Auxiliary tool, ground penetrating radar equipment, lightweight tunnel detection vehicle and control method

Abstract

The invention discloses an auxiliary tool, ground penetrating radar equipment, a lightweight tunnel detection vehicle and a control method, and relates to the technical field of tunnel detection.The auxiliary tool is used for assisting in detecting hidden tunnel diseases and comprises a base, a ground penetrating radar assembly and an obstacle avoidance assembly, and the base comprises a bottom plate and two side plates; the two side plates are connected to the two opposite sides of the bottom plate. The ground penetrating radar is arranged on the bottom plate and located between the two side plates, and the surface, away from the bottom plate, of the ground penetrating radar is exposed out of the edges, away from the bottom plate, of the two side plates. The obstacle avoidance assembly is arranged on the surface, away from the ground penetrating radar assembly, of the side plate and used for assisting the ground penetrating radar assembly in avoiding irregular parts of the inner wall of the to-be-detected tunnel. According to the auxiliary tool provided by the invention, collision between the auxiliary tool and irregular parts of the inner wall of the tunnel can be prevented, and the situation that ground penetrating radar equipment and tunnel ancillary facilities are damaged is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel hidden disease detection, and particularly to an auxiliary tooling, a ground penetrating radar device, a lightweight tunnel detection vehicle and a control method. Background Art

[0002] Ground penetrating radar is a non-destructive detection technology. Compared with other conventional underground detection methods, it has the advantages of fast detection speed, continuous detection process, high resolution, convenient and flexible operation, low detection cost, etc., and is increasingly widely used in the field of engineering survey.

[0003] The existing ground penetrating radar auxiliary tooling has poor obstacle avoidance performance and is prone to collide with the inner wall of the tunnel to be detected, resulting in damage to the detection equipment and tunnel ancillary facilities. Summary of the Invention

[0004] The main object of the present invention is to propose an auxiliary tooling, a ground penetrating radar device, a lightweight tunnel detection vehicle and a control method, aiming to prevent the ground penetrating radar device from colliding with the irregular parts of the tunnel inner wall and reduce the occurrence of damage to the detection equipment and tunnel ancillary facilities.

[0005] To achieve the above object, the auxiliary tooling proposed by the present invention is used for detecting diseases of the tunnel to be detected. The auxiliary tooling includes a base, a ground penetrating radar assembly and an obstacle avoidance assembly. The base includes a bottom plate and two side plates, and the two side plates are connected to opposite sides of the bottom plate; the ground penetrating radar is arranged on the bottom plate and located between the two side plates, and the surface of the ground penetrating radar away from the bottom plate is exposed at the edges of the two side plates away from the bottom plate; the obstacle avoidance assembly is arranged on the surface of the side plate facing away from the ground penetrating radar assembly and is used to assist the ground penetrating radar assembly to avoid the irregular parts of the inner wall of the tunnel to be detected.

[0006] In an embodiment, the obstacle avoidance assembly includes two cameras and two fill lights. One camera and one fill light are arranged on the surface of one side plate facing away from the ground penetrating radar assembly, and the shooting direction of the camera is set to face away from the bottom plate.

[0007] In an embodiment, the obstacle avoidance assembly further includes a ranging sensor. The ranging sensor is arranged on the surface of the side plate facing away from the ground penetrating radar assembly and is located on one side of the side plate away from the bottom plate. The ranging sensor is used to detect the distance between the auxiliary tooling and the inner wall of the tunnel to be detected.

[0008] In an embodiment, the number of the ranging sensors is four, and two of the ranging sensors are arranged at intervals on one side plate and are located on one side of the side plate away from the bottom plate.

[0009] In one embodiment, the obstacle avoidance component further includes two shooting components. One shooting component is arranged on the surface of one side plate facing away from the ground penetrating radar component, and the shooting direction of the shooting component is perpendicular to the side plate.

[0010] In one embodiment, the shooting component is a binocular camera.

[0011] In one embodiment, the auxiliary tooling further includes a shock absorber, and the shock absorber is clamped between the ground penetrating radar component and the bottom plate.

[0012] The present invention also provides a ground penetrating radar device applied to a lightweight tunnel detection vehicle. The ground penetrating radar device includes the auxiliary tooling, a lifting mechanism and a mounting seat as described above. The movable end of the lifting mechanism is drivingly connected to the auxiliary tooling; the other end of the lifting mechanism away from the movable end is rotatably connected to the mounting seat.

[0013] The present invention also provides a lightweight tunnel detection vehicle, including a vehicle body, a control device and the ground penetrating radar device as described above. The control device is arranged on the vehicle body and is electrically connected or communicatively connected to the ground penetrating radar device, and the mounting seat of the ground penetrating radar device is arranged on the vehicle body.

[0014] The present invention also provides a control method applied to the lightweight tunnel detection vehicle as described above. The control method includes the following steps:

[0015] Obtain the obstacle information on the inner wall of the tunnel to be detected;

[0016] Control the lifting mechanism to drive the auxiliary tooling to avoid obstacles in the tunnel to be detected;

[0017] Control the auxiliary tooling to perform disease detection on the inner wall of the tunnel to be detected.

[0018] The technical solution of the present invention adopts an obstacle avoidance component to assist the ground penetrating radar to avoid irregular parts on the inner wall of the tunnel, preventing the ground penetrating radar from colliding and being damaged. The auxiliary tooling proposed by the present invention includes a base, a ground penetrating radar component and an obstacle avoidance component. The base includes a bottom plate and two side plates connected to opposite sides of the bottom plate. The ground penetrating radar component is arranged on the bottom plate and located between the two side plates. The surface of the ground penetrating radar component exposes the edges of the two side plates to perform close disease detection on the inner wall of the tunnel. The obstacle avoidance component is arranged on the side plate and can obtain the obstacle information in front to assist the ground penetrating radar to avoid irregular parts on the inner wall of the tunnel. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0020] Figure 1 Schematic diagram of the structure of an embodiment of the lightweight tunnel detection vehicle provided by the present invention;

[0021] Figure 2 Schematic diagram of the structure of an embodiment of the ground penetrating radar device provided by the present invention;

[0022] Figure 3 For Figure 2 Partial enlarged view at position A in

[0023] Figure 4 Schematic diagram of the structure of an embodiment of the control method provided by the present invention.

[0024] Explanation of the reference numerals in the drawings:

[0025] 100, lightweight tunnel detection vehicle; 10, ground penetrating radar device; 1, auxiliary tooling; 11, base; 111, bottom plate; 112, side plate; 12, ground penetrating radar assembly; 13, obstacle avoidance assembly; 131, camera; 132, fill light; 133, ranging sensor; 134, shooting member; 14, shock absorber; 2, lifting mechanism; 3, mounting seat; 20, vehicle body; 30, control device.

[0026] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Specific embodiments

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0028] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0029] In addition, if the embodiments of the present invention involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or inability to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] Ground penetrating radar is a non-destructive detection technology. Compared with other conventional underground detection methods, it has the advantages of fast detection speed, continuous detection process, high resolution, convenient and flexible operation, and low detection cost, and is increasingly widely used in the field of engineering investigation.

[0031] The existing ground penetrating auxiliary tooling has poor obstacle avoidance performance and is prone to collide with the inner wall of the tunnel to be detected, resulting in damage to the detection equipment and tunnel auxiliary facilities.

[0032] The present invention proposes an auxiliary tooling, a ground penetrating radar device, a lightweight tunnel detection vehicle, and a control method, aiming to prevent the auxiliary tooling from colliding with the irregular parts of the tunnel inner wall and reduce the occurrence of damage to the auxiliary tooling.

[0033] Please refer to Figure 3 , in an embodiment of the present invention, the auxiliary tooling 1 is used to detect diseases of the tunnel to be detected. The auxiliary tooling 1 includes a base 11, a ground penetrating radar assembly 12, and an obstacle avoidance assembly 13. The base 11 includes a bottom plate 111 and two side plates 112. The two side plates 112 are connected to opposite sides of the bottom plate 111; the ground penetrating radar is provided on the bottom plate 111 and is located between the two side plates 112. The surface of the ground penetrating radar away from the bottom plate 111 is exposed at the edges of the two side plates 112 away from the bottom plate 111; the obstacle avoidance assembly 13 is provided on the surface of the side plate 112 facing away from the ground penetrating radar assembly 12 and is used to assist the ground penetrating radar assembly 12 to avoid the irregular parts of the inner wall of the tunnel to be detected.

[0034] In this embodiment, the auxiliary tooling 1 is a non-destructive detection technology that uses high-frequency electromagnetic waves to detect targets. After the received reflected signals are processed, two-dimensional or three-dimensional structural images of the tunnel inner wall can be generated. These images show the formation structures and reflection interfaces at different depths of the tunnel inner wall, helping the inspectors understand the internal structure of the tunnel wall and are used for detecting hidden diseases of the tunnel inner wall to be inspected. By providing an obstacle avoidance component 13 on the surface of the side plate 112 facing away from the ground penetrating radar component 12, the direct collision between the auxiliary tooling 1 and the irregular parts of the tunnel inner wall can be effectively avoided. During the tunnel detection process, there may be irregular shapes such as protrusions and depressions on the tunnel inner wall, and these irregularities are likely to cause impacts and damages to the auxiliary tooling 1. The obstacle avoidance component 13 can sense these irregular parts in real time or in advance and guide the auxiliary tooling 1 to avoid them, thereby reducing damages such as scratches and depressions on the surface of the auxiliary tooling 1 and reducing the risk of damage to the internal components of the auxiliary tooling 1 caused by collisions, and prolonging the service life of the auxiliary tooling 1. The collision between the irregular parts of the tunnel inner wall and the auxiliary tooling 1 will not only directly affect the working state of the auxiliary tooling 1, but also may introduce interference signals into the radar signals. When the auxiliary tooling 1 collides with the tunnel inner wall, additional vibrations and noises will be generated, and these vibrations and noises may be misinterpreted by the radar as reflection signals in the tunnel inner wall, thus interfering with the normal detection data. The obstacle avoidance component 13 reduces the generation of such interference signals by avoiding collisions, making the detected data cleaner and more reliable, and helping to more accurately analyze the disease conditions of the tunnel. In traditional ground penetrating radar detections, due to poor obstacle avoidance performance, the auxiliary tooling 1 may be damaged due to collisions during the detection process, and it is necessary to stop the machine for maintenance. Each time of stopping the machine will cause delays in the detection progress. The auxiliary tooling 1 of the present invention reduces the situation of stopping the machine for maintenance caused by collisions through effective obstacle avoidance design, enabling the detection process to proceed more continuously and efficiently. For example, in a long tunnel detection project, a large amount of time for stopping the machine for maintenance can be saved, thereby shortening the entire detection cycle.

[0035] The base 11 includes a bottom plate 111 and two side plates 112 provided on opposite sides of the bottom plate 111. The bottom plate 111 and the two side plates 112 can be connected into one body by a connection method of being independent of each other and connected by welding or screws, or a plate body can be bent to form a U-shaped bottom plate 111 and two side plates 112, and no further limitation is made here. The materials of the bottom plate 111 and the side plates 112 can be made of metal materials, such as stainless steel or aluminum alloy and other materials, which are strong and durable and play a role in supporting the ground penetrating radar component 12.

[0036] The obstacle avoidance component 13 can sense the irregularities of the tunnel inner wall in real time and guide the auxiliary tooling 1 to avoid these obstacles, enabling the auxiliary tooling 1 to more flexibly select the detection path and avoid repeatedly adjusting the position and direction in the irregular area, thereby improving the planning efficiency of the detection path. For example, when encountering a protruding part of the tunnel inner wall, the auxiliary tooling 1 can quickly bypass it, instead of possibly requiring multiple attempts and adjustments like a traditional radar to continue moving forward, which can save a lot of time and effort and improve the detection efficiency. The obstacle avoidance component 13 can adopt an ultrasonic sensor obstacle avoidance component 13 or a laser obstacle avoidance component 13, etc., or can also adopt optical elements such as a camera 131 to take pictures and identify the obstacles on the tunnel inner wall.

[0037] The technical solution of the present invention adopts the obstacle avoidance component 13 to assist the ground penetrating radar to avoid the irregular parts of the tunnel inner wall and prevent the ground penetrating radar from colliding and being damaged. The auxiliary tooling 1 proposed by the present invention includes a base 11, a ground penetrating radar component 12, and an obstacle avoidance component 13. The base 11 includes a bottom plate 111 and two side plates 112 connected to opposite sides of the bottom plate 111. The ground penetrating radar component 12 is disposed on the bottom plate 111 and is located between the two side plates 112. The surface of the ground penetrating radar component 12 exposes the edges of the two side plates 112 to perform close-range disease detection on the tunnel inner wall. The obstacle avoidance component 13 is arranged on the side plate 112 and can obtain the obstacle information in front to assist the ground penetrating radar to avoid the irregular parts of the tunnel inner wall.

[0038] In an embodiment of the present invention, the obstacle avoidance component 13 includes two cameras 131 and two fill lights 132. One camera 131 and one fill light 132 are disposed on the surface of one side plate 112 facing away from the ground penetrating radar component 12, and the shooting direction of the camera 131 is set to face away from the bottom plate 111.

[0039] In this embodiment, the camera 131 can capture the image information of the tunnel inner wall with high resolution. The camera 131 can provide a more intuitive and detailed inner wall image, and can more clearly display the detailed features such as the texture, cracks, protrusions, and depressions of the inner wall. This high-resolution imaging ability helps to more accurately identify the irregular parts of the tunnel inner wall and provides more reliable data support for obstacle avoidance. The camera 131 can capture the image of the tunnel inner wall in real time and quickly transmit the image data to the obstacle avoidance control system. During the driving process of the lightweight tunnel detection vehicle 100, the situation of the inner wall may change continuously. For example, due to factors such as ventilation and humidity inside the tunnel, water droplets, dust, and other attachments may appear on the inner wall surface, and these attachments may affect the normal operation of the auxiliary tooling 1. Through real-time dynamic monitoring, the obstacle avoidance component 13 can timely detect these changes and make corresponding obstacle avoidance decisions. For example, when the camera 131 detects a large amount of water droplets on the front inner wall, the obstacle avoidance system can control the auxiliary tooling 1 to drive at a reduced speed to avoid the interference of water droplets on the radar signal.

[0040] The lighting conditions inside the tunnel are usually poor, especially in some deeper tunnels or areas with imperfect lighting equipment, and the visibility of the inner wall of the tunnel is very low. The supplementary light 132 can provide a stable light source for the camera 131, ensuring that the camera 131 can clearly capture the inner wall image under various lighting conditions. Moreover, the supplementary light 132 can adjust its brightness according to the actual light intensity inside the tunnel to achieve the best shooting effect. When the light inside the tunnel is strong, the supplementary light 132 can reduce its brightness to avoid overexposure; when the light is weak, the supplementary light 132 can increase its brightness to ensure the clarity of the image. Cameras 131 and supplementary lights 132 are both provided on the two side plates 112 of the radar assembly. By the complementary shooting of the two cameras 131, images of the inner wall of the tunnel are taken from multiple angles to obtain more comprehensive inner wall information.

[0041] In the embodiment of the present invention, the obstacle avoidance assembly 13 further includes a distance measuring sensor 133. The distance measuring sensor 133 is provided on the surface of the side plate 112 facing away from the ground penetrating radar assembly 12 and is located on one side of the side plate 112 far from the bottom plate 111. The distance measuring sensor 133 is used to detect the distance between the auxiliary tooling 1 and the inner wall of the tunnel to be detected.

[0042] In this embodiment, the ranging sensor 133 can measure the distance between the auxiliary tooling 1 and the tunnel inner wall in real time and accurately. Compared with the image recognition of the camera 131, the data provided by the ranging sensor 133 is more direct and quantitative. This real-time and accurate distance monitoring provides reliable data support for the obstacle avoidance component 13, enabling the system to more accurately judge the relative position between the auxiliary tooling 1 and the inner wall, so as to make an obstacle avoidance decision in advance and avoid collisions between the auxiliary tooling 1 and the interior. The tunnel inner wall may have various complex shapes and structures, such as irregular protrusions, depressions, cracks, etc. The ranging sensor 133 can accurately measure the distance to these complex shapes. For example, when the auxiliary tooling 1 approaches an irregular protrusion, the ranging sensor 133 can measure the distances between the auxiliary tooling 1 and different parts of the protrusion respectively to provide detailed distance data. The main control system can precisely control the moving direction and speed of the auxiliary tooling 1 based on these data, enabling it to flexibly avoid the protrusion and ensure the safe operation of the auxiliary tooling 1 in a complex inner wall environment. The ranging sensor 133 is combined with other obstacle avoidance components 13 such as the camera 131 and the fill light 132 to form an obstacle avoidance system with multi-sensor data fusion. The camera 131 can provide image information of the inner wall for identifying the shape and texture features of the inner wall; the fill light 132 can improve the shooting environment and enhance the image quality; the ranging sensor 133 provides accurate distance data. These different types of sensor data complement each other, enhancing the reliability of the obstacle avoidance system. In cases where the lighting conditions are poor or the color of the inner wall is similar to the background, the camera 131 may have difficulty accurately identifying the contour of the inner wall, but the ranging sensor 133 can still provide reliable distance data to ensure the normal operation of the obstacle avoidance component 13. Relying solely on the image recognition of the camera 131 may result in misjudgments, such as mistaking stains, water stains, etc. on the inner wall for obstacles, or ignoring small obstacles that actually exist. The distance data provided by the ranging sensor 133 can verify and correct the recognition results of the camera 131. When the camera 131 recognizes an obstacle, the ranging sensor 133 can measure the actual distance at this position. If the distance data indicates that there is no obstacle at this position, or the size of the obstacle does not match the result recognized by the camera 131, the obstacle avoidance system can make a comprehensive judgment to reduce the risk of misjudgment and improve the accuracy of the obstacle avoidance decision.

[0043] In an embodiment of the present invention, the number of the ranging sensors 133 is four, and two ranging sensors 133 are spaced apart and provided on one side plate 112 and are located on the side of the side plate 112 away from the bottom plate 111.

[0044] In this embodiment, two ranging sensors 133 are arranged at intervals on the side plate 112 and are located on the side of the side plate 112 away from the bottom plate 111. The four ranging sensors 133 on the two side plates 112 form a detection plane, which can cover a wider area between the auxiliary tooling 1 and the tunnel inner wall. Compared with a single ranging sensor 133, the four ranging sensors 133 can simultaneously monitor the distances between four different positions of the auxiliary tooling 1 and the inner wall, aiming to conduct an all-round distance monitoring between the auxiliary tooling 1 and the tunnel inner wall, and can more accurately judge the overall shape of the tunnel inner wall and the relative position of the auxiliary tooling 1, so as to make a more reasonable obstacle avoidance decision in advance.

[0045] In an embodiment of the present invention, the obstacle avoidance component 13 further includes two photographing members 134. One photographing member 134 is arranged on the surface of one side plate 112 facing away from the ground penetrating radar component 12, and the photographing direction of the photographing member 134 is perpendicular to the side plate 112.

[0046] In this embodiment, the obstacle avoidance component 13 further includes two photographing members 134 with a photographing direction perpendicular to the side plate 112, which are used to photograph the front or rear of the traveling direction of the lightweight tunnel detection vehicle 100, and can detect obstacles in front of or behind the tunnel in advance, so as to make a more reasonable obstacle avoidance decision in advance.

[0047] In an embodiment of the present invention, the photographing member 134 is a binocular camera.

[0048] In this embodiment, a binocular camera is used as the photographing member 134. The binocular camera can obtain the three-dimensional depth information of the tunnel inner wall by simulating the way of human binoculars observing the world through two cameras 131. Compared with a monocular camera, the binocular camera can more accurately calculate the distance between the auxiliary tooling 1 and the obstacle in front, providing more accurate data support for the obstacle avoidance component 13, so that the auxiliary tooling 1 can avoid obstacles in advance and more accurately.

[0049] In an embodiment of the present invention, the auxiliary tooling 1 further includes a shock absorber 14, and the shock absorber 14 is clamped between the ground penetrating radar component 12 and the bottom plate 111.

[0050] In this embodiment, a shock absorber 14 is clamped between the bottom plate 111 and the ground penetrating radar component 12. The shock absorber 14 can be made of silica gel material or rubber material, which can absorb the vibration received by the ground penetrating radar component 12 and prevent the sound generated by the vibration from interfering with the radar signal and causing misjudgment problems.

[0051] Please refer to Figure 2The present invention also proposes a ground penetrating radar device 10, which is applied to a lightweight tunnel inspection vehicle 100. The ground penetrating radar device 10 includes the auxiliary tooling 1, a lifting mechanism 2 and a mounting seat 3 as described above. The movable end of the lifting mechanism 2 is driven and connected to the auxiliary tooling 1; the other end of the lifting mechanism 2 away from the movable end is rotatably connected to the mounting seat 3.

[0052] In this embodiment, the lifting mechanism 2 is a telescopic push rod structure, and the auxiliary tooling 1 is arranged at the movable end of the lifting mechanism 2. Through the extension and retraction of the lifting mechanism 2, the auxiliary tooling 1 is moved in the direction close to the inner wall of the tunnel and away from the inner wall of the tunnel, and the auxiliary tooling 1 is assisted to fit the inner wall to detect hidden diseases or to move away from the inner wall to avoid obstacles, etc. The mounting seat 3 is rotatably connected to the other end of the lifting mechanism 2. A rotating motor is arranged in the mounting seat 3 to drive the other end of the lifting mechanism 2, thereby driving one end of the lifting mechanism 2 and the auxiliary tooling 1 to rotate relative to the mounting seat 3 on the cross section of the tunnel, so as to realize the detection of hidden diseases at various places on the inner wall of the tunnel.

[0053] See also Figure 1 The present invention also proposes a lightweight tunnel inspection vehicle 100, including a vehicle body 20, a control device 30 and the ground penetrating radar device 10 as described above, wherein the control device 30 is disposed on the vehicle body 20 and is electrically connected or communicatively connected to the ground penetrating radar device 10, and a mounting seat 3 of the ground penetrating radar device 10 is disposed on the vehicle body 20.

[0054] In this embodiment, the vehicle body 20 is used for traveling in the tunnel, and can be a rail vehicle or a crawler vehicle, etc., which is not further limited here. The control device 30 is arranged on the vehicle body 20, and the mounting seat 3 is also arranged on the vehicle body 20. The control component is electrically connected or communicatively connected with the ground penetrating radar device 10. The control component can control the lifting mechanism 2, the mounting seat 3 and the auxiliary tooling 1 of the ground penetrating radar device 10 to realize the detection of hidden diseases at various locations on the inner wall of the tunnel.

[0055] The obstacle avoidance component 13 of the auxiliary tooling 1 is linked to the driving system of the lightweight tunnel inspection vehicle 100 through the control component. When the obstacle avoidance component 13 detects an irregular part of the inner wall of the tunnel, it can not only control the position and posture of the auxiliary tooling 1 itself, but also send instructions to the driving system of the vehicle body 20 to adjust the driving direction and speed of the inspection vehicle. For example, when a large area of ​​irregular area appears on the inner wall in front of the auxiliary tooling 1, the obstacle avoidance component 13 can control the inspection vehicle to slow down and change the driving direction, so that the auxiliary tooling 1 bypasses the obstacle area, while ensuring that the auxiliary tooling 1 is always in the best detection position.

[0056] See also Figure 4 The present invention further proposes a control method, which is applied to the lightweight tunnel inspection vehicle 100 as described above, and the control method comprises the following steps:

[0057] Step S1: Obtain the obstacle information on the inner wall of the tunnel to be detected;

[0058] Step S2: Control the lifting mechanism 2 to drive the auxiliary tooling 1 to avoid the obstacles in the tunnel to be detected;

[0059] Step S3: Control the auxiliary tooling 1 to detect the diseases on the inner wall of the tunnel to be detected.

[0060] In this embodiment, the control component controls the vehicle body 20 of the lightweight tunnel detection vehicle 100 to travel along the tunnel extension direction, driving the auxiliary tooling 1 to travel along the tunnel extension direction; controls the lifting mechanism 2 to drive the auxiliary tooling 1 close to the inner wall surface of the tunnel to detect the hidden diseases on the tunnel inner wall; the obstacle avoidance component 13 obtains the obstacle information on the inner wall to be detected and transmits the obstacle information to the control component, analyzes and identifies the obstacle information, and the control component controls the lifting mechanism 2 to drive the auxiliary tooling 1 to avoid the obstacles to prevent the auxiliary tooling 1 from being damaged; while the vehicle body 20 is traveling, the control component controls the motor on the mounting seat 3 to drive the lifting mechanism 2 to rotate and controls the radar component to detect the hidden diseases, enabling the radar component to scan the entire inner wall of the tunnel in the cross-section.

[0061] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An auxiliary tool for assisting in the detection of hidden tunnel defects, characterized in that: The auxiliary tooling includes: A base, the base comprising a bottom plate and two side plates, the two side plates being connected to opposite sides of the bottom plate; A ground penetrating radar assembly, wherein the ground penetrating radar is disposed on the bottom plate and located between the two side plates, and a surface of the ground penetrating radar away from the bottom plate is exposed at edges of the two side plates away from the bottom plate; and An obstacle avoidance component is arranged on the surface of the side plate facing away from the ground penetrating radar component, and is used to assist the ground penetrating radar component to avoid irregular parts of the inner wall of the tunnel to be detected.

2. The auxiliary tooling according to claim 1, characterized in that: The obstacle avoidance component includes two cameras and two fill lights, one camera and one fill light are arranged on a surface of the side plate away from the ground penetrating radar component, and the shooting direction of the camera is set in a direction away from the bottom plate.

3. The auxiliary tooling according to claim 1, characterized in that: The obstacle avoidance component also includes a ranging sensor, which is arranged on the surface of the side plate away from the ground penetrating radar component and is located on the side of the side plate away from the bottom plate. The ranging sensor is used to detect the distance between the auxiliary tooling and the inner wall of the tunnel to be detected.

4. The auxiliary tooling as claimed in claim 3, characterized in that: The number of the distance measuring sensors is four, and two of the distance measuring sensors are arranged at intervals on one of the side plates and are located at a side of the side plate away from the bottom plate.

5. The auxiliary tooling according to claim 1, characterized in that: The obstacle avoidance component also includes two shooting components. One of the shooting components is arranged on a surface of the side plate facing away from the ground penetrating radar component, and the shooting direction of the shooting component is perpendicular to the side plate.

6. The auxiliary tooling as claimed in claim 5, characterized in that: The shooting component is a binocular camera.

7. The auxiliary tooling according to any one of claims 1 to 6, characterized in that: The auxiliary tooling also includes a shock absorbing component, which is clamped between the ground penetrating radar component and the base plate.

8. A ground penetrating radar device, applied to a lightweight tunnel inspection vehicle, characterized in that: The ground penetrating radar device comprises: The auxiliary tooling as claimed in any one of claims 1 to 7; A lifting mechanism, the movable end of which is drivingly connected to the auxiliary tooling; and A mounting seat, the other end of the lifting mechanism away from the movable end is rotatably connected to the mounting seat.

9. A lightweight tunnel inspection vehicle, characterized in that: It comprises a vehicle body, a control device and the ground penetrating radar device as claimed in claim 8, wherein the control device is arranged on the vehicle body and is electrically connected or communicatively connected with the ground penetrating radar device, and the mounting base of the ground penetrating radar device is arranged on the vehicle body.

10. A control method, applied to the lightweight tunnel inspection vehicle according to claim 9, characterized in that: The control method comprises the following steps: Obtaining obstacle information of the inner wall of the tunnel to be detected; Controlling the lifting mechanism to drive the auxiliary tooling to avoid obstacles in the tunnel to be inspected; The auxiliary tooling is controlled to perform disease detection on the inner wall of the tunnel to be detected.

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