Ultrasonic-based tunnel surface detection device and tunnel surface detection method

Abstract

The present invention discloses a tunnel surface detection device and a tunnel surface detection method based on ultrasound, comprising: a scanning mechanism, comprising a plurality of ultrasonic scanning modules arranged parallel to a reference axis; a motion mechanism, used to drive the scanning mechanism to rotate around the reference axis; a calibration mechanism, comprising a first reference ring and a second reference ring, the axis of the first reference ring and the axis of the second reference ring are both located on the reference axis, and there is a distance difference between the first reference ring and the second reference ring in the radial direction; wherein at least one ultrasonic scanning module scans the inner ring surface of the first reference ring, at least another ultrasonic scanning module scans the inner ring surface of the second reference ring, and at least another ultrasonic scanning module scans the tunnel surface. The present invention has few measurement parameters, simple data processing, high detection efficiency, can avoid measurement errors caused by eccentricity when the scanning mechanism rotates, can eliminate measurement errors caused by environmental factors, and ensure the accuracy of the measurement results.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection, and in particular to an ultrasonic-based tunnel surface detection device and a tunnel surface detection method. Background Art

[0002] During the tunnel construction process, the excavated tunnel is inspected and the location information of the tunnel surface is quickly modeled based on the inspection. This is of great significance to the subsequent support construction process and excavation quality acceptance: on the one hand, the inspection of the tunnel structure can judge the quality of the tunnel construction, strengthen the weak parts and prepare for the later maintenance; on the other hand, the deformation of the tunnel surface can easily lead to damage expansion and induce safety accidents. Therefore, the inspection of the tunnel structure can estimate the dangerous area and avoid safety accidents. Existing research on tunnel surface inspection devices mostly uses laser 3D scanners to detect the tunnel contour. The equipment is expensive, has high environmental requirements, and has a large amount of data. In order to ensure a certain accuracy, the subsequent data processing is complicated. Summary of the invention

[0003] The purpose of the present invention is to provide a tunnel surface detection device and a tunnel surface detection method based on ultrasound, so as to solve the technical problems of complex data processing and low efficiency when the current tunnel surface detection device uses a laser three-dimensional scanner to scan the tunnel contour to obtain the position information of the tunnel surface.

[0004] The above-mentioned purpose of the present invention can be achieved by adopting the following technical solutions:

[0005] The present invention provides an ultrasonic-based tunnel surface detection device, comprising: a scanning mechanism, comprising a plurality of ultrasonic scanning modules, wherein the plurality of ultrasonic scanning modules are arranged parallel to a reference axis; a motion mechanism, used to drive the scanning mechanism to rotate around the reference axis; a calibration mechanism, comprising a first reference ring and a second reference ring, wherein the axis of the first reference ring and the axis of the second reference ring are both located on the reference axis, and there is a distance difference between the first reference ring and the second reference ring in the radial direction; wherein at least one of the ultrasonic scanning modules scans the inner annular surface of the first reference ring, at least another ultrasonic scanning module scans the inner annular surface of the second reference ring, and at least another ultrasonic scanning module scans the tunnel surface.

[0006] In an embodiment of the present invention, the ultrasonic scanning module includes an ultrasonic transmitting unit and an ultrasonic receiving unit, the ultrasonic transmitting unit is used to transmit ultrasonic waves to the measuring surface, and the ultrasonic receiving unit is used to receive ultrasonic waves reflected back from the measuring surface.

[0007] In an embodiment of the present invention, the calibration mechanism further includes an angle reference structure, and the scanning mechanism further includes an angle scanning module, and the angle scanning module is used to scan the angle reference structure to detect the rotation angle of the scanning mechanism.

[0008] In an embodiment of the present invention, the inner ring surface of the first reference ring includes an angle calibration surface and a distance calibration surface, the angle calibration surface and the distance calibration surface are arranged along the reference axis, at least one ultrasonic scanning module scans the distance calibration surface, and the angle reference structure includes a plurality of angle reference grooves or a plurality of angle reference teeth, and the plurality of angle reference grooves or the plurality of angle reference teeth are uniformly arranged on the angle calibration surface along the circumference of the first reference ring.

[0009] In an embodiment of the present invention, the angle scanning module comprises a laser probe, and the laser probe is arranged side by side with the plurality of ultrasonic scanning modules, and the laser probe sequentially scans the plurality of angle reference grooves or the plurality of angle reference convex teeth.

[0010] In an embodiment of the present invention, the motion mechanism includes a main support, a rotating structure and a mounting frame, the mounting frame is installed on the main support through the rotating structure, the rotating structure drives the mounting frame to rotate around the reference axis, and the scanning mechanism is installed on the mounting frame.

[0011] In an embodiment of the present invention, the rotating structure includes a large gear, a small gear and a driving member, the large gear is mounted on the main bracket, and the axis of the large gear is located on the reference axis, the driving member is mounted on the mounting frame, the output shaft of the driving member is connected to the small gear, and the small gear is meshed with the large gear.

[0012] In an embodiment of the present invention, the tunnel surface detection device also includes a protective mechanism, which includes a protective cover and a protective base, the protective base includes a connected protective bottom and a protective side, the protective bottom is connected to the main bracket, the protective cover is installed on the protective bottom, the protective cover can slide radially outward along the first reference ring until it abuts against the mounting frame at the starting position, and the protective side is located in the scanning direction of the scanning mechanism.

[0013] In an embodiment of the present invention, a plurality of water nozzles are provided on the inner side surface of the protective side portion opposite to the scanning mechanism, and the plurality of water nozzles are used to spray flushing water toward the scanning mechanism.

[0014] In an embodiment of the present invention, a plurality of air nozzles are provided on the inner side surface of the protective side portion opposite to the scanning mechanism, and the plurality of air nozzles spray airflow for spraying airflow toward the scanning mechanism.

[0015] The present invention also provides a tunnel surface detection method, which adopts the above-mentioned ultrasonic-based tunnel surface detection device, and the tunnel surface detection method includes the following steps: the motion mechanism drives the scanning mechanism to rotate to an angle; obtains a first reference time for scanning between at least one of the ultrasonic scanning modules and the first reference ring; obtains a second reference time for scanning between at least one of the ultrasonic scanning modules and the second reference ring; obtains a detection time for scanning between at least one of the ultrasonic scanning modules and a detection point on the tunnel surface; determines the relative position relationship between the detection point and the first reference ring or the second reference ring according to the relative position relationship between the first reference ring and the second reference ring and the relative relationship among the first reference time, the second reference time and the detection time, and then obtains the position information of the detection point; repeats the above steps, rotates the scanning mechanism to various angles, and obtains the position information of each detection point on the circumference of the tunnel surface.

[0016] In the embodiment of the present invention, the first reference time is t o-1 , the second reference time is t o-2 , the detection time is t n , the distance between the first reference ring and the reference axis is R o-1 , the distance between the second reference ring and the reference axis is R o-2 , the distance between the detection point and the reference axis is R n , then there is a relationship:

[0017] i=1 or 2.

[0018] The characteristics and advantages of the present invention are:

[0019] The ultrasonic-based tunnel surface detection device and tunnel surface detection method of the present invention arrange multiple ultrasonic scanning modules parallel to the reference axis to ensure that the distances between the multiple ultrasonic scanning modules and the reference axis are equal, drive the scanning mechanism to rotate around the reference axis through a motion mechanism, and arrange a first reference ring and a second reference ring coaxial with the reference axis, so that at least one ultrasonic scanning module on the scanning mechanism can scan each detection point on the circumference of the tunnel surface, and at least another two ultrasonic scanning modules can synchronously scan the inner ring surface of the first reference ring and the inner ring surface of the second reference ring. Therefore, when the present invention detects any detection point on the circumference of the tunnel surface, it can synchronously scan the distance between the first reference ring and the second reference ring. The deviation and the scanning time difference of at least two ultrasonic scanning modules scanning the first reference ring and the second reference ring are used as a reference, and then the distance difference between the tunnel surface and the first reference ring or the second reference ring is determined according to the scanning time difference of the ultrasonic scanning module scanning the tunnel surface and the first reference ring or the second reference ring, so as to accurately determine the position information of each detection point on the tunnel surface. It can be seen that the present invention has few measurement parameters, simple data processing, high detection efficiency, can avoid measurement errors caused by deviations between the rotation center and the reference axis when the scanning mechanism rotates, and utilizes the characteristic that the ultrasonic propagation speed of the ultrasonic wave is consistent in the same environment, which can effectively eliminate the influence of environmental factors on the test results, thereby ensuring the accuracy of the measurement results. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a side view of the tunnel surface detection device based on ultrasound according to the present invention.

[0022] Figure 2 It is a three-dimensional diagram of the tunnel surface detection device based on ultrasound according to the present invention.

[0023] Figure 3 It is a partial stereoscopic view of the tunnel surface detection device based on ultrasound according to the present invention.

[0024] Figure 4 It is a measurement schematic diagram of the ultrasonic-based tunnel surface detection device of the present invention.

[0025] Figure 5 It is a side view of the scanning mechanism and the protection mechanism of the present invention.

[0026] Figure 6It is a three-dimensional diagram of the cooperation between the scanning mechanism and the protection mechanism of the present invention.

[0027] Figure 7 It is a partial stereoscopic diagram of the scanning mechanism and the protection mechanism of the present invention.

[0028] In the figure:

[0029] 1. Scanning mechanism; 11. Ultrasonic scanning module; 101. Ultrasonic scanning module; 102. Ultrasonic scanning module; 103. Ultrasonic scanning module; 111. Ultrasonic transmitting unit; 112. Ultrasonic receiving unit; 12. Angle scanning module; 121. Laser probe; 13. Motion trajectory; 2. Motion mechanism; 21. Main bracket; 22. Rotating structure; 221. Large gear; 222. Small gear; 223. Driving member; 23. Mounting frame; 3. Calibration mechanism; 31. First reference ring; 311. Angle calibration surface; 312. Distance calibration surface; 32. Second reference ring; 4. Protection mechanism; 41. Protection base; 411. Protection bottom; 412. Protection side; 413. Slide rail; 414. Limiting groove; 42. Protection cover; 43. Water nozzle; 44. Wind nozzle; 45. Driving cylinder; 5. Tunnel surface. DETAILED DESCRIPTION

[0030] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0031] Implementation Method 1

[0032] like Figures 1 to 4 As shown, the present invention provides a tunnel surface detection device based on ultrasound, comprising: a scanning mechanism 1, comprising a plurality of ultrasonic scanning modules 11, wherein the plurality of ultrasonic scanning modules 11 are arranged parallel to a reference axis O; a motion mechanism 2, used to drive the scanning mechanism 1 to rotate around the reference axis O; a calibration mechanism 3, comprising a first reference ring 31 and a second reference ring 32, wherein the axis of the first reference ring 31 and the axis of the second reference ring 32 are both located on the reference axis O, and there is a distance difference between the first reference ring 31 and the second reference ring 32 in the radial direction thereof; wherein, in combination with Figure 7 As shown, at least one ultrasonic scanning module 101 scans the inner surface of the first reference ring 31 , at least another ultrasonic scanning module 102 scans the inner surface of the second reference ring 32 , and at least another ultrasonic scanning module 103 scans the tunnel surface 5 .

[0033] The ultrasonic tunnel surface detection device of the present invention arranges multiple ultrasonic scanning modules 11 parallel to the reference axis O to ensure that the distances between the multiple ultrasonic scanning modules 11 and the reference axis O are equal, drives the scanning mechanism 1 to rotate around the reference axis O through the motion mechanism 2, and arranges a first reference ring 31 and a second reference ring 32 coaxial with the reference axis O, so that at least one ultrasonic scanning module 103 on the scanning mechanism 1 can scan each detection point on the circumference of the tunnel surface 5, and at least another ultrasonic scanning module 102 and at least one more ultrasonic scanning module 103 can synchronously scan the inner annular surface of the first reference ring 31 and the inner annular surface of the second reference ring 32. Therefore, when the present invention detects any detection point on the circumference of the tunnel surface 5, it can synchronously scan the first reference ring 31 and the second reference ring 32. The distance difference D0 between the rings 32 and the scanning time difference of the ultrasonic scanning module 11 scanning the first reference ring 31 and the second reference ring 32 are used as a reference, and then the distance difference between the tunnel surface 5 and the first reference ring 31 or the second reference ring 32 is determined according to the scanning time difference of the ultrasonic scanning module 11 scanning the tunnel surface 5 and the first reference ring 31 or the second reference ring 32, so as to accurately determine the position information of each detection point on the tunnel surface 5. It can be seen that the present invention has few measurement parameters, simple data processing, and high detection efficiency. It can avoid measurement errors caused by deviations between the rotation center of the scanning mechanism 1 and the reference axis O when the scanning mechanism 1 rotates, and utilizes the characteristic that the ultrasonic propagation speed is consistent under the same environment to effectively eliminate the influence of environmental factors on the test results, thereby ensuring the accuracy of the measurement results.

[0034] The motion mechanism 2 drives the scanning mechanism 1 to rotate around the reference axis O to form a motion trajectory S. Under ideal conditions, the rotation center of the scanning mechanism 1, that is, the center of the motion trajectory S, is also located on the reference axis O. However, due to the matching clearance of the motion mechanism 2 itself, the vibration of the motion mechanism 2 or other unavoidable factors, the rotation center of the scanning mechanism 1 may be offset during the rotation process, resulting in the distance Rx between the ultrasonic scanning module 11 and the reference axis O being unable to remain consistent during the rotation process, that is, the distance difference D1 between the ultrasonic scanning module 101 and the first reference ring 31 and the distance difference D2 between the ultrasonic scanning module 102 and the second reference ring 32 are unable to remain consistent during the rotation process, while the distance difference D0 between the first reference ring 31 and the second reference ring 32 remains unchanged. Therefore, using the distance difference D0 between the first reference ring 31 and the second reference ring 32 and the scanning time difference of the ultrasonic scanning module 11 scanning the first reference ring 31 and the second reference ring 32 as a reference will not cause measurement errors.

[0035] Specifically, the first reference ring 31 and the second reference ring 32 are generally annular structures with a gap, and are coaxially arranged but have different radii, so that there is a distance difference between the first reference ring 31 and the second reference ring 32. The circumferential curvature of the first reference ring 31 and the circumferential curvature of the second reference ring 32 are equal and are not less than the circumferential curvature of the tunnel surface 5 to be measured. In this embodiment, the circumferential curvature of the first reference ring 31 and the circumferential curvature of the second reference ring 32 are both 270 degrees. The scanning mechanism 1 includes an ultrasonic scanning module 101, another ultrasonic scanning module 102 and a plurality of ultrasonic scanning modules 103 arranged in sequence, and the first reference ring 31 is scanned by an ultrasonic scanning module 101, the second reference ring 32 is scanned by another ultrasonic scanning module 102, and a plurality of ultrasonic scanning modules 103 are used to simultaneously scan a plurality of detection points on the tunnel surface 5 that are arranged along its axial direction at the same angle.

[0036] In another embodiment, the scanning mechanism further comprises a plurality of ultrasonic scanning modules arranged circumferentially along the first reference ring, and the plurality of detection points arranged in the same circumferential direction on the tunnel surface are scanned simultaneously by the plurality of ultrasonic scanning modules.

[0037] like Figure 7 As shown, the ultrasonic scanning module 11 includes an ultrasonic transmitting unit 111 and an ultrasonic receiving unit 112. The ultrasonic transmitting unit 111 is used to transmit ultrasonic waves to the measuring surface, and the ultrasonic receiving unit 112 is used to receive ultrasonic waves reflected back from the measuring surface. The measuring surface refers to the inner ring surface of the first reference ring 31, the inner ring surface of the second reference ring 32, and the tunnel surface 5. The scanning time of the ultrasonic scanning module 11 scanning the measuring surface is equal to the sum of the time when the ultrasonic wave emitted by the ultrasonic transmitting unit 111 reaches the measuring surface and the time when the ultrasonic wave is reflected from the measuring surface to the ultrasonic receiving unit 112.

[0038] like Figure 7 As shown, in an embodiment of the present invention, the calibration mechanism 3 also includes an angle reference structure, and the scanning mechanism 1 also includes an angle scanning module 12. The angle scanning module 12 is used to scan the angle reference structure to detect the rotation angle of the scanning mechanism 1. The angle scanning module 12 rotates synchronously with the multiple ultrasonic scanning modules 11, and the rotation angle of the scanning mechanism 1 can be controlled by the motion mechanism 2. However, in order to avoid the angle error when the motion mechanism 2 drives the scanning mechanism 1 to rotate and cause inaccurate angle information of the detection point, that is, the motion mechanism 2 drives the scanning mechanism 1 to rotate at a set angle of α, but the actual rotation angle of the scanning mechanism 1 is greater than α or less than α. The present invention uses the angle scanning module 12 to synchronously detect the rotation angle of the scanning mechanism 1, thereby calibrating the angle information of the detection point.

[0039] like Figure 2 , Figure 3 as well as Figure 6 , Figure 7As shown, the inner ring surface of the first reference ring 31 includes an angle calibration surface 311 and a distance calibration surface 312, the angle calibration surface 311 and the distance calibration surface 312 are arranged along the reference axis O, at least one ultrasonic scanning module 101 scans the distance calibration surface 312, and the angle reference structure includes a plurality of angle reference grooves or a plurality of angle reference convex teeth, and the plurality of angle reference grooves or a plurality of angle reference convex teeth are evenly arranged on the angle calibration surface 311 along the circumference of the first reference ring 31. The angle scanning module 12 can measure the rotation angle of the scanning mechanism 1 according to the number of angle reference grooves or angle reference convex teeth scanned by it and the arrangement angle between the plurality of angle reference grooves or the plurality of angle reference convex teeth. For example, the arrangement angle between the plurality of angle reference grooves or the plurality of angle reference convex teeth is α, the number of angle reference grooves or angle reference convex teeth scanned by the angle scanning module 12 is N, and the rotation angle of the scanning mechanism 1 is A, then there is a relationship: A=Nα. Optionally, the angle reference structure can also be a plurality of other structures, as long as the structure can be recognized by the angle scanning module.

[0040] Specifically, the laser detection device further includes a control module and a time recorder. The control module is electrically connected to the angle scanning module 12, the plurality of ultrasonic scanning modules 11 and the time recorder respectively. When the angle scanning module 12 scans an angle reference groove or an angle reference convex tooth, it transmits a detection signal to the control module. The control module controls the plurality of ultrasonic scanning modules 11 to scan. The time recorder records the time when the ultrasonic receiving unit 112 receives the reflected ultrasonic wave. This is repeated until the angle scanning module 12 scans all the angle reference grooves or angle reference convex teeth, and the measurement of the detection points at various angles on the tunnel surface 5 is completed. Optionally, after each rotation of the scanning mechanism by α, the plurality of ultrasonic scanning modules scan again. This is repeated until the measurement of the detection points at various angles on the tunnel surface is completed.

[0041] like Figure 6 and Figure 7 As shown, in this embodiment, the angle scanning module 12 includes a laser probe 121, and the laser probe 121 is arranged side by side with the multiple ultrasonic scanning modules 11, and the laser probe 121 scans the multiple angle reference grooves or multiple angle reference convex teeth in sequence. When the laser probe 121 emits a laser to the angle calibration surface 311, when scanning the angle reference groove or the angle reference convex tooth, the angle reference groove or the angle reference convex tooth is identified due to the change in distance. Optionally, the angle scanning module can also use other elements such as photoelectric probes that can scan and identify the circumferential calibration structure.

[0042] like Figure 1 , Figure 2 as well as Figure 3As shown, in the embodiment of the present invention, the motion mechanism 2 includes a main support 21, a rotary structure 22 and a mounting frame 23. The mounting frame 23 is mounted on the main support 21 through the rotary structure 22. The rotary structure 22 drives the mounting frame 23 to rotate around the reference axis O. The scanning mechanism 1 is mounted on the mounting frame 23. The mounting frame 23 is driven to rotate around the reference axis O by the rotary structure 22, thereby driving the scanning mechanism 1 on the mounting frame 23 to rotate synchronously. Specifically, the first reference ring 31 and the second reference ring 32 can be directly fixed to the main support 21 through a connecting piece, or can be fixed together with the main support 21 on a fixed table.

[0043] like Figure 3 and Figure 5 As shown, the rotary structure 22 includes a large gear 221, a small gear 222 and a driving member 223. The large gear 221 is mounted on the main bracket 21, and the axis of the large gear 221 is located on the reference axis O. The driving member 223 is mounted on the mounting frame 23. The output shaft of the driving member 223 is connected to the small gear 222, and the small gear 222 is meshed with the large gear 221. The axis of the large gear 221 is also located on the reference axis O. In an ideal state, the driving member 223 drives the small gear 222 to rotate, so that the small gear 222 rolls on the large gear 221 around the reference axis O. However, due to the matching clearance between the small gear 222 and the large gear 221, the rotation center of the small gear 222 cannot always be consistent with the reference axis when rolling on the large gear 221.

[0044] like Figure 3 , Figure 5 , Figure 6 as well as Figure 7 As shown, in the embodiment of the present invention, the tunnel surface detection device further includes a protection mechanism 4, the protection mechanism 4 includes a protection cover 42 and a protection base 41, the protection base 41 includes a connected protection bottom 411 and a protection side 412, the protection bottom 411 is connected to the main bracket 21, the protection cover 42 is installed on the protection bottom 411, the protection cover 42 can slide radially outward along the first reference ring 31 to abut against the mounting frame 23 at the starting position, and the protection side 412 is located in the scanning direction of the scanning mechanism 1. When the scanning mechanism 1 and the mounting frame 23 are located at the starting position, that is, the scanning mechanism 1 has not yet scanned, the protection side 412 blocks the scanning direction of the scanning mechanism 1 to prevent impurities from adhering to the scanning mechanism 1 and affecting its scanning performance. The protection cover 42 abuts against the mounting frame 23 to prevent the mounting frame 23 from moving at will.

[0045] Specifically, a limiting groove 414 is provided on the protective bottom 411 along the circumference of the first reference ring 31. When the mounting frame 23 rotates to the starting position, one side of the mounting frame 23 matches the limiting groove 414. A slide rail 413 is provided on the protective bottom 411 along the radial direction of the first reference ring 31, and the protective cover 42 slides with the slide rail 413. A driving cylinder 45 is installed on the protective bottom 411. When the scanning mechanism 1 stops scanning, the driving cylinder 45 pushes the protective cover 42 to slide radially outward along the first reference ring 31 so that the protective cover 42 abuts against the mounting frame 23, thereby fixing the mounting frame 23; when the scanning mechanism 1 needs to be started, the driving cylinder 45 pushes the protective cover 42 to slide radially inward along the first reference ring 31 so that the protective cover 42 is separated from the mounting frame 23, so that the mounting frame 23 can drive the scanning mechanism 1 to start rotating.

[0046] like Figure 6 and Figure 7 As shown, in this embodiment, a plurality of water nozzles 43 are provided on the inner side surface of the protective side portion 412 opposite to the scanning mechanism 1, and the plurality of water nozzles 43 are used to spray flushing water to the scanning mechanism 1. A plurality of air nozzles 44 are also provided on the inner side surface of the protective side portion 412, and the plurality of air nozzles 44 spray airflow to the scanning mechanism 1 after the water nozzles 43 spray flushing water to dry the scanning mechanism 1. Specifically, the plurality of air nozzles 44 and the plurality of water nozzles 43 are arranged one by one in an interlaced manner in a direction parallel to the scanning mechanism 1.

[0047] Optionally, only a plurality of water nozzles are provided on the inner side surface of the protective side portion opposite to the scanning mechanism, and the plurality of water nozzles spray flushing water toward the scanning mechanism, thereby flushing away impurities adhered to the scanning mechanism.

[0048] Optionally, only a plurality of air nozzles are provided on the inner side surface of the protective side portion opposite to the scanning mechanism 1 , and the plurality of air nozzles spray airflow toward the scanning mechanism, thereby blowing away impurities adhered to the scanning mechanism 1 .

[0049] Implementation Method 2

[0050] like Figure 1 , Figure 4 as well as Figure 7As shown, the present invention also provides a tunnel surface detection method, using an ultrasonic-based tunnel surface detection device, and the tunnel surface 5 detection method includes the following steps: the motion mechanism 2 drives the scanning mechanism 1 to rotate to an angle; obtain the first reference time of scanning between at least one ultrasonic scanning module 101 and the first reference ring 31; obtain the second reference time of scanning between at least one ultrasonic scanning module 102 and the second reference ring 32; obtain the detection time of scanning between at least one ultrasonic scanning module 103 and a detection point on the tunnel surface 5; according to the relative position relationship between the first reference ring 31 and the second reference ring 32 and the relative relationship between the first reference time, the second reference time, and the detection time, determine the relative position relationship between the detection point and the first reference ring 31 or the second reference ring 32, and then obtain the position information of the detection point; repeat the above steps, rotate the scanning mechanism 1 to various angles, and obtain the position information of each detection point on the circumference of the tunnel surface 5. The tunnel surface detection device in this embodiment is the same as the tunnel surface detection device in the first embodiment in terms of specific structure, working principle and beneficial effects, which will not be repeated here.

[0051] The first reference time is t o-1 , the second reference time is t o-2 , the detection time is t n , the distance between the first reference ring and the reference axis is R o-1 , the distance between the second reference ring and the reference axis is R o-2 , the distance between the detection point and the reference axis is R n , then there is a relationship:

[0052] i=1 or 2.

[0053] Specifically, the scanning times of the multiple ultrasonic scanning modules 103 scanning the multiple detection points arranged along the axial direction at the same angle on the tunnel surface 5 are t1, t2, t3, ..., t n The distance difference D0 between the second reference ring 32 and the first reference ring 31 is equal to R o-2 -R o-1 The scanning time difference between the second reference ring 32 and the first reference ring 31 respectively scanned by the ultrasonic scanning module 11 is t o-2 -t o-1 The distance difference D1 between the detection point on the tunnel surface 5 and the first reference ring 31 is R n -R o-i , the distance difference D1 between the detection point on the tunnel surface 5 and the first reference ring 31 is equal to R n -R o-1 , the distance difference D2 between the detection point on the tunnel surface 5 and the first reference ring 32 is equal to R n -R o-2The difference in scanning time between the ultrasonic scanning module 11 scanning the detection point on the tunnel surface 5 and the first reference ring 31 is equal to t n -t o-1 The difference in scanning time between the ultrasonic scanning module 11 scanning the detection point on the tunnel surface 5 and the first reference ring 31 is equal to t n -t o-2 .

[0054] Therefore, according to the relationship: i=1 or 2, thus the above relationship is derived.

[0055] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A tunnel surface detection device based on ultrasound, characterized in that: include: The scanning mechanism comprises a plurality of ultrasonic scanning modules, wherein the plurality of ultrasonic scanning modules are arranged parallel to a reference axis; A motion mechanism, used for driving the scanning mechanism to rotate around the reference axis; A calibration mechanism, comprising a first reference ring and a second reference ring, wherein the axis of the first reference ring and the axis of the second reference ring are both located on the reference axis, and there is a distance difference between the first reference ring and the second reference ring in the radial direction thereof; Among them, at least one ultrasonic scanning module scans the inner ring surface of the first reference ring, at least another ultrasonic scanning module scans the inner ring surface of the second reference ring, and at least another ultrasonic scanning module scans the tunnel surface.

2. The tunnel surface detection device based on ultrasound according to claim 1, characterized in that: The ultrasonic scanning module comprises an ultrasonic transmitting unit and an ultrasonic receiving unit. The ultrasonic transmitting unit is used to transmit ultrasonic waves to the measuring surface, and the ultrasonic receiving unit is used to receive ultrasonic waves reflected back from the measuring surface.

3. The tunnel surface detection device based on ultrasonic wave according to claim 1, characterized in that: The calibration mechanism further includes an angle reference structure, and the scanning mechanism further includes an angle scanning module, wherein the angle scanning module is used to scan the angle reference structure to detect the rotation angle of the scanning mechanism.

4. The tunnel surface detection device based on ultrasound according to claim 3, characterized in that: The inner ring surface of the first reference ring includes an angle calibration surface and a distance calibration surface, the angle calibration surface and the distance calibration surface are arranged along the reference axis, at least one ultrasonic scanning module scans the distance calibration surface, and the angle reference structure includes a plurality of angle reference grooves or a plurality of angle reference convex teeth, and the plurality of angle reference grooves or the plurality of angle reference convex teeth are uniformly arranged on the angle calibration surface along the circumference of the first reference ring.

5. The tunnel surface detection device based on ultrasonic wave according to claim 4, characterized in that: The angle scanning module includes a laser probe, which is arranged side by side with the plurality of ultrasonic scanning modules. The laser probe sequentially scans the plurality of angle reference grooves or the plurality of angle reference convex teeth.

6. The tunnel surface detection device based on ultrasonic wave according to claim 1, characterized in that: The motion mechanism comprises a main support, a rotating structure and a mounting frame. The mounting frame is mounted on the main support via the rotating structure. The rotating structure drives the mounting frame to rotate around the reference axis. The scanning mechanism is mounted on the mounting frame.

7. The tunnel surface detection device based on ultrasonic wave according to claim 6, characterized in that: The rotating structure includes a large gear, a small gear and a driving member. The large gear is installed on the main bracket, and the axis of the large gear is located on the reference axis. The driving member is installed on the mounting frame, and the output shaft of the driving member is connected to the small gear, and the small gear is meshed with the large gear.

8. The tunnel surface detection device based on ultrasonic wave according to claim 6, characterized in that: The tunnel surface detection device also includes a protection mechanism, which includes a protection cover and a protection base. The protection base includes a connected protection bottom and a protection side portion. The protection bottom is connected to the main bracket, and the protection cover is installed on the protection bottom. The protection cover can slide radially outward along the first reference ring until it abuts against the mounting frame at the starting position, and the protection side portion is located in the scanning direction of the scanning mechanism.

9. The tunnel surface detection device based on ultrasonic wave according to claim 8, characterized in that: A plurality of water nozzles are provided on the inner side surface of the protective side portion opposite to the scanning mechanism, and the plurality of water nozzles are used to spray flushing water toward the scanning mechanism.

10. The tunnel surface detection device based on ultrasound according to claim 8 or 9, characterized in that: A plurality of air nozzles are arranged on the inner side surface of the protective side portion opposite to the scanning mechanism, and the plurality of air nozzles spray airflows for spraying airflows toward the scanning mechanism.

11. A tunnel surface detection method, characterized in that: Using the ultrasonic-based tunnel surface detection device according to any one of claims 1 to 10, the tunnel surface detection method comprises the following steps: The motion mechanism drives the scanning mechanism to rotate to an angle; Acquire a first reference time for scanning between at least one of the ultrasonic scanning modules and the first reference ring; Acquire a second reference time for scanning between at least one of the ultrasonic scanning modules and the second reference ring; Acquire the detection time of scanning between at least one of the ultrasonic scanning modules and a detection point on the tunnel surface; Determine the relative position relationship between the detection point and the first reference ring or the second reference ring according to the relative position relationship between the first reference ring and the second reference ring and the relative relationship among the first reference time, the second reference time and the detection time, and then obtain the position information of the detection point; Repeat the above steps, rotate the scanning mechanism to various angles, and obtain the position information of each detection point on the circumference of the tunnel surface.

12. The tunnel surface detection method according to claim 11, characterized in that: The first reference time is t o-1 , the second reference time is t o-2 , the detection time is t n , the distance between the first reference ring and the reference axis is R o-1 , the distance between the second reference ring and the reference axis is R o-2 , the distance between the detection point and the reference axis is R n , then there is a relationship: i=1 or 2.

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