A device for detecting the arch top of a lining structure of an inclined shaft section of a power generation diversion tunnel
By designing an unmanned inspection device that includes traction, walking, adjustment, and inspection mechanisms, the problems of blind spots and unstable center of gravity in the inclined shaft section were solved, enabling comprehensive, stable, and accurate inspection of the lining structure and ensuring the safety of the power generation and water diversion tunnel.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHANGJIANG RIVER SCI RES INST CHANGJIANG WATER RESOURCES COMMISSION
- Filing Date
- 2025-04-07
- Publication Date
- 2026-06-02
AI Technical Summary
Existing technologies cannot effectively detect the internal quality of the lining structure of the inclined shaft section of the power generation water diversion tunnel. Furthermore, the unmanned detection device is unstable during the detection process in the inclined shaft section, posing a risk of overturning and resulting in blind spots and safety hazards.
An unmanned inspection device was designed, comprising a traction mechanism, a walking mechanism, an adjustment mechanism, and an inspection mechanism. The center of gravity and height of the inspection platform are adjusted by the first and second telescopic units, and combined with air-coupled radar and a ranging sensor, in-depth inspection of the lining structure is achieved.
Comprehensive testing of the lining structure of the inclined shaft section was achieved, ensuring the stability and accuracy of the testing, providing more in-depth test results, and guaranteeing the safe and stable operation of the power generation and water diversion tunnel.
Smart Images
Figure CN224317782U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of tunnel inspection technology, and more specifically, to an unmanned inspection device for the arch of the lining structure of the inclined shaft section of a power generation and water diversion tunnel. Background Technology
[0002] During the operation of the power generation water diversion tunnel, the continuous erosion of the tunnel's inner surface by the flowing water poses a risk of erosion to the surface lining concrete. This can lead to unauthorized shutdowns for maintenance or, in severe cases, damage to the flow channel and generating units, threatening lives and property. The inclined shaft section is a crucial component of the entire water diversion tunnel, converting the gravitational potential energy of the reservoir water into kinetic energy to power the turbines at the tunnel's end. The inclined shaft section has a steep slope and a significant vertical drop, making it inaccessible to personnel. Furthermore, due to its unique stress structure, the arch crown requires regular inspection of its lining and surrounding rock quality under long-term operational erosion. Therefore, research into an unmanned inspection device for the arch crown of the inclined shaft section lining structure in the power generation water diversion tunnel is essential.
[0003] Inspecting the inclined shaft sections of hydroelectric power generation tunnels is extremely difficult. Due to the inaccessibility to personnel, some hydroelectric power stations have never conducted any inspections on these sections since their construction, posing a significant safety hazard to the stable operation of the power station. While some hydroelectric power station inclined shaft sections have undergone inspections using unmanned vehicles equipped with cameras to assess the condition of the concrete structure visually, this method cannot detect the internal quality of the concrete lining. The inner diameter of inclined shafts in large hydroelectric power station inclined shafts can reach 5m to 9m. Ground-penetrating radar (GPR) for inspecting the lining and surrounding rock quality requires it to be close to or at a small distance (generally 0.3m to 0.6m) from the inspected arch. This necessitates raising the GPR to a certain height for inspection. During this process, the radar's lifting causes the unmanned inspection device's center of gravity to shift forward, making its stability a critical concern.
[0004] The inventors discovered in their research that existing technologies for detecting inclined shaft sections of water diversion and power generation tunnels have at least the following drawbacks:
[0005] Firstly, due to the inaccessibility of inclined shaft sections by personnel, traditional inspection methods have resulted in the arch area of the inclined shaft lining structure remaining a long-term blind spot since the construction of many hydropower stations, making it impossible to assess the structural safety. Furthermore, existing unmanned inspection devices only carry optical cameras for surface observation and lack the ability to detect internal defects (such as voids and crack propagation) and the quality of contact with surrounding rock, thus failing to achieve a comprehensive assessment of structural quality.
[0006] Secondly, the lifting process of the ground-penetrating radar causes the center of gravity of the device to shift forward, which can easily cause the equipment to overturn on the slope of the inclined shaft section (usually with an inclination angle of 30°-60°). The existing device lacks an active center of gravity adjustment mechanism, making it difficult to ensure the stability of mobile detection. Summary of the Invention
[0007] The purpose of this utility model includes, for example, providing an unmanned detection device for the arch of the lining structure of the inclined shaft section of a power generation water diversion tunnel, which can improve at least one of the above-mentioned technical problems.
[0008] The embodiments of this utility model can be implemented as follows:
[0009] In a first aspect, this utility model provides an unmanned detection device for the arch roof of the lining structure of an inclined shaft section of a power generation and water diversion tunnel, comprising a traction mechanism, a traveling mechanism, an adjusting mechanism, and a detection mechanism, wherein:
[0010] The traction mechanism is connected to the walking mechanism;
[0011] The adjustment mechanism includes a first telescopic unit and a second telescopic unit, wherein the first telescopic unit is installed on the walking mechanism and connected to the second telescopic unit;
[0012] The detection mechanism includes a detection platform, an air-coupled radar, and a ranging sensor. The detection platform is installed on the second telescopic unit, and both the air-coupled radar and the ranging sensor are installed on the detection platform.
[0013] The second telescopic unit is connected to the detection platform; the first telescopic unit is used to drive the second telescopic unit and the detection platform to reciprocate linearly relative to the walking mechanism in a first direction; the second telescopic unit is used to drive the detection platform to rise and fall relative to the walking mechanism in a second direction; the first direction and the second direction have an included angle.
[0014] In an optional embodiment, the traction mechanism includes a controller, a support frame, a drive motor, a winch, a roller odometer, and a composite armored cable; the support frame is used to fix it to the upper horizontal section of the tunnel; the controller is communicatively connected to the drive motor, the roller odometer, and the composite armored cable; the winch is rotatably mounted on the support frame, the drive motor is mounted on the support frame and connected to the winch; the roller odometer is rotatably mounted on the support frame; the composite armored cable is wound around the winch and contacts the roller odometer; the end of the composite armored cable is connected to the traveling mechanism.
[0015] In an optional embodiment, the walking mechanism includes a vehicle body, a set of walking wheels, and anti-roll guide wheels. The set of walking wheels is installed at the bottom of the vehicle body, and the anti-roll guide wheels are installed on the side of the vehicle body.
[0016] In an optional embodiment, the walking mechanism further includes a power supply box, a counterweight box, a hook, and a roof platform. The power supply box and the counterweight box are both installed on the vehicle body. The hook is installed on the rear side of the vehicle body, and the composite armored cable is connected to the hook. The roof platform is installed on the top of the vehicle body. The first telescopic unit is installed on the roof platform.
[0017] In an optional embodiment, the walking mechanism further includes a panoramic camera unit and a lighting unit, both of which are mounted on the roof platform.
[0018] In an optional embodiment, the first telescopic unit includes a first motor, a first screw, and a slider. The first motor is fixed to the walking mechanism, the first screw is connected to the rotating shaft of the first motor, and the slider is slidably engaged with the walking mechanism in the first direction. The slider is screwed onto the outside of the first screw. The second telescopic unit is connected to the slider.
[0019] In an optional embodiment, the second telescopic unit includes a second motor, a second screw, a push block, and a scissor-type folding frame. The second motor is fixed to the slider, and the second screw is connected to the rotating shaft of the second motor. The push block is slidably engaged with the slider along a first direction, and the push block is screwed onto the outside of the second screw. The first folding arm of the scissor-type folding frame is fixed to the slider, and the second folding arm of the scissor-type folding frame is slidably engaged with the slider along the first direction. The push block abuts against the second folding arm. The top of the scissor-type folding frame is rotatably connected to the detection platform. The second motor is used to drive the second screw to rotate, so as to push the second folding arm along the first direction through the push block, thereby raising the scissor-type folding frame.
[0020] In an optional embodiment, the first telescopic unit further includes a guide rail fixed to the slider, and the second folding arm slidably engages with the guide rail in the first direction.
[0021] In an optional embodiment, the scissor folding frame is configured as two sets, with the two sets of scissor folding frames arranged at intervals relative to each other, and the two sets of scissor folding frames are connected by a connecting rod.
[0022] In an optional embodiment, both the first telescopic unit and the second telescopic unit are provided with travel limit switches.
[0023] The beneficial effects of this utility model embodiment include, for example:
[0024] In summary, the unmanned inspection device for the arch of the lining structure of the inclined shaft section of the power generation and water diversion tunnel provided in this embodiment can effectively improve the long-standing problem of blind spots in inspection caused by the inaccessibility of personnel and equipment, ensuring that the arch area of the inclined shaft section can be inspected, thereby assessing and ensuring the safety of the lining structure. Specifically, this unmanned inspection device, through the cooperation of a first telescopic unit and a second telescopic unit, flexibly adjusts the center of gravity and inspection height of the inspection platform to adapt to the inspection needs of inclined shaft sections with different diameters and slopes. This feature allows it to be widely applied in the inspection operations of most current power generation and water diversion tunnels. Compared with the existing method of visual inspection using video, using air-coupled ground-penetrating radar to detect the quality of the arch of the lining structure of the inclined shaft section can provide more in-depth and accurate inspection results, thus having a significant advantage in inspection effect and providing strong technical support for the safe and stable operation of the power generation and water diversion tunnel. Attached Figure Description
[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0026] Figure 1 This is an application diagram of the unmanned detection device for the arch of the lining structure of the inclined shaft section of the power generation water diversion tunnel, according to an embodiment of this application.
[0027] Figure 2 This is a schematic diagram of the traction mechanism according to an embodiment of this application;
[0028] Figure 3 This is a schematic diagram illustrating the cooperation between the walking mechanism, the adjusting mechanism, and the detection mechanism in an embodiment of this application;
[0029] Figure 4 This is a top view schematic diagram showing the cooperation between the walking mechanism, adjustment mechanism, and detection mechanism in an embodiment of this application.
[0030] icon:
[0031] 001-Inclined Shaft Section; 002-Upper Horizontal Section; 100-Traction Mechanism; 110-Controller; 120-Support Frame; 130-Drive Motor; 140-Windmill; 150-Roller Odometer; 160-Composite Armored Cable; 170-Data Transmission Line; 180-Data Transmission Port; 200-Traveling Mechanism; 210-Vehicle Body; 220-Traveling Wheelset; 230-Anti-tilt Guide Wheel; 240-Power Supply Box; 250-Counterweight Box; 260-Hook; 270-Vehicle Roof Horizontal Section Platform; 280-Panoramic camera unit; 290-Lighting unit; 300-Adjustment mechanism; 310-First telescopic unit; 311-First motor; 312-First screw; 313-Slider; 314-Guide rail; 320-Second telescopic unit; 321-Second motor; 322-Second screw; 323-Push block; 324-Scissor folding frame; 325-Connecting rod; 400-Detection mechanism; 410-Detection platform; 420-Air-coupled radar; 430-Distance sensor. Detailed Implementation
[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0035] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed during use, they are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model.
[0036] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.
[0037] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.
[0038] Please refer to Figures 1-4 This embodiment provides an unmanned detection device for the arch of the lining structure of the inclined shaft section 001 of a power generation water diversion tunnel, including a traction mechanism 100, a traveling mechanism 200, an adjusting mechanism 300, and a detection mechanism 400, wherein:
[0039] The traction mechanism 100 is connected to the traveling mechanism 200;
[0040] The adjustment mechanism 300 includes a first telescopic unit 310 and a second telescopic unit 320. The first telescopic unit 310 is installed on the walking mechanism 200 and connected to the second telescopic unit 320.
[0041] The detection mechanism 400 includes a detection platform 410, an air-coupled radar 420, and a ranging sensor 430. The detection platform 410 is installed on the second telescopic unit 320, and the air-coupled radar 420 and the ranging sensor 430 are both installed on the detection platform 410.
[0042] The second telescopic unit 320 is connected to the detection platform 410; the first telescopic unit 310 is used to drive the second telescopic unit 320 and the detection platform 410 to reciprocate linearly relative to the walking mechanism 200 in the first direction; the second telescopic unit 320 is used to drive the detection platform 410 to rise and fall relative to the walking mechanism 200 in the second direction; the first direction and the second direction have an included angle.
[0043] As described above, the unmanned detection device provided in this embodiment operates as follows:
[0044] S1: Based on the design drawings, determine the inner diameter, slope and length of the inclined shaft section 001 of the tunnel, and understand whether there is a gradual change in the tunnel diameter from top to bottom and the location of the gradual change.
[0045] S2: Based on the above structural parameters, calculate the optimal position of the folding arm and record it.
[0046] S3: Move the equipment from the upper horizontal section 002 of the water diversion tunnel to a position closer to the inclined shaft section 001, install the walking mechanism 200, connect all components, debug the adjustment mechanism 300 and the detection mechanism 400, and check whether each mechanism is operating normally.
[0047] S4: After debugging, adjust the first telescopic unit 310 to drive the detection platform 410 to move in the extension direction of the tunnel.
[0048] S5: Move the traveling mechanism 200 to the inclined shaft section 001, and obtain the real-time distance between the detection platform 410 and the top of the tunnel through the ranging sensor 430, thereby providing data reference for the adjustment of the second telescopic unit 320, so that the detection platform 410 is raised and gradually approaches the top of the tunnel until the height of the detection platform 410 meets the set requirements, that is, the height adjustment of the air-coupled radar 420 located on the detection platform 410 is completed.
[0049] S6: Using the traction mechanism 100, slowly lower the traveling mechanism 200 at a certain speed to conduct inspection work on the arch of the lining structure of the inclined shaft section 001, and record the inspection mileage, radar detection data and image data.
[0050] S7: If the diameter of the inclined shaft section 001 changes, the second telescopic unit 320 can be operated in advance to adjust the detection height.
[0051] S8: After the inspection of the inclined shaft section 001 is completed, turn off the air coupling radar 420, lower the height of the inspection platform 410, and use the traction mechanism 100 to lift the traveling mechanism 200 to the upper horizontal section 002 at a certain speed.
[0052] As described above, by employing the first telescopic unit 310 and the second telescopic unit 320 in conjunction, the center of gravity and detection height of the detection platform 410 can be flexibly adjusted to adapt to the detection needs of inclined shaft section 001 with varying diameters and slopes. This feature allows it to be widely applied in the detection operations of most current power generation water diversion tunnels. Compared to the existing method of visual inspection using video, using air-coupled ground-penetrating radar to detect the arch quality of the lining structure of inclined shaft section 001 can provide more in-depth and accurate detection results, thus having a significant advantage in detection effectiveness and providing strong technical support for the safe and stable operation of power generation water diversion tunnels.
[0053] The following embodiments illustrate the details of the unmanned detection device for the arch of the lining structure of the inclined shaft section 001 of the power generation and water diversion tunnel of this application by way of example.
[0054] Please refer to Figures 1-4 In this embodiment, the optional unmanned detection device for the arch of the lining structure of the inclined shaft section 001 of the power generation water diversion tunnel includes a traction mechanism 100, a walking mechanism 200, an adjustment mechanism 300, and a detection mechanism 400.
[0055] Please refer to Figure 1 and Figure 2The traction mechanism 100 includes a controller 110, a support frame 120, a drive motor 130, a winch 140, a roller odometer 150, a composite armored cable 160, a data transmission line 170, and a data transmission port 180. The support frame 120 can be fixed to the upper section 002 of the tunnel using bolts or other structural components. The controller 110 is connected to the data transmission port 180 via the data transmission line 170. The data transmission port 180 can be installed on the support frame 120 and can simultaneously communicate with the drive motor 130, the roller odometer 150, and the composite armored cable 160. The winch 140 is rotatably mounted on the support frame 120, and the drive motor 130 is mounted on the support frame 120 and connected to the winch 140. The roller odometer 150 is rotatably mounted on the support frame 120; the composite armored cable 160 is wound around the winch 140 and contacts the roller odometer 150. The drive motor 130 can drive the winch 140 to rotate, thereby winding and unwinding the composite armored cable 160. The end of the composite armored cable 160 can be connected to the walking mechanism 200, thereby serving to traction the walking mechanism 200.
[0056] It should be understood that the composite armored cable 160 can not only transmit electrical signals, but also bear weight.
[0057] Please refer to Figure 1 and Figure 3 Optionally, the traveling mechanism 200 includes a vehicle body 210, traveling wheel sets 220, anti-roll guide wheels 230, a power supply box 240, a counterweight box 250, a hook 260, a roof platform 270, a panoramic camera unit 280, and a lighting unit 290. The number of traveling wheel sets 220 can be four, all mounted on the vehicle body 210. Two sets of traveling wheel sets 220 form one unit, with the two units located on opposite sides of the width of the vehicle body 210. The traveling wheel sets 220 can be equipped with a braking system. The number of anti-roll guide wheels 230 can be four, with two anti-roll guide wheels forming one group, distributed on one side of the width of the vehicle body 210. Because the vehicle body 210 has anti-roll guide wheels on both sides, it is less prone to tipping to either side, resulting in high stability.
[0058] Meanwhile, the power supply box 240 and the counterweight box 250 are both installed on the vehicle body 210. There can be two hooks 260, located at the rear of the vehicle body 210, and the composite armored cable 160 can be connected to the hooks 260. The roof platform 270 is installed on the top of the vehicle body 210, and the first telescopic unit 310, the panoramic camera unit 280, and the lighting unit 290 are all installed on the roof platform 270. There can be two lighting units 290, located at the front and rear of the vehicle body 210, and the angle of the lighting units 290 is adjustable, thereby improving their adaptability to the environment.
[0059] Please refer to Figure 1 , Figure 3 and Figure 4 In this embodiment, optionally, the adjustment mechanism 300 includes a first telescopic unit 310 and a second telescopic unit 320. The first telescopic unit 310 includes a first motor 311, a first screw 312, a slider 313, and a guide rail 314. The first motor 311 is fixed to the top platform of the traveling mechanism 200. The first screw 312 is connected to the rotating shaft of the first motor 311. The slider 313 is slidably engaged with the top platform in a first direction and is screwed onto the outside of the first screw 312. The guide rail 314 is fixed to the slider 313. When the first motor 311 is started, it can drive the first screw 312 to rotate, thereby driving the slider 313 to slide back and forth in the first direction, adjusting the position of the slider 313 in the traveling direction of the vehicle body 210.
[0060] Meanwhile, the second telescopic unit 320 includes a second motor 321, a second screw 322, a push block 323, and a scissor-type folding frame 324. The second motor 321 is fixed to the slider 313, and the second screw 322 is connected to the rotating shaft of the second motor 321. The push block 323 is slidably engaged with the slider 313 along a first direction, and the push block 323 is screwed onto the outside of the second screw 322. The first folding arm of the scissor-type folding frame 324 is fixed to the slider 313, and the second folding arm of the scissor-type folding frame 324 is slidably engaged with the guide rail 314 along the first direction. The second folding arm and the guide rail 314 can adopt a dovetail structure to prevent the second folding arm from disengaging from the guide rail 314. When the second motor 321 starts, it drives the second screw 322 to rotate, which in turn drives the push block 323 to slide along the first direction. The push block 323 pushes the second folding arm to slide along the first direction, bringing the second folding arm closer to the first folding arm. This causes the first and second folding arms to rotate relative to each other, ultimately raising the height of the scissor-type folding frame 324. When it is necessary to lower the height, the second motor 321 reverses, and the push block 323 moves away from the second folding arm. Under the gravity of the detection mechanism 400, the second folding arm rotates away from the first folding arm.
[0061] It should be understood that there are multiple first folding arms and multiple second folding arms. The ends of the multiple first folding arms are rotatably coupled in sequence, and the ends of the multiple second folding arms are rotatably coupled in sequence. Furthermore, a first folding arm and a corresponding second folding arm are cross-coupled and rotatably connected at the cross position.
[0062] To improve stability, the scissor lift 324 can be configured as two sets, arranged at intervals relative to each other, and connected by a connecting rod 325. The push block 323 can push the connecting rod 325 to move, thereby enabling simultaneous control of both scissor lift 324.
[0063] It is worth noting that rollers can be installed at the end of the bottom second folding arm to reduce the friction of the second folding arm sliding.
[0064] In addition, both the first telescopic unit 310 and the second telescopic unit 320 can be equipped with limit switches to control the sliding range of the slider 313 and the push block 323.
[0065] Furthermore, the first and second directions can be set perpendicularly.
[0066] In this embodiment, optionally, the detection mechanism 400 includes a detection platform 410, an air-coupled radar 420, and a ranging sensor 430. The detection platform 410 is mounted on the second telescopic unit 320, and both the air-coupled radar 420 and the ranging sensor 430 are mounted on the detection platform 410. Specifically, the bottom of the detection platform 410 can be rotatably connected to the top of two scissor-type folding frames 324 simultaneously. The ranging sensor 430 can be a laser rangefinder, etc. The air-coupled radar 420 is used to detect the mass of the arch of the lining structure of the inclined shaft section 001; the ranging sensor 430 is used to detect the distance between the detection platform 410 and the arch of the lining structure of the inclined shaft section 001 in real time, thereby obtaining the distance between the air-coupled radar 420 and the arch of the lining structure of the inclined shaft section 001. Based on this distance parameter, the height of the detection platform 410 can be adjusted as needed through the second telescopic unit 320.
[0067] The unmanned detection device for the arch of the lining structure of the inclined shaft section 001 of the power generation water diversion tunnel provided in this embodiment is safe to use and obtains highly accurate detection results, providing strong technical support for the safe and stable operation of the power generation water diversion tunnel.
[0068] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.
Claims
1. An unmanned detection device for the arch roof of the lining structure of an inclined shaft section of a power generation and water diversion tunnel, characterized in that, It includes a traction mechanism (100), a traveling mechanism (200), an adjusting mechanism (300), and a detection mechanism (400), wherein: The traction mechanism (100) is connected to the walking mechanism (200); The adjustment mechanism (300) includes a first telescopic unit (310) and a second telescopic unit (320), wherein the first telescopic unit (310) is installed on the walking mechanism (200) and connected to the second telescopic unit (320); The detection mechanism (400) includes a detection platform (410), an air-coupled radar (420), and a ranging sensor (430). The detection platform (410) is installed on the second telescopic unit (320), and the air-coupled radar (420) and the ranging sensor (430) are both installed on the detection platform (410). The second telescopic unit (320) is connected to the detection platform (410); the first telescopic unit (310) is used to drive the second telescopic unit (320) and the detection platform (410) to reciprocate linearly relative to the walking mechanism (200) in a first direction; the second telescopic unit (320) is used to drive the detection platform (410) to rise and fall relative to the walking mechanism (200) in a second direction; the first direction and the second direction have an included angle.
2. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 1, characterized in that: The traction mechanism (100) includes a controller (110), a support frame (120), a drive motor (130), a winch (140), a roller odometer (150), and a composite armored cable (160); the support frame (120) is used to fix it to the upper horizontal section (002) of the tunnel; the controller (110) is also communicatively connected to the drive motor (130), the roller odometer (150), and the composite armored cable (160); the winch (140) The drive motor (130) is rotatably mounted on the support frame (120) and connected to the winch (140); the roller odometer (150) is rotatably mounted on the support frame (120); the composite armored cable (160) is wound around the winch (140) and contacts the roller odometer (150); the end of the composite armored cable (160) is connected to the walking mechanism (200).
3. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 1, characterized in that: The walking mechanism (200) includes a vehicle body (210), a walking wheel set (220), and an anti-roll guide wheel (230). The walking wheel set (220) is installed at the bottom of the vehicle body (210), and the anti-roll guide wheel (230) is installed on the side of the vehicle body (210).
4. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 3, characterized in that: The walking mechanism (200) also includes a power supply box (240), a counterweight box (250), a hook (260), and a roof platform (270). The power supply box (240) and the counterweight box (250) are both installed on the vehicle body (210). The hook (260) is installed on the rear side of the vehicle body (210). The traction mechanism is connected to the hook (260). The roof platform (270) is installed on the top of the vehicle body (210). The first telescopic unit (310) is installed on the roof platform (270).
5. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 4, characterized in that: The walking mechanism (200) also includes a panoramic camera unit (280) and a lighting unit (290), both of which are mounted on the roof platform (270).
6. The unmanned detection device for the arch of the lining structure of the inclined shaft section of the power generation water diversion tunnel according to any one of claims 1-5, characterized in that: The first telescopic unit (310) includes a first motor (311), a first screw (312), and a slider (313). The first motor (311) is fixed to the walking mechanism (200). The first screw (312) is connected to the rotating shaft of the first motor (311). The slider (313) is slidably engaged with the walking mechanism (200) in the first direction. The slider (313) is screwed to the outside of the first screw (312). The second telescopic unit (320) is connected to the slider (313).
7. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 6, characterized in that: The second telescopic unit (320) includes a second motor (321), a second screw (322), a push block (323), and a scissor-type folding frame (324). The second motor (321) is fixed to the slider (313), and the second screw (322) is connected to the rotating shaft of the second motor (321). The push block (323) is slidably engaged with the slider (313) along a first direction, and the push block (323) is screwed onto the outside of the second screw (322). The first fold of the scissor-type folding frame (324) The arm is fixed to the slider (313), and the second folding arm of the scissor folding frame (324) is slidably engaged with the slider (313) in the first direction. The push block (323) abuts against the second folding arm. The top of the scissor folding frame (324) is rotatably connected to the detection platform (410). The second motor (321) is used to drive the second screw (322) to rotate, so as to push the second folding arm in the first direction through the push block (323), thereby raising the scissor folding frame (324).
8. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 7, characterized in that: The first telescopic unit (310) further includes a guide rail (314), which is fixed to the slider (313), and the second folding arm is slidably engaged with the guide rail (314) in the first direction.
9. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 7, characterized in that: The scissor folding frame (324) is configured in two sets, with the two sets of scissor folding frames (324) arranged at intervals relative to each other, and the two sets of scissor folding frames (324) are connected by a connecting rod (325).
10. The unmanned detection device for the arch roof of the inclined shaft section lining structure of the power generation and water diversion tunnel according to claim 7, characterized in that: Both the first telescopic unit (310) and the second telescopic unit (320) are equipped with travel limit switches.