A tunnel detection device

Abstract

The tunnel detection device comprises a tunnel detector, a floating connection mechanism, an extension drive, a side swing driving mechanism and a vehicle body. The floating connection mechanism enables the tunnel detector to have elastic passive freedom degrees in the vertical direction and the lateral direction, so that the tunnel detector is attached to the inner arch surface of the tunnel during operation. The extension drive is used for adjusting the detection height of the tunnel detector during operation. The side swing driving mechanism is used for driving and adjusting the side swing angle of the extension drive. The tunnel detection device adjusts the detection height of the tunnel detector on the arch surface of the tunnel by the extension drive arranged on the vehicle body, and adjusts the side swing angle of the tunnel detector by the side swing driving mechanism, so that the tunnel detector can automatically detect the defects of the arch surface in the tunnel. The floating connection mechanism is arranged between the tunnel detector and the extension drive, which can better ensure the attachment of the tunnel detector to the arch surface, improve the tunnel detection efficiency and the detection reliability.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, specifically to a tunnel inspection device. Background Technology

[0002] Tunnel engineering is a common project in railways, highways, and subways. However, due to differences in geological conditions and varying construction techniques, tunnel projects are prone to internal defects during construction, such as voids in the surrounding soil, substandard lining reinforcement ratios, and overall tunnel settlement, as well as external problems like lining cracks, segment cracks, misalignments, and tunnel leakage. During operation, if these problems exist in the tunnel structure and surrounding soil, the tunnel will deform or crack under load and vibration, eventually threatening traffic safety. Therefore, quickly and effectively detecting internal and external defects in the tunnel structure is a crucial step in ensuring safe tunnel operation. During tunnel acceptance and operation, the detection of surface cracks and other defects mainly relies on manual inspection. Manual inspection is inefficient, unreliable, prone to missing defects, and the determination of crack severity depends on experience, resulting in low tunnel inspection efficiency and affecting the tunnel project completion schedule. Summary of the Invention

[0003] The purpose of this invention is to overcome the problems of low inspection efficiency and poor reliability of existing manual inspection methods for internal defects in tunnel engineering, and to provide an automated tunnel inspection device for detecting internal defects in tunnel engineering.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A tunnel inspection device includes a tunnel detector, a floating connection mechanism, a telescopic actuator, a lateral swing drive mechanism, and a vehicle body. The tunnel detector is used to inspect the inner surface of a tunnel and acquire data. The floating connection mechanism is connected at its upper end to the bottom of the tunnel detector, giving the tunnel detector elastic passive degrees of freedom to move vertically and swing laterally, thus allowing the tunnel detector to fit against the inner arch of the tunnel during operation. The telescopic actuator is connected at its output end to the floating connection mechanism and is used to adjust the detection height of the tunnel detector during operation. The lateral swing drive mechanism is used to drive and adjust the lateral swing angle of the telescopic actuator. The vehicle body is used to support the telescopic actuator and drive the tunnel inspection device to move.

[0006] Compared with the prior art, the tunnel inspection equipment of the present invention achieves automated defect detection of the tunnel arch surface by setting a telescopic driver on the vehicle body to adjust the tunnel detector to detect tunnel arch surfaces at different heights, and setting a side swing drive mechanism to adjust the side swing angle of the tunnel detector. Moreover, a floating connection mechanism is set between the tunnel detector and the telescopic driver to better ensure the fit between the tunnel detector and the arch surface, thereby improving the tunnel arch surface detection efficiency and detection reliability.

[0007] Furthermore, the floating connection mechanism includes a floating connection seat, an elastic element, and a connecting base. The connecting base has a movable cavity with a top opening. The lower part of the floating connection seat extends into the movable cavity. There is a movable gap between the outer periphery of the floating connection seat and the inner periphery of the movable cavity. The tunnel detector is connected to the top of the floating connection seat. The elastic element abuts against the bottom of the movable cavity and the bottom of the floating connection seat. The outer periphery of the connecting base has several vertical guide holes penetrating the movable cavity. The outer side of the floating connection seat is provided with guide elements extending into the vertical guide holes. With this structure, the arrangement of the connecting base and the elastic element can realize the lateral swing of the floating connection seat relative to the connecting base, while simultaneously elastically resetting the laterally swinging floating connection seat. This gives the floating connection seat multiple degrees of freedom of movement, ensuring the fit of the tunnel detector with arch surfaces at different angles.

[0008] Furthermore, the top of the floating connecting seat is provided with an outwardly extending limiting edge, which abuts against the upper end of the connecting base to limit the lateral swing angle of the tunnel detector; by this setting, the lateral swing angle of the floating connecting seat is effectively limited, preventing the floating connecting seat from swinging excessively.

[0009] Furthermore, the floating connection mechanism also includes a guide positioning mechanism disposed between the floating connection seat and the movable cavity. The guide positioning mechanism includes a guide positioning seat disposed at the bottom of the movable cavity. The guide positioning seat has a limiting guide part on its upper part, and the floating connection seat has a guide hole at its bottom that engages with the guide positioning seat. When the floating connection seat is driven to reset relative to the other side by an elastic element, the guide hole is guided by the limiting guide part for centering and positioning. With this configuration, when the floating connection seat resets to its initial position, it is centered and positioned by the guide positioning mechanism, avoiding offset and jamming when the floating connection seat resets, and ensuring the reliability of the floating connection mechanism during repeated use.

[0010] Furthermore, the guide and vertical guide hole are provided in at least 4 sets and are evenly distributed on the outer periphery of the guide; with this arrangement, the floating connecting seat has a large range of lateral swing relative to the connecting base.

[0011] Furthermore, the guide member includes a guide wheel, which is radially connected to the outside of the guide member; with this arrangement, the guide wheel slides more smoothly in the guide hole.

[0012] Furthermore, the telescopic actuator is connected to the vehicle body's connecting frame via a side-swing drive mechanism. The side-swing drive mechanism includes a side-swing drive motor, a first gear, a second gear, and a lateral movable frame. The telescopic actuator is mounted on the lateral movable frame, the second gear is mounted on the lateral movable frame, and the side-swing drive motor and the first gear are mounted on the connecting frame. The first gear is located at the output end of the side-swing drive motor and meshes with the second gear. With this configuration, the side-swing drive mechanism drives the telescopic actuator to sway sideways using gear transmission, resulting in stable transmission performance.

[0013] Furthermore, it also includes a damper connected between the connecting frame of the vehicle body and the lateral movable frame of the side swing drive mechanism. The damper is used to provide reverse damping when the telescopic drive swings to one side. By setting it in this way, a stable auxiliary force is provided when the tunnel detector connected to the telescopic drive swings, and the vehicle body is prevented from becoming unstable and overturning.

[0014] Furthermore, obstacle avoidance sensors are located on both sides of the tunnel detector in the direction of vehicle movement. These obstacle avoidance sensors are used to detect obstacles on the tunnel arch and provide feedback to the telescopic actuator, enabling the tunnel detector to avoid obstacles. This configuration effectively avoids collisions between the tunnel detector and obstacles, thus ensuring the reliability of the tunnel detection equipment.

[0015] Furthermore, it also includes a rotary drive with a telescopic drive, the rotary drive being used to drive the tunnel detector to change the detection direction via the telescopic drive; with this configuration, the detection direction of the tunnel detector is adjusted when the tunnel detection equipment moves back and forth in the tunnel.

[0016] Furthermore, the vehicle body includes a frame and a connecting frame. The frame includes a first frame and a second frame. The first frame and the second frame are respectively provided with a drive mechanism for driving the vehicle body forward. The front end of the first frame is provided with a horizontally foldable front bumper bracket, and the rear end of the second frame is provided with a horizontally foldable rear bumper bracket. The outer end of the front bumper bracket is connected to the front end of the second frame by quick-release screws, and the outer end of the rear bumper bracket is connected to the rear end of the first frame by quick-release screws. The two sides of the connecting frame are respectively connected to the top of the first frame and the second frame by quick-release screws. It includes a base frame and vertically foldable top brackets provided on both sides of the top of the base frame. The upper ends of the two top brackets are connected to each other by quick-release screws. With this configuration, the vehicle body includes a frame and a connecting frame that can be quickly folded and stored, which facilitates the handling and transportation of tunnel inspection equipment. Attached Figure Description

[0017] Figure 1 Schematic diagram of tunnel inspection equipment

[0018] Figure 2A diagram showing the removal of the vehicle body from the tunnel inspection equipment.

[0019] Figure 3 Schematic diagram of the floating connection mechanism

[0020] Figure 4 Internal structure diagram of the floating connection mechanism

[0021] Figure 5 Exploded view of the floating connection mechanism

[0022] Figure 6 Internal structural diagram of the floating connection mechanism in its exploded state.

[0023] Figure 7 Exploded view of the vehicle body Detailed Implementation

[0024] The technical solution of the present invention is described below with reference to the accompanying drawings:

[0025] See Figures 1 to 7 The tunnel inspection device of the present invention includes a tunnel detector 5, a floating connection mechanism 5, a telescopic driver 3, a side-swing drive mechanism 142, and a vehicle body 1. The tunnel detector 5 is used to inspect the inner surface of the tunnel and acquire data information. The upper end of the floating connection mechanism 5 is connected to the bottom of the tunnel detector 5, giving the tunnel detector 5 elastic passive degrees of freedom to move in the vertical direction and swing in the lateral direction, so that the tunnel detector 5 fits against the inner arch surface of the tunnel when working. The telescopic driver 3 is connected to the floating connection mechanism 5 at its output end and is used to adjust the detection height of the tunnel detector 5 when working. The side-swing drive mechanism 142 is used to drive and adjust the side-swing angle of the telescopic driver 3. The vehicle body 1 is used to support the telescopic driver 3 and drive the tunnel inspection device to move.

[0026] The elastic passive degree of freedom is the displacement of the tunnel detector 5 in the lateral or vertical direction when subjected to lateral or vertical thrust, and the reset of the tunnel detector 5 to the initial position by the elastic restoring force when the lateral or vertical thrust is removed.

[0027] The tunnel inspection equipment of the present invention includes a vehicle body for driving the tunnel inspection equipment to travel back and forth along the length of the tunnel. A telescopic driver 3 and a floating connection mechanism 5 are used to drive the tunnel detector 5 to fit against the arch surface of the tunnel. A side-swing drive mechanism 142 is used to drive the tunnel detector 5 at the top of the telescopic driver 3 to swing along different angles within the tunnel cross section to perform arch surface structural layer inspection at different radii and angles. In specific operation, the side-swing drive mechanism 142 drives the tunnel detector 5 to tilt to a first side-swing angle (e.g., 1°). After the vehicle body drives the tunnel inspection equipment to complete one full tunnel journey, the side-swing drive mechanism 142 drives the tunnel detector 5 to tilt to a second side-swing angle (e.g., 2°). Then, the vehicle body continues to drive the tunnel inspection equipment to complete one full tunnel journey. By repeating the above operation process, the arch surface structural layer defect detection in the tunnel is completed.

[0028] Compared with the prior art, the tunnel inspection equipment of the present invention, by setting a telescopic driver 3 on the vehicle body 1 to adjust the tunnel detector 5 to detect tunnel arch surfaces at different heights, and setting a side swing drive mechanism 142 to adjust the side swing angle of the tunnel detector 5, realizes the automated defect detection of the tunnel arch surface by the tunnel detector 5. Moreover, a floating connection mechanism 5 is set between the tunnel detector 5 and the telescopic driver 3 to better ensure the fit between the tunnel detector 5 and the arch surface, thereby improving the tunnel arch surface detection efficiency and detection reliability.

[0029] The tunnel detector 5 can be an existing tunnel detector 5 used to detect the tunnel filling layer structure. For example, the tunnel detector 5 can scan the invert arch filling layer structure to find internal defects in the tunnel invert arch filling layer. When the tunnel inspection vehicle travels in the tunnel along the extension direction of the tunnel, it can simultaneously detect internal and apparent defects of the tunnel lining as well as internal defects of the invert arch filling layer, quickly obtain internal and apparent defects of the tunnel structure, thereby improving the efficiency of tunnel inspection.

[0030] See Figures 1 to 6In one embodiment, the floating connection mechanism 5 includes a floating connection seat 51, an elastic element 52, and a connecting base 53. The connecting base 53 has a movable cavity 531 with a top opening. The lower part of the floating connection seat 51 extends into the movable cavity 531. The movable cavity 531 is adapted to the shape of the lower part of the floating connection seat 51, for example, both are rectangular or cylindrical. There is a movable gap 54 between the outer periphery of the floating connection seat 51 and the inner periphery of the movable cavity 531. The tunnel detector 5 is connected to the top of the floating connection seat 51. The elastic element 52 abuts against the bottom of the movable cavity 531 and the bottom of the floating connection seat 51. The outer periphery of the connecting base 53 has several vertical guide holes 55 penetrating the movable cavity 531. The outer side of the floating connection seat 51 is provided with guide elements 56 extending into the vertical guide holes 55. With this structure, the arrangement of the connecting base 53 and the elastic element 52 can realize the floating connection seat 51 relative to the connecting base 53. While oscillating laterally, the floating connecting seat 51 is elastically reset, giving the floating connecting seat 51 multiple degrees of freedom of movement, ensuring that the tunnel detector 5 fits the arch surface at different angles.

[0031] See Figures 2 to 6 In one embodiment, the top of the floating connecting seat 51 is provided with a limiting edge 57 extending outward, and the limiting edge 57 abuts against the upper end of the connecting base 53 to limit the lateral swing angle of the tunnel detector 5; by this setting, the lateral swing angle of the floating connecting seat 51 is better limited, and the floating connecting seat 51 is prevented from swinging excessively.

[0032] See Figures 3 to 6 In one embodiment, the guide 56 and the vertical guide hole 55 are provided in at least 4 sets and are evenly distributed on the outer periphery of the guide 56. In other embodiments, the guide 56 and the vertical guide hole 55 may be provided in six sets, eight sets, etc. With this arrangement, the floating connecting seat 51 has a large lateral swing range relative to the connecting base 53.

[0033] See Figures 3 to 6In one embodiment, the elastic element 52 is preferably a return spring. The floating connection mechanism 5 further includes a guide positioning mechanism disposed between the floating connection seat 51 and the movable cavity 531. The guide positioning mechanism includes a guide positioning seat 58 disposed at the bottom of the movable cavity 531. The upper part of the guide positioning seat 58 is provided with a limiting guide part 581. The limiting guide part 581 is preferably inverted conical in shape. The return spring is sleeved on the outside of the guide positioning seat 58. The bottom of the floating connection seat 51 is provided with a guide hole 511 that sleeves with the guide positioning seat 58. The upper end of the guide hole 511 is preferably conical in shape. The inner diameter of the guide hole 511 is larger than the lower outer diameter of the guide positioning seat 58. The guide hole 511 can be vertically movably sleeved on the outside of the guide positioning seat 58 but is limited to the lower side of the limiting guide part 581. The floating connection seat 51... When the relative reset is driven by the elastic element 52, the guide hole 511 is guided by the limiting guide part 581 for centering and positioning. With this setting, when the floating connecting seat 51 is reset to the initial position, it is centered and positioned by the guiding and positioning mechanism, avoiding the situation of offset jamming when the floating connecting seat 51 is reset, and ensuring the reliability of the floating connecting mechanism 5 when it is reused.

[0034] See Figures 3 to 6 In one embodiment, the guide member 56 includes a guide wheel 561, which is radially connected to the outside of the guide member 56; with this arrangement, the guide wheel 561 slides more smoothly in the guide hole.

[0035] See Figure 2 In one embodiment, the telescopic actuator 3 is connected to the connecting frame 11 of the vehicle body 1 via a side-swing drive mechanism 142. The side-swing drive mechanism 142 includes a side-swing drive motor 21, a first gear (not shown), a second gear (not shown), and a lateral movable frame 22. The lateral movable frame 22 is rotatably connected to the connecting frame 11 via bearings. The telescopic actuator 3 is mounted on the lateral movable frame 22. The second gear is rotatably mounted on the lateral movable frame 22. The side-swing drive motor 21 and the first gear are mounted on the connecting frame 11. The first gear is located at the output end of the side-swing drive motor 21 and meshes with the second gear. Preferably, the transmission ratio between the first gear and the second gear is less than 1, which facilitates improving the side-swing angle movement accuracy of the telescopic actuator 3. With this configuration, the side-swing drive mechanism 142 drives the telescopic actuator 3 to side-swing via gear transmission, resulting in a stable transmission effect.

[0036] See Figure 1 and Figure 2In one embodiment, a damper 6 is also included between the connecting frame 11 of the vehicle body 1 and the lateral movable frame 22 of the side swing drive mechanism 142. The damper 6 is preferably a tension spring or a nitrogen rod, etc. The damper 6 is used to provide reverse damping when the telescopic actuator 3 swings to one side. With this arrangement, the tunnel detector 4 connected to the telescopic actuator 3 is provided with a stable auxiliary force when it swings, and the vehicle body 1 is prevented from becoming unstable and overturning.

[0037] See Figure 1 and Figure 2 In one embodiment, the tunnel detector 4 is equipped with obstacle avoidance sensors 7 on both sides of the vehicle body 1 in the direction of movement. The obstacle avoidance sensors 7 are used to detect obstacles on the tunnel arch within a preset distance and provide feedback to the telescopic actuator 3 so that the tunnel detector 4 can avoid the obstacles. For example, when the obstacle avoidance sensor 7 detects an obstacle (such as electrical components or monitors installed on the tunnel arch) in front of the tunnel detector 4 in the direction of movement within the arch, the obstacle avoidance sensor 7 feeds back to the control module of the tunnel detection equipment to control the telescopic actuator 3 to lower the height of the tunnel detector 4 and remove it from the tunnel arch until the vehicle body 1 has moved a preset distance and the tunnel detector 4 has passed the obstacle. Then, the telescopic actuator 3 raises the tunnel detector 4 to a height that fits against the tunnel arch so that the tunnel detector 4 can continue to work. With this setting, collisions between the tunnel detector 4 and obstacles can be avoided to prevent damage and ensure the reliability of the tunnel detection equipment.

[0038] See Figure 2 In one embodiment, the telescopic driver 3 is, for example, a push rod, such as a servo electric cylinder, and also includes a rotary driver 7 connected to the telescopic driver 3. The rotary driver 7 is used to drive the tunnel detector 4 to change the detection direction through the telescopic driver 3, for example, to indirectly drive the tunnel detector 4 to rotate 180°. With this configuration, the detection direction of the tunnel detector 4 is adjusted when the tunnel detection device moves back and forth in the tunnel.

[0039] See Figure 1 and Figure 7In one embodiment, the vehicle body 1 includes a frame and a connecting frame 11. The frame includes a first frame 12 and a second frame 13. The first frame 12 and the second frame 13 are respectively provided with a drive mechanism 14 for driving the vehicle body 1 and a load-bearing wheel 15. The drive mechanism 14 is, for example, a drive wheel with a drive function. The front end of the first frame 12 is provided with a horizontally foldable front windshield bracket 121. The front windshield bracket 121 is rotatably connected to the front end of the first frame 12. The front windshield bracket 121 can extend horizontally at 90° relative to the front end of the first frame 12 or be folded and stored relative to the first frame 12. The rear end of the second frame 13 is provided with a horizontally foldable rear windshield bracket 131. The rear windshield bracket 131 is rotatably connected to the rear end of the second frame 13. The rear windshield bracket 131 can extend horizontally at 90° relative to the rear end of the second frame 13 or be folded and stored relative to the second frame 13. The outer end of the front windshield bracket 121 is connected to the front end of the second frame 13 by a quick-release screw 8. The rear support bracket 131 is connected to the rear end of the first frame 12 via quick-release screws 8. The two sides of the connecting frame 11 are respectively connected to the top of the first frame 12 and the second frame 13 via quick-release screws 8. It includes a base frame 111, a vertically foldable top support 112 and a top connecting plate 113 located on both sides of the top of the base frame 111. The upper ends of the two top supports 112 are connected to the top connecting plate 113 via quick-release screws 8, so that the connecting frame 11 is shaped into a trapezoidal shape. The side swing drive mechanism 142 is located on the top connecting plate 113. With this configuration, the vehicle body 1 includes a frame and connecting frame 11 that can be quickly folded and stored, which facilitates the handling and transportation of tunnel inspection equipment.

[0040] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A tunnel inspection device, characterized in that, include: Tunnel detectors are used to detect the inner surface of tunnels and acquire data. The floating connection mechanism connects its upper end to the bottom of the tunnel detector, giving the tunnel detector an elastic passive degree of freedom to move vertically and swing laterally, so that the tunnel detector fits against the arched surface inside the tunnel when it is working. The telescopic actuator, whose output end is connected to the floating connection mechanism, is used to adjust the detection height of the tunnel detector during operation; Side-swing drive mechanism, used to drive and adjust the side-swing angle of the telescopic actuator; The vehicle body is used to support the telescopic actuator and drive the tunnel inspection equipment. The floating connection mechanism includes a floating connection seat, an elastic element, and a connecting base. The connecting base has a movable cavity with a top opening. The lower part of the floating connection seat extends into the movable cavity. There is a movable gap between the outer periphery of the floating connection seat and the inner periphery of the movable cavity. The tunnel detector is connected to the top of the floating connection seat. The elastic element abuts against the bottom of the movable cavity and the bottom of the floating connection seat. The outer periphery of the connecting base has several vertical guide holes that penetrate the movable cavity. The outer side of the floating connection seat is provided with guide elements that extend into the vertical guide holes. The top of the floating connecting seat is provided with an outwardly extending limiting edge, which abuts against the upper end of the connecting base to limit the lateral swing angle of the tunnel detector. The guide and vertical guide hole are provided in at least 4 sets and are evenly distributed on the outer periphery of the floating connector; The floating connection mechanism further includes a guide positioning mechanism disposed between the floating connection seat and the movable cavity. The guide positioning mechanism includes a guide positioning seat disposed at the bottom of the movable cavity. The guide positioning seat has a limiting guide part on its upper part. The floating connection seat has a guide hole at its bottom that fits into the guide positioning seat. When the floating connection seat is driven to reset relative to the other side by an elastic element, the guide hole is guided by the limiting guide part to perform centering and positioning.

2. The tunnel inspection equipment according to claim 1, characterized in that, The telescopic driver is connected to the vehicle body via a side-swing drive mechanism. The side-swing drive mechanism includes a side-swing drive motor, a first gear, a second gear, and a lateral movable frame. The telescopic driver is mounted on the lateral movable frame, the second gear is mounted on the lateral movable frame, and the side-swing drive motor and the first gear are mounted on the connecting frame. The first gear is located at the output end of the side-swing drive motor and meshes with the second gear.

3. The tunnel inspection equipment according to claim 1 or 2, characterized in that, It also includes a damper connected between the connecting frame of the vehicle body and the lateral movable frame of the side swing drive mechanism, the damper being used to provide reverse damping when the telescopic drive swings to one side.

4. The tunnel inspection equipment according to claim 1, characterized in that, The tunnel detector has obstacle avoidance sensors on both sides of the vehicle's direction of movement. The obstacle avoidance sensors are used to detect obstacles on the tunnel arch and provide feedback to the telescopic actuator, enabling the tunnel detector to avoid the obstacles.

5. The tunnel inspection equipment according to claim 1 or 2, characterized in that, It also includes a rotary drive with a telescopic drive, the rotary drive being used to drive the tunnel detector to change the detection direction via the telescopic drive.

6. The tunnel inspection equipment according to claim 1, characterized in that, The vehicle body includes: The vehicle frame includes a first frame and a second frame. The first frame and the second frame are respectively provided with a drive mechanism for driving the vehicle body forward. The front end of the first frame is provided with a horizontally foldable and retractable front windshield bracket, and the rear end of the second frame is provided with a horizontally foldable and retractable rear windshield bracket. The outer end of the front windshield bracket is connected to the front end of the second frame by a quick-release screw, and the outer end of the rear windshield bracket is connected to the rear end of the first frame by a quick-release screw. The connecting frame is connected to the top of the first frame and the second frame on both sides by quick-release screws. It includes a base frame and a vertically foldable top bracket located on both sides of the top of the base frame. The upper ends of the two top brackets are connected to each other by quick-release screws.

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