. source loading part; 4. fixing knob; 5. spring; 6. support frame; 7. trigger; 8. support rod; 9. lifting element; 10. limiter; 11. heavy hammer; 12. pad; 13. first signal transceiver element; 14. pushing element; 15. electric piston; 16. adhesive; 17. detector; 18. pad; 19. second signal transceiver element; 20. connecting part; 21. drone; 22. telescopic rod; 23. electric rotating shaft; 24. loading assembly; 25. excitation assembly; 26. detection assembly. DETAILED DESCRIPTION

[0033] Example 1

[0034] In a typical embodiment of the present invention, Figure 1-Figure 4 As shown, a tunnel arch wall detection device is provided.

[0035] Existing seismic source excitation devices (such as using aircraft to carry seismic source excitation components) are not suitable for the space inside the tunnel, because the tunnel space is small and the equipment mounted on the aircraft is difficult to deploy effectively. The non-horizontal posture of the tunnel arch wall makes the deployment method inaccurate, affecting the layout accuracy and reliability of the detection equipment. Based on this, the present embodiment provides a tunnel arch wall detection device, which uses a drone 21 to carry a loading component 24, and uses a rod-type structure to adapt to the tunnel space, thereby solving the problem of equipment layout in a small space. The detector 17 of the detection component 26 can be firmly attached to the tunnel arch wall after being coated with glue by a coating structure, thereby improving the accuracy and reliability of the layout. The excitation component 25 is directly installed on the loading component 24, and the position is adjusted to the desired excitation position by using the drone 21, thereby ensuring that the seismic waves can accurately act on the tunnel arch wall and improving the detection accuracy.

[0036] like Figure 1 As shown, the tunnel arch wall detection device includes a drone 21, a loading component 24, a detection component 26 and a shock component 25. The drone 21 is the flight carrier of the entire detection device and is responsible for flying and hovering in the air so as to accurately deliver the loading component 24 and the detection component 26 and shock component 25 thereon to the designated position in the tunnel. The loading component 24 is a rod-type structure and is designed to be mounted under the drone 21. As a bridge connecting the drone 21 with the detection component 26 and the shock component 25, it adapts to the narrow characteristics of the tunnel space and can be distributed along the longitudinal direction of the tunnel to ensure that the entire device can be smoothly moved and arranged in the tunnel.

[0037] The detector assembly 26 includes a plurality of detector mechanisms distributed in sequence along the axial direction of the loading assembly 24. The detector mechanism is composed of a cabin, a glue coating structure and a detector 17. The cabin is used to accommodate and protect the detector 17, and at the same time provide a basis for installation and fixation. The glue coating structure is used to output the adhesive 16 to firmly adhere the detector 17 to the tunnel arch wall to ensure that it will not fall off due to vibration or external force during the detection process. The detector 17 is used to receive and record seismic wave signals and is a key device for detecting the structural characteristics of the tunnel arch wall. The detector 17 can be detachably installed in the cabin for easy replacement and maintenance; the glue coating structure improves the accuracy and reliability of the layout.

[0038] The excitation component 25 is directly mounted on the loading component 24 to ensure that the relative position with the detection component 26 is fixed. The excitation component 25 can act on the tunnel arch wall to generate seismic waves, which will be conducted and reflected by the tunnel arch wall and received by the detector 17. By analyzing the signal characteristics of the reflected wave, the structural characteristics of the tunnel arch wall can be inferred. The output end of the excitation component 25 faces the tunnel arch wall, and the position is adjusted by the drone 21 to ensure that the seismic waves can accurately act on different positions of the tunnel arch wall, thereby improving the detection accuracy.

[0039] Drone 21 has the advantages of strong flexibility, easy operation, and the ability to reach places that are difficult to reach manually. The detection device carried by drone 21 can quickly and accurately complete the detection of tunnel arch walls, greatly improving the detection efficiency. Using drone 21 for operations avoids the safety risks that may be caused by direct operation of personnel in the tunnel. There is no need to build complex brackets or platforms in the tunnel, which reduces the detection cost. Through precise layout and adjustment, it is ensured that seismic waves can accurately act on the tunnel arch walls, improving the accuracy and reliability of the detection results.

[0040] In this embodiment, Figure 1 As shown, the UAV 21 platform adopts a high-performance, stable multi-rotor UAV 21, which has good flight control performance and endurance. The UAV 21 has a light body and is easy to fly flexibly in the tunnel.

[0041] The loading assembly 24 is provided with a bearing slider 2 and a source loading part 3. A plurality of bearing sliders 2 arranged in sequence are respectively provided on both sides of the source loading part 3. The wave detection mechanisms are mounted on the bearing sliders 2 one by one, and the excitation assembly 25 is mounted on the source loading part 3. The main body of the loading assembly 24 is a loading frame of a rod-type structure, on which a slideway distributed along its axial direction is provided, on which a plurality of bearing sliders 2 are run, and on which a locking member capable of cooperating with the loading frame is provided, so as to be locked after the position of the bearing slider 2 is adjusted.

[0042] The loading frame adopts a rod-type structure, and a length scale is marked on the outer wall to facilitate determination of the spacing between the bearing slider 2 and the detection mechanism thereon; Figure 2 As shown, the interior of the loading frame is a hollow structure and is provided with a slideway distributed along its axial direction. The supporting slider 2 can adopt a pulley cart with a cabin, and the pulley cart is provided with a locking member. The locking member can adopt a fixed knob 4. After adjusting the position of the pulley cart, the fixed knob 4 is rotated to fix the relative position of the pulley cart and the detection mechanism thereon and the loading assembly 24, so as to facilitate pre-configuration of the detector 17 on the loading frame according to the required position.

[0043] like Figure 4 As shown, an adjustment mechanism is installed at the position where the drone 21 mounts the loading assembly 24, and the adjustment mechanism can drive the mounting assembly to rotate to adjust the orientation of the detector assembly 26 and the excitation assembly 25. The adjustment mechanism can use a telescopic rod 22 combined with an electric rotating shaft 23. The mounting assembly is connected to the drone 21 through the telescopic rod 22. The end of the telescopic rod 22 is provided with an electric rotating shaft 23, which can rotate the loading assembly 24 to a certain angle, so that the detector 17 and the excitation device are facing the arch wall.

[0044] The detector assembly 26 includes a plurality of detector mechanisms distributed in sequence along the axial direction of the loading assembly 24, and the detector mechanism is composed of a metal shell, a pushing element 14, a glue coating structure, a detector 17, and a pad 18. Two cabins are formed inside the metal shell, one of which is provided with a pushing element 14, which is connected to the detector 17, and the other cabin is provided with a glue coating structure, which is installed in the cabin and located on one side of the detector 17. The glue coating structure contains adhesive 16 inside and is released through the output end, and the end of the detector 17 away from the output end of the detector 17 is detachably connected to the pushing element 14, and the pushing element 14 drives the end of the detector 17 with adhesive to extend out of the cabin or retract into the cabin.

[0045] In this embodiment, the pushing element 14 can be an electric push rod, and the detector 17 can be fixed on the electric push rod by means of magnetism, bonding, etc. The glue coating structure includes a storage chamber and an electric piston 15. The storage chamber is filled with adhesive 16. The opening of the storage chamber is used as an output end facing the detector 17 in the cabin. The electric piston 15 can change the volume of the storage chamber by telescoping, so as to squeeze the adhesive 16 in the storage chamber to the detector 17. In other optional embodiments, a pad 18 can be installed at one end of the detector 17 to which the adhesive 16 is applied. The pad 18 is fixed on the detector 17, and the adhesive 16 is applied on the pad 18.

[0046] After applying the adhesive 16, the pushing element 14 can drive the detector 17 to adjust its position so that the end applied with the adhesive 16 protrudes out of the cabin, and the detector 17 can be fixed on the surrounding rock buttress through the adhesive 16, so that the detector 17 is detached from the pushing element 14, completing the arrangement of the detector 17.

[0047] like Figure 4As shown, the metal shell is installed on the bearing slider 2 through connecting parts 20 such as bolts and screws, and adjusts its position along with the bearing slider 2, and can be calibrated using the scale plate 1 during the process of adjusting the position.

[0048] The internal space of a tunnel is often limited and complex in shape. The design of multiple bearing sliders 2 allows the detection mechanism to be flexibly arranged axially on the loading frame to meet the detection requirements of different tunnel sections. Multiple bearing sliders 2 enable the detection mechanism to be quickly arranged to multiple locations in the tunnel in a short time, thereby completing data collection at more detection points in one flight mission. The locking function of the bearing slider 2 ensures the stability of the detection mechanism during the detection process, reduces errors caused by position changes, and improves data quality. By precisely adjusting the position of the bearing slider 2, the distance and angle between the detection mechanism and the tunnel arch wall can be optimized, thereby minimizing signal attenuation and interference and improving the reception quality of seismic wave signals. The arrangement of multiple detection mechanisms at different positions can obtain more comprehensive tunnel arch wall structural information, which helps to more accurately evaluate the stability and safety of the tunnel.

[0049] The number and spacing of the load-bearing sliders 2 should be determined according to the actual size of the tunnel and the detection requirements to ensure that the detection mechanisms can be evenly distributed in the tunnel while avoiding mutual interference. The locking parts should be designed to be strong and reliable enough to ensure that the load-bearing sliders 2 will not loosen or shift due to vibration or external force during the detection process.

[0050] like Figure 3 As shown, the shock assembly 25 includes a weight 11 and an energy storage mechanism. The energy storage mechanism is installed on the loading assembly 24. The weight 11 is installed on the output end of the energy storage mechanism and serves as the output end of the shock assembly 25. The energy storage mechanism includes a spring 5, a support frame 6, a fastener and a lifting element 9. The spring 5 is used to store and release elastic potential energy and is one of the key components of the shock assembly 25. The support frame 6 provides support and fixation for the shock assembly 25 to ensure the relative position stability of the components. The fasteners are used to connect and fix the components to ensure the integrity and stability of the device. There are at least two lifting elements 9, which can be linear drive components such as electric push rods, which are used to push the weight 11 to lift and squeeze the spring 5.

[0051] The heavy hammer 11 acts as a seismic source and generates seismic waves by sudden release. The pad 12 is installed on the heavy hammer 11 and can contact the tunnel arch wall when the heavy hammer 11 is released, ensuring the effective transfer of energy when the seismic source is excited.

[0052] The support frame 6 is fixed to the position of the groove in the middle of the rod-type loading device by bolts, providing stable support for the entire excitation assembly 25. The spring 5 is installed on the support frame 6, one end of which is connected to the support frame 6, and the other end is connected to the weight 11, which is used to store and release elastic potential energy. The lifting element 9 is installed on both sides of the support frame 6 or at an appropriate position, which is used to push the weight 11 to lift and squeeze the spring 5. A limiter 10 is also provided on the support frame 6 to limit the maximum position of the weight 11. The weight 11 is installed at the lower end of the spring 5, and is lifted and released by the elastic potential energy of the spring 5 to generate seismic waves.

[0053] The energy storage mechanism is provided with a trigger 7, which is arranged on one side of the weight 11. After the weight 11 rises to the maximum position, the support rod 8 can be used to clamp the position of the weight 11. The trigger 7 is connected to the controller through the first signal transceiver element 13, and the detector 17 communicates with the controller through the second signal transceiver element 19 to send the collected data to the controller. When the controller sends a release signal, the trigger 7 controls the support rod 8 to move, so that the support rod 8 releases the weight 11, and the weight 11 can impact the tunnel arch wall under the action of the spring 5.

[0054] When in use, the vibration assembly 25 is fixed on the loading assembly 24 and adjusted to a proper position. The drone 21 lifts the loading assembly 24 to a designated working area and adjusts the angle through the electric rotating shaft 23 .

[0055] The lifting element 9 at the bottom of the shock assembly 25 is activated, pushing the weight 11 upward, and at the same time squeezing the spring 5 to give it a certain elastic potential energy. When the weight 11 reaches a certain height, the triggers 7 on both sides are activated, pushing the support rod 8 to support under the protruding part of the weight 11 to keep the weight 11 stable.

[0056] When releasing, the lifting assembly is retracted, and the elastic potential energy of the spring 5 begins to be released. Then, the triggers 7 on both sides drive the support rods 8 to be retracted as well, and the heavy hammer 11 is suddenly released due to the loss of support, hammering the target body (such as the tunnel arch wall), releasing the seismic wave signal.

[0057] The detector 17 remote installation device is attached to the tunnel arch wall by adhesive 16 to receive seismic wave signals and process and analyze them.

[0058] Example 2

[0059] In another typical embodiment of the present invention, Figure 1-Figure 4 As shown, a working method of a tunnel arch wall detection device is provided, using the tunnel arch wall detection device as in Example 1.

[0060] A working method of a tunnel arch wall detection device, comprising:

[0061] A plurality of wave detection mechanisms are installed on the loading assembly 24, the vibration assembly 25 is fixed to the loading assembly 24, and the loading assembly 24 is mounted on the drone 21;

[0062] The drone 21 drives the loading assembly 24 to move in the tunnel to the location where the detector 17 is installed;

[0063] The glue coating structure releases the adhesive 16 toward the end of the detector 17, and the detector 17 is bonded to the tunnel arch wall at the target position through the adhesive 16 and is separated from the cabin;

[0064] After arranging multiple geophones 17 in sequence, the drone 21 drives the loading assembly 24 to adjust to the shock position, and uses the shock assembly 25 to hammer and release the seismic signal. The geophone 17 collects seismic wave data and sends it to the controller for processing.

[0065] According to the installation angle of the detector 17, the mounting assembly is adjusted so that the detector 17 of the cabin is in a desired posture and installed at the target position.

[0066] The exciting assembly 25 realizes the accurate release and reception of seismic wave signals through the coordinated work of components such as the spring 5, the lifting element 9, the support rod 8 and the heavy hammer 11, providing reliable technical support for the tunnel arch wall detection. The design of the glue coating structure and the pushing element 14 ensures that the detector 17 can be firmly adhered to the tunnel arch wall and remain stable during the detection process.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tunnel arch wall detection device, characterized in that: include: Drones; The loading assembly is a pole-type structure and is mounted on the drone; The detector assembly includes a plurality of detector mechanisms sequentially distributed along the axial direction of the loading assembly, the detector mechanisms respectively cooperate with the loading assembly, the detector mechanism includes a cabin, a glue coating structure and a detector, the detector is detachably mounted on the cabin, and the output end of the glue coating structure faces the detector to release the adhesive to the detector; The vibration component is installed on the loading component, and the output end of the vibration component faces the tunnel arch wall.

2. The tunnel arch wall detection device according to claim 1, characterized in that: The loading assembly is provided with a bearing slider and a source loading part. A plurality of bearing sliders arranged in sequence are respectively provided on both sides of the source loading part. The detection mechanisms are installed on the bearing sliders one by one, and the excitation assembly is installed on the source loading part.

3. The tunnel arch wall detection device according to claim 2, characterized in that: The main body of the loading assembly is a loading frame of a rod-type structure, on which a slideway distributed along its axial direction is provided, on which a plurality of bearing slide blocks run, and on which a locking piece capable of cooperating with the loading frame is provided, so as to be locked after the position of the bearing slide block is adjusted.

4. The tunnel arch wall detection device according to claim 1, characterized in that: The position of the UAV mounting assembly is equipped with an adjustment mechanism, which can drive the mounting assembly to rotate to adjust the orientation of the detection assembly and the excitation assembly.

5. The tunnel arch wall detection device according to claim 1, characterized in that: The glue coating structure is installed on the cabin and located at one side of the detector. The glue coating structure contains adhesive inside and releases it through the output end.

6. The tunnel arch wall detection device according to claim 5, characterized in that: A pushing element is arranged in the cabin, and one end of the detector away from the output end of the detector is detachably connected to the pushing element. The pushing element drives the adhesive end of the detector to extend out of the cabin or retract into the cabin.

7. The tunnel arch wall detection device according to claim 1, characterized in that: The vibration component comprises a weight and an energy storage mechanism. The energy storage mechanism is installed on the loading component. The weight is installed on the output end of the energy storage mechanism and serves as the output end of the vibration component.

8. The tunnel arch wall detection device according to claim 7, characterized in that: The energy storage mechanism is provided with a trigger, the trigger is connected to the controller, and the detector communicates with the controller to send the collected data to the controller.

9. A working method of a tunnel buttress detection device, using the tunnel buttress detection device as claimed in any one of claims 1 to 8, characterized in that: include: A plurality of detector mechanisms are installed on a loading assembly, a shock assembly is fixed to the loading assembly, and the loading assembly is mounted on a UAV; The drone drives the loading assembly to move in the tunnel to the location where the geophone is installed; The adhesive coating structure releases adhesive to the end of the geophone, and the geophone is bonded to the tunnel arch wall at the target position through the adhesive and is separated from the cabin; After arranging multiple detectors in sequence, the drone drives the loading assembly to adjust to the shock position, uses the shock assembly to hammer and release the seismic signal, and the detector collects the seismic wave data and sends it to the controller for processing.

10. The working method of the tunnel arch wall detection device according to claim 9, characterized in that: According to the installation angle of the detector, adjust the mounting assembly so that the detector of the cabin is in the required posture and install it to the target position.

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