A tunnel construction quality detection method based on a remote control robot

Abstract

The application discloses a tunnel construction quality detection method based on a remote control robot, and relates to the field of tunnel construction quality detection methods. The tunnel construction quality detection method based on the remote control robot comprises a tunnel construction quality detection system based on the remote control robot, wherein the tunnel construction quality detection system based on the remote control robot comprises a remote control robot, a mechanical arm, a target disc and a 3D scanner, and further comprises a target robot and a scanning robot. In the application, a technician remotely controls the target robot and the scanning robot to enter the inside of a tunnel to complete 3D scanning work according to the tunnel construction site condition, which not only can overcome the adverse factors of the complex tunnel construction environment, improve the laying speed of the detection system, but also can avoid manual detection by the technician, reduce the on-site workload, avoid danger and realize unmanned and nondestructive detection of the concrete thickness of tunnel shotcrete support quickly and stably under the remote control of the technician, wherein multiple remote control robots are respectively loaded with the 3D scanners and the target discs to complete the monitoring and scanning tasks.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and more specifically to a method for tunnel construction quality inspection based on a remote-controlled robot. Background Technology

[0002] Tunnel construction is an underground engineering project. The excavation process disrupts the equilibrium of the existing rock mass, posing significant risks. Therefore, the quality of the support measures implemented during tunnel construction is crucial. Tunnel support can be divided into initial support and secondary lining. As the foundation for secondary lining, the quality of initial support construction is critical to the safety of the entire tunnel structure during construction and subsequent operation.

[0003] Currently, the most common initial support method for tunnels is shotcrete and anchor support. Because shotcrete and anchor support does not use formwork, it is impossible to precisely control the amount of concrete sprayed, which can easily lead to over- or under-spraying. Therefore, real-time monitoring of the shotcrete thickness during construction and using this data to guide the process is crucial for controlling the quality of tunnel construction.

[0004] In existing tunnel construction quality inspection technologies, total stations are typically used for measurement. However, this method only yields the dimensions of the shotcrete at sampling points, failing to provide the dimensional accuracy of the entire tunnel cross-section. In recent years, with the increasing maturity of 3D laser scanning technology, 3D scanners have been gradually applied to various construction projects. Current 3D scanning inspection technologies require the establishment of stable target points on the object being inspected. However, during tunnel construction, blasting vibrations can easily damage or cause the targets to fall off. Furthermore, the confined construction space with its dense concentration of equipment and personnel makes it easy to accidentally bump into or damage the placed targets, leading to economic losses and inaccurate inspection results. Additionally, current 3D inspection equipment still requires technicians to carry it to the site for setup, resulting in a cumbersome procedure and low work efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a safe and efficient method for tunnel construction quality inspection based on a remote-controlled robot.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a tunnel construction quality inspection system based on a remote-controlled robot, including a remote-controlled robot, a robotic arm, a target disk and a 3D scanner, and further including a target robot and a scanning robot;

[0007] The target robot includes the remote-controlled robot, a robotic arm, and a target disk. The robotic arm is hinged to the remote-controlled robot, and the target disk is mounted on the end of the robotic arm.

[0008] The scanning robot includes the remote-controlled robot and a 3D scanner, with the 3D scanner mounted on the remote-controlled robot.

[0009] Furthermore, the scanning robot is positioned within the tunnel face at a location where its line of sight is unobstructed, and there are at least two target robots, each positioned within the tunnel face at a location where the equipment is undisturbed, with the target disk on each target robot facing the 3D scanner on the scanning robot.

[0010] Furthermore, the remote-controlled robot includes at least a base, a turntable, a top cover, and mechanical legs. The turntable is rotatably mounted on the base, and the top cover is fastened to the top of the turntable. The mechanical legs are three in number, evenly spaced around the base, and each mechanical leg has a suction cup foot installed at its bottom.

[0011] Furthermore, a mounting head is centrally fixed to the top of the top cover, and the robotic arm and 3D scanner are respectively mounted on the remote-controlled robots via hinges that match the mounting head.

[0012] Furthermore, the remote-controlled robot also includes a camera module, which comprises multiple camera modules evenly spaced around the turntable. Each camera module includes a mounting cylinder, an infrared camera, a first micro motor, a first gear disk, and a first internal gear ring. The mounting cylinder has a trapezoidal structure that is smaller at the front and larger at the back. The rear end of the mounting cylinder is inserted into and installed inside the turntable, while the front end of the mounting cylinder protrudes outside the turntable. The infrared camera is embedded inside the front end of the mounting cylinder. The first gear disk is installed on the rear end wall of the mounting cylinder. The first micro motor is installed inside the turntable, and its output shaft is centrally and fixedly connected to the first gear disk. The first internal gear ring is installed inside the turntable, and the first gear disk meshes with the first internal gear ring.

[0013] Furthermore, the first gear disk is installed on the left or right side of the rear end wall of the mounting cylinder, and the first micro motor and the first internal gear ring are both installed on the left or right side of the turntable.

[0014] Furthermore, the first gear disk is installed on the upper or lower side of the rear end wall of the mounting cylinder, and the first micro motor and the first internal gear ring are both installed in the upper or lower part of the turntable.

[0015] Furthermore, the remote-controlled robot also includes a drive assembly, which includes a second micro motor, a connecting rod, a second gear disk, and a second internal gear ring. The second micro motor is centrally fixed inside the base, and its output shaft is fixedly connected to the middle of the connecting rod. The two ends of the connecting rod are respectively fixedly connected to the inner wall of the turntable. The second internal gear ring is fixed to the inner wall of the base. There are two second gear disks, which are respectively installed at the bottom ends of the two sides of the connecting rod, and the second gear disks mesh with the second internal gear rings.

[0016] Furthermore, the remote-controlled robot also includes an audible and visual alarm installed on the top cover, and a communication module, a data analysis and storage module, and a horizontal control module installed in the base. The communication module, the data analysis and storage module, and the horizontal control module are electrically connected to each other. The audible and visual alarm is connected to the communication module via a pressure sensor. The infrared camera is connected to the communication module. The first micro motor and the second micro motor are both connected to a remote intelligent device via a wireless control module.

[0017] A method for inspecting tunnel construction quality based on a remotely controlled robot, characterized by the following steps:

[0018] S1: Before the shotcrete support in tunnel construction, the scanning robot is first operated to enter the tunnel face. Based on the video image transmitted by the camera module on the remote control robot, a position with an unobstructed view is found on the construction site. The scanning robot is then operated to move to the position. After arriving, it is fixed by suction cup feet. The horizontal control module is controlled by a remote intelligent device to adjust the level of the scanning robot until the scanning requirements are met.

[0019] S2: Before the shotcrete support in tunnel construction, the target robot is then controlled to enter the tunnel face. Based on the video footage transmitted by the camera module on the remote-controlled robot, a location where the device is undisturbed is found near the area to be inspected. The target robot is then controlled to move to the location. Upon arrival, the target robot is attached and fixed by the suction cup feet, and the robotic arm is extended to align the target plate with the 3D scanner arranged in S1.

[0020] S3: Before the shotcrete support in tunnel construction, the 3D scanner completes a 360° all-round scan of the tunnel face and saves the original point cloud structure data of the tunnel before shotcrete through the data analysis and storage module in the remote control robot. After the scan is completed, the scanning robot is operated to exit the tunnel face.

[0021] S4: After the tunnel shotcrete support is completed once, repeat steps S1-S3 again to complete the non-destructive testing of the tunnel construction quality after shotcrete support, and summarize, save and analyze the original point cloud structure data of the tunnel after shotcrete support obtained by the data analysis and storage module twice.

[0022] S5: The point cloud data after two scans are stitched together using the ICP mathematical algorithm to establish a 3D tunnel model obtained from the scan, and compared with the design drawings to conduct a comparative analysis of the tunnel shotcrete support.

[0023] The beneficial effects of this invention are reflected in:

[0024] In this invention, technicians remotely control a target robot and a scanning robot to enter the tunnel and complete 3D scanning work according to the conditions of the tunnel construction site. This not only overcomes the adverse factors of the complex construction environment of the tunnel and improves the deployment speed of the detection system, but also eliminates the need for technicians to conduct manual inspections, reduces on-site workload, and avoids danger. Multiple remote-controlled robots are equipped with 3D scanners and target disks, forming a target robot and a scanning robot, which complete monitoring and scanning tasks under the remote control of technicians. This enables rapid and stable unmanned and non-destructive detection of the concrete thickness of the tunnel shotcrete support. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the detection status at a construction site according to an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the overall structure of a target robot according to an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the overall structure of a scanning robot according to an embodiment of the present invention.

[0028] Figure 4 This is a top view of a driving component according to an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of a camera module according to an embodiment of the present invention.

[0030] Figure 6 This is a partial schematic diagram of a camera module according to an embodiment of the present invention.

[0031] The components in the attached diagram are labeled as follows: 1. Tunnel face; 2. Target robot; 3. Scanning robot; 4. Remote control robot; 401. Base; 402. Turntable; 403. Top cover; 404. Mounting head; 405. Mechanical leg; 406. Suction cup foot; 5. Mechanical arm; 6. Target disk; 7. Audible and visual alarm; 8. Camera module; 801. Mounting cylinder; 802. Infrared camera; 803. First micro motor; 804. First gear disk; 805. First internal gear ring; 9. 3D scanner; 10. Drive assembly; 1001. Second micro motor; 1002. Connecting rod; 1003. Second gear disk; 1004. Second internal gear ring. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0035] See Figures 1-6 .

[0036] This invention provides a tunnel construction quality inspection system based on a remote-controlled robot, including a remote-controlled robot 4, a robotic arm 5, a target disk 6, and a 3D scanner 9, and also includes a target robot 2 and a scanning robot 3;

[0037] The target robot 2 includes the remote-controlled robot 4, the robotic arm 5, and the target disk 6. The robotic arm 5 is hinged to the remote-controlled robot 4, and the target disk 6 is mounted on the end of the robotic arm 5.

[0038] The scanning robot 3 includes the remote-controlled robot 4 and the 3D scanner 9, with the 3D scanner 9 mounted on the remote-controlled robot 4.

[0039] In this invention, technicians remotely control a target robot and a scanning robot to enter the tunnel and complete 3D scanning work according to the conditions of the tunnel construction site. This not only overcomes the adverse factors of the complex construction environment of the tunnel and improves the deployment speed of the detection system, but also eliminates the need for technicians to conduct manual inspections, reduces on-site workload, and avoids danger. Multiple remote-controlled robots are equipped with 3D scanners and target disks, forming a target robot and a scanning robot, which complete monitoring and scanning tasks under the remote control of technicians. This enables rapid and stable unmanned and non-destructive detection of the concrete thickness of the tunnel shotcrete support.

[0040] In one embodiment, the scanning robot 3 is positioned within the tunnel face 1 at an unobstructed location. At least two target robots 2 are positioned within the tunnel face 1 at locations where the equipment is undisturbed. The target disks 6 on each target robot 2 face the 3D scanner 9 on the scanning robot 3. This design allows the remote-controlled robot 4 to stably carry the robotic arm 5, target disks 6, and 3D scanner 9 into and out of the tunnel face 1. The robotic arm 5 can adjust the orientation of the target disks 6 arbitrarily as the scanning robot 3 is positioned, ensuring the scanning effect of the 3D scanner 9 in various complex construction environments.

[0041] In one embodiment, the remote-controlled robot 4 includes at least a base 401, a turntable 402, a top cover 403, and mechanical legs 405. The turntable 402 is rotatably mounted on the base 401, and the top cover 403 is fastened to the top of the turntable 402. Three mechanical legs 405 are evenly spaced around the base 401, and each mechanical leg 405 has a suction cup foot 406 mounted on its bottom. This design allows the internal circuitry and structure of the remote-controlled robot 4 to utilize currently available principles and structures. Similarly, the mechanical legs 405 and suction cup feet 406, like those of the robotic arm 5, employ existing structures and equipment. The three mechanical legs 405 can form a triangular support structure, ensuring the remote-controlled robot 4 moves smoothly. After the detection position is determined, the suction cup feet 406 fix the remote-controlled robot 4, ensuring the stability and reliability of the scanning results.

[0042] In one embodiment, a mounting head 404 is centrally fixed to the top of the top cover 403. The robotic arm 5 and the 3D scanner 9 are respectively mounted on the remote-controlled robots 4 via hinges that fit with the mounting head 404. This design encloses the components and devices installed inside the base 401 and turntable 402. During maintenance and disassembly, only the top cover 403 needs to be removed. The mounting head 404 has high adaptability, allowing for hinged installation with different devices, thus forming the target robot 2 and the scanning robot 3 respectively.

[0043] In one embodiment, the remote-controlled robot 4 further includes a camera module 8, which comprises multiple camera modules evenly spaced around the turntable 402. Each camera module 8 includes a mounting cylinder 801, an infrared camera 802, a first micro motor 803, a first gear disk 804, and a first internal gear ring 805. The mounting cylinder 801 has a trapezoidal structure with a smaller front and a larger rear. The rear end of the mounting cylinder 801 is inserted into and installed inside the turntable 402, while the front end of the mounting cylinder 801 protrudes outside the turntable 402. The infrared camera 802 is embedded inside the front end of the mounting cylinder 801. The first gear disk 804 is mounted on the rear wall of the mounting cylinder 801. The first micro motor 803 is mounted inside the turntable 402, and its output shaft is centrally and fixedly connected to the first gear disk 804. The first internal gear ring 805 is mounted inside the turntable 402, and the first gear disk 804 meshes with the first internal gear ring 805. With this design, both the target robot 2 and the scanning robot 3 are equipped with the camera module 8. When technicians operate the target robot 2 or the scanning robot 3 to enter or exit the tunnel, the camera module 8 can not only explore the road surface conditions, but also monitor the construction environment inside the tunnel and transmit the video images back to the remote intelligent device for technicians to view.

[0044] In one embodiment, the first gear disk 804 is installed on the left or right side of the rear end wall of the mounting cylinder 801, and the first micro motor 803 and the first internal gear ring 805 are both installed on the left or right side of the turntable 402. With this design, technicians can remotely control the first micro motor 803 to rotate clockwise or counterclockwise via a wireless control module, driving the first gear disk 804 to rotate clockwise or counterclockwise. Under the limiting action of the first internal gear ring 805, the mounting cylinder 801 achieves smooth rotation of the pitch angle, and the infrared camera 802 monitors the pitch angle. The infrared camera 802 is suitable for both well-lit and dimly lit monitoring environments.

[0045] In another embodiment, the first gear disk 804 is mounted on the upper or lower side of the rear end wall of the mounting cylinder 801, and the first micro motor 803 and the first internal gear ring 805 are both mounted on the upper or lower part of the turntable 402. With this design, similarly to the above, the mounting cylinder 801 achieves smooth horizontal rotation, thereby enabling the infrared camera 802 to monitor the horizontal angle, allowing the camera module 8 to meet the monitoring requirements of more angles and orientations.

[0046] In one embodiment, the remote-controlled robot 4 further includes a drive assembly 10, which includes a second micro motor 1001, a connecting rod 1002, a second gear disk 1003, and a second internal gear ring 1004. The second micro motor 1001 is centrally fixed inside the base 401, and the output shaft of the second micro motor 1001 is fixedly connected to the middle of the connecting rod 1002. The two ends of the connecting rod 1002 are respectively fixedly connected to the two sides of the inner wall of the turntable 402. The second internal gear ring 1004 is fixed to the inner wall of the base 401. There are two second gear disks 1003, which are respectively installed at the bottom ends of the two sides of the connecting rod 1002, and the second gear disks 1003 mesh with the second internal gear ring 1004. With this design, technicians can remotely control the second micro motor 1001 to rotate clockwise or counterclockwise via the wireless control module, driving the connecting rod 1002 to rotate clockwise or counterclockwise, which in turn causes the turntable 402 to rotate clockwise or counterclockwise on the base 401, improving the flexibility of the remote-controlled robot 4. The meshing and matching of the second gear disk 1003 and the second internal gear ring 1004 enhances the stability of the turntable 402 during rotation, preventing unstable detection due to vibration.

[0047] In one embodiment, the remote-controlled robot 4 further includes an audible and visual alarm 7 installed on the top cover 403, and a communication module, a data analysis and storage module, and a horizontal control module installed in the base 401. The communication module, data analysis and storage module, and horizontal control module are electrically connected. The audible and visual alarm 7 is connected to the communication module via a pressure sensor. The infrared camera 802 is connected to the communication module. The first micro motor 803 and the second micro motor 1001 are both connected to a remote intelligent device via a wireless control module. With this design, technicians can remotely control the target robot and the scanning robot to enter the tunnel to complete 3D scanning work according to the conditions of the tunnel construction site, quickly and stably achieving unmanned and non-destructive detection of the concrete thickness of the tunnel shotcrete support.

[0048] A method for inspecting tunnel construction quality based on a remotely controlled robot, characterized by the following steps:

[0049] S1: Before the shotcrete support in tunnel construction, the scanning robot 3 is first operated to enter the tunnel face 1. Based on the video image transmitted by the camera module 8 on the remote control robot 4, a position with an unobstructed view is found on the construction site. The scanning robot 3 is then operated to move to the position. After arriving, it is attached and fixed by the suction cup foot 406. The horizontal control module is controlled by the remote intelligent device to adjust the level of the scanning robot 3 until the scanning requirements are met.

[0050] S2: Before the shotcrete support in tunnel construction, 2 to 3 target robots 2 are then operated to enter the tunnel face 1. Based on the video footage transmitted by the camera module 8 on the remote control robot 4, a location where the equipment is undisturbed is found near the area to be inspected. The target robots 2 are then operated to move to the location. Upon arrival, the target robots are attracted and fixed by the suction cup foot 406, and the robotic arm 5 is deployed to orient the target disk 6 toward the 3D scanner 9 arranged in S1.

[0051] S3: Before the shotcrete support in tunnel construction, the 3D scanner 9 completes a 360° all-round scan of the tunnel face 1, and saves the original point cloud structure data of the tunnel before shotcrete through the data analysis and storage module in the remote control robot 4. After the scan is completed, the scanning robot 3 is operated to exit the tunnel face 1.

[0052] S4: After the tunnel shotcrete support is completed once, repeat steps S1-S3 again to complete the non-destructive testing of the tunnel construction quality after shotcrete support, and summarize, save and analyze the original point cloud structure data of the tunnel after shotcrete support obtained by the data analysis and storage module twice.

[0053] S5: The point cloud data after two scans are stitched together using the ICP mathematical algorithm to establish a 3D tunnel model obtained from the scan, and compared with the design drawings to conduct a comparative analysis of the tunnel shotcrete support.

[0054] It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various modifications or changes based on them. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A tunnel construction quality inspection system based on a remote-controlled robot, comprising a remote-controlled robot (4), a robotic arm (5), a target disk (6), and a 3D scanner (9), characterized in that: It also includes a target robot (2) and a scanning robot (3); The target robot (2) includes the remote-controlled robot (4), the robotic arm (5) and the target disk (6). The robotic arm (5) is hinged to the remote-controlled robot (4), and the target disk (6) is mounted on the end of the robotic arm (5). The scanning robot (3) includes the remote-controlled robot (4) and a 3D scanner (9), the 3D scanner (9) being mounted on the remote-controlled robot (4); The scanning robot (3) is positioned in a location within the tunnel face (1) where the line of sight is unobstructed. There are at least two target robots (2), each positioned in a location within the tunnel face (1) where the equipment is undisturbed. The target disk (6) on each target robot (2) faces the 3D scanner (9) on the scanning robot (3). The remote-controlled robot (4) includes at least a base (401), a turntable (402), a top cover (403), and mechanical legs (405). The turntable (402) is rotatably mounted on the base (401), and the top cover (403) is fastened to the top of the turntable (402). There are three mechanical legs (405), which are evenly spaced around the base (401). Each mechanical leg (405) has a suction cup foot (406) installed at its bottom. The remote-controlled robot (4) also includes a camera module (8), which has multiple camera modules (8) arranged evenly at intervals around the turntable (402). The camera module (8) includes a mounting cylinder (801), an infrared camera (802), a first micro motor (803), a first gear disk (804), and a first internal gear ring (805). The mounting cylinder (801) has a trapezoidal structure that is smaller at the front and larger at the back. The rear end of the mounting cylinder (801) is inserted into and installed inside the turntable (402), and the front end of the mounting cylinder (801) protrudes from the turntable. Outside of (402), the infrared camera (802) is embedded inside the front end of the mounting cylinder (801), the first gear disk (804) is mounted on the rear end wall of the mounting cylinder (801), the first micro motor (803) is mounted inside the turntable (402), and the output shaft of the first micro motor (803) is centrally and fixedly connected to the first gear disk (804), the first internal gear ring (805) is mounted inside the turntable (402), and the first gear disk (804) meshes with the first internal gear ring (805).

2. The tunnel construction quality inspection system based on a remote-controlled robot as described in claim 1, characterized in that: The top of the top cover (403) is centrally fixed with a mounting head (404), and the robotic arm (5) and the 3D scanner (9) are respectively mounted on the remote-controlled robot (4) via hinges that match the mounting head (404).

3. The tunnel construction quality inspection system based on a remote-controlled robot as described in claim 1, characterized in that: The first gear disk (804) is installed on the left or right side of the rear end wall of the mounting cylinder (801), and the first micro motor (803) and the first internal gear ring (805) are both installed on the left or right side of the turntable (402).

4. The tunnel construction quality inspection system based on a remote-controlled robot as described in claim 1, characterized in that: The first gear disk (804) is installed on the upper or lower side of the rear end wall of the mounting cylinder (801), and the first micro motor (803) and the first internal gear ring (805) are both installed in the upper or lower part of the turntable (402).

5. The tunnel construction quality inspection system based on a remote-controlled robot as described in claim 1, characterized in that: The remote-controlled robot (4) also includes a drive assembly (10), which includes a second micro motor (1001), a connecting rod (1002), a second gear disk (1003), and a second internal gear ring (1004). The second micro motor (1001) is centrally fixed inside the base (401). The output shaft of the second micro motor (1001) is fixedly connected to the middle of the connecting rod (1002). The two ends of the connecting rod (1002) are respectively fixedly connected to the inner wall of the turntable (402). The second internal gear ring (1004) is fixed to the inner wall of the base (401). There are two second gear disks (1003), which are respectively installed at the bottom ends of the two sides of the connecting rod (1002). The second gear disks (1003) mesh with the second internal gear ring (1004).

6. The tunnel construction quality inspection system based on a remote-controlled robot as described in claim 5, characterized in that: The remote-controlled robot (4) also includes an audible and visual alarm (7) installed on the top cover (403), and a communication module, a data analysis and storage module and a horizontal control module installed in the base (401). The communication module, the data analysis and storage module and the horizontal control module are electrically connected. The audible and visual alarm (7) is connected to the communication module via a pressure sensor. The infrared camera (802) is connected to the communication module. The first micro motor (803) and the second micro motor (1001) are both connected to the remote intelligent device via a wireless control module.

7. A method for tunnel construction quality inspection based on a remote-controlled robot, implemented using the tunnel construction quality inspection system based on a remote-controlled robot as described in any one of claims 1-6, characterized in that, Includes the following steps: S1: Before the shotcrete support in tunnel construction, the scanning robot (3) is first operated to enter the tunnel face (1). According to the video image transmitted by the camera module (8) on the remote control robot (4), a position with unobstructed view is found at the construction site. The scanning robot (3) is operated to go there. After arriving, it is attached and fixed by the suction cup foot (406). The horizontal control module is controlled by the remote terminal intelligent device to adjust the level of the scanning robot (3) until the scanning requirements are met. S2: Before the shotcrete support in tunnel construction, two to three target robots (2) are then operated to enter the tunnel face (1). Based on the video footage transmitted by the camera module (8) on the remote control robot (4), a location where the equipment is undisturbed is found near the area to be inspected. The target robots (2) are then operated to move to the location. Upon arrival, the target robots are attracted and fixed by the suction cup foot (406), and the robotic arm (5) is extended to orient the target plate (6) toward the 3D scanner (9) arranged in S1. S3: Before the shotcrete support in the tunnel construction, the 3D scanner (9) completes a 360° all-round scan of the tunnel face (1) and saves the original point cloud structure data of the tunnel before shotcrete through the data analysis and storage module in the remote control robot (4). After the scan is completed, the scanning robot (3) is operated to exit the tunnel face (1). S4: After the tunnel shotcrete support is completed once, repeat steps S1-S3 again to complete the non-destructive testing of the tunnel construction quality after shotcrete support, and summarize, save and analyze the original point cloud structure data of the tunnel after shotcrete support obtained by the data analysis and storage module twice. S5: The point cloud data after two scans are stitched together using the ICP mathematical algorithm to establish a 3D tunnel model obtained from the scan, and compared with the design drawings to conduct a comparative analysis of the tunnel shotcrete support.

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