Full-automatic hydraulic tunnel defect detection device

Abstract

The invention discloses a hydraulic tunnel defect full-automatic detection device, and relates to the technical field of tunnel defect detection devices.The hydraulic tunnel defect full-automatic detection device comprises a walking frame body which comprises an annular frame and a walking frame body; the diameter of the annular frame is adjustable so that the peripheral side of the annular frame can be close to the inner peripheral wall of the tunnel in a contour fit mode. The walking mechanism is connected with the annular frame and used for driving the annular frame to walk in the axial direction of the annular frame, and then the arrangement position of the annular frame in the tunnel in the length direction is adjusted. The detection assembly comprises a transmitting assembly used for transmitting detection waves to the inner circumferential wall of the tunnel and a receiving assembly used for receiving echo signals of the detection waves; the transmitting assemblies are evenly distributed on the peripheral side of the annular frame, the receiving assemblies are evenly distributed on the peripheral side of the annular frame, and the receiving assemblies and the transmitting assemblies are arranged at intervals so as to jointly conduct multi-point distributed synchronous detection on the inner peripheral wall of the tunnel. According to the invention, full-automatic detection of diversion tunnel defects can be carried out efficiently, accurately and at low cost, and a scientific basis is provided for maintenance and management of the tunnel, so that the safety of the tunnel is improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel defect detection devices, and in particular to a fully automatic detection device for defects in hydraulic tunnels. Background Technology

[0002] Most hydraulic tunnels are made of concrete. Over long-term use, due to various factors such as geological conditions, construction quality, and operation and maintenance, various defects may appear on their inner walls, such as cracks, leaks, spalling, and voids. These defects not only affect the structural safety of the tunnel but may also affect its normal water conveyance capacity.

[0003] Currently, most tunnel defect detection devices rely on manual operation, resulting in low detection efficiency and difficulty in comprehensively covering all areas inside the tunnel, especially in complex terrain and hard-to-reach locations. Furthermore, manual inspection is limited by the experience and skill level of the inspectors, potentially leading to inaccurate and inconsistent results.

[0004] Ground-penetrating radar (GPR) is a relatively advanced in-situ testing technology for concrete quality. It utilizes the propagation and reflection characteristics of high-frequency electromagnetic waves in a medium, transmitting high-frequency electromagnetic waves into the ground and receiving the reflected signals to analyze the condition of underground structures.

[0005] Chinese Patent (Publication No. CN115903074A, Publication Date 2023.04.04) discloses a comprehensive non-destructive testing method for hidden defects in the initial support of a water diversion tunnel. Specifically, the method includes the following steps: using a dual-channel ground-penetrating radar to detect both shallow and deep sections of the initial support and acquire electromagnetic wave data; performing forward modeling on the electromagnetic wave data and comparing the results with the measured electromagnetic wave data to preliminarily determine the location of various hidden defects in the depth direction; using the impact echo acoustic method to detect changes in the medium density of hidden defects in the shallow layer and determine the type of shallow hidden defects; using the seismic imaging refraction / reflection method to detect changes in the medium density of hidden defects in the deep layer and determine the type of deep hidden defects; and verifying the results using engineering core drilling. However, its equipment deployment efficiency is low, making it unable to efficiently inspect tunnels. It requires a lot of time and manpower, and its efficiency is extremely low for the inspection of large-scale tunnels. Moreover, the inspection process may cause some damage to the tunnel structure, especially for tunnels that have already been put into use, which may pose safety hazards.

[0006] Therefore, how to provide a fully automatic detection device for defects in hydraulic tunnels that can efficiently, accurately, and at low cost perform fully automatic detection of defects in water diversion tunnels, providing a scientific basis for tunnel maintenance and management, and thus improving tunnel safety, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] In view of this, the present invention proposes a fully automatic detection device for defects in hydraulic tunnels, which aims to solve the technical problems of the above-mentioned traditional tunnel defect detection devices being time-consuming and labor-intensive, and unable to efficiently carry out tunnel inspections.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] This invention provides a fully automatic detection device for defects in hydraulic tunnels, comprising:

[0010] The traveling frame includes an annular frame and a traveling frame body; the diameter of the annular frame is adjustable so that its outer periphery can be contour-fitted to approach the inner wall of the tunnel; the traveling mechanism is connected to the annular frame and is used to drive the annular frame to travel along its axial direction, thereby adjusting its arrangement position in the length direction within the tunnel.

[0011] The detection component includes a transmitting component for transmitting detection waves to the inner wall of the tunnel and a receiving component for receiving the echo signal of the detection waves; the transmitting components are evenly distributed on the outer periphery of the annular frame, and the receiving components are evenly distributed on the outer periphery of the annular frame and spaced apart from the transmitting components, so as to jointly perform multi-point distributed synchronous detection on the inner wall of the tunnel.

[0012] The fully automatic detection device for defects in hydraulic tunnels of the present invention involves placing a ring frame coaxially inside the hydraulic tunnel to be inspected, adjusting the diameter of the ring frame to match the inner circumference of the tunnel, and controlling the ring frame to move along the length of the tunnel to the detection position via a traveling mechanism. During detection, the transmitting and receiving components are placed against the inner wall of the tunnel for inspection. Driven by the traveling frame, this invention enables rapid and efficient inspection of defects in hydraulic tunnels, improving work efficiency. Furthermore, by providing timely and efficient scientific data for tunnel maintenance and management, it further enhances the safety of tunnel operation.

[0013] As a further improvement to the above technical solution, a data processing system is also included, which is communicatively connected to the receiving component to receive and process the detection echo signal.

[0014] The beneficial effects of the above technical solution are: the data processing system is the "brain" of the entire detection device. It is responsible for collecting detection signals and analyzing and processing them through advanced algorithms, thereby automatically identifying and classifying defects.

[0015] As a further improvement to the above technical solution, the annular frame includes multiple arc-shaped tubes and multiple telescopic arms. The multiple arc-shaped tubes are nested and connected end to end in a telescopic manner to form an annular frame structure. The multiple telescopic arms are arranged radially along the annular frame structure. The fixed ends of the multiple telescopic arms are fixedly connected and located at the center of the annular frame structure. The telescopic ends of the multiple telescopic arms are connected and supported on the multiple arc-shaped tubes one by one.

[0016] The transmitting assembly includes multiple detection wave transmitters; the receiving assembly includes multiple detection wave receivers; each of the arc-shaped tubes is equipped with a detection wave transmitter and a detection wave receiver; the detection wave transmitters and detection wave receivers on each of the arc-shaped tubes are arranged at intervals along the length of the arc-shaped tube.

[0017] The beneficial effects of the above technical solution are: by controlling the radial displacement of the arc-shaped tube through the extension and retraction of the telescopic arm, the extension and retraction adjustment between adjacent arc-shaped tubes can be realized, thereby realizing the adjustment of the diameter of the ring frame structure; each arc-shaped tube is equipped with a detection wave transmitter and a detection wave receiver, which can perform all-round detection of the tunnel circumference.

[0018] As a further improvement to the above technical solution, the arc-shaped tube is an elastic tube that can be bent and deformed to change its curvature; any two adjacent arc-shaped tubes are snap-fitted together.

[0019] The beneficial effects of the above technical solution are as follows: by designing the arc-shaped tube as an elastic tube capable of bending and deforming to change its curvature, the diameter of the annular frame structure can be adjusted by fine-tuning the curvature of each arc-shaped tube when adjacent arc-shaped tubes expand and contract. Furthermore, the overall stability of the annular frame structure after the diameter adjustment is achieved through snap-fit ​​connections between adjacent arc-shaped tubes.

[0020] As a further improvement to the above technical solution, it also includes multiple telescopic mechanisms that are radially installed on the outer periphery of the arc-shaped tube along the annular frame structure, and multiple detection wave transmitters and multiple detection wave receivers are installed one-to-one on the telescopic ends of the multiple telescopic mechanisms.

[0021] The beneficial effects of the above technical solution are as follows: during use, both the detection wave transmitter and the detection wave receiver are in a retracted state to avoid contact with the inner wall of the tunnel while the annular frame moves along the length of the hydraulic tunnel; after the annular frame moves to the measurement position, the telescopic mechanism adjusts each detection wave transmitter and the detection wave receiver to abut against the inner wall of the tunnel to ensure the reliability of the detection.

[0022] As a further improvement to the above technical solution, the detection wave transmitter is a sound wave transmitter; the detection wave receiver is a sound wave sensor.

[0023] As a further improvement to the above technical solution, the walking mechanism includes multiple walking wheels and multiple drive motors; the multiple drive motors are installed on the outer periphery of the annular frame and arranged at intervals along its circumference; the walking direction of the multiple walking wheels is arranged along the axial direction of the annular frame; the drive shafts of the multiple drive motors are connected to the multiple walking wheels one-to-one to drive their rotation, thereby enabling the walking wheels to roll on the inner periphery of the tunnel to travel along the length of the tunnel.

[0024] The beneficial effect of the above technical solution is that each walking wheel is driven independently by a corresponding drive motor, thereby enabling flexible walking control.

[0025] As a further improvement to the above technical solution, the walking wheels are arranged on the left, right and lower sides of the ring frame.

[0026] The beneficial effects of the above technical solution are: by controlling the speed and direction of the walking wheels on the left, right and lower sides of the corresponding ring frame, the walking speed and direction can be flexibly controlled, and the function of moving forward, backward, in a straight line or on a curve along the length of the tunnel can be realized.

[0027] As a further improvement to the above technical solution, the walking mechanism also includes multiple guide rods; the multiple guide rods are arranged parallel to the axial direction of the annular frame and fixed to the outer periphery of the annular frame; the multiple guide rods are arranged at intervals along the circumference of the annular frame; the ends of the multiple guide rods can slide against the inner wall of the tunnel to support the annular frame.

[0028] The beneficial effects of the above technical solution are: in order to ensure the coaxiality of the ring frame and the tunnel and prevent the ring frame from tilting or falling, multiple guide rods arranged circumferentially are used to support the inner wall of the tunnel, thus ensuring the stability of the ring frame's operating posture and positioning.

[0029] As a further improvement to the above technical solution, a controller is also included, which is electrically connected to the walking mechanism.

[0030] The beneficial effects of the above technical solution are: the controller is used to control the operation of the walking mechanism, and then accurately adjusts the arrangement position of the ring frame in the tunnel according to the measurement needs.

[0031] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a fully automatic detection device for defects in hydraulic tunnels, which has the following advantages and beneficial effects:

[0032] 1. The device of this invention is low in cost, has a short detection time, and high detection efficiency. Utilizing the principle of the scattering wave method, it detects defects inside hydraulic tunnels by emitting and receiving scattered waves, thereby achieving a rapid assessment of the tunnel's structural integrity. It is highly automated, easy to operate, and can significantly reduce the time and effort required for manual inspection, improving the accuracy and reliability of the inspection work. Furthermore, due to its relatively low cost, this device has broad application prospects in the daily maintenance and safety inspection of hydraulic tunnels.

[0033] 2. The design of the device of this invention fully considers the convenience of on-site operation. It features a modular structure and portable design, facilitating rapid deployment and maintenance. Furthermore, its adjustable-diameter annular frame can adapt to hydraulic tunnels of various sizes, thus greatly expanding its application range. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0035] Figure 1 A schematic diagram of the structure of a fully automatic detection device for defects in hydraulic tunnels according to the present invention;

[0036] Figure 2 A schematic diagram of the snap-fit ​​connection structure between adjacent arc-shaped pipes in a fully automatic detection device for defects in hydraulic tunnels according to the present invention;

[0037] Figure 3 A schematic diagram showing the state of the detection wave transmitter and detection wave receiver of a fully automatic detection device for defects in hydraulic tunnels of the present invention installed on a telescopic mechanism.

[0038] Figure 4 A schematic diagram of the walking mechanism structure of a fully automatic detection device for defects in hydraulic tunnels according to the present invention;

[0039] Figure 5 A schematic diagram of the guide rod structure of a fully automatic detection device for defects in hydraulic tunnels according to the present invention;

[0040] Figure 6 A schematic diagram of the equipment monitoring system for a fully automatic detection device for defects in hydraulic tunnels according to the present invention;

[0041] In the diagram: 1. Walking frame; 11. Circular frame; 111. Arc-shaped tube; 1111. Slot; 1112. Buckle; 112. Telescopic arm; 12. Walking mechanism; 121. Walking wheel; 122. Drive motor; 123. Guide rod; 2. Detection component; 21. Transmitting component; 211. Detection wave transmitter; 22. Receiving component; 221. Detection wave receiver; 3. Telescopic mechanism; 4. Tunnel. Detailed Implementation

[0042] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] According to embodiments of the present invention, such as Figures 1 to 6 As shown, a fully automatic detection device for defects in hydraulic tunnels includes: a traveling frame 1 and a detection component 2.

[0047] The traveling frame 1 includes an annular frame 11 and the traveling frame 1; the diameter of the annular frame 11 is adjustable so that its outer periphery can be contour-fitted to the inner wall of the tunnel 5; the traveling mechanism 12 is connected to the annular frame 11 and is used to drive the annular frame 11 to travel along its axial direction, thereby adjusting its arrangement position in the length direction inside the tunnel 5.

[0048] The detection component 2 includes a transmitting component 21 for transmitting detection waves to the inner wall of the tunnel 5 and a receiving component 22 for receiving the echo signal of the detection waves. The transmitting components 21 are evenly distributed on the outer periphery of the annular frame 11, and the receiving components 22 are evenly distributed on the outer periphery of the annular frame 11 and are spaced apart from the transmitting components 21, so as to jointly perform multi-point distributed synchronous detection on the inner wall of the tunnel.

[0049] In this embodiment, a fully automatic detection device for defects in hydraulic tunnels is used by placing a ring frame 11 coaxially inside the tunnel to be inspected. The diameter of the ring frame 11 is adjusted to match the inner circumference of the tunnel. The walking mechanism 12 controls the ring frame 11 to move along the length of the tunnel to the detection position. During detection, the transmitting component 21 and the receiving component 22 are placed against the inner wall of the tunnel for detection. The transmitting component 21 and the receiving component 22 are key components for signal acquisition, capable of capturing scattered wave signals generated by defects in the tunnel's internal structure in real time. Driven by the walking frame 1, this invention enables rapid and efficient inspection of defects in hydraulic tunnels, improving work efficiency. By providing timely and efficient scientific data for tunnel maintenance and management, it further enhances the safety of tunnel operation.

[0050] In some embodiments, a data processing system is also included, which is communicatively connected to the receiving component 22 to receive and process the detection echo signal.

[0051] The data processing system is the "brain" of the entire detection device. It is responsible for collecting detection signals and analyzing and processing them through advanced algorithms, thereby automatically identifying and classifying defects.

[0052] In some embodiments, the annular frame 11 includes a plurality of arc-shaped tubes 111 and a plurality of telescopic arms 112. The plurality of arc-shaped tubes 111 are nested and connected end to end in a telescopic manner to form an annular frame structure. The plurality of telescopic arms 112 are arranged radially along the annular frame structure. The fixed ends of the plurality of telescopic arms 112 are fixedly connected and located at the center of the annular frame structure. The telescopic ends of the plurality of telescopic arms 112 are connected and supported on the plurality of arc-shaped tubes 111 in a one-to-one correspondence.

[0053] The transmitting component 21 includes multiple detection wave transmitters 211; the receiving component 22 includes multiple detection wave receivers 221; each arc tube 111 is equipped with a detection wave transmitter 211 and a detection wave receiver 221; the detection wave transmitters 211 and detection wave receivers 221 on each arc tube 111 are arranged at intervals along the length of the arc tube 111.

[0054] The radial displacement of the arc-shaped tube 111 is controlled by the telescopic arm 112, thereby realizing the telescopic adjustment between adjacent arc-shaped tubes 111, and thus realizing the adjustment of the diameter of the ring frame structure; each arc-shaped tube 111 is equipped with a detection wave transmitter 211 and a detection wave receiver 221, which can perform all-round detection of the tunnel 5 around its circumference.

[0055] Specifically, the telescopic boom 112 can be a manual telescopic boom or an electrically controlled telescopic boom.

[0056] In some embodiments, the arc-shaped tube 111 is an elastic tube capable of bending and deforming to change its curvature; any two adjacent arc-shaped tubes 111 are snap-fit ​​connected.

[0057] By designing the arc-shaped tube 111 as an elastic tube capable of bending and deforming to change its curvature, the diameter of the annular frame structure can be adjusted by fine-tuning the curvature of each arc-shaped tube 111 as adjacent arc-shaped tubes 111 extend and retract. The overall stability of the annular frame structure after the diameter adjustment is achieved is enhanced by the snap-fit ​​connection between adjacent arc-shaped tubes 111.

[0058] Specifically, the curved tube 111 can be made of PVC-U material. The allowable bending deformation of the curved tube 111 is 7% of its length. According to the testing plan, the number of curved tubes 111 and the amount of bending deformation are adjusted to accommodate tunnels 5 of different diameters.

[0059] In some embodiments, the arc-shaped tube 111 is a circular arc-shaped tube, and there are six of them. The diameter of one end of the arc-shaped tube 111 is smaller than the diameter of the other end; the outer peripheral wall of the small diameter end 1113 of the arc-shaped tube 111 is designed with multiple slots 1111, and the multiple slots 1111 are arranged at intervals along the length direction of the arc-shaped tube 111; the inner peripheral wall of the large diameter end 1114 of the arc-shaped tube 111 is designed with buckles 1112; the small diameter end of each arc-shaped tube 111 is nested and inserted into the large diameter end of the adjacent arc-shaped tube 111, and the buckles 1112 are inserted into the corresponding slots 1111 to achieve the snap-fit.

[0060] Specifically, the latch 1112 can be designed as a protrusion, allowing it to disengage from the engaging slot 1111 and enter the adjacent slot when adjacent arc-shaped tubes 111 are inserted, removed, or extended. Alternatively, the latch 1112 can be designed as an elastic lever capable of radial extension and retraction along the arc-shaped tube 111. Other latching solutions in the prior art can also be used for the latching connection between two adjacent arc-shaped tubes 111.

[0061] In some embodiments, the system further includes a plurality of telescopic mechanisms 3 that are radially installed on the outer periphery of the arc-shaped tube 111 along the annular frame structure, and a plurality of detection wave transmitters 211 and a plurality of detection wave receivers 221 are installed one-to-one on the telescopic ends of the plurality of telescopic mechanisms 3.

[0062] During use, as the annular frame 11 moves along the length of the hydraulic tunnel, both the detection wave transmitter 211 and the detection wave receiver 221 are in a retracted state to avoid contact with the tunnel wall. After the annular frame 11 moves to the measurement position, the telescopic mechanism 3 adjusts each detection wave transmitter 211 and detection wave receiver 221 to abut against the inner circumferential wall of the tunnel. The annular frame 11 ensures the continuity and stability of signal acquisition during the detection process, thereby ensuring the reliability of the detection.

[0063] Specifically, the telescopic mechanism 3 adopts a multi-stage nested telescopic tube mechanism from existing technology; when reaching the detection section, the telescopic amount of the telescopic mechanism 3 can be controlled by manual insertion and removal, thereby ensuring that the transmitting end of each detection wave transmitter 211 and the probe of the detection wave receiver 221 are tightly attached to the inner wall of the tunnel 5. Alternatively, the telescopic mechanism 3 can be an electrically controlled telescopic rod. The fixed end of the telescopic mechanism 3 is fastened to the outer periphery of the arc-shaped tube 111 by bolts.

[0064] Specifically, the detection wave receiver 221 is arranged at the large-diameter end of the arc-shaped tube 111. The detection wave transmitter 211 on each arc-shaped tube 111 is located on one side of the detection wave receiver 221, and the spacing between the detection wave transmitter 211 and the detection wave receiver 221 on each arc-shaped tube 111 is the same.

[0065] In some embodiments, the detection wave transmitter 211 is an acoustic wave transmitter; the detection wave receiver 221 is an acoustic wave sensor.

[0066] Specifically, the detection wave transmitter 211 is an ultrasonic transmitter; the detection wave receiver 221 is an ultrasonic sensor.

[0067] Specifically, the detection component 2 can be an A1040 MIRA 3D transmitting module, which is suitable for ultrasonic testing of various high-scattering materials such as concrete and rock. It is equipped with an ultrasonic transmitting component, adopts the ultrasonic pitch-catch method, and uses an antenna composed of an advanced active dry point contact (A-DPC) transducer array to transmit transverse waves into the concrete and receive the scattered echoes, thereby detecting defects such as pores, delamination, and cracks inside the concrete.

[0068] Specifically, the receiving component 22 also includes a wireless transmitting module electrically connected to the detection wave receiver 221, which has an effective communication distance of 70 meters with the computer and is used to wirelessly transmit the received scattered echo signal to the computer for timely processing by the data processing system.

[0069] In some embodiments, the walking mechanism 12 includes a plurality of walking wheels 121 and a plurality of drive motors 122; the plurality of drive motors 122 are mounted on the outer periphery of the annular frame 11 and are arranged at intervals along its circumference; the walking direction of the plurality of walking wheels 121 is arranged along the axial direction of the annular frame 11; the drive shafts of the plurality of drive motors 122 are connected to the plurality of walking wheels 121 in a one-to-one transmission connection to drive them to rotate, thereby enabling the walking wheels 121 to roll on the inner periphery of the tunnel 5 to travel along the length of the tunnel.

[0070] Each walking wheel 121 is driven independently by a corresponding drive motor 122, thus enabling flexible walking control.

[0071] In some embodiments, wheels 121 are arranged on the left, right and lower sides of the corresponding annular frame 11.

[0072] By controlling the speed and direction of the walking wheels 121 on the left, right and lower sides of the corresponding ring frame 11, the walking speed and direction can be flexibly controlled, enabling the function of moving forward, backward, in a straight line or on a curve along the length of the tunnel.

[0073] Specifically, two traveling wheels 121 are arranged in parallel on the left, right, and bottom sides of the corresponding annular frame 11; both traveling wheels 121 are driven by independent drive motors 122 to ensure the stability of the movement of the annular frame 11. It should be noted that the installation position of the drive motor 122 should not affect the extension and retraction adjustment of the arc-shaped tube 111. For example, the drive motor 122 can be installed on the arc-shaped tube 111 near its large-diameter end.

[0074] In some embodiments, the walking mechanism 12 further includes a plurality of guide rods 123; the plurality of guide rods 123 are arranged axially parallel to the annular frame 11 and fixed to the outer periphery of the annular frame 11; the plurality of guide rods 123 are arranged at intervals along the circumference of the annular frame 11; the ends of the plurality of guide rods 123 are all slidably abutting against the inner periphery of the tunnel 5 to support the annular frame 11.

[0075] To ensure the coaxiality of the annular frame 11 and the tunnel 5 and to prevent the annular frame 11 from tilting or falling, multiple guide rods 123 arranged circumferentially are used to support the inner wall of the tunnel 5, thus ensuring the stability of the annular frame 11's operating posture and positioning.

[0076] Specifically, the guide rod 123 can be made of HPVC. One end of the guide rod 123 is fixedly connected to the outer periphery of the annular frame 11, and the other end is bent towards the center of the annular frame 11 in an arc shape. The arc-shaped flange at the other end of the guide rod 123 abuts against the inner wall of the tunnel 5 to reduce friction when in contact with the tunnel wall. Multiple guide rods 123 are evenly distributed around the annular frame 11. The installation position of the guide rod 123 should not affect the expansion and contraction adjustment of the arc-shaped tube 111. For example, the guide rod 123 is installed on the arc-shaped tube 111 near its large-diameter end.

[0077] In some embodiments, a controller 4 is also included, which is electrically connected to the walking mechanism 12.

[0078] The controller is used to control the operation of the walking mechanism 12, and then accurately adjust the arrangement position of the ring frame 11 in the tunnel according to the measurement needs.

[0079] Specifically, there are multiple controllers 4; each controller 4 is installed on a corresponding drive motor 122.

[0080] Multiple controllers 4 are responsible for controlling the movement of the annular frame 11, ensuring that it can move accurately along the predetermined path to obtain high-quality detection data. The drive motor 122 is fixedly installed on the outer peripheral wall of the annular frame 11 by welding or bolting. It is connected to the traveling wheel 121 through the drive shaft, providing driving force for the movement of the annular frame 11 and ensuring that it can move accurately along the predetermined path (i.e., along the tunnel length direction). Each drive motor 122 is equipped with a controller 4. The controller 4 receives instructions from the data processing system and controls the operation of the drive motor 122, so that the annular frame 11 stops and detects in time when it moves to each required detection section, so as to ensure the correctness of the detection position.

[0081] The device of this invention mainly consists of three core parts: a ring detection mechanism, a robot control mechanism, and a data processing system. Specifically, the detection component 2 mounted on the ring frame 11 constitutes the ring detection mechanism; the controller 4 and the walking mechanism 12 constitute the robot control mechanism; and the data processing system can be an elastic wave CT signal travel time analysis and acquisition system.

[0082] The ring-shaped inspection mechanism is the foundation of the entire inspection system. It can perform a full-range scan around the inner wall of the hydraulic tunnel to detect any potential defects or damage. The ring-shaped inspection mechanism has an overall ring-shaped frame structure, which can adjust the radius of the ring structure to fit the contour of the inner wall of the hydraulic tunnel and automatically adapt to different tunnel structural dimensions.

[0083] The data processing system is the intelligent core of the entire inspection device, comprising a powerful computing unit and a complex software program. The computing unit handles massive amounts of data, while the software program executes complex algorithms, such as time-reversal imaging and waveform analysis, to ensure the accuracy and reliability of the inspection results. Based on the powerful computing unit, the data processing system integrates modules for signal preprocessing, defect identification algorithm libraries, machine learning, 3D modeling, and report generation. It receives and optimizes scattered wave signals, automatically identifies and classifies defects, generates 3D models to display defect locations, outputs reports containing defect lists and risk assessments, and works in conjunction with a self-calibration function to eliminate errors. Through continuous algorithm optimization via machine learning, it is the "intelligent core" enabling the device to achieve efficient and accurate inspection. During the inspection process, the data processing system first receives scattered wave signals from the ring-shaped inspection mechanism, preprocesses them (noise reduction, filtering, etc.) to obtain high-quality data, then uses algorithms such as time-reversal imaging and waveform analysis to deeply analyze the signals and extract defect features (such as size, shape, and location). Finally, combined with integrated machine learning algorithms, based on historical data and real-time features, it automatically identifies and classifies defect types such as cracks, voids, and spalling. In addition, this fully automated inspection device is equipped with an advanced equipment monitoring system and user interface, enabling operators to easily monitor the inspection process and view the results in real time. The user interface typically includes an intuitive graphical display that shows a 3D model of the tunnel as well as the location and type of detected defects.

[0084] To ensure the accuracy and reliability of the testing, the device also has a built-in self-calibration function. This function automatically activates before each test, using the system's built-in calibration mechanism, combined with preset benchmark parameters and standard signals, to verify and adjust the sensor sensitivity, signal transmission path, and analysis benchmark of the data processing system. This eliminates errors caused by minor equipment wear and tear, environmental interference, etc., ensuring the accuracy and consistency of subsequent test data.

[0085] The data processing system also integrates machine learning algorithms that continuously learn and optimize over time, thereby improving the accuracy of defect detection. By analyzing historical and real-time data, the system can predict potential problems in tunnels and continuously adjust algorithms based on historical data and detection results, improving detection efficiency and accuracy, and providing proactive recommendations for maintenance work. The entire detection device is designed with ease of on-site operation in mind. It features a modular structure for rapid deployment and maintenance. Furthermore, its portable design allows it to adapt to hydraulic tunnels of various sizes and shapes, greatly expanding its application range.

[0086] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0087] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A fully automatic detection device for defects in hydraulic tunnels, characterized in that, include: The traveling frame (1) includes an annular frame (11) and a traveling mechanism (12); the diameter of the annular frame (11) is adjustable so that its outer periphery can be contour-fitted to the inner wall of the tunnel; the traveling mechanism (12) is connected to the annular frame (11) and is used to drive the annular frame (11) to travel along its axial direction, thereby adjusting its arrangement position in the length direction within the tunnel; The detection component (2) includes a transmitting component (21) for transmitting detection waves to the inner wall of the tunnel and a receiving component (22) for receiving the echo signal of the detection waves. The transmitting components (21) are evenly distributed on the outer periphery of the annular frame (11), and the receiving components (22) are evenly distributed on the outer periphery of the annular frame (11) and spaced apart from the transmitting components (21) to jointly perform multi-point distributed synchronous detection on the inner wall of the tunnel.

2. The fully automatic detection device for defects in hydraulic tunnels according to claim 1, characterized in that, It also includes a data processing system, which is communicatively connected to the receiving component (22) to receive and process the detection echo signal.

3. The fully automatic detection device for defects in hydraulic tunnels according to claim 1, characterized in that, The annular frame (11) includes multiple arc-shaped tubes (111) and multiple telescopic arms (112). The multiple arc-shaped tubes (111) are connected end-to-end in a retractable nested manner to form an annular frame structure. The multiple telescopic arms (112) are arranged radially along the annular frame structure. The fixed ends of the multiple telescopic arms (112) are fixedly connected and located at the center of the annular frame structure. The telescopic ends of the multiple telescopic arms (112) are connected and supported on the multiple arc-shaped tubes (111) one by one. The transmitting assembly (21) includes a plurality of detection wave transmitters (211); the receiving assembly (22) includes a plurality of detection wave receivers (221); each of the arc tubes (111) is equipped with a detection wave transmitter (211) and a detection wave receiver (221); the detection wave transmitters (211) and the detection wave receivers (221) on each of the arc tubes (111) are arranged at intervals along the length of the arc tube (111).

4. The fully automatic detection device for defects in hydraulic tunnels according to claim 3, characterized in that, The arc-shaped tube (111) is an elastic tube that can be bent and deformed to change its curvature; any two adjacent arc-shaped tubes (111) are snap-fit ​​connected.

5. The fully automatic detection device for defects in hydraulic tunnels according to claim 3, characterized in that, It also includes multiple telescopic mechanisms (3) that are radially installed on the outer periphery of the arc-shaped tube (111) along the annular frame structure, and multiple detection wave transmitters (211) and multiple detection wave receivers (221) are installed one-to-one on the telescopic ends of the multiple telescopic mechanisms (3).

6. The fully automatic detection device for defects in hydraulic tunnels according to claim 3, characterized in that, The detection wave transmitter (211) is a sound wave transmitter; the detection wave receiver (221) is a sound wave sensor.

7. The fully automatic detection device for defects in hydraulic tunnels according to claim 1, characterized in that, The walking mechanism (12) includes multiple walking wheels (121) and multiple drive motors (122); the multiple drive motors (122) are installed on the outer periphery of the annular frame (11) and arranged at intervals along its circumference; the walking direction of the multiple walking wheels (121) is arranged along the axial direction of the annular frame (11); the drive shafts of the multiple drive motors (122) are connected to the multiple walking wheels (121) in a one-to-one transmission connection to drive them to rotate, thereby enabling the walking wheels (121) to roll on the inner periphery of the tunnel to travel along the length of the tunnel.

8. The fully automatic detection device for defects in hydraulic tunnels according to claim 7, characterized in that, The walking wheels (121) are arranged on the left, right and bottom sides of the ring frame (11).

9. The fully automatic detection device for defects in hydraulic tunnels according to claim 1, characterized in that, The walking mechanism (12) also includes a plurality of guide rods (123); the plurality of guide rods (123) are arranged axially parallel to the annular frame (11) and fixed to the outer periphery of the annular frame (11); the plurality of guide rods (123) are arranged at intervals along the circumference of the annular frame (11); the ends of the plurality of guide rods (123) can slide against the inner periphery of the tunnel to support the annular frame (11).

10. The fully automatic detection device for defects in hydraulic tunnels according to claim 7, characterized in that, It also includes a controller that is electrically connected to the walking mechanism (12).

Images