Intelligent detection device and method for tunnel shotcrete quality

Abstract

An intelligent detection device for the quality of tunnel shotcrete, which relates to the technical field of tunnel support engineering detection, includes a crawler trolley, a lifting rod, an unfolding device, a segmented track and an intelligent control system. A platform is provided at the top of the crawler trolley, an electric-controlled lifting rod is provided at the center of the platform, a lifting position detector is provided at the top of the lifting rod, and segmented tracks are connected to both sides of the top of the lifting rod. The segmented track is formed by connecting several track segments and can be unfolded under the drive of the unfolding device. A mobile detection platform is also provided on the segmented track, and an intelligent control system is provided on the crawler trolley. The present invention can intelligently fit the inspected contour and work at any height position in the tunnel, abandoning the traditional manual detection means and greatly improving the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel support engineering detection, and in particular to an intelligent detection device and method for tunnel shotcrete quality. Background Art

[0002] Shotcrete is an important component of the initial support of tunnels, but on-site construction often produces voids due to loose spraying. The voids in the sprayed layer are a major hidden danger to the stability of the tunnel. Therefore, tunnel shotcrete must be tested for sprayed layer quality. Currently, the commonly used sprayed layer quality testing methods include: in-situ drilling method, geological radar method, ultrasonic pulse method, infrared temperature field photography technology, dynamic non-destructive testing method, etc. The in-situ drilling method can detect the voids in the sprayed layer more accurately, but the drilling sampling process will cause damage to the primary support structure; the geological radar method is widely used in the quality inspection of the sprayed layer, but there are also some problems in the application of the geological radar detection method, such as low recognition rate when the thickness of the detection object exceeds 0.5m, expensive equipment, and long detection time; infrared temperature field photography technology is generally installed on a moving bracket, which can be used for non-destructive detection of the sprayed layer more conveniently and quickly, but this method relies on temperature gradient measurement. If accurate results are to be obtained, it needs to be combined with other technologies; the dynamic non-destructive method detects the voids in the sprayed layer by manually hammering the tunnel sprayed layer through the impact response amplification factor. This method is simple to operate and low in cost, but it is suitable for local detection due to terrain restrictions.

[0003] Therefore, it is very necessary to propose an automated detection equipment that can effectively improve the detection efficiency and solve the problems of low efficiency and inaccurate detection results in actual tunnel quality detection projects. Summary of the invention

[0004] The invention provides an intelligent detection device and method for tunnel shotcrete quality, aiming to solve the problems existing in the prior art.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] A tunnel shotcrete quality intelligent detection equipment comprises a crawler trolley, a lifting rod, an unfolding device, a segmented track and an intelligent control system. A platform is provided at the top of the crawler trolley, an electric-controlled lifting rod is provided at the center of the platform in the longitudinal direction, a lifting position detector is provided at the top of the lifting rod, segmented tracks are connected to both sides of the top of the lifting rod, the segmented tracks are formed by connecting a plurality of track segments, and can be unfolded under the drive of the unfolding device, and each track segment is moved to the detection position of the corresponding tunnel arc surface, a mobile detection platform is also provided on the segmented track, an intelligent control system is provided on the crawler trolley, and the intelligent control system is configured to control the movement of the crawler trolley, the movement of the unfolding device, the movement of the mobile detection platform and the movement of the lifting rod, the lifting position detector and the detection equipment carried on the mobile detection platform are electrically connected to the intelligent control system through wires, the intelligent control system is electrically connected to the vehicle-mounted power supply, and the intelligent control system transmits the graphics drawn according to the detection signal or the calculated data information to the detection control center in a wired or wireless form.

[0007] Preferably, adjacent track segments are connected by a spline shaft, the spline shaft is spline-connected to the front end of the track segment located on the rear side, and both ends of the spline shaft are rotatably connected to the rear end of the track segment located on the front side, and each track segment is connected in an end-to-end manner, and the deployment device includes a drive motor embedded in the middle of each track segment, the output shaft of the drive motor extends outward in a direction perpendicular to the side wall of the track segment and is fixedly connected to a driving gear, and round shafts are fixedly provided at both ends of the spline shaft, and the round shaft is rotatably connected to the rear end of the track segment located on the front side, and at one end of one of the round shafts A driven gear is fixedly provided on the part, the driving gear and the driven gear are connected by a chain transmission, and the driving motor is electrically connected to the intelligent control system through a wire; the unfolding device also includes an electric push rod connected between the first track segment in the direction of the lifting rod and the side wall of the telescopic rod of the lifting rod, the two ends of the electric push rod are respectively hinged to the bottom of the first track segment and the side wall of the telescopic end, the end of the first track segment facing the side of the lifting rod is hinged to the top of the lifting rod, and the first section of the track is driven to unfold under the extension and retraction of the electric push rod; the electric push rod is electrically connected to the intelligent control system through a wire.

[0008] Preferably, the detection equipment includes a knocking hammer, an ultrasonic pulser, and an infrared temperature detector fixed on the top of the mobile detection platform. The knocking hammer implements the knocking action through an electrically controlled telescopic device, and the electrically controlled telescopic device is electrically connected to the intelligent control system through a wire. The mobile detection platform is also provided with a knocking sound collection device, and the knocking sound collection device is connected to the intelligent control system signal through a wire.

[0009] Preferably, the bottom end of the mobile detection platform is provided with a groove matching the track segment, and two front and rear groups of drive components are respectively provided on the inner surface of the side wall of the groove, and each group of drive components is provided with two adjusting gears, and the two adjusting gears of each group on the inner surface of the two side walls of the groove are respectively meshed and connected with the toothed track arranged on the left or right side of the outer circumference of the track segment, and the adjusting gear located on the upper side is meshed and connected with the toothed track at the upper end of the track segment, and the adjusting gear located on the lower side is meshed and connected with the toothed track at the lower end of the track segment; the upper and lower ends of the outer surface of the groove side wall are respectively provided with limit blocks, and the outer end of the limit block is always in clearance with the outer surface of the upper or lower edge of the segmented track side wall, and there is a set distance between the outer end of the limit block and the inner surface of the groove side wall, and the set distance ensures that the mobile detection platform avoids interference with the unfolding device when moving back and forth along the track segment; a cavity is provided in the side wall of the groove, and a linear slide groove is provided on the cavity that passes through the inner surface of the groove side wall , the linear slide is arranged in the longitudinal direction, the central axis of the adjusting gear passes through the linear slide and extends into the cavity, the central axis is slidably connected to the linear slide, the other end of the central axis is connected to a mobile motor, the output shaft end of the mobile motor is fixedly connected to the end of the central axis, and electric cylinders are respectively arranged on the opposite sides of the shell walls of the mobile motor on the upper and lower sides, the fixed end of the electric cylinder is fixedly connected to the inner wall of the cavity, and the telescopic end is connected to the outer surface of the shell wall of the mobile motor through a pressure sensor, and a linear slide is also longitudinally arranged on the side wall of the cavity away from the linear slide, and the mobile motor is slidably connected to the linear slide; a laser inclination measuring instrument for detecting the axial inclination of the striking hammer is also provided on the mobile detection platform, and a visual sensor is provided on the top of the mobile detection platform, the pressure sensor, the laser inclination measuring instrument and the visual sensor are respectively connected to the intelligent control system signal through wires, and the intelligent control system is respectively electrically connected to the mobile motor and the electric cylinder through wires.

[0010] Preferably, the mobile detection platform is also provided with an alarm, and when the detection signal is abnormal, the alarm is sounded to display the location of the hollow drum; the alarm is electrically connected to the intelligent control system through a wire.

[0011] Preferably, a laser rangefinder is also provided at the top of the track segment, and the laser rangefinder is connected to the intelligent control system signal through a wire.

[0012] Preferably, the top of the platform is also provided with a storage groove with an upper opening, and the bottom end of the lifting rod is fixedly connected to the top of the platform enclosed by the storage groove. In the initial state, the lifting rod and the segmented tracks on both sides are retracted into the storage groove.

[0013] Preferably, an infrared distance detector is also provided on the outer surface of the side wall of the storage slot, and the infrared distance detector is connected to the intelligent control system signal through a wire.

[0014] Preferably, the tracked trolley is equipped with off-road triangular tracks.

[0015] A method for detecting the quality of tunnel shotcrete comprises the following steps:

[0016] (1) The crawler trolley moves into the tunnel along the center line of the tunnel floor, and the center line of the crawler trolley and the center line of the tunnel floor are parallel to each other in the vertical plane;

[0017] (2) Send a signal to the intelligent control system through the infrared distance detector, and the intelligent control system controls the crawler trolley to intermittently move forward a set distance;

[0018] (3) At the set distance, the crawler trolley is stopped by the intelligent control system, and the air suspension system is controlled to ensure the stability of the crawler trolley during the test;

[0019] (4) With the cooperation of the lifting position detector, the lifting rod is raised to the working height through the intelligent control system;

[0020] (5) Start the electric push rod to unfold the first track segment on both sides, and then start the drive motor on each track segment in turn to unfold each track segment. During the unfolding process, the intelligent control system controls the unfolding degree of each track segment through the detection information of the laser rangefinder, so that the track segment is in a position suitable for detection;

[0021] (6) The curved tunnel surface corresponding to each track segment is regarded as a working area, and the concrete quality in each working area is tested. During the test, the hammers corresponding to each track segment are operated in sequence to avoid interference between the knocking sounds;

[0022] (7) The intelligent control system transmits the graphics drawn based on the detection signal or the data information calculated to the detection control center in a wired or wireless manner.

[0023] The beneficial effects of the intelligent detection device and method for tunnel shotcrete quality of the present invention are:

[0024] 1. Provides a quality inspection device that can adapt to various tunnel sizes and types. The device can intelligently fit the inspected contour and work at any height position in the tunnel, abandoning the traditional manual inspection method and greatly improving the inspection efficiency;

[0025] 2. It provides an instrument track device that can fully automatically detect the void problem of the primary support concrete of the tunnel. It can place the detection instrument for autonomous detection, optimize the quality detection method, and realize intelligent working means;

[0026] 3. It provides a concrete quality detection equipment that uses sound wave detection, infrared temperature detection, and hammer vibration detection, giving full play to the advantages of each detection method, realizing multiple detections at one point, and effectively improving the accuracy of detection;

[0027] 4. A crawler trolley is provided which can operate autonomously in the tunnel primary support environment and maintain a stable working state, thus optimizing the preparation work for using the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 , a schematic diagram of the operation of the device of the present invention;

[0029] Figure 2 , a schematic diagram of the equipment preparation state of the present invention;

[0030] Figure 3 , a side schematic diagram of the crawler trolley of the present invention;

[0031] Figure 4 , a schematic diagram of the mobile detection platform of the present invention;

[0032] Figure 5 , a schematic diagram of the track segmentation and deployment device of the present invention;

[0033] Figure 6 , a side sectional view of the mobile inspection platform of the present invention when it cooperates with the track segment;

[0034] 1. Lifting position detector; 2. Lifting rod; 3. Connection position; 4. Mobile testing platform; 5. Sectional track; 6. Track trolley; 7. Suspension system; 8. Off-road triangular track; 9. Percussion hammer; 10. Ultrasonic pulser; 11. Infrared temperature detector; 12. Laser inclination meter; 13. Alarm; 14. Adjustment gear; 15. Linear slide; 16. Storage slot; 17. Infrared distance detector; 18. Intelligent control system system; 19. Toothed track; 20. Drive motor; 21. Spline shaft; 22. Laser rangefinder; 23. Charging port; 24. On-board power supply; 25. Protection plate; 26. Tunnel curved surface; 27. Power supply socket; 28. Spline sleeve; 29. ​​U-shaped seat; 30. Electric push rod; 31. Mobile motor; 32. Cavity; 33. Linear guide rail; 34. Electric cylinder; 35. Pressure sensor; 36. Driving gear; 37. Limit block. DETAILED DESCRIPTION

[0035] The following describes in detail the implementation mode of the present invention in a step-by-step manner. The description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore cannot be understood as a limitation on the present invention.

[0037] Embodiment 1,

[0038] An intelligent detection device for tunnel shotcrete quality, such as Figure 1-6 As shown, it includes a crawler trolley 6, a lifting rod 2, an unfolding device, a segmented track 5 and an intelligent control system 18. A platform is provided at the top of the crawler trolley 6, and an electric-controlled lifting rod 2 is provided longitudinally at the center of the platform. A lifting position detector 1 is provided at the top of the lifting rod 2. Segmented tracks 5 are connected to both sides of the top of the lifting rod 2. The segmented track 5 is formed by connecting a plurality of track segments and can be unfolded under the drive of the unfolding device, and each track segment is moved to the detection position of the corresponding tunnel arc surface. A mobile detection platform is also provided on the segmented track. An intelligent control system 18 is provided on the crawler trolley 6. The intelligent control system 18 is configured to control the movement of the crawler trolley, the movement of the unfolding device, the movement of the mobile detection platform and the movement of the lifting rod. The lifting position detector 1 and the detection equipment mounted on the mobile detection platform are electrically connected to the intelligent control system 18 through wires, respectively. The intelligent control system is electrically connected to the vehicle-mounted power supply. The intelligent control system transmits the graphics drawn according to the detection signal or the calculated data information to the detection control center in a wired or wireless form.

[0039] In this embodiment, the lifting rod can be a retractable electrical device such as an electric push rod or an electric cylinder or a hydraulic cylinder or a pneumatic cylinder, which can fully adapt to the complex road conditions in the tunnel through the tracked trolley.

[0040] Embodiment 2,

[0041] Based on Example 1, this example is improved as follows:

[0042] like Figure 1 , 2As shown in , 5 and 6, adjacent track segments are connected by a spline shaft 21, the spline shaft is spline-connected to the front end of the track segment located on the rear side, and both ends of the spline shaft are rotatably connected to the rear end of the track segment located on the front side, and each track segment is connected in an end-to-end manner, and the unfolding device includes a drive motor embedded in the middle of each track segment, the output shaft of the drive motor extends outward in a direction perpendicular to the side wall of the track segment, and is fixedly connected to a driving gear (not shown in the figure), and both ends of the spline shaft are fixedly provided with round shafts, and the round shafts are rotatably connected to the rear end of the track segment located on the front side, and one end of the round shaft is fixed A driven gear (not shown in the figure) is provided, and the driving gear and the driven gear are connected by a chain (not shown in the figure), and the driving motor is electrically connected to the intelligent control system through a wire; the unfolding device also includes an electric push rod 30 connected between the first track segment in the direction of the lifting rod and the side wall of the telescopic rod of the lifting rod, and the two ends of the electric push rod are respectively hinged to the bottom of the first track segment and the side wall of the telescopic end, and the end of the first track segment facing the side of the lifting rod is hinged to the top of the lifting rod, and the first section of the track is driven to unfold under the extension and retraction of the electric push rod; the electric push rod is electrically connected to the intelligent control system 18 through a wire.

[0043] In this embodiment, the principle of unfolding the segmented track is as follows: the electric push rod unfolds the first segmented track, and then the drive motors of each segmented track are operated in sequence to unfold each segmented track in sequence. In actual use, the number of track segments can be selected according to the size of the tunnel. Figure 5 As shown, a spline sleeve 28 is provided at one end of the track segment, and a U-shaped seat 29 is provided at the other end. Shaft holes are provided on the side panels of the U-shaped seat respectively. The front end of the rear track segment is inserted into the U-shaped seat, and the round shafts at both ends of the spline shaft are passed through the shaft holes and rotatably connected with the shaft holes, so that the rear track segment can be unfolded under the drive of the round shaft.

[0044] Embodiment 3,

[0045] Based on Example 2, this example is improved as follows:

[0046] like Figure 1-6 As shown, the detection equipment includes a knocking hammer 9, an ultrasonic pulser 10, and an infrared temperature detector 11 fixed on the top of the mobile detection platform. The knocking hammer implements the knocking action through an electric-controlled telescopic device (not shown in the figure), and the electric-controlled telescopic device is electrically connected to the intelligent control system through a wire. The mobile detection platform is also provided with a knocking sound collection device, and the knocking sound collection device is connected to the intelligent control system signal through a wire.

[0047] In this embodiment, the electric control telescopic device can be an electric push rod; the sound collecting device can be a sound transmission device such as a microphone, and the pouring quality of concrete can be detected by analyzing the sound signal through the intelligent control system. The coordinated detection of the three detection devices ensures that the detection results are correct and reliable.

[0048] Embodiment 4,

[0049] Based on Example 3, this example is improved as follows:

[0050] like Figure 4 , 5 As shown in Figure 6, the bottom end of the mobile detection platform is provided with a groove (not shown in the figure) matched with the track segment, and two groups of front and rear drive components are respectively provided on the inner surface of the side wall of the groove, and each group of drive components is provided with two adjusting gears 14. The two adjusting gears of each group on the inner surface of the two side walls of the groove are respectively meshed with the toothed track 19 provided on the left or right side of the outer peripheral surface of the track segment, and the adjusting gear located on the upper side is meshed with the toothed track 19 at the upper end of the track segment, and the adjusting gear located on the lower side is meshed with the track segment. The toothed track 19 at the lower end is meshed and connected; the upper and lower ends of the outer surface of the groove side wall are respectively provided with limit blocks 37, and the outer ends of the limit blocks 37 are always in clearance with the outer surface of the upper or lower edge of the segmented track side wall, and there is a set distance between the outer ends of the limit blocks 37 and the inner surface of the groove side wall, and the set distance ensures that the mobile detection platform avoids interference with the unfolding device when moving back and forth along the track segment; the groove side wall is provided with a cavity 32, and the cavity 32 is provided with a straight sliding Groove 15, the linear slide 15 is arranged longitudinally, the central axis of the adjusting gear passes through the linear slide and extends into the cavity, the central axis is slidably connected to the linear slide, the other end of the central axis is connected to a mobile motor 31, the output shaft end of the mobile motor is fixedly connected to the end of the central axis, and electric cylinders 34 are respectively arranged on the opposite sides of the shell wall of the mobile motor on the upper and lower sides, the fixed end of the electric cylinder 34 is fixedly connected to the inner wall of the cavity, and the telescopic end is connected to the outer surface of the shell wall of the mobile motor through a pressure sensor 35, and a linear slide rail 33 is also longitudinally arranged on the side wall of the cavity away from the linear slide, and the mobile motor is slidably connected to the linear slide rail 33; the mobile detection platform is also provided with a laser inclination meter 12 for detecting the axial inclination of the striking hammer 9, and a visual sensor is provided on the top of the mobile detection platform, the pressure sensor, the laser inclination meter 12 and the visual sensor are respectively connected to the intelligent control system 18 through wires, and the intelligent control system is respectively electrically connected to the mobile motor and the electric cylinder through wires.

[0051] In this embodiment, in order to adapt to the curved surface of the tunnel, the upper and lower ends of the track segment can be set to an arc shape. In this case, when the mobile detection platform moves back and forth along the toothed track 19, the intelligent control system controls the extension and retraction of the electric cylinder based on the information of the pressure sensor so that the distance between the two adjustment gears 14 of the same group matches the spacing between the upper and lower ends of the toothed track 19.

[0052] As a better implementation method, the side walls of the track segments are rectangular (not shown in the figure), so that the mobile detection platform does not need the cooperation of the electric cylinder when moving back and forth, making the movement more convenient. At the same time, the detection equipment installed on the mobile detection platform can be kept within the working range, and the knocking hammer can adapt to the changes in detection distance caused by the curved surface of the tunnel by changing the telescopic amount of the electric-controlled telescopic device. Preferably, the knocking hammer is connected to the top of the electric-controlled telescopic device through a spring, so as to ensure the quality of the knocking action while avoiding hard impact on the electric-controlled telescopic device.

[0053] In actual operation, it is possible that the knocking hammer does not knock in a direction perpendicular to the curved surface of the tunnel, which will lead to a decrease in detection quality. The present invention provides a visual sensor and a laser inclinometer. On the one hand, the visual sensor is used to timely detect whether the knocking hammer is perpendicular to the curved surface to be detected. On the other hand, the laser inclinometer is used to detect the inclination of the axis of the knocking hammer. Then, the intelligent control system is used to timely adjust the inclination of the axis of the knocking hammer to make the axis of the knocking hammer perpendicular to the curved surface to be detected.

[0054] Furthermore, the method for adjusting the inclination angle of the axis of the strike hammer is: first, through the contraction of the lower electric cylinder, the lower adjusting gears in the front and rear two groups of drive assemblies on the side wall of each groove are disengaged from the toothed track 19 below the track segment, and then the upper adjusting gear in one group of drive assemblies is driven to move upward or downward along the straight slide groove through the extension and contraction of the upper electric cylinder, so that there is a height difference between the upper adjusting gears of the two groups of drive assemblies, and the inclination angle of the entire mobile work platform is adjusted in this way. After the inclination angle is in place, the lower adjusting gear is pressed and meshed with the lower toothed track 19, and detection is carried out in this state. When the mobile work platform needs to be moved again, the upper and lower electric cylinders are returned to the original extension and contraction amount, and then continue to move to the new position for detection.

[0055] Embodiment 5,

[0056] Based on Example 4, this example is improved as follows:

[0057] like Figure 4As shown, the mobile detection platform is also provided with an alarm 13. When the detection signal is abnormal, the alarm 13 will sound an alarm to display the location of the hollow drum; the alarm 13 is electrically connected to the intelligent control system through a wire.

[0058] like Figure 4 As shown, a laser rangefinder 22 is also provided at the top of the track segment. The laser rangefinder 22 is connected to the intelligent control system signal through a wire, and the purpose is to provide the intelligent control system with the distance between the track segment and the curved surface of the tunnel, so that the track segment can smoothly enter the working area.

[0059] like Figure 3 As shown, a receiving groove 16 with an upper opening is also provided on the top of the platform, and the bottom end of the lifting rod is fixedly connected to the top of the platform enclosed by the receiving groove 16. In the initial state, the lifting rod and the segmented tracks 5 on both sides are retracted in the receiving groove 16.

[0060] like Figure 3 As shown, the outer surface of the side wall of the storage groove 16 is also provided with an infrared distance detector 17, and the infrared distance detector 17 is connected to the intelligent control system signal through a wire, so as to enable the crawler trolley to accurately move the set distance.

[0061] like Figure 3 As shown, the tracked trolley is equipped with an off-road triangular track 8.

[0062] As a common setting, another visual sensor can be set at the front end of the crawler trolley, and the air suspension system can be adjusted by the intelligent control system to make the crawler trolley run more smoothly.

[0063] Embodiment 6,

[0064] Based on Example 5, this example discloses:

[0065] A method for detecting the quality of tunnel shotcrete, such as Figure 1-6 As shown, the following steps are included:

[0066] (1) The crawler trolley moves into the tunnel along the center line of the tunnel ground, and the center line of the crawler trolley and the center line of the tunnel ground are parallel to each other in the vertical plane; in actual use, a certain error is allowed for this parallelism;

[0067] (2) Send a signal to the intelligent control system through the infrared distance detector, and the intelligent control system controls the crawler trolley to intermittently move forward a set distance;

[0068] (3) At the set distance, the crawler trolley is stopped by the intelligent control system, and the air suspension system is controlled to ensure the stability of the crawler trolley during the test;

[0069] (4) With the cooperation of the lifting position detector, the lifting rod is raised to the working height through the intelligent control system;

[0070] (5) Start the electric push rod 30 to unfold the first track segments on both sides, and then start the drive motors on each track segment in turn to unfold each track segment. During the unfolding process, the intelligent control system controls the unfolding degree of each track segment through the detection information of the laser rangefinder, so that the track segment is in a position suitable for detection;

[0071] (6) The curved tunnel surface corresponding to each track segment is regarded as a working area, and the concrete quality in each working area is tested. During the test, the hammers corresponding to each track segment are operated in sequence to avoid interference between the knocking sounds;

[0072] (7) The intelligent control system transmits the graphics drawn based on the detection signal or the data information calculated to the detection control center in a wired or wireless manner.

Claims

1. An intelligent detection device for tunnel shotcrete quality, characterized by: It includes a crawler trolley, a lifting rod, an unfolding device, a segmented track and an intelligent control system. A platform is provided on the top of the crawler trolley, and an electric-controlled lifting rod is provided in the longitudinal direction at the center of the platform. A lifting position detector is provided on the top of the lifting rod. Segmented tracks are connected to both sides of the top of the lifting rod. The segmented track is formed by connecting a number of track segments and can be unfolded under the drive of the unfolding device, and each track segment is moved to the detection position of the corresponding tunnel arc surface. A mobile detection platform is also provided on the segmented track. The crawler trolley is provided with an intelligent control system. The intelligent control system is configured to control the movement of the crawler trolley, the movement of the unfolding device, the movement of the mobile detection platform and the movement of the lifting rod. The lifting position detector and the detection equipment carried on the mobile detection platform are electrically connected to the intelligent control system through wires, respectively. The intelligent control system is electrically connected to the vehicle-mounted power supply. The intelligent control system transmits the graphics drawn according to the detection signal or the calculated data information to the detection control center in a wired or wireless form. Adjacent track segments are connected by a spline shaft, the spline shaft is spline-connected to the front end of the track segment located on the rear side, the two ends of the spline shaft are rotatably connected to the rear end of the track segment located on the front side, and the track segments are connected in an end-to-end manner, the deployment device includes a drive motor embedded in the middle of each track segment, the output shaft of the drive motor extends outward in a direction perpendicular to the side wall of the track segment and is fixedly connected to a driving gear, the two ends of the spline shaft are fixedly provided with round shafts, the round shafts are rotatably connected to the rear end of the track segment located on the front side, and one end of one of the round shafts is fixed A driven gear is provided, the driving gear and the driven gear are connected by a chain transmission, and the driving motor is electrically connected to the intelligent control system through a wire; the unfolding device also includes an electric push rod connected between the first track segment in the direction of the lifting rod and the side wall of the telescopic rod of the lifting rod, the two ends of the electric push rod are respectively hinged to the bottom of the first track segment and the side wall of the telescopic end, the end of the first track segment facing the side of the lifting rod is hinged to the top of the lifting rod, and the first section of the track is driven to unfold under the extension and retraction of the electric push rod; the electric push rod is electrically connected to the intelligent control system through a wire.

2. The intelligent detection device for tunnel shotcrete quality according to claim 1, characterized in that: The detection equipment includes a knocking hammer, an ultrasonic pulser, and an infrared temperature detector fixed on the top of a mobile detection platform. The knocking hammer implements the knocking action through an electrically controlled telescopic device, and the electrically controlled telescopic device is electrically connected to the intelligent control system through a wire. The mobile detection platform is also provided with a knocking sound collection device, and the knocking sound collection device is connected to the intelligent control system signal through a wire.

3. The intelligent detection device for tunnel shotcrete quality according to claim 2, characterized in that: The bottom end of the mobile detection platform is provided with a groove matching the track segment, and two front and rear groups of driving components are respectively provided on the inner surface of the side wall of the groove, and each group of driving components is provided with two adjusting gears, and the two adjusting gears of each group on the inner surface of the two side walls of the groove are respectively meshed and connected with the toothed track arranged on the left or right side of the outer peripheral surface of the track segment, and the adjusting gear located on the upper side is meshed and connected with the toothed track at the upper end of the track segment, and the adjusting gear located on the lower side is meshed and connected with the toothed track at the lower end of the track segment; the upper and lower ends of the outer surface of the groove side wall are respectively provided with limit blocks, and the outer end of the limit block is always in clearance with the outer surface of the upper or lower edge of the segmented track side wall, and there is a set distance between the outer end of the limit block and the inner surface of the groove side wall, and the set distance ensures that the mobile detection platform avoids interference with the unfolding device when moving back and forth along the track segment; a cavity is provided in the side wall of the groove, and a linear slide groove is provided on the cavity that runs through the inner surface of the groove side wall, The linear slide is arranged longitudinally, the central axis of the adjusting gear passes through the linear slide and extends into the cavity, the central axis is slidably connected to the linear slide, the other end of the central axis is connected to a mobile motor, the output shaft end of the mobile motor is fixedly connected to the end of the central axis, electric cylinders are respectively arranged on the opposite sides of the shell walls of the mobile motor on the upper and lower sides, the fixed end of the electric cylinder is fixedly connected to the inner wall of the cavity, and the telescopic end is connected to the outer surface of the shell wall of the mobile motor through a pressure sensor, a linear slide is also longitudinally arranged on the side wall of the cavity away from the linear slide, and the mobile motor is slidably connected to the linear slide; a laser inclination measuring instrument for detecting the axial inclination of the striking hammer is also provided on the mobile detection platform, and a visual sensor is provided on the top of the mobile detection platform, the pressure sensor, the laser inclination measuring instrument and the visual sensor are respectively connected to the intelligent control system signal through wires, and the intelligent control system is respectively electrically connected to the mobile motor and the electric cylinder through wires.

4. The intelligent detection device for tunnel shotcrete quality as claimed in claim 3 is characterized by: The mobile detection platform is also provided with an alarm. When the detection signal is abnormal, the alarm is sounded to display the location of the hollow drum. The alarm is electrically connected to the intelligent control system through a wire.

5. The intelligent detection device for tunnel shotcrete quality according to claim 4, characterized in that: A laser rangefinder is also provided at the top of the track segment, and the laser rangefinder is connected to the intelligent control system signal through a wire.

6. The intelligent detection device for tunnel shotcrete quality according to claim 5, characterized in that: The top of the platform is also provided with a storage groove with an upper opening, and the bottom end of the lifting rod is fixedly connected to the top of the platform surrounded by the storage groove. In the initial state, the lifting rod and the segmented tracks on both sides are retracted in the storage groove.

7. The intelligent detection device for tunnel shotcrete quality according to claim 6, characterized in that: An infrared distance detector is also provided on the outer surface of the side wall of the storage slot, and the infrared distance detector is connected to the intelligent control system signal through a wire.

8. The intelligent detection device for tunnel shotcrete quality according to claim 7, characterized in that: The crawler trolley is equipped with off-road triangular crawler tracks.

9. A method for detecting the quality of tunnel shotcrete, characterized by: The intelligent detection device for tunnel shotcrete quality as claimed in claim 8 comprises the following steps: (1) The crawler trolley moves into the tunnel along the center line of the tunnel floor, and the center line of the crawler trolley and the center line of the tunnel floor are parallel to each other in the vertical plane; (2) Send a signal to the intelligent control system through the infrared distance detector, and the intelligent control system controls the crawler trolley to intermittently move forward a set distance; (3) At the set distance, the crawler trolley is stopped by the intelligent control system, and the air suspension system is controlled to ensure the stability of the crawler trolley during the test; (4) With the cooperation of the lifting position detector, the lifting rod is raised to the working height through the intelligent control system; (5) Start the electric push rod to unfold the first track segment on both sides, and then start the drive motor on each track segment in turn to unfold each track segment. During the unfolding process, the intelligent control system controls the unfolding degree of each track segment through the detection information of the laser rangefinder, so that the track segment is in a position suitable for detection; (6) The curved tunnel surface corresponding to each track segment is regarded as a working area, and the concrete quality in each working area is tested. During the test, the hammers corresponding to each track segment are operated in sequence to avoid interference between the knocking sounds; (7) The intelligent control system transmits the graphics drawn based on the detection signal or the data information calculated to the detection control center in a wired or wireless manner.

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