Vehicle-mounted tunnel lining defect detection device and method

Abstract

The application discloses a kind of vehicle-mounted tunnel lining defect detection device and method, wherein the method comprises: tunnel lining interior fine detection mechanism is with mechanical arm swing mode and vertical lifting mode, respectively with the ground coupling type geological radar antenna carried, extend to tunnel lining surface, and the spacing between ground coupling type geological radar antenna and tunnel lining surface is controlled in preset distance interval;Tunnel lining interior rapid screening device is with mechanical electric drive servo dynamic adjustment air-coupled geological radar antenna carried;Detection data evaluation system carries out the calculation of tunnel lining quality index, and obtains tunnel lining defect detection result;The tunnel lining quality index reflects the degree of tunnel lining defect.The application can improve the efficiency and accuracy of vehicle-mounted tunnel lining defect detection.

Description

Technical Field

[0001] This invention relates to the field of tunnel lining defect detection technology, and more particularly to a vehicle-mounted tunnel lining defect detection device and method. Background Technology

[0002] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section.

[0003] Tunnel lining defect detection is one of the important preventive measures to ensure driving safety. At present, the mainstream technology for non-destructive testing of tunnel lining is to use ground-penetrating radar.

[0004] Ground-penetrating radar (GPR) detection mainly includes manual and vehicle-mounted methods. Vehicle-mounted detection is typically a large-scale mechanized operation, and tunnel inspection vehicles for both conventional and high-speed railways have been developed, significantly improving the automation of detection.

[0005] At present, multiple sets of robotic arms are used to carry ground-penetrating radars to the target location, and then the radars are moved with the vehicle to detect defects inside the tunnel lining.

[0006] However, when encountering obstacles on the tunnel surface during the inspection process, current inspection systems often require constant manual adjustment of the robotic arm position. This not only reduces the efficiency of tunnel lining defect detection but also leads to missed or false detections, severely impacting the accuracy of tunnel lining defect detection. Furthermore, current tunnel lining defect detection solutions often only detect defects at single locations, exhibiting limited performance indicators and lacking the ability for rapid screening of the entire cross-section, thus failing to fundamentally improve detection efficiency, achieve a breakthrough in equipment technical specifications, and possess strong intelligent features. Summary of the Invention

[0007] This invention provides a vehicle-mounted tunnel lining defect detection device to improve the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. The device includes:

[0008] The precision inspection mechanism inside the tunnel lining is used to extend a ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining using both a swinging robotic arm and a vertical lifting mechanism, and to control the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range; it receives first radar detection data and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is the radar detection data for the lining of the tunnel sidewalls and tunnel arch; the second radar detection data is the radar detection data for the lining of the tunnel arch.

[0009] A rapid screening device for the interior of tunnel lining is used to dynamically adjust the mounted air-coupled ground-penetrating radar antenna using a mechanically driven servo system; and to receive third radar detection data from the air-coupled ground-penetrating radar antenna.

[0010] The detection data evaluation system is used to calculate the tunnel lining quality index based on the first radar detection data, the second radar detection data, and the third radar detection data, thereby obtaining the tunnel lining defect detection results; the tunnel lining quality index is used to reflect the degree of tunnel lining defects.

[0011] This invention also provides a vehicle-mounted tunnel lining defect detection method, applied to the vehicle-mounted tunnel lining defect detection device described above, to improve the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. The method includes:

[0012] The precision inspection mechanism inside the tunnel lining uses a robotic arm to swing and vertically lift, extending its mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining, while controlling the distance between the antenna and the lining surface within a preset range. It receives first and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data pertains to radar detection of the lining of the tunnel sidewalls and tunnel arch; the second radar detection data pertains to radar detection of the lining of the tunnel arch.

[0013] The rapid screening device inside the tunnel lining dynamically adjusts the air-coupled ground-penetrating radar antenna via a mechanically driven servo system; it also receives third-radar detection data from the air-coupled ground-penetrating radar antenna.

[0014] The detection data evaluation system calculates the tunnel lining quality index based on the first radar detection data, the second radar detection data, and the third radar detection data to obtain the tunnel lining defect detection results; the tunnel lining quality index is used to reflect the degree of tunnel lining defects.

[0015] In this embodiment of the invention, a fine inspection mechanism inside the tunnel lining is used to extend a mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining using a swinging robotic arm and a vertical lifting mechanism, respectively, and to control the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range; it receives first radar detection data and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is data from radar detection of the lining of the tunnel sidewalls and tunnel arch waist; the second radar detection data is data from radar detection of the lining of the tunnel arch; a rapid screening device inside the tunnel lining is used to dynamically adjust the mounted air-coupled ground-penetrating radar antenna using a mechanically driven servo system; it receives third radar detection data from the air-coupled ground-penetrating radar antenna; and a detection data evaluation system is used to evaluate the first radar detection data, the second radar detection data, and the third radar detection data. The tunnel lining quality index is calculated to obtain the tunnel lining defect detection results. The tunnel lining quality index is used to reflect the degree of tunnel lining defects. Compared with the existing technology that requires continuous manual adjustment of the robotic arm position, the fine inspection mechanism inside the tunnel lining controls the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range. This allows for automated self-adjustment of the fine inspection mechanism inside the tunnel lining, eliminating the need for manual adjustment of the robotic arm and effectively reducing interference from the contact wire frame in the inspection process. At the same time, it can also precisely control the distance between the ground-penetrating radar antenna and the lining surface, achieving high-quality data acquisition and improving the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. This provides a strong theoretical basis for tunnel maintenance units to understand equipment status, greatly promotes the development of tunnel inspection technology, and provides technical support for the construction of a railway tunnel inspection system. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0017] Figure 1 This is a schematic diagram of the structure of a vehicle-mounted tunnel lining defect detection device according to an embodiment of the present invention;

[0018] Figure 2 This is a specific example diagram of a vehicle-mounted tunnel lining defect detection device according to an embodiment of the present invention;

[0019] Figure 3 This is a specific example diagram of a vehicle-mounted tunnel lining defect detection device according to an embodiment of the present invention;

[0020] Figure 4 This is a specific example diagram of a vehicle-mounted tunnel lining defect detection device according to an embodiment of the present invention;

[0021] Figure 5 This is a specific example diagram of a vehicle-mounted tunnel lining defect detection device according to an embodiment of the present invention;

[0022] Figure 6 This is a specific example diagram of a vehicle-mounted tunnel lining defect detection device according to an embodiment of the present invention;

[0023] Figure 7 This is a flowchart illustrating a vehicle-mounted tunnel lining defect detection method according to an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0025] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0026] In the description of this specification, the terms "comprising," "including," "having," and "containing" are open-ended terms, meaning that they include but are not limited to. The terms "an embodiment," "a specific embodiment," "some embodiments," and "for example," etc., refer to specific features, structures, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. The order of steps involved in the various embodiments is used to illustrate the implementation of this application, and the order of steps is not limited and can be adjusted appropriately as needed.

[0027] The acquisition, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0028] Tunnel lining defect detection is a crucial preventative measure to ensure traffic safety. Currently, the mainstream technology for non-destructive testing of tunnel linings utilizes ground-penetrating radar (GPR). GPR detection is primarily conducted manually or via vehicle. Vehicle-mounted detection typically involves large-scale mechanized operations, and tunnel inspection vehicles for both conventional and high-speed railways have been developed, significantly improving automation. These vehicles utilize multiple robotic arms to carry GPR sensors, extending them to the target location and then moving with the vehicle to detect internal defects in the tunnel lining. However, current detection systems still suffer from limitations: single performance indicators, insufficient intelligent structural features and vehicle-linked control, limited ability for detailed inspection without rapid full-section screening, low integration of detection instruments, and insufficient adaptability to various operating conditions. These shortcomings prevent a substantial improvement in detection efficiency, fundamental breakthroughs in equipment technical specifications, and weak intelligence. This invention effectively solves all these problems, offering multiple operating modes: rapid screening, detailed inspection, system integration and linkage, and fully automated intelligent operation. It is convenient to operate, highly self-controllable, and requires only two operators, representing a pioneering achievement in core technologies for related products in the industry.

[0029] To address the aforementioned problems, this invention provides a vehicle-mounted tunnel lining defect detection device to improve the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. (See also...) Figure 1 The device includes:

[0030] The tunnel lining internal fine inspection mechanism 101 is used to extend the mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining using a swinging robotic arm and a vertical lifting method, respectively, and to control the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range; it receives first radar detection data and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is the radar detection data for the lining of the tunnel sidewalls and tunnel arch waist; the second radar detection data is the radar detection data for the lining of the tunnel arch.

[0031] The tunnel lining internal rapid screening device 102 is used to dynamically adjust the mounted air-coupled ground-penetrating radar antenna with mechanical electric drive servo; and to receive the third radar detection data from the air-coupled ground-penetrating radar antenna.

[0032] The detection data evaluation system 103 is used to calculate the tunnel lining quality index based on the first radar detection data, the second radar detection data, and the third radar detection data, and to obtain the tunnel lining defect detection results; the aforementioned tunnel lining quality index is used to reflect the degree of tunnel lining defects.

[0033] In this embodiment of the invention, a fine inspection mechanism inside the tunnel lining is used to extend a mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining using a swinging robotic arm and a vertical lifting mechanism, respectively, and to control the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range; it receives first radar detection data and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is data from radar detection of the lining of the tunnel sidewalls and tunnel arch waist; the second radar detection data is data from radar detection of the lining of the tunnel arch; a rapid screening device inside the tunnel lining is used to dynamically adjust the mounted air-coupled ground-penetrating radar antenna using a mechanically driven servo system; it receives third radar detection data from the air-coupled ground-penetrating radar antenna; and a detection data evaluation system is used to evaluate the first radar detection data, the second radar detection data, and the third radar detection data. The tunnel lining quality index is calculated to obtain the tunnel lining defect detection results. This index reflects the degree of tunnel lining defects. Compared to existing technologies that require continuous manual adjustment of the robotic arm position, this method utilizes a precision detection mechanism inside the tunnel lining. By controlling the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset range, the mechanism can automatically adjust itself, eliminating the need for manual robotic arm adjustment and effectively reducing interference from the contact wire frame. Simultaneously, it allows for precise control of the distance between the ground-penetrating radar antenna and the lining surface, enabling high-quality data acquisition and improving the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. This provides a strong theoretical basis for tunnel maintenance units to understand equipment status, greatly promotes the development of tunnel inspection technology, and provides technical support for the construction of a railway tunnel inspection system.

[0034] In specific implementation, the fine inspection mechanism 101 inside the tunnel lining is used to extend the mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining by means of a swinging robotic arm and a vertical lifting method, respectively, and to control the distance between the ground-coupled ground-penetrating radar antenna and the surface of the tunnel lining within a preset distance range; and to receive the first radar detection data and the second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is the radar detection data of the lining of the tunnel sidewalls and the tunnel arch waist; the second radar detection data is the radar detection data of the lining of the tunnel arch.

[0035] In one embodiment, the tunnel lining interior fine inspection mechanism and the tunnel lining interior rapid screening device can be centrally located in a vehicle-mounted installation area, situated within the operating unit compartment of the inspection vehicle. The tunnel lining interior fine inspection mechanism comprises a platform and two supporting robotic arms. The platform is preferably a plunger-cylinder type stable rotary platform capable of lifting the base and offering two rotational positions: 90° clockwise and 180° counterclockwise. This rotational positioning function enables full-section inspection coverage, reducing the number of robotic arms required.

[0036] In one embodiment, the tunnel lining internal inspection mechanism can be used to mount a traditional ground-coupled ground-penetrating radar antenna to a suitable working position on the tunnel lining surface. Because it operates beyond its limits, it requires real-time obstacle avoidance to ensure continuous inspection, while maintaining a stable distance between each ground-coupled radar antenna and the tunnel lining surface. This mechanism possesses super-degree-of-freedom characteristics, defined as the sum of its actual degrees of freedom exceeding the sum of its nominal degrees of freedom. The mechanism is preferably configured as two robotic arms.

[0037] In one embodiment, a fine inspection mechanism for the interior of the tunnel lining, such as Figure 2 As shown, it includes:

[0038] The first robotic arm 201 (i.e., the first robotic arm) is used to extend the ground-coupled ground-penetrating radar antenna mounted on it to the surface of the tunnel lining by swinging the robotic arm, and to control the distance between the ground-coupled ground-penetrating radar antenna and the surface of the tunnel lining within a preset distance range.

[0039] The second robotic arm 202 (i.e., the second robotic arm) is used to extend the mounted ground-coupled ground-penetrating radar antenna to the tunnel lining surface in a vertical lifting manner, and to control the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range.

[0040] The first platform 203 (i.e., the plunger cylinder type stable rotary platform) connects the first robotic arm and the second robotic arm, and is used to lift and rotate the first robotic arm and the second robotic arm.

[0041] In one embodiment, the first robotic arm, such as Figure 3 As shown, it includes:

[0042] The straight boom 301 is composed of a multi-stage telescopic sleeve 3011 and has a built-in reverse booster cylinder.

[0043] Servo cylinder 302 connects the straight arm and the platform, and is used to control the swing of the straight arm on the platform and adjust the pitch angle of the straight arm.

[0044] The arc-shaped arm 305 is a flexible-rigid conversion structure and is fixedly connected to the straight arm via gear 303. The arc-shaped arm carries multiple ground-coupled ground-penetrating radar antennas. The arc-shaped arm is composed of multiple cylinders connected by electromechanical locking gears 304. The radial width of the multiple cylinders decreases as they move away from the straight arm. Each cylinder segment has an electric push rod 308 installed in the slide rail of the outer groove 307. The electric push rod is used to carry the ground-coupled ground-penetrating radar antenna 309.

[0045] For example, the first robotic arm (i.e., the first robotic arm) has the capability of full-coverage detection of the side wall arch and waist, with a nominal degree of freedom of 8. It is composed of two sections, the basic part of which is called the straight arm. The straight arm and its base are connected by a servo cylinder to have a swing function, which can adjust the pitch angle of the straight arm. In addition, the straight arm itself is composed of a multi-stage telescopic sleeve and has a built-in reverse booster cylinder to realize the large stroke extension and retraction of the straight arm. The straight arm end is fixed to an arc-shaped arm via gears. The gear adjustment angle can be selected within a 90° range. The arc-shaped arm carries 3-6 ground-penetrating radar antennas and has a flexible-rigid conversion structure. This structure consists of rigid cylinder segments with extremely high degrees of freedom, whose shape can be changed in real time through mechanical-electric locks on the end gears. Each cylinder segment has a rectangular cross-section and can have the same length. The radial width of each segment gradually decreases as it moves away from the straight arm, completely achieving full adaptability and self-adjustment to the complex and harsh environment of arch detection. Each cylinder segment carries a ground-penetrating radar antenna, which is mounted on a small-stroke electric actuator platform. The small-stroke electric actuator moves within the slide rail of the outer groove of the cylinder segment, effectively adjusting the antenna's measurement line position.

[0046] In one embodiment, the second robotic arm, such as Figure 4 As shown, it includes:

[0047] Multi-stage gapless sleeve 401; an electric push rod is added to the outside of the top sleeve of the above sleeve; the electric push rod is used to mount the ground-coupled ground-penetrating radar antenna and servo adjust the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface.

[0048] Telescopic cylinder 402, connected to a multi-stage gapless sleeve, is used to lift and lower the ground-coupled ground-penetrating radar antenna mounted on the multi-stage gapless sleeve;

[0049] Electromagnetic clamp base 403, connecting the bottom sleeve in the sleeve;

[0050] The adjustable lead screw 407 has one end connected to the electromagnetic clamp base and the other end supporting the bottom sleeve in the sleeve.

[0051] The second platform 404 supports the electromagnetic clamp base and is fixed on the first platform.

[0052] In one embodiment, a plurality of axially elastic adjustable track wheels 405 and a track alarm 406 are installed below the electromagnetic clamp base.

[0053] For example, the second robotic arm is a portable vertical robotic arm located at the rear of the inspection platform. The base is designed as a large-section rectangular electromagnetic clamp, with adjustable lead screws 407 at both ends supporting the basic sleeve of the robotic arm. After the base loses power, the mechanical pins can be easily removed and the entire robotic arm can be removed. The base can be rotated by the platform to reach a position perpendicular to the tunnel centerline. Vertical lifting allows the radar antenna mounted on it to reach the tunnel's arch. The second robotic arm is composed of multi-stage (preferably four-stage) carbon fiber gapless sleeves, with a lightweight design limited to within 80kg. It has embedded anti-friction ball bearings and a square or rectangular cross-section. Utilizing the rapid push of the basic-stage hydraulic cylinder in conjunction with the multiple speed relationship of the built-in steel wire, the multi-stage sleeves can achieve rapid linkage at multiple speeds, reaching a stable high-speed lifting speed of 2m / s. This allows it to reach the arch of the high-speed rail tunnel with a large cross-section, effectively achieving the purpose of rapid extension and retraction to avoid obstacles. A small-stroke electric push rod is attached to the outside of the top sleeve, and the antenna is installed on the small-stroke electric push rod platform seat, which can servo adjust the distance between the antenna and the lining surface.

[0054] In addition, after the No. 2 robotic arm is removed from the No. 1 platform, its base is equipped with four axially adjustable wheels and a track clamping device, which can be directly used as a traveling trolley to push on the track for operation. This allows it to be mobile in dealing with situations where normal inspection cannot be carried out due to certain extreme objective reasons during the inspection of the arch.

[0055] In the above embodiments, a unique vehicle-mounted tunnel lining internal detection support mechanism combining curved and straight arms was created, which can maximize the fit of the onboard ground-penetrating radar antenna to the inner contour of the tunnel and effectively avoid interference from the contact wire frame to the detection process; the innovative use of a rigid-flexible multi-degree-of-freedom adjustment method can precisely control the distance between the ground-penetrating radar antenna and the lining surface, and achieve high-quality acquisition of detection data.

[0056] In practical implementation, the aforementioned ground-coupled ground-penetrating radar antenna is specifically used to: perform data stacking processing on signals from different frequency bands to obtain radar detection data of subway tunnel lining reflecting different frequency bands.

[0057] In the above embodiments, the aforementioned ground-penetrating radar antenna, such as Figure 6 As shown, it can be installed on a high-degree-of-freedom maintenance device, preferably controlled by two radar main units and connected through an integrated synchronization unit. Each ground-coupled ground-penetrating radar antenna can be in the form of a combination of high and medium frequency antennas, such as a shielded antenna group of 400+900MHz, where 400MHz represents the antenna longitudinal direction and 900MHz represents the antenna radial direction.

[0058] In the above embodiments, the ground-coupled ground-penetrating radar antenna can be used to perform data stacking processing on signals of different frequency bands to obtain radar detection data of subway tunnel lining reflecting different frequency bands. For example, the ground-coupled ground-penetrating radar antenna can perform data processing and stacking after collecting data of different frequency bands to generate the final data result.

[0059] In the above embodiments, an innovative array-style frequency band signal transmission and reception mode of the circumferential ground-penetrating radar antenna group is adopted, and a cross-shaped butterfly antenna is innovatively designed. This achieves a breakthrough adaptation to the influence of the internal steel mesh of the subway tunnel lining, and for the first time realizes a 3D-dimensional quantitative display of the internal structural state of the subway tunnel lining. For example, the maximum detection depth can reach 1.5m, and the vertical resolution can be higher than 2cm. It can also finely detect the steel mesh and the state behind it, effectively penetrating the reflection effect of the steel bars on radar waves, and improving the limitations of traditional methods for subway tunnel detection. At the same time, the ground-penetrating radar antennas can realize the mutual transmission and reception of multi-frequency band signals, elevating the traditional concept of "surveying line" to include the actual width, and outputting 3D spatial parameter information of defects inside the lining.

[0060] In the above embodiments, an innovative array-type frequency band signal transmission and reception mode of the circumferential ground-penetrating radar antenna group was adopted, and key parameters such as antenna polarization angle, beam lobe, and spacing correspondence were optimized, achieving for the first time a 3D-dimensional quantitative display of the internal structural state of the tunnel lining.

[0061] In specific implementation, such as Figure 2 As shown, the rapid screening device inside the tunnel lining is used to dynamically adjust the mounted air-coupled ground-penetrating radar antenna using a mechanically driven servo system; and to receive third radar detection data from the air-coupled ground-penetrating radar antenna.

[0062] In one embodiment, a rapid screening device for the interior of the tunnel lining, such as Figure 5 As shown, it includes:

[0063] The electrically controlled rotating platform 501 is equipped with an air-coupled ground-penetrating radar antenna and is used to control the rotation of the air-coupled ground-penetrating radar antenna 504.

[0064] Servo adjustment lever 502 is connected to the electrically controlled rotary platform and is used for dynamic adjustment of the mechanically driven servo-controlled rotary platform;

[0065] Gantry frame 503; the gantry frame includes multiple mounting positions; the mounting positions are used to mount servo adjustment rods.

[0066] For example, the rapid screening device inside the tunnel lining is a gantry frame design. The two sets of structures are identical, with two mounting positions on the top of the gantry and four mounting positions on each side. Each of these 10 mounting positions has an independent mechanical electric drive servo dynamic adjustment and gimbal rotation function, which can be used to install air-coupled ground-penetrating radar antennas.

[0067] In practice, the detection data evaluation system is used to calculate the tunnel lining quality index based on the first radar detection data, the second radar detection data, and the third radar detection data to obtain the tunnel lining defect detection results; the aforementioned tunnel lining quality index is used to reflect the degree of tunnel lining defects.

[0068] In the above embodiments, the ground-penetrating radar coupled detection system is installed on the detection mechanism and device, enabling sensor-level fusion and linkage of multi-source heterogeneous signals. It innovatively establishes a dual mode for rapid screening and detailed detection of obvious defects inside the tunnel lining. Furthermore, its multi-mode detection data can be shared and merged to output detection results. The two types of ground-coupled ground-penetrating radar detection instruments are ground-coupled ground-penetrating radar antennas and air-coupled ground-penetrating radar antennas.

[0069] In one embodiment, a ground-coupled ground-penetrating radar antenna is installed inside the tunnel lining detection mechanism. Preferably, three radar main units are controlled and connected via an integrated synchronization unit. The combination of high- and low-frequency antennas (using a 400+900MHz shielded antenna array) achieves a maximum detection depth of 1.5m and a vertical resolution greater than 2cm. The complementary detection depth and vertical resolution meet the depth and accuracy requirements of lining detection. Multi-band signal transmission and reception elevate the traditional "survey line" concept to include the actual width, outputting 3D spatial parameter information of defects inside the lining.

[0070] The air-coupled ground-penetrating radar antenna features a specially treated antenna horn polarization angle, with an optimal opening angle of 15.3°. The transmitter voltage is boosted to 300V, and the transmission power, signal-to-noise ratio, and antenna-to-lining spacing are registered. Ten antennas are arranged in a ring array, with the antennas treated for wave absorption and shielding, and low-ringing technology is adopted. When installed on a rapid tunnel lining detection device, it meets the technical requirements for long-distance detection within the vehicle clearance range. For single-track tunnels, the entire tunnel is opened for one inspection. For double-track tunnels, the top two antennas and the near-end four antennas are opened, and half of the tunnel is inspected each time, achieving preliminary screening of significant defects in the entire cross-section of the tunnel lining.

[0071] The multi-mode fusion result output format is to conduct a comprehensive index analysis of the two types of results, and creatively proposes the concept of TLQI (Tunnel Lining Quality Index) to organically integrate the data of the two types of results.

[0072] In the above embodiments, the detection data evaluation system can integrate multi-source signals, flexibly control the extension and retraction of the internal detection support mechanism of the tunnel lining, and effectively control the precise linkage of the appearance detection support device. It successfully solves the key technical problem of autonomous obstacle avoidance under complex working conditions with dense contact wires and auxiliary equipment in the tunnel of operating high-speed railway. For the first time, it realizes unmanned operation of vehicle-mounted internal tunnel lining detection, and the operation efficiency is more than eight times higher than that of traditional manual operation.

[0073] In this embodiment, the detection data evaluation system is specifically used for:

[0074] The tunnel lining quality index is calculated using the following formula based on the first, second, and third radar detection data to obtain the tunnel lining defect detection results:

[0075] TLQI(N)=c×C(1)+b×B(N)+a×A(N), N=1 to 2;

[0076] TLQI(N)=c×C(N-1)+b×B(N)+a×A(N), N=3 to 6;

[0077] TLQI(N)=c×[C(5)+C(6)] / 2+b×B(7)+a×A(7), N=7;

[0078] TLQI(N)=c×C(N-2)+b×B(N)+a×A(N), N=8 to 11;

[0079] TLQI(N)=c×C(10)+b×B(N)+a×A(N), N=12 to 13;

[0080] Wherein, A(N) and B(N) are the assigned scores of radar detection data at different locations of the tunnel cross-section for tunnel lining by ground-coupled ground-penetrating radar antennas, respectively; C(N) is the assigned score of radar detection data at different locations of the tunnel cross-section for tunnel lining by air-coupled ground-penetrating radar antennas; the radar detection data at different locations of the tunnel cross-section for tunnel lining by ground-coupled ground-penetrating radar antennas include 6 sets of data obtained from detecting the left wall, 6 sets of data obtained from detecting the right wall, and 1 set of data obtained from detecting the arch; A(1)-A(13) are ground-coupled ground-penetrating radar antennas. The first frequency band data in the 13 sets of data from the ground-coupled ground-penetrating radar antenna is assigned a score value; B(1)-B(13) are assigned scores for the second frequency band data in the 13 sets of data from the ground-coupled ground-penetrating radar antenna; N is the number of different positions of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna, and the value of N increases sequentially from the left wall to the arch and then to the right wall; TLQI(N) represents the tunnel lining quality index at the Nth position of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna; a, b, and c are weight parameters for different radar detection data, and c > b > a.

[0081] In the above embodiments, the multi-mode fusion result output form is to perform comprehensive index analysis on the two types of results, creatively propose the concept of TLQI (Tunnel Lining Quality Index), and organically fuse the data of the two types of results.

[0082] For example, taking the entire cross-section as an example, the preferred surface-coupled ground-penetrating radar antenna has 13 sets of data from the left wall 6 + right wall 6 + arch 1, sorted according to the detection data of the 400MHz antenna as A1-A13, and the corresponding 900MHz antenna detection data sorted as B1-B13. The air-coupled ground-penetrating radar antenna 10 is sorted from left to right, and the detection data is C1-C10.

[0083] TLQI assigns 0 to defects without lining, with larger defects indicating worse internal lining conditions. Based on the Bridge and Tunnel Structure Repair Rules and Tunnel Lining Condition Assessment Standards, defects are classified into four levels: minor, moderately serious, serious, and extremely serious. Minor defects in the test data are assigned a score of 1, moderately serious defects are assigned a score of 3, serious defects are assigned a score of 5, and extremely serious defects are assigned a score of 10.

[0084] The suggested weight for assigning scores to defects in category A data is 'a', which can be set to 0.2.

[0085] Class B data has the highest precision, best resolution, and best accuracy in quantifying defects. The recommended weight for assigning defects to the data is b, which can be set to 0.35.

[0086] Class C data can only scan for shallow, serious or more serious defects, but these can easily affect driving safety. It can cover the entire tunnel cross section. Once discovered, it must be taken seriously and dealt with. The recommended weight for data defect scoring is c, which can be selected as 0.45.

[0087] Data of types A and B exhibit clear line orientation, facilitating verification and quantitative evaluation. Therefore, TLQI uses survey sections of type A (B) data for evaluation. The specific formula is as follows:

[0088] TLQI(N)=c×C(1)+b×B(N)+a×A(N), N=1 to 2;

[0089] TLQI(N)=c×C(N-1)+b×B(N)+a×A(N), N=3 to 6;

[0090] TLQI(N)=c×[C(5)+C(6)] / 2+b×B(7)+a×A(7), N=7;

[0091] TLQI(N)=c×C(N-2)+b×B(N)+a×A(N), N=8 to 11;

[0092] TLQI(N)=c×C(10)+b×B(N)+a×A(N), N=12 to 13;

[0093] Wherein, A(N) and B(N) are the scores of the detection data at different locations of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna, including 6 sets of data obtained from the detection of the left wall, 6 sets of data obtained from the detection of the right wall, and 1 set of data obtained from the detection of the arch. A(1)-A(13) are the scores of the first frequency band data in the 13 sets of data of the ground-coupled ground-penetrating radar antenna, and B(1)-B(13) are the scores of the second frequency band data in the 13 sets of data of the ground-coupled ground-penetrating radar antenna. N is the number of different locations of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna. The value of N increases sequentially from the left wall to the arch and then to the right wall. TLQI(N) represents the tunnel lining quality index at the Nth location of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna. a, b, and c are the weight parameters of different radar detection data, where c > b > a.

[0094] In the above embodiment, the detection data of the 400MHz antenna are sorted as A1-A13; the detection data of the 900MHz antenna are sorted as B1-B13; and the detection data of the air-coupled ground-penetrating radar antenna 10 are sorted from left to right as C1-C10.

[0095] The first frequency band is 400MHz; the second frequency band is 900MHz; and the tunnel corresponding to the left side of the direction of travel is the left wall.

[0096] In the above embodiments, this application first proposed the concept of TLQI, which made an important contribution to the adaptive quantification of tunnel lining internal condition detection data and structural evaluation.

[0097] In specific implementation, the vehicle-mounted subway tunnel lining inspection equipment provided in this embodiment of the invention may further include:

[0098] An automated main control system is used for:

[0099] The coordinates of objects encroaching on the tunnel inspection vehicle within a preset distance along the vehicle's travel direction are registered in real time to obtain the coordinate data of the encroaching objects.

[0100] Laser ranging was performed on the ground-penetrating radar antenna and the surface of the subway tunnel lining to obtain the real-time distance between the ground-penetrating radar antenna and the surface of the subway tunnel lining.

[0101] Based on the detection data from the first radar, the second radar, the third radar, the coordinates of the intruding object, and the real-time distance between the ground-penetrating radar antenna and the surface of the subway tunnel lining, the precision detection mechanism inside the tunnel lining is adjusted in real time.

[0102] In one embodiment, the automated main control system is the core of the intelligent characteristics of the entire system. It has the function of adaptive operation logic calculation for all working conditions with a tendency towards safety. This is mainly reflected in the linkage control between the vehicle and the internal detection mechanism of the tunnel lining. Because the over-limit operation mode of this operation requires precise intelligent control.

[0103] like Figure 3 As shown, four laser rangefinders 310 are installed on the outer frame of the ground-penetrating radar antenna. At least one three-dimensional multi-line obstacle scanner 306 is installed at the front and rear of the robotic arm. It can perform coordinate registration of all intruding objects within 12m of the detection direction in real time and intelligently judge the safe working conditions. Each platform and device is equipped with a coordinate position calculator, which can provide real-time feedback on the position of each device and instrument. The main control system can obtain whether the position status meets the detection conditions based on real-time information. In addition, according to the distance maintenance and obstacle avoidance requirements, it can intelligently plan the execution path and control the operation of each execution component independently or synchronously as a whole.

[0104] In one embodiment, the automated master control system includes:

[0105] Multiple laser ranging sensors mounted on the ground-penetrating radar antenna are used to perform laser ranging between the ground-penetrating radar antenna and the surface of the subway tunnel lining, so as to obtain the real-time distance between the ground-penetrating radar antenna and the surface of the subway tunnel lining.

[0106] Multiple 3D multi-line obstacle scanners mounted on a precision inspection mechanism inside the tunnel lining are used to perform coordinate registration on intruding objects within a preset distance in the direction of travel of the tunnel inspection vehicle in real time, and obtain coordinate data of the intruding objects.

[0107] In one embodiment, the detection system can be coupled with the main control system. Furthermore, the obstacle avoidance action logic decision directly acts on the vehicle control system. The detection speed is limited to a first preset speed range (e.g., 10 km / h). When an obstacle is detected within a first preset distance (e.g., 12 m), the detection vehicle slows down before the intrusion signal is released. When the obstacle reaches a second preset distance (e.g., 8 m), it enters the warning zone. The detection speed has been reduced to the second preset speed range (e.g., 5 km / h) within a third preset distance (e.g., 4 m). When the distance reaches 5 m, it enters the danger zone, and the detection speed has been reduced to 2 km / h, ensuring that a smooth stop can be achieved when the distance is 2 m.

[0108] During obstacle avoidance, the out-of-limit areas are identified through coordinate registration. Within this range, the radar antenna electric push rod platform retracts to its original zero position. If the intrusion signal is not cleared, the flexible and rigid segments of the first arm unlock in the opposite direction of the intrusion, rotating to adjust their posture. The second arm rapidly descends in the opposite direction of the intrusion until the intrusion signal is eliminated, maintaining a 10mm redundancy. If a new intrusion is triggered during reverse obstacle avoidance, a stop signal must be issued, and the detection vehicle immediately brakes and stops. Thus, the automated main control system can achieve safe and stable detection travel and mechanism posture control under all working conditions.

[0109] The following is a specific embodiment to illustrate the application of the device of the present invention. This embodiment may include:

[0110] The embodiments of the present invention consist of a fine inspection mechanism for the interior of tunnel lining, a rapid screening device for the interior of tunnel lining, a ground-penetrating radar coupled detection system, and an automated main control system.

[0111] This equipment, through the high integration of multiple core technologies, possesses multi-mode sensor detection capabilities that combine rapid preliminary screening of the entire tunnel cross-section with detailed and precise regional detection. It provides a strong theoretical basis for tunnel maintenance units to understand the equipment status, greatly promotes the development of tunnel inspection technology, and provides technical support for the construction of railway tunnel inspection system.

[0112] 1. Tunnel lining internal fine inspection mechanism and tunnel lining internal rapid screening device

[0113] It can be installed in a centralized area on a vehicle, located in the working device room of the testing vehicle.

[0114] The fine inspection mechanism inside the tunnel lining consists of a platform and two supporting robotic arms. The platform is preferably a piston cylinder type stable rotary platform, which can perform basic lifting and has two rotation functions: 90° clockwise and 180° counterclockwise. It can achieve the ability to inspect the entire cross section through rotation posture function, reducing the number of robotic arms required.

[0115] 2. Tunnel lining internal inspection agency

[0116] This mechanism is designed to mount traditional ground-coupled ground-penetrating radar antennas to suitable locations on the tunnel lining surface. Due to its unconventional operation, it requires real-time obstacle avoidance to ensure continuous detection, while maintaining a stable distance between each ground-coupled radar antenna and the tunnel lining surface. This mechanism possesses super-degrees-of-freedom characteristics, defined as the sum of its actual degrees of freedom exceeding the sum of its nominal degrees of freedom. The mechanism is preferably configured with two robotic arms, wherein:

[0117] Robotic Arm No. 1: It has the ability to detect the arched waist of the side wall with full coverage. The nominal degree of freedom is preferably 8. It is composed of two sections. The basic part is called the straight arm. The straight arm and its base are connected by a servo cylinder and have a swing function. The pitch angle of the straight arm can be adjusted. In addition, the straight arm itself is composed of a multi-stage telescopic sleeve and has a built-in reverse booster cylinder to realize the large stroke extension and retraction of the straight arm. The straight arm end is fixed to an arc-shaped arm via gears. The gear adjustment angle can be selected within a 90° range. The arc-shaped arm carries 3-6 ground-penetrating radar antennas and has a flexible-rigid conversion structure. This structure consists of rigid cylinder segments with extremely high degrees of freedom, whose shape can be changed in real time through mechanical-electric locks on the end gears. Each cylinder segment has a rectangular cross-section and can have the same length. The radial width of each segment gradually decreases as it moves away from the straight arm, completely achieving full adaptability and self-adjustment to the complex and harsh environment of arch detection. Each cylinder segment carries a ground-penetrating radar antenna, which is mounted on a small-stroke electric actuator platform. The small-stroke electric actuator moves within the slide rail of the outer groove of the cylinder segment, effectively adjusting the antenna's measurement line position.

[0118] The second robotic arm is a portable vertical robotic arm located at the rear of the inspection platform. Its base is a large-section rectangular electromagnetic clamp, with adjustable lead screws at both ends supporting the basic sleeve of the robotic arm. After the base loses power, the mechanical pins can be easily removed, allowing the entire robotic arm to be removed. The base can be rotated by the platform to reach a position perpendicular to the tunnel centerline. Vertical lifting allows the radar antenna mounted on it to reach the tunnel's arch. The second robotic arm consists of multi-stage (preferably four-stage) carbon fiber seamless sleeves, with a lightweight design limited to 80kg. It incorporates anti-friction ball bearings and has a square or rectangular cross-section. Utilizing the rapid push of the basic-stage hydraulic cylinder in conjunction with the multi-speed relationship of the built-in steel wire, rapid multi-speed linkage of the multi-stage sleeves can be achieved, reaching a stable high-speed lifting speed of 2m / s. This allows it to reach the arch of a large-section high-speed railway tunnel, effectively achieving rapid extension and retraction for obstacle avoidance. A small-stroke electric push rod is attached to the outside of the top sleeve, and the antenna is mounted on the small-stroke electric push rod platform base, allowing for servo adjustment of the distance between the antenna and the lining surface.

[0119] In addition, after the No. 2 robotic arm is removed from the No. 1 platform, its base is equipped with four axially adjustable wheels and a track clamping device, which can be directly used as a traveling trolley to push on the track for operation. This allows it to be mobile in dealing with situations where normal inspection cannot be carried out due to certain extreme objective reasons during the inspection of the arch.

[0120] 3. The rapid screening device inside the tunnel lining is a gantry frame design. The two sets have the same structure. There are two installation positions on the top of the gantry and four installation positions on each side. Each of these 10 installation positions has an independent mechanical electric drive servo dynamic adjustment and gimbal rotation function, which is used to install and carry air-coupled ground radar antennas.

[0121] 4. The ground-penetrating radar coupled detection system is installed on the detection mechanism and equipment, realizing the fusion and linkage of multi-source heterogeneous signals at the sensor level. It innovatively establishes a dual mode of rapid screening and detailed detection of obvious defects inside the tunnel lining. Moreover, its multi-mode detection data can be shared and merged to output detection results.

[0122] The two types of ground-coupled ground-penetrating radar (GPR) instruments are ground-coupled GPR antennas and air-coupled GPR antennas.

[0123] A ground-coupled ground-penetrating radar antenna is installed inside the tunnel lining inspection mechanism. Ideally, three radar units are controlled and connected via an integrated synchronization unit. The combination of high- and low-frequency antennas (using a 400+900MHz shielded antenna array) achieves a maximum detection depth of 1.5m and a vertical resolution exceeding 2cm. The complementary detection depth and vertical resolution meet the depth and accuracy requirements of lining inspection. Multi-band signal transmission and reception elevate the traditional "survey line" concept to include the actual width, outputting 3D spatial parameter information of defects inside the lining.

[0124] The air-coupled ground-penetrating radar antenna features a specially treated antenna horn polarization angle, with an optimal opening angle of 15.3°. The transmitter voltage is boosted to 300V, and the transmission power, signal-to-noise ratio, and antenna-to-lining spacing are registered. Ten antennas are arranged in a ring array, with the antennas treated for wave absorption and shielding, and low-ringing technology is adopted. When installed on a rapid tunnel lining detection device, it meets the technical requirements for long-distance detection within the vehicle clearance range. For single-track tunnels, the entire tunnel is opened for one inspection. For double-track tunnels, the top two antennas and the near-end four antennas are opened, and half of the tunnel is inspected each time, achieving preliminary screening of significant defects in the entire cross-section of the tunnel lining.

[0125] The multi-mode fusion result output format is to conduct a comprehensive index analysis of the two types of results, and creatively proposes the concept of TLQI (Tunnel Lining Quality Index) to organically integrate the data of the two types of results.

[0126] Taking the full cross-section as an example, the preferred surface-coupled ground-penetrating radar antenna has 13 sets of data from the left wall 6 + right wall 6 + arch 1, sorted by the 400MHz antenna detection data as A1-A13, and the corresponding 900MHz antenna detection data sorted as B1-B13. The air-coupled ground-penetrating radar antenna 10 is sorted from left to right, and the detection data is C1-C13.

[0127] TLQI uses 0 as the base for defects without lining, with larger defects indicating worse internal lining conditions. Based on the Bridge and Tunnel Structure Repair Rules and Tunnel Lining Condition Assessment Standards, data in categories A, B, and C are assigned scores of 1 for minor, 3 for moderately serious, 5 for serious, and 10 for extremely serious. Category A data has a weight of 0.2, while Category B data has the highest accuracy, best resolution, and best quantitative defect accuracy, with a weight of 0.35. Category C data can only detect shallow defects of serious severity or above, but these can significantly impact traffic safety and must be addressed immediately upon discovery, with a weight of 0.45. Because Category C data covers the entire tunnel cross-section, the TLQI assessment ultimately selects zoning assessments based on categories C (1-10). The specific details are as follows:

[0128] TLQI(N)=c×C(1)+b×B(N)+a×A(N), N=1 to 2;

[0129] TLQI(N)=c×C(N-1)+b×B(N)+a×A(N), N=3 to 6;

[0130] TLQI(N)=c×[C(5)+C(6)] / 2+b×B(7)+a×A(7), N=7;

[0131] TLQI(N)=c×C(N-2)+b×B(N)+a×A(N), N=8 to 11;

[0132] TLQI(N)=c×C(10)+b×B(N)+a×A(N), N=12 to 13;

[0133] Wherein, A(N) and B(N) are the scores of the detection data at different locations of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna, including 6 sets of data obtained from the detection of the left wall, 6 sets of data obtained from the detection of the right wall, and 1 set of data obtained from the detection of the arch. A(1)-A(13) are the scores of the first frequency band data in the 13 sets of data of the ground-coupled ground-penetrating radar antenna, and B(1)-B(13) are the scores of the second frequency band data in the 13 sets of data of the ground-coupled ground-penetrating radar antenna. N is the number of different locations of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna. The value of N increases sequentially from the left wall to the arch and then to the right wall. TLQI(N) represents the tunnel lining quality index at the Nth location of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna. a, b, and c are the weight parameters of different radar detection data, where c > b > a.

[0134] For example, when N=1 or 2, corresponding to the left wall, TLQI(N) = c × assigned C(1) + b × assigned B(N) + a × assigned A(N);

[0135] When N = 3, 4, 5, 6, corresponding to the left arch waist, TLQI(N) = c × assigned C(N-1) + b × assigned B(N) + a × assigned A(N);

[0136] When N=7, the corresponding arch is TLQI(N)=c×[assigned C(5)+assigned C(6)] / 2+b×assigned B(7)+a×assigned A(7);

[0137] When N = 8, 9, 10, 11, corresponding to the right arch waist, TLQI(N) = c × assigned score C(N-2) + b × assigned score B(N) + a × assigned score A(N);

[0138] When N = 12 or 13, corresponding to the right wall, TLQI(N) = c × assigned C(10) + b × assigned B(N) + a × assigned A(N).

[0139] 5. The automated main control system is the core of the intelligent characteristics of the entire system. It has the function of adaptive operation logic calculation for all working conditions with a tendency towards safety. It is mainly reflected in the linkage control between the vehicle and the internal detection mechanism of the tunnel lining. Because the over-limit operation mode of this operation requires precise intelligent control.

[0140] Four laser rangefinders are mounted on the outer frame of the ground-penetrating radar antenna. At least one 3D multi-line obstacle scanner is installed at the front and rear of the robotic arm. It can perform coordinate registration of all intruding objects within 12m of the detection direction in real time and intelligently determine safe operating conditions. Each platform and device is equipped with a coordinate position calculator, which can provide real-time feedback on the position of each device and instrument. The main control system can obtain whether the position status meets the detection conditions based on real-time information. In addition, it can intelligently plan the execution path according to distance maintenance and obstacle avoidance requirements, and can independently or synchronously control the operation of each actuator.

[0141] Furthermore, the detection system is coupled with the main control system. The obstacle avoidance logic directly impacts the vehicle control system. The detection speed is limited to 10 km / h. When an obstacle is detected within 12 meters, the detection vehicle slows down before the obstacle violation signal is released. When the obstacle reaches a distance of 8 meters, it enters the warning zone, with the detection speed reduced to 5 km / h within 4 meters. When the obstacle reaches a distance of 5 meters, it enters the danger zone, with the detection speed reduced to 2 km / h, ensuring a smooth stop when the distance is 2 meters.

[0142] During obstacle avoidance, the out-of-limit areas are identified through coordinate registration. Within this range, the radar antenna electric push rod platform retracts to its original zero position. If the intrusion signal is not cleared, the flexible and rigid segments of the first arm unlock in the opposite direction of the intrusion, rotating to adjust their posture. The second arm rapidly descends in the opposite direction of the intrusion until the intrusion signal is eliminated, maintaining a 10mm redundancy. If a new intrusion is triggered during reverse obstacle avoidance, a stop signal must be issued, and the detection vehicle immediately brakes and stops. Thus, the automated main control system can achieve safe and stable detection travel and mechanism posture control under all working conditions.

[0143] Furthermore, this vehicle-mounted subway tunnel inspection system can be operated with only two people for main control. Another example of the operation of the aforementioned device is shown below:

[0144] Before testing, the system is powered on, performs a full system self-check, and calibrates the initial mileage. The moving parts and electric push rods of the testing mechanism and testing device are controlled to the appropriate working position through rotation and telescopic drive. For the testing mechanism, its static initial position refers to the three-part trapezoidal folding of each cylinder section of the arc arm, which can completely enter the vehicle clearance for containerized transportation and vehicle-mounted installation, protected by the auxiliary opening and closing cover. Taking 6 sections as an example, the three-part trapezoidal folding is that 1, 2 and 3, 4 and 5, and 6 have the same posture, with an angle of 120° between each two sections, forming a trapezoidal shape with the straight arm. The small segment at the base is designated as segment 1. First, the angle of segment 1 is adjusted to raise all six segments to a suitable angle. Then, segment 3 is adjusted to unfold the remaining four segments to a reasonable angle. Finally, segment 5 is adjusted to unfold the remaining two segments. Afterward, the electric push rod is fine-tuned to adjust the instrument angle so that it faces the corresponding measurement line. Automatic operation is initiated, the system is ready, and a signal is transmitted to the vehicle control terminal. After the driver confirms permission to begin testing, the brakes are released, and vehicle control is completely taken over by the main control system. The main control system activates the data acquisition function of the testing instrument, checks the waveform signal for normality, sets the acquisition parameters, and prepares to begin acquisition. The driver retains only the emergency braking function to prevent unexpected system problems. After comprehensive analysis and fusion output of the data from the entire testing process, the TLQI for each area of ​​the testing section is formed.

[0145] Once the inspection is complete, the equipment is retrieved in reverse order, bringing the equipment within the vehicle's clearance limits so it can easily leave the inspection site, thus concluding the entire operation.

[0146] The beneficial effects of this invention are:

[0147] 1. The unique curved and straight arm combined vehicle-mounted tunnel lining internal inspection support mechanism can ensure that the onboard ground-penetrating radar antenna fits the inner contour of the tunnel to the maximum extent, effectively avoiding interference from the contact wire frame to the inspection process; the innovative use of a rigid-flexible multi-degree-of-freedom adjustment method can precisely control the distance between the ground-penetrating radar antenna and the lining surface, and achieve high-quality acquisition of inspection data.

[0148] 2. The detection data evaluation system integrates multi-source signals, which can flexibly control the extension and swing of the internal detection support mechanism of the tunnel lining, and effectively control the precise linkage of the surface detection support device. It successfully solves the key technical problem of autonomous obstacle avoidance under the complex working conditions of dense contact wires and auxiliary equipment in the tunnel of operating high-speed railway. For the first time, it realizes the unmanned operation of the entire process of vehicle-mounted internal tunnel lining detection, and the operation efficiency is more than eight times higher than that of traditional manual operation.

[0149] 3. An innovative approach was adopted, using an array-type frequency band signal transmission and reception mode for a circumferential ground-penetrating radar antenna group. Key parameters such as antenna polarization angle, beamwidth, and spacing were optimized, enabling the first-ever 3D-dimensional quantitative display of the internal structural state of the tunnel lining.

[0150] 4. Breakthroughs have been achieved at the hardware sensor level, realizing the fusion and linkage of multi-source heterogeneous signals at the sensor level. A comprehensive detection operation mode with multi-device coupling and multi-information linkage has been pioneered for the vehicle-mounted tunnel lining detection system.

[0151] 5. The concept of TLQI was first proposed, making an important contribution to the adaptive quantification of internal condition detection data and structural evaluation of tunnel lining.

[0152] Of course, it is understood that there may be other variations of the above detailed process, and all such variations should fall within the protection scope of this invention.

[0153] In this embodiment of the invention, a fine inspection mechanism inside the tunnel lining is used to extend a mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining using a swinging robotic arm and a vertical lifting mechanism, respectively, and to control the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range; it receives first radar detection data and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is data from radar detection of the lining of the tunnel sidewalls and tunnel arch waist; the second radar detection data is data from radar detection of the lining of the tunnel arch; a rapid screening device inside the tunnel lining is used to dynamically adjust the mounted air-coupled ground-penetrating radar antenna using a mechanically driven servo system; it receives third radar detection data from the air-coupled ground-penetrating radar antenna; and a detection data evaluation system is used to evaluate the first radar detection data, the second radar detection data, and the third radar detection data. The tunnel lining quality index is calculated to obtain the tunnel lining defect detection results. This index reflects the degree of tunnel lining defects. Compared to existing technologies that require continuous manual adjustment of the robotic arm position, this method utilizes a precision detection mechanism inside the tunnel lining. By controlling the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset range, the mechanism can automatically adjust itself, eliminating the need for manual robotic arm adjustment and effectively reducing interference from the contact wire frame. Simultaneously, it allows for precise control of the distance between the ground-penetrating radar antenna and the lining surface, enabling high-quality data acquisition and improving the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. This provides a strong theoretical basis for tunnel maintenance units to understand equipment status, greatly promotes the development of tunnel inspection technology, and provides technical support for the construction of a railway tunnel inspection system.

[0154] This invention also provides a vehicle-mounted tunnel lining defect detection method, applied to the vehicle-mounted tunnel lining defect detection device described above, to improve the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. Figure 7 As shown, the method includes:

[0155] Step 701: The precision inspection mechanism inside the tunnel lining extends its mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining using a swinging robotic arm and a vertical lifting mechanism, respectively, and controls the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range; it receives first radar detection data and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is the radar detection data for the lining of the tunnel sidewalls and tunnel arch waist; the second radar detection data is the radar detection data for the lining of the tunnel arch.

[0156] Step 702: The rapid screening device inside the tunnel lining dynamically adjusts the air-coupled ground-penetrating radar antenna equipped with a mechanical-electric servo drive; and receives the third radar detection data from the air-coupled ground-penetrating radar antenna.

[0157] Step 703: The detection data evaluation system calculates the tunnel lining quality index based on the first radar detection data, the second radar detection data, and the third radar detection data to obtain the tunnel lining defect detection results; the aforementioned tunnel lining quality index is used to reflect the degree of tunnel lining defects.

[0158] In one embodiment, the detection data evaluation system calculates the tunnel lining quality index based on the first radar detection data, the second radar detection data, and the third radar detection data to obtain the tunnel lining defect detection results, including:

[0159] The tunnel lining quality index is calculated using the following formula based on the first, second, and third radar detection data to obtain the tunnel lining defect detection results:

[0160] TLQI(N)=c×C(1)+b×B(N)+a×A(N), N=1 to 2;

[0161] TLQI(N)=c×C(N-1)+b×B(N)+a×A(N), N=3 to 6;

[0162] TLQI(N)=c×[C(5)+C(6)] / 2+b×B(7)+a×A(7), N=7;

[0163] TLQI(N)=c×C(N-2)+b×B(N)+a×A(N), N=8 to 11;

[0164] TLQI(N)=c×C(10)+b×B(N)+a×A(N), N=12 to 13;

[0165] Wherein, A(N) and B(N) are the assigned scores of radar detection data at different locations of the tunnel cross-section for tunnel lining by ground-coupled ground-penetrating radar antennas, respectively; C(N) is the assigned score of radar detection data at different locations of the tunnel cross-section for tunnel lining by air-coupled ground-penetrating radar antennas; the radar detection data at different locations of the tunnel cross-section for tunnel lining by ground-coupled ground-penetrating radar antennas include 6 sets of data obtained from detecting the left wall, 6 sets of data obtained from detecting the right wall, and 1 set of data obtained from detecting the arch; A(1)-A(13) are ground-coupled ground-penetrating radar antennas. The first frequency band data in the 13 sets of data from the ground-coupled ground-penetrating radar antenna is assigned a score value; B(1)-B(13) are assigned scores for the second frequency band data in the 13 sets of data from the ground-coupled ground-penetrating radar antenna; N is the number of different positions of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna, and the value of N increases sequentially from the left wall to the arch and then to the right wall; TLQI(N) represents the tunnel lining quality index at the Nth position of the tunnel section for tunnel lining by the ground-coupled ground-penetrating radar antenna; a, b, and c are weight parameters for different radar detection data, and c > b > a.

[0166] In one embodiment, it also includes:

[0167] The automated main control system performs real-time coordinate registration on intruding objects within a preset distance along the tunnel inspection vehicle's travel direction to obtain the coordinate data of the intruding objects.

[0168] Laser ranging was performed on the ground-penetrating radar antenna and the surface of the subway tunnel lining to obtain the real-time distance between the ground-penetrating radar antenna and the surface of the subway tunnel lining.

[0169] Based on the detection data from the first radar, the second radar, the third radar, the coordinates of the intruding object, and the real-time distance between the ground-penetrating radar antenna and the surface of the subway tunnel lining, the precision detection mechanism inside the tunnel lining is adjusted in real time.

[0170] In this embodiment of the invention, a fine inspection mechanism inside the tunnel lining is used to extend a mounted ground-coupled ground-penetrating radar antenna to the surface of the tunnel lining using a swinging robotic arm and a vertical lifting mechanism, respectively, and to control the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset distance range; it receives first radar detection data and second radar detection data from the ground-coupled ground-penetrating radar antenna; the first radar detection data is data from radar detection of the lining of the tunnel sidewalls and tunnel arch waist; the second radar detection data is data from radar detection of the lining of the tunnel arch; a rapid screening device inside the tunnel lining is used to dynamically adjust the mounted air-coupled ground-penetrating radar antenna using a mechanically driven servo system; it receives third radar detection data from the air-coupled ground-penetrating radar antenna; and a detection data evaluation system is used to evaluate the first radar detection data, the second radar detection data, and the third radar detection data. The tunnel lining quality index is calculated to obtain the tunnel lining defect detection results. This index reflects the degree of tunnel lining defects. Compared to existing technologies that require continuous manual adjustment of the robotic arm position, this method utilizes a precision detection mechanism inside the tunnel lining. By controlling the distance between the ground-coupled ground-penetrating radar antenna and the tunnel lining surface within a preset range, the mechanism can automatically adjust itself, eliminating the need for manual robotic arm adjustment and effectively reducing interference from the contact wire frame. Simultaneously, it allows for precise control of the distance between the ground-penetrating radar antenna and the lining surface, enabling high-quality data acquisition and improving the efficiency and accuracy of vehicle-mounted tunnel lining defect detection. This provides a strong theoretical basis for tunnel maintenance units to understand equipment status, greatly promotes the development of tunnel inspection technology, and provides technical support for the construction of a railway tunnel inspection system.

[0171] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0173] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0174] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0175] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle-mounted tunnel lining defect detection method, characterized in that, Be applied to vehicle-mounted tunnel lining defect detection device The vehicle-mounted tunnel lining defect detection device comprises a tunnel lining internal fine detection mechanism, a tunnel lining internal rapid screening device and a detection data evaluation system The vehicle-mounted tunnel lining defect detection method comprises The tunnel lining internal fine detection mechanism extends the carried ground-coupled ground penetrating radar antenna to the tunnel lining surface in a mechanical arm swing mode and a vertical lifting mode, and controls the distance between the ground-coupled ground penetrating radar antenna and the tunnel lining surface within a preset distance interval; receives first radar detection data and second radar detection data of the ground-coupled ground penetrating radar antenna; the first radar detection data is radar detection data of the lining of the tunnel side wall and the tunnel haunch; and the second radar detection data is radar detection data of the lining of the tunnel vault The ground-coupled ground penetrating radar antenna adopts a 400MHz and 900MHz dual-band combination to realize data stacking processing and generate 3D spatial parameter information of tunnel lining internal defects The tunnel lining internal rapid screening device dynamically adjusts the carried air-coupled ground penetrating radar antenna through mechanical and electrical driving servo; and receives third radar detection data of the air-coupled ground penetrating radar antenna The detection data evaluation system calculates the tunnel lining quality index based on the first radar detection data, the second radar detection data and the third radar detection data, and obtains a tunnel lining defect detection result; and the tunnel lining quality index is used to reflect the defect degree of the tunnel lining The detection data evaluation system calculates the tunnel lining quality index based on the first radar detection data, the second radar detection data and the third radar detection data according to the following formula, and obtains a tunnel lining defect detection result: TLQI(N)=c×C(1)+b×B(N)+a×A(N), N=1 to 2 TLQI(N)=c×C(N-1)+b×B(N)+a×A(N), N=3 to 6 TLQI(N)=c×[C(5)+C(6)] / 2+b×B(7)+a×A(7), N=7 TLQI(N)=c×C(N-2)+b×B(N)+a×A(N), N=8 to 11 TLQI(N)=c×C(10)+b×B(N)+a×A(N), N=12 to 13 Wherein, A(N) and B(N) are respectively the score value of the radar detection data of the Nth position of the tunnel section of the tunnel lining by the ground coupled type geological radar antenna; C(N) is the score value of the radar detection data of the Nth position of the tunnel section of the tunnel lining by the air coupled geological radar antenna; the radar detection data of different positions of the tunnel section of the tunnel lining by the ground coupled type geological radar antenna includes 6 groups of data detected on the left wall, 6 groups of data detected on the right wall and 1 group of data detected on the vault; A(1)-A(13) are the score values of the first frequency band data in the 13 groups of data of the ground coupled type geological radar antenna, B(1)-B(13) are the score values of the second frequency band data in the 13 groups of data of the ground coupled type geological radar antenna; N is the number of different positions of the tunnel section of the tunnel lining by the ground coupled type geological radar antenna, and N increases sequentially from the left wall to the vault and then to the right wall; TLQI(N) represents the tunnel lining quality index of the Nth position of the tunnel section of the tunnel lining by the ground coupled type geological radar antenna; a, b, and c are weight parameters of different radar detection data, and c>b>a. Wherein, a is 0.2, unitless; b is 0.35, unitless; c is 0.45, unitless.

2. The vehicle-mounted tunnel lining defect detection method of claim 1, wherein, The tunnel lining internal fine detection mechanism comprises: The first mechanical arm is used to extend the carried ground coupled type geological radar antenna to the tunnel lining surface in a mechanical arm swinging manner, and control the distance between the ground coupled type geological radar antenna and the tunnel lining surface within a preset distance interval; The second mechanical arm is used to extend the carried ground coupled type geological radar antenna to the tunnel lining surface in a vertical lifting manner, and control the distance between the ground coupled type geological radar antenna and the tunnel lining surface within a preset distance interval; The first platform is connected with the first mechanical arm and the second mechanical arm, and is used to lift and rotate the first mechanical arm and the second mechanical arm.

3. The vehicle-mounted tunnel lining defect detection method of claim 2, wherein, The first mechanical arm comprises: The straight arm is composed of multiple levels of telescopic sleeves and is internally provided with a reverse boost oil cylinder; The servo oil cylinder is connected with the straight arm and the platform, and is used to control the swinging of the straight arm on the platform and adjust the pitch angle of the straight arm; The arc-shaped arm is of a flexible-rigid conversion structure and is fixedly connected with the straight arm through a gear; the arc-shaped arm carries multiple ground coupled type geological radar antennas; the arc-shaped arm is composed of multiple cylinder barrels connected through a belt motor and an electric lock gear; wherein the radial width of each section of the multiple cylinder barrels decreases away from the straight arm; an electric push rod is arranged in the sliding rail of the outer groove of each section of the cylinder barrels; and the electric push rod is used to carry the ground coupled type geological radar antenna.

4. The vehicle-mounted tunnel lining defect detection method of claim 2, wherein, The second mechanical arm comprises: The multiple levels of gapless sleeves; an electric push rod is hung on the outside of the top sleeve in the sleeve; the electric push rod is used to carry the ground coupled type geological radar antenna and servo adjust the distance between the ground coupled type geological radar antenna and the tunnel lining surface; The telescopic oil cylinder is connected with the multiple levels of gapless sleeves and is used to lift the ground coupled type geological radar antenna carried by the multiple levels of gapless sleeves; The electromagnetic clamp base is connected with the bottom sleeve in the sleeve; An adjustable screw rod, one end of which is connected to the electromagnetic clamp base, and the other end supports the bottom sleeve in the sleeve; A second platform, which carries the electromagnetic clamp base and is fixed on the first platform.

5. The vehicle-mounted tunnel lining defect detection method of claim 4, wherein, A plurality of axial elastic adjustment rail wheels and clamp rail devices are installed below the electromagnetic clamp base.

6. The vehicle mounted tunnel lining defect detection method of claim 1, wherein, The tunnel lining internal rapid screening device comprises: An electric control rotating platform, which carries an air-coupled geological radar antenna and is used to control the rotation of the air-coupled geological radar antenna; A servo adjusting rod, which is connected to the electric control rotating platform and is used to mechanically and electrically drive the servo electric control rotating platform for dynamic adjustment; A gantry frame, which comprises a plurality of mounting positions for mounting the servo adjusting rod.

7. The vehicle mounted tunnel lining defect detection method of claim 1, wherein, Further comprising: An automatic main control system, which is used to real-time coordinate the coordinate data of the intruding object within a preset distance in the direction of travel of the tunnel detection vehicle; Laser ranging is performed on the geological radar antenna and the surface of the subway tunnel lining to obtain real-time distance of the geological radar antenna and the surface of the subway tunnel lining; According to the first radar detection data, the second radar detection data, the third radar detection data, the intruding object coordinate data, and the real-time distance of the geological radar antenna and the surface of the subway tunnel lining, the tunnel lining internal fine detection mechanism is adjusted in real time.

8. The vehicle-mounted tunnel lining defect detection method of claim 7, wherein, The automatic main control system comprises: A plurality of laser ranging sensors carried on the geological radar antenna, which are used to perform laser ranging on the geological radar antenna and the surface of the subway tunnel lining to obtain real-time distance of the geological radar antenna and the surface of the subway tunnel lining; A plurality of three-dimensional multi-line obstacle scanners carried on the tunnel lining internal fine detection mechanism, which are used to real-time coordinate the coordinate data of the intruding object within a preset distance in the direction of travel of the tunnel detection vehicle.

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