Tunnel pre-buried channel detection equipment

Abstract

The application belongs to the technical field of tunnel pre-buried channel detection, in particular to a tunnel pre-buried channel detection equipment, which comprises left and right detection modules with the same structure, the left and right detection modules are connected on a clamping block through a fixing plate, and a connecting head is installed on the clamping block; the right detection module comprises a base, a moving wheel and a hovering cylinder are installed on the base, a moving plate is installed in the hovering cylinder, and a connecting spring is installed between the moving plate and the hovering cylinder; an extending rod is installed on the moving plate, a distance sensor is installed in the hovering cylinder; a blowing hole is formed in the extending rod, the blowing hole faces the side wall of the channel to be detected, a gas pipe is connected to the lower end of the extending rod, and the upper end of the extending rod is inserted into the channel to be detected; the application has a simple structure, can conveniently detect the spacing and parallelism of the channel on the inner wall of the tunnel, and improves the accuracy of the spacing and parallelism detection results.

Description

Technical Field

[0001] This invention belongs to the field of tunnel pre-embedded channel detection technology, specifically a tunnel pre-embedded channel detection device. Background Technology

[0002] After the arched concrete structure of the tunnel is poured, an arc-shaped channel is pre-embedded in the top of the tunnel. These channels are set up in groups of two, and each group will maintain a certain distance and be parallel to each other. In order not to affect subsequent construction and equipment operation, it is necessary to test the parallelism and spacing of the pre-embedded channels in the top of the tunnel.

[0003] Existing detection methods rely on chalk lines used in construction to assist in the inspection. Specifically, two chalk lines are used to simultaneously project light onto the top, side walls, and ground of the tunnel. The light rays are then aligned with corresponding channels on the tunnel top, and the distance and parallelism between the two light rays on the ground are measured. This inspection process is time-consuming and inefficient, especially in dimly lit tunnel environments, which further hinders the efficiency of rapid inspection. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, facilitate the detection of the spacing and parallelism of channels on the inner wall of tunnels, and improve the accuracy of the detection results, this invention proposes a tunnel pre-embedded channel detection device.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: The tunnel pre-embedded channel detection device of the present invention includes a left detection module and a right detection module with the same structure. The left detection module and the right detection module are connected to the card block by a fixing plate. The fixing plate is provided with scale lines. The card block is equipped with a connector. The connector is used to connect the detection device to a robotic arm or a handheld connecting rod.

[0006] The right detection module includes a base, with movable wheels installed at both ends of the base, a hovering cylinder installed at the middle position of the base, a movable plate installed inside the hovering cylinder, and a connecting spring installed between the side wall of the movable plate and the inner wall of the hovering cylinder.

[0007] An extension rod is mounted on the movable plate, and a distance sensor aligned with the side wall of the extension rod is installed inside the hovering cylinder;

[0008] An air blowing hole is provided at the upper end of the extension rod, and the air blowing hole faces the side wall of the channel to be tested. The extension rod is hollow inside, and an air pipe is connected to the lower end of the extension rod. The air pipe is connected to an external air source, and the upper end of the extension rod is inserted into the channel to be tested on the inner wall of the tunnel.

[0009] Preferably, a positioning head is installed at the upper end of the extension rod, and the two ends of the positioning head are close to the inner wall of the channel to be tested. The air blowing hole includes a side hole and a top hole. The side hole is located on the side of the two ends of the positioning head, and the top hole is located on the upper surface of the positioning head. The positioning head is hollow inside and communicates with the internal space of the extension rod. An ejector pipe is inserted into the air blowing hole, and the ejector pipe accelerates the ejected airflow.

[0010] The side holes are symmetrically arranged on the positioning head, and the line connecting the side holes on the same side of the positioning head is parallel to the length direction of the channel to be measured.

[0011] Preferably, a fixed magnetic block is installed on the bottom surface of the hovering cylinder, and a movable magnetic block is installed on the lower surface of the moving plate. The magnitude of the magnetic repulsion force of the fixed magnetic block on the movable magnetic block is equal to the magnitude of the weight of the moving plate, the extension rod, and the positioning head.

[0012] Preferably, the base has a connecting cavity, and the internal space of the extension rod is connected to the connecting cavity by a flexible hose. There are multiple sets of flexible hoses, and the air pipe is connected to the connecting cavity.

[0013] Preferably, a protective layer is installed at the opening of the hovering cylinder, and the extension rod passes through the middle of the protective layer, which is a thin plastic film.

[0014] Preferably, an elastic layer is installed on the surface of the moving wheel, the interior of the elastic layer is hollow and filled with gas, and a wear-resistant mesh is embedded and encased on the surface of the elastic layer.

[0015] Preferably, the movable wheels are mounted on a bracket on the base via a rotating shaft, and multiple movable wheels are mounted side by side on the same rotating shaft with gaps between them.

[0016] Preferably, the fixing plate is rotatably mounted on the lower surface of the base, and a torsion spring is installed between the fixing plate and the base;

[0017] The card block has a through hole, the fixing plate is inserted into the through hole, and the card block is fixed to the fixing plate by screws. The fixing plate on the right detection module has a locking groove on its side, and the fixing plate on the left detection module has a protrusion on its corresponding side. The protrusion matches the locking groove.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. The tunnel pre-embedded channel detection device of the present invention, by setting up a left detection module, a right detection module, an extension rod, a positioning head, a side hole, a top hole, a connecting spring, a suspension cylinder, a fixed magnetic block, and a movable magnetic block, ensures that the extension rod, under the action of the ejected gas, is always in the middle position within the channel to be tested. This avoids the extension rod contacting the inner wall of the channel to be tested, thus preventing it from being affected by protrusions or other factors on the inner wall of the channel. This improves the consistency and accuracy of the data collected by the detection device, thereby resulting in high accuracy of the channel spacing and parallelism obtained through final analysis and calculation.

[0020] 2. The tunnel pre-embedded channel inspection device of the present invention, by setting up moving wheels and an elastic layer, makes it less prone to tilting or deviation when the inspection device moves along the channel to be tested, ensuring the accuracy of the inspection data and thus improving the accuracy of the inspection results. At the same time, the elastic layer wraps and fills the protrusions and depressions on the inner wall of the tunnel, so that the moving wheels are buffered and vibration-damped during movement, avoiding the defects on the inner wall of the tunnel from affecting the normal operation of the inspection device. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1 This is a front view of the detection device of the present invention;

[0023] Figure 2 This is a partial cross-sectional view of the right detection module in the detection device of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the ejector pipe in the detection device of the present invention, in the side hole (left) and the top hole (right);

[0025] Figure 4 This is a schematic diagram of the working process of the detection equipment of the present invention when it detects the channel under test;

[0026] Figure 5 yes Figure 1 Enlarged view of a portion of point A in the middle;

[0027] Figure 6 yes Figure 1 Enlarged view of a section at point B in the middle;

[0028] Figure 7 yes Figure 2 Enlarged view of a section at point C;

[0029] Figure 8 yes Figure 2 Enlarged view of a section at point D;

[0030] Figure 9 yes Figure 2 Enlarged view of a section at point E in the middle;

[0031] Figure 10 This is a schematic diagram of a mobile inspection vehicle in the prior art;

[0032] Figure 11 This is a schematic diagram showing the position of the plate installed on the channel to be tested;

[0033] In the diagram: Base 1, Left detection module 1a, Right detection module 1b, Connecting cavity 11, Hose 12, Air pipe 13, Moving wheel 2, Elastic layer 21, Hovering cylinder 3, Fixed magnet 31, Distance sensor 32, Protective layer 33, Extending rod 4, Moving plate 41, Movable magnet 411, Connecting spring 42, Positioning head 5, Side hole 51, Top hole 52, Spray pipe 53, Fixing plate 6, Locking groove 61, Clip 7, Connecting head 71, Tunnel inner wall 8, Detectable channel 81, Construction joint 9. Detailed Implementation

[0034] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0035] Example 1: Testing the spacing and parallelism of the channels.

[0036] like Figures 1 to 10 As shown, the tunnel pre-embedded channel detection device of the present invention includes a left detection module 1a and a right detection module 1b with the same structure. The left detection module 1a and the right detection module 1b are connected to the card block 7 by a fixing plate 6. The fixing plate 6 is provided with scale lines. The card block 7 is equipped with a connector 71. The connector 71 is used to connect the detection device to a robotic arm or a hand-held connecting rod.

[0037] The right detection module 1b includes a base 1, with movable wheels 2 installed at both ends of the base 1, a hovering cylinder 3 installed at the middle position of the base 1, a movable plate 41 installed inside the hovering cylinder 3, and a connecting spring 42 installed between the side wall of the movable plate 41 and the inner wall of the hovering cylinder 3.

[0038] An extension rod 4 is installed on the movable plate 41, and a distance sensor 32 aligned with the side wall of the extension rod 4 is installed inside the hovering cylinder 3.

[0039] An air blowing hole is provided at the upper end of the extension rod 4, and the air blowing hole faces the side wall of the channel 81 to be tested. The extension rod 4 is hollow inside, and an air pipe 13 is connected to the lower end of the extension rod 4. The air pipe 13 is connected to an external air source. The upper end of the extension rod 4 is inserted into the channel 81 to be tested on the inner wall 8 of the tunnel.

[0040] When inspecting the channel inside the tunnel, the staff will install the inspection equipment at the end of the robotic arm on the mobile inspection vehicle so that the robotic arm can be moved by the mobile inspection vehicle and the inspection equipment can be used to inspect the channel 81 to be inspected. Alternatively, the staff will install the inspection equipment on the hand-held connecting rod and then approach the inner wall 8 of the tunnel via the lifting platform vehicle. After that, the staff will manually drive the inspection equipment to inspect the channel 81 to be inspected.

[0041] Meanwhile, since the channels on the inner wall 8 of the tunnel are usually opened in pairs, it is necessary to test the spacing and parallelism between the channels in order to meet the requirements of subsequent equipment installation. Therefore, when testing the channel 81 to be tested, the staff will bring the testing equipment close to the inner wall 8 of the tunnel, so that the left testing module 1a and the right testing module 1b on the testing equipment are respectively located on two adjacent channels 81 to be tested, and the extension rods 4 on the left testing module 1a and the right testing module 1b are inserted into the channels 81 to be tested. Then, the staff will control the robotic arm on the mobile testing vehicle or manually move the hand-held connecting rod to move the testing equipment along the channel 81 to be tested. The distance sensor 32 installed in the testing equipment will detect the displacement of the extension rod 4 in the direction of the line connecting the two channels 81 to be tested. At the same time, since the fixed plate 6 is set with scale lines, the distance between the left testing module 1a and the right testing module 1b is known. Thus, in conjunction with the calculation of the displacement data of the extension rod 4 in the lateral direction, the spacing between the channels 81 to be tested and the parallelism data between them can be obtained.

[0042] Meanwhile, during the test, the extension rod 4 on the right detection module 1b is inserted into the channel 81 to be tested. Since the extension rod 4 is "suspended" in the suspension cylinder 3 by the connecting spring 42, and the extension rod 4 has an air blowing hole facing the side wall of the channel 81 to be tested, during the test, the airflow is blown outward from the air blowing hole, causing the airflow to impact the side wall of the channel 81 to be tested along the length direction. Then, under the action of the reaction force of the airflow and the air pressure between the side wall of the channel 81 to be tested and the side of the extension rod 4, the extension rod 4 is positioned as close as possible to the middle of the channel 81 to be tested. That is, the end of the extension rod 4 inserted into the channel 81 to be tested is also in a "suspended" state in the channel 81 to be tested, reducing the contact and collision between the extension rod 4 and the rough side wall of the channel 81 to be tested, which would cause the extension rod 4 to move laterally and thus affect the accuracy of the distance and parallelism measurement of the channel 81 to be tested.

[0043] Meanwhile, by having the upper end of the "suspended" extension rod 4 inside the channel 81 to be tested and spraying airflow toward the side wall of the channel, the extension rod 4 is positioned in the middle of the channel 81 as the testing equipment moves along the channel 81. That is, the extension rod 4 moves along the centerline of the channel 81 in the length direction, thereby improving the accuracy of the parallelism and spacing detection of the channel and avoiding excessive error in the test results. At the same time, the extension rod 4 is in a "suspended" state in the channel 81 under the action of the sprayed airflow, which also reduces the friction between the extension rod 4 and the channel 81 to be tested, extends the service life of the extension rod 4, and prevents the extension rod 4 from contacting the protrusions and rough surfaces left on the inner wall of the channel 81 during the excavation process, reducing the impact of the protrusions and other residual surfaces on the inner wall of the channel 81 on the test results.

[0044] Meanwhile, when the testing equipment is installed on the mobile testing vehicle, the air pipe 13 can be connected to the air pump or other air source on the mobile testing vehicle. At this time, the computer installed in the mobile testing vehicle analyzes and calculates the data measured by the testing equipment to obtain the spacing and parallelism data between the channels 81 to be tested. The testing equipment is directly controlled by the controller on the mobile testing vehicle, and no additional controller is required. If the testing equipment is installed on the handheld connecting rod, the air pipe 13 can be connected to the pressure gas cylinder, and the high-pressure gas in the cylinder can be used to supply air to ensure the normal operation of the testing equipment. At the same time, the testing equipment will be equipped with a separate controller to facilitate the control of the testing equipment and the analysis and calculation of the detected data.

[0045] In one embodiment of the present invention, a positioning head 5 is installed at the upper end of the extension rod 4. The two ends of the positioning head 5 are close to the inner wall of the channel 81 to be tested. The air blowing hole includes a side hole 51 and a top hole 52. The side hole 51 is located on the side of both ends of the positioning head 5, and the top hole 52 is located on the upper surface of the positioning head 5. The interior of the positioning head 5 is hollow and connected to the interior space of the extension rod 4. An ejector pipe 53 is inserted into the air blowing hole and accelerates the ejected airflow.

[0046] The side holes 51 are symmetrically arranged on the positioning head 5, and the line connecting the side holes 51 on the same side of the positioning head 5 is parallel to the length direction of the channel 81 to be measured.

[0047] During the testing process, the extension rod 4 inserted into the test channel 81 will spray air through the air blowing hole, causing the air to impact the inner wall of the test channel 81. The reaction force of the air and the air pressure between the inner wall of the channel and the side wall of the extension rod 4 will cause the extension rod 4 to move and remain in the middle position of the test channel 81, thereby improving the accuracy of the test results. During this process, a positioning head 5 is installed on the extension rod 4. The positioning head 5 expands the width of the test channel 81, thereby reducing the distance between the sides of the positioning head 5 at both ends and the inner wall of the test channel 81. This increases the reaction force generated by the sprayed air after impacting the inner wall of the test channel 81, as well as the air pressure generated between the inner wall of the test channel 81 and the side wall of the positioning head 5 when the sprayed air escapes from the test channel 81. This ensures that the extension rod 4 can move to the middle position in the test channel 81, ensuring the accuracy of the test results.

[0048] Meanwhile, as the testing equipment moves along the channel 81 to be tested, it can detect the spacing and parallelism at various points on the channel 81. After analyzing and processing the data, more accurate spacing and parallelism data can be obtained. During this process, as the testing equipment moves, the inner wall of the channel 81 where the positioning head 5 is located will change, which will cause the force on the positioning head 5 to change. Therefore, by setting symmetrically distributed side holes 51 on the positioning head 5, the forces on the front and rear ends of the positioning head 5 in the length direction of the channel 81 to be tested are relatively balanced. This avoids the situation where only one set of side holes 51 is set on the positioning head 5, which can easily lead to uneven force on the positioning head 5, resulting in the positioning head 5 and the extension rod 4 deflecting or tilting, affecting the normal operation of the testing equipment and the accuracy of the testing results.

[0049] In one embodiment of the present invention, a fixed magnetic block 31 is installed on the bottom surface of the hovering cylinder 3, and a movable magnetic block 411 is installed on the lower surface of the moving plate 41. The magnitude of the magnetic repulsion force of the fixed magnetic block 31 on the movable magnetic block 411 is equal to the magnitude of the weight of the moving plate 41, the extension rod 4, and the positioning head 5.

[0050] Since the top of the positioning head 5 also has a top hole 52, the side hole 51 and the top hole 52 on the positioning head 5 will cause the extension rod 4 to move along the center line at a fixed height in the channel 81 to be tested. This makes the data obtained by the testing equipment from the channel 81 to be tested relatively consistent. It avoids the situation where the bottom surface of the channel 81 to be tested is uneven, has protrusions or depressions. When the extension rod 4 moves in the channel 81 to be tested, it is easy for the extension rod 4 to collide with the inner wall of the channel 81 to be tested, which will cause the detected data to fluctuate along the depth of the channel 81 to be tested, affecting the accuracy of the final test result and increasing the difficulty of data processing.

[0051] Meanwhile, through the interaction between the movable magnetic block 411 and the fixed magnetic block 31, the connecting spring 42 on the extension rod 4 does not need to counteract the gravity of the extension rod 4 and other components, so that it can respond more sensitively to the lateral displacement of the extension rod 4 and ensure that the extension rod 4 is in the middle position in the channel 81 to be tested.

[0052] In one embodiment of the present invention, a connecting cavity 11 is provided in the base 1, and the internal space of the extension rod 4 is connected to the connecting cavity 11 by a hose 12. There are multiple sets of hoses 12, and the air pipe 13 is connected to the connecting cavity 11.

[0053] After the extension rod 4 is inserted into the test channel 81, it moves under the reaction force of the ejected airflow and the airflow pressure between the side of the extension rod 4 and the inner wall of the test channel 81, keeping the extension rod 4 in the middle position within the test channel 81. During this process, the force on the extension rod 4 is relatively weak. In order to ensure that the extension rod 4 is in a "suspended" state within the test channel 81 and the suspension cylinder 3, and to facilitate the movement of the extension rod 4, multiple sets of small and flexible hoses 12 are used to connect the extension rod 4 and the air pipe 13. This avoids directly using the air pipe 13 to connect and deliver gas to the extension rod 4, which would cause the extension rod 4 to be affected by the strength of the air pipe 13 itself when moving, increasing the difficulty of moving the extension rod 4, causing the extension rod 4 to be unable to move or its displacement distance to be reduced due to obstruction, thus affecting the accuracy of the test results.

[0054] In one embodiment of the present invention, a protective layer 33 is installed at the opening of the hovering cylinder 3, and the extension rod 4 passes through the middle of the protective layer 33. The protective layer 33 is a thin plastic film.

[0055] Because the extension rod 4 emits gas during the detection process, and dust and debris remaining on the surface of the channel on the tunnel wall 8 after excavation are blown out by the emitted airflow, and because the hovering cylinder 3 is located below or directly in front of the channel 81 to be tested, the blown dust and debris will enter the hovering cylinder 3. This will adversely affect the distance sensor 32 installed inside the hovering cylinder 3, leading to a decrease in the detection accuracy and service life of the distance sensor 32. In addition, excessive dust and debris entering the hovering cylinder 3 will also cause the connecting spring 4 between the extension rod 4 and the hovering cylinder 3 to malfunction. 2. The movement of the extension rod 4 within the test channel 81 is hindered, further affecting the accuracy of the test results. Meanwhile, by installing a protective layer 33 at the opening of the suspension cylinder 3, the protective layer 33 can block falling dust and debris, preventing dust or debris from entering the suspension cylinder 3 and affecting the normal use of the testing equipment and the accuracy of the test results. In practical applications, the protective layer 33 is made of a thin film and is not tightly installed at the opening of the suspension cylinder 3 to avoid affecting the movement of the extension rod 4. In addition, the film used for the protective layer 33 can also be temporarily replaced by plastic wrap.

[0056] In one embodiment of the present invention, an elastic layer 21 is installed on the surface of the movable wheel 2. The interior of the elastic layer 21 is hollow and filled with gas. A wear-resistant mesh is embedded and encased on the surface of the elastic layer 21.

[0057] Since the tunnel inner wall 8 is made of concrete, when testing the spacing and parallelism of the channels on the tunnel inner wall 8, the surface of the tunnel inner wall 8 near the channel 81 to be tested will not be completely flat. This causes the testing equipment moving along the channel 81 to experience additional vibration or shaking when encountering protrusions or depressions, resulting in significant errors in the test data or directly causing incorrect test data, thus affecting the accuracy of the test results. Furthermore, by installing an elastic layer 21 on the moving wheel 2 of the testing equipment and creating a cavity within the elastic layer 21, the movement of the moving wheel 2... During operation, the elastic layer 21 wraps and fills the protrusions and depressions on the surface of the tunnel inner wall 8, making the movement of the moving wheel 2 relatively stable and preventing vibration or shaking of the moving wheel 2 during movement, which would affect the accuracy of the test results. At the same time, by installing a wear-resistant mesh on the elastic layer 21, the wear of the elastic layer 21 is reduced when it comes into contact with the tunnel inner wall 8, and the elastic layer 21 is protected, so that when the elastic layer 21 encounters relatively sharp protrusions on the tunnel inner wall 8, it will not break or be damaged, thus affecting the normal use of the elastic layer 21.

[0058] In one embodiment of the present invention, the movable wheel 2 is mounted on a bracket on the base 1 via a rotating shaft, and multiple movable wheels 2 are mounted side by side on the same rotating shaft, with gaps between the movable wheels 2.

[0059] Since the test channel 81 on the inner wall 8 of the tunnel is relatively long, when the testing equipment moves along the test channel 81, the movement trajectory of the left testing module 1a or the right testing module 1b is restricted by the multiple moving wheels 2 of the parallel equipment, so that it moves along the test channel 81. This prevents the testing equipment from deviating or tilting during the movement, thereby ensuring that the extension rod 4 is always in the middle position inside the test channel 81 during the testing process, and preventing the extension rod 4 from contacting the inner wall of the test channel 81, which would affect the accuracy of the test results.

[0060] In one embodiment of the present invention, the fixing plate 6 is rotatably mounted on the lower surface of the base 1, and a torsion spring is installed between the fixing plate 6 and the base 1.

[0061] The card block 7 has a through hole, the fixing plate 6 is inserted into the through hole, and the card block 7 is fixed to the fixing plate 6 by screws. The fixing plate 6 on the right detection module 1b has a locking groove 61 on its side, and the fixing plate 6 on the left detection module 1a has a protrusion on its corresponding side. The protrusion matches the locking groove 61.

[0062] Symmetrically arranged torsion springs are installed between the fixing plate 6 and the base 1, so that the fixing plate 6 and the base 1 can maintain a relatively fixed angle when not being inspected. During the inspection process, both the left inspection module 1a and the right inspection module 1b can be tightly attached to the inner wall 8 of the tunnel and adapt to the curvature of the inner wall 8, ensuring the normal operation of the inspection equipment. At the same time, by setting matching locking grooves 61 and protrusions on the sides of the two fixing plates 6 that are in contact with each other, the two fixing plates 6 can be locked to each other after being inserted into the locking block 7, maintaining a parallel state. This makes the distance between the left inspection module 1a and the right inspection module 1b relatively fixed, ensuring good accuracy of the inspection results.

[0063] Example 2: Detecting the position of the flat plate on the channel

[0064] like Figures 1 to 11 As shown, based on Embodiment 1, in this example, a speed sensor is installed on the base 1 to detect the speed of the moving wheel 2, and the controller of the detection device calculates the moving distance of the detection device based on the data detected by the speed sensor.

[0065] In this example, when inspecting the channel, the inspection equipment includes a high-precision inspection mode and a low-precision inspection mode;

[0066] In high-precision detection mode, the operator inserts the extension rod 4 on the detection equipment into the channel 81 to be tested. Then, the operator moves the detection equipment along the length of the channel 81 until the extension rod 4 touches the end face of one end of the channel 81. At this time, the distance sensor 32 detects trigger signal one, and the detection equipment issues a prompt. The operator then moves the detection equipment in the opposite direction along the length of the channel 81 until the extension rod 4 touches the end face of the other end of the channel 81. At this time, the distance sensor 32 detects trigger signal two, and the detection equipment issues another prompt, causing the operator to stop moving the detection equipment. At the same time, the controller inside the detection equipment analyzes and calculates the data detected by the speed sensor between trigger signal one and trigger signal two to obtain the accurate length of the channel 81 to be tested.

[0067] After the staff installed the tablet onto the test channel 81 (as shown in the image) Figure 11 As shown, the operator inserts the extension rod 4 on the testing equipment into the channel 81 to be tested and moves the testing equipment along the channel 81 until the extension rod 4 touches the edge of the plate. At this time, the distance sensor 32 detects trigger signal three, and the testing equipment issues a prompt. Then, the operator moves the testing equipment in the opposite direction along the length of the channel 81 to be tested until the extension rod 4 touches the end face of the channel 81 to be tested. At this time, the distance sensor 32 detects trigger signal four, and the testing equipment issues another prompt, causing the operator to stop moving the testing equipment. Similarly, the operator tests the channel 81 to be tested on the other side of the plate and obtains trigger signals five and six. Afterwards, the controller in the testing equipment analyzes and calculates the data detected by the speed sensor between trigger signals three and four, trigger signals five and six, and the accurate length data of the channel 81 to obtain the accurate position data of the plate on the channel 81 to be tested.

[0068] In low-precision detection mode, the staff has already installed the tablet on the channel 81 to be tested (e.g. Figure 11 As shown), at this time, the operator inserts the extension rod 4 on the testing equipment into the channel 81 to be tested, and moves the testing equipment along the channel 81 until the extension rod 4 touches the edge of the plate. At this time, the distance sensor 32 detects the first trigger signal, and the testing equipment issues a prompt. Then, the operator moves the testing equipment in the opposite direction along the length of the channel 81 to be tested until the extension rod 4 touches the end face of the channel 81 to be tested. At this time, the distance sensor 32 detects the second trigger signal, and the testing equipment issues a prompt again, causing the operator to stop moving the testing equipment. At the same time, the controller in the testing equipment analyzes and calculates the data detected by the speed sensor between the first and second trigger signals to obtain the distance between the plate and the end face of one end of the channel 81 to be tested, thereby obtaining the position data of the plate on the channel 81 to be tested.

[0069] In summary, when performing parallelism testing on the channel 81 to be tested and determining the position of the installed plate on the channel, staff can easily and simply obtain relevant data through the testing equipment.

[0070] Example 3: Detection of the distance between the construction joint and the channel on the inner wall of the tunnel

[0071] like Figures 1 to 11 As shown, based on Embodiment 1, in this example, the extension rod 4 includes a moving rod for measuring the channel and a detection rod for measuring the construction joint 9. The diameter of the detection rod is smaller than the diameter of the moving rod. The extension rod 4 on the moving plate 41 is installed by an interference fit.

[0072] When detecting the distance between construction joint 9 and channel 81, the staff replaces the protruding rod 4 on either the left detection module 1a or the right detection module 1b with a detection rod instead of a moving rod. Then, the staff inserts the detection rod into construction joint 9 and the moving rod into channel 81. After analyzing and calculating the detected data, the distance data between construction joint 9 and channel 81 is obtained.

[0073] The specific workflow is as follows:

[0074] When inspecting the channel inside the tunnel, the staff will install the inspection equipment at the end of the robotic arm on the mobile inspection vehicle so that the robotic arm can be moved by the mobile inspection vehicle and the inspection equipment can be used to inspect the channel 81 to be inspected. Alternatively, the staff will install the inspection equipment on the hand-held connecting rod and then approach the inner wall 8 of the tunnel via the lifting platform vehicle. After that, the staff will manually drive the inspection equipment to inspect the channel 81 to be inspected.

[0075] Meanwhile, since the channels on the inner wall 8 of the tunnel are usually opened in pairs, it is necessary to test the spacing and parallelism between the channels in order to meet the requirements of subsequent equipment installation. Therefore, when testing the channel 81 to be tested, the staff will bring the testing equipment close to the inner wall 8 of the tunnel, so that the left testing module 1a and the right testing module 1b on the testing equipment are respectively located on two adjacent channels 81 to be tested, and the extension rods 4 on the left testing module 1a and the right testing module 1b are inserted into the channels 81 to be tested. Then, the staff will control the robotic arm on the mobile testing vehicle or manually move the hand-held connecting rod to move the testing equipment along the channel 81 to be tested. The distance sensor 32 installed in the testing equipment will detect the displacement of the extension rod 4 in the direction of the line connecting the two channels 81 to be tested. At the same time, since the fixed plate 6 is set with scale lines, the distance between the left testing module 1a and the right testing module 1b is known. Thus, in conjunction with the calculation of the displacement data of the extension rod 4 in the lateral direction, the spacing between the channels 81 to be tested and the parallelism data between them can be obtained.

[0076] Meanwhile, during the test, the extension rod 4 on the right detection module 1b is inserted into the channel 81 to be tested. Since the extension rod 4 is "suspended" in the suspension cylinder 3 by the connecting spring 42, and the extension rod 4 has an air blowing hole facing the side wall of the channel 81 to be tested, during the test, the airflow is blown outward from the air blowing hole, causing the airflow to impact the side wall of the channel 81 to be tested along the length direction. Then, under the action of the reaction force of the airflow and the air pressure between the side wall of the channel 81 to be tested and the side of the extension rod 4, the extension rod 4 is positioned as close as possible to the middle of the channel 81 to be tested. That is, the end of the extension rod 4 inserted into the channel 81 to be tested is also in a "suspended" state in the channel 81 to be tested, reducing the contact and collision between the extension rod 4 and the rough side wall of the channel 81 to be tested, which would cause the extension rod 4 to move laterally and thus affect the accuracy of the distance and parallelism measurement of the channel 81 to be tested.

[0077] Meanwhile, by having the upper end of the "suspended" extension rod 4 inside the channel 81 to be tested and spraying airflow toward the side wall of the channel, the extension rod 4 is positioned in the middle of the channel 81 as the testing equipment moves along the channel 81. That is, the extension rod 4 moves along the centerline of the channel 81 in the length direction, thereby improving the accuracy of the parallelism and spacing detection of the channel and avoiding excessive error in the test results. At the same time, the extension rod 4 is in a "suspended" state in the channel 81 under the action of the sprayed airflow, which also reduces the friction between the extension rod 4 and the channel 81 to be tested, extends the service life of the extension rod 4, and prevents the extension rod 4 from contacting the protrusions and rough surfaces left on the inner wall of the channel 81 during the excavation process, reducing the impact of the protrusions and other residual surfaces on the inner wall of the channel 81 on the test results.

[0078] Meanwhile, when the testing equipment is installed on the mobile testing vehicle, the air pipe 13 can be connected to the air pump or other air source on the mobile testing vehicle. At this time, the computer installed in the mobile testing vehicle analyzes and calculates the data measured by the testing equipment to obtain the spacing and parallelism data between the channels 81 to be tested. The testing equipment is directly controlled by the controller on the mobile testing vehicle, and no additional controller is required. If the testing equipment is installed on the handheld connecting rod, the air pipe 13 can be connected to the pressure gas cylinder to supply air through the high-pressure gas in the cylinder to ensure the normal operation of the testing equipment. At the same time, the testing equipment will be equipped with a separate controller to facilitate the control of the testing equipment and the analysis and calculation of the detected data.

[0079] During the testing process, the extension rod 4 inserted into the test channel 81 will spray air through the air blowing hole, causing the air to impact the inner wall of the test channel 81. The reaction force of the air and the air pressure between the inner wall of the channel and the side wall of the extension rod 4 will cause the extension rod 4 to move and remain in the middle position of the test channel 81, thereby improving the accuracy of the test results. During this process, a positioning head 5 is installed on the extension rod 4. The positioning head 5 expands the width of the test channel 81, thereby reducing the distance between the sides of the positioning head 5 at both ends and the inner wall of the test channel 81. This increases the reaction force generated by the sprayed air after impacting the inner wall of the test channel 81, as well as the air pressure generated between the inner wall of the test channel 81 and the side wall of the positioning head 5 when the sprayed air escapes from the test channel 81. This ensures that the extension rod 4 can move to the middle position in the test channel 81, ensuring the accuracy of the test results.

[0080] Meanwhile, as the testing equipment moves along the channel 81 to be tested, it can detect the spacing and parallelism at various points on the channel 81. After analyzing and processing the data, more accurate spacing and parallelism data can be obtained. During this process, as the testing equipment moves, the inner wall of the channel 81 where the positioning head 5 is located will change, which will cause the force on the positioning head 5 to change. Therefore, by setting symmetrically distributed side holes 51 on the positioning head 5, the forces on the front and rear ends of the positioning head 5 in the length direction of the channel 81 to be tested are relatively balanced. This avoids the situation where only one set of side holes 51 is set on the positioning head 5, which may easily lead to uneven force on the positioning head 5, and thus cause the positioning head 5 and the extension rod 4 to deflect or tilt, affecting the normal operation of the testing equipment and the accuracy of the testing results.

[0081] Since the top of the positioning head 5 also has a top hole 52, the side hole 51 and the top hole 52 on the positioning head 5 will cause the extension rod 4 to move along the center line at a fixed height in the channel 81 to be tested. This makes the data obtained by the testing equipment from the channel 81 to be tested relatively consistent. It avoids the situation where the bottom surface of the channel 81 to be tested is uneven, has protrusions or depressions. When the extension rod 4 moves in the channel 81 to be tested, it is easy for the extension rod 4 to collide with the inner wall of the channel 81 to be tested, which will cause the detected data to fluctuate along the depth of the channel 81 to be tested, affecting the accuracy of the final test result and increasing the difficulty of data processing.

[0082] Meanwhile, through the interaction between the movable magnetic block 411 and the fixed magnetic block 31, the connecting spring 42 on the extension rod 4 does not need to counteract the gravity of the extension rod 4 and other components, so that it can respond more sensitively to the lateral displacement of the extension rod 4 and ensure that the extension rod 4 is in the middle position in the channel 81 to be tested.

[0083] After the extension rod 4 is inserted into the test channel 81, it moves under the reaction force of the ejected airflow and the airflow pressure between the side of the extension rod 4 and the inner wall of the test channel 81, keeping the extension rod 4 in the middle position within the test channel 81. During this process, the force on the extension rod 4 is relatively weak. In order to ensure that the extension rod 4 is in a "suspended" state within the test channel 81 and the suspension cylinder 3, and to facilitate the movement of the extension rod 4, multiple sets of small and flexible hoses 12 are used to connect the extension rod 4 and the air pipe 13. This avoids directly using the air pipe 13 to connect and deliver gas to the extension rod 4, which would cause the extension rod 4 to be affected by the strength of the air pipe 13 itself when moving, increasing the difficulty of moving the extension rod 4, causing the extension rod 4 to be unable to move or to have its displacement distance reduced due to obstruction, thus affecting the accuracy of the test results.

[0084] Because the extension rod 4 emits gas during the detection process, and dust and debris remaining on the surface of the channel on the tunnel wall 8 after excavation are blown out by the emitted airflow, and because the hovering cylinder 3 is located below or directly in front of the channel 81 to be tested, the blown dust and debris will enter the hovering cylinder 3. This will adversely affect the distance sensor 32 installed inside the hovering cylinder 3, leading to a decrease in the detection accuracy and service life of the distance sensor 32. In addition, excessive dust and debris entering the hovering cylinder 3 will also cause the connecting spring 4 between the extension rod 4 and the hovering cylinder 3 to malfunction. 2. The movement of the extension rod 4 within the test channel 81 is hindered, further affecting the accuracy of the test results. Meanwhile, by installing a protective layer 33 at the opening of the suspension cylinder 3, the protective layer 33 can block falling dust and debris, preventing dust or debris from entering the suspension cylinder 3 and affecting the normal use of the testing equipment and the accuracy of the test results. In practical applications, the protective layer 33 is a thin film, and it is not tightly installed at the opening of the suspension cylinder 3 to avoid affecting the movement of the extension rod 4. In addition, the film used for the protective layer 33 can also be temporarily replaced by plastic wrap.

[0085] Since the tunnel inner wall 8 is made of concrete, when testing the spacing and parallelism of the channels on the tunnel inner wall 8, the surface of the tunnel inner wall 8 near the channel 81 to be tested will not be completely flat. This causes the testing equipment moving along the channel 81 to experience additional vibration or shaking when encountering protrusions or depressions, resulting in significant errors in the test data or directly causing incorrect test data, thus affecting the accuracy of the test results. Furthermore, by installing an elastic layer 21 on the moving wheel 2 of the testing equipment and creating a cavity within the elastic layer 21, the movement of the moving wheel 2... During operation, the elastic layer 21 wraps and fills the protrusions and depressions on the surface of the tunnel inner wall 8, making the movement of the moving wheel 2 relatively stable and preventing vibration or shaking of the moving wheel 2 during movement, which would affect the accuracy of the test results. At the same time, by installing wear-resistant mesh on the elastic layer 21, the wear of the elastic layer 21 is reduced when it comes into contact with the tunnel inner wall 8, and the elastic layer 21 is protected, so that when the elastic layer 21 encounters relatively sharp protrusions on the tunnel inner wall 8, the elastic layer 21 will not crack or be damaged, which would affect the normal use of the elastic layer 21.

[0086] Since the test channel 81 on the inner wall 8 of the tunnel is relatively long, when the testing equipment moves along the test channel 81, the movement trajectory of the left testing module 1a or the right testing module 1b is restricted by the multiple moving wheels 2 of the parallel equipment, so that it moves along the test channel 81, avoiding the testing equipment from deviating or tilting during the movement, thereby ensuring that the extension rod 4 is always in the middle position inside the test channel 81 during the testing process, and avoiding the extension rod 4 from contacting the inner wall of the test channel 81, which would affect the accuracy of the test results;

[0087] Symmetrically arranged torsion springs are installed between the fixing plate 6 and the base 1, so that the fixing plate 6 and the base 1 can maintain a relatively fixed angle when not being inspected. During the inspection process, both the left inspection module 1a and the right inspection module 1b can be tightly attached to the inner wall 8 of the tunnel and adapt to the curvature of the inner wall 8, ensuring the normal operation of the inspection equipment. At the same time, by setting matching locking grooves 61 and protrusions on the sides of the two fixing plates 6 that are in contact with each other, the two fixing plates 6 can be locked to each other after being inserted into the locking block 7, maintaining a parallel state. This makes the distance between the left inspection module 1a and the right inspection module 1b relatively fixed, ensuring good accuracy of the inspection results.

[0088] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel pre-embedded channel inspection device, comprising a left inspection module (1a) and a right inspection module (1b) with identical structures, wherein the left inspection module (1a) and the right inspection module (1b) are respectively connected to a clamping block (7) via a fixing plate (6), wherein the fixing plate (6) is provided with scale lines, and the clamping block (7) is equipped with a connector (71), wherein the connector (71) is used to connect the inspection device to a robotic arm or a handheld connecting rod; Its features are: The right detection module (1b) includes a base (1), with movable wheels (2) installed at both ends of the top of the base (1), a hovering cylinder (3) installed at the middle position of the base (1), a movable plate (41) installed inside the hovering cylinder (3), and a connecting spring (42) installed between the side wall of the movable plate (41) and the inner wall of the hovering cylinder (3). An extension rod (4) is installed on the movable plate (41), and a distance sensor (32) aligned with the side wall of the extension rod (4) is installed inside the hovering cylinder (3); The extension rod (4) is hollow inside. The lower end of the extension rod (4) is connected to an air pipe (13). The air pipe (13) is connected to an external air source. The upper end of the extension rod (4) is inserted into the test channel (81) on the inner wall (8) of the tunnel. The upper end of the extension rod (4) is equipped with a positioning head (5). The left and right ends of the positioning head (5) are close to the inner wall of the channel (81) to be tested. The air blowing hole includes a side hole (51) and a top hole (52). The side hole (51) is located on the side of the left and right ends of the positioning head (5). The top hole (52) is located on the upper surface of the positioning head (5). The positioning head (5) is hollow inside and connected to the internal space of the extension rod (4). The side holes (51) are symmetrically arranged on the positioning head (5), and the line connecting the side holes (51) on the same side of the positioning head (5) is parallel to the length direction of the channel (81) to be measured. A fixed magnetic block (31) is installed on the bottom surface of the hovering cylinder (3), and a movable magnetic block (411) is installed on the lower surface of the moving plate (41). The magnetic repulsion force of the fixed magnetic block (31) on the movable magnetic block (411) is equal to the weight of the moving plate (41), the extension rod (4), and the positioning head (5).

2. The tunnel pre-embedded channel detection equipment according to claim 1, characterized in that: The base (1) has a connecting cavity (11) inside. The internal space of the extension rod (4) is connected to the connecting cavity (11) through a hose (12). There are multiple sets of hoses (12). The air pipe (13) is connected to the connecting cavity (11).

3. The tunnel pre-embedded channel detection equipment according to claim 1, characterized in that: The opening of the hovering cylinder (3) is equipped with a protective layer (33), and the extension rod (4) passes through the middle of the protective layer (33). The protective layer (33) is a plastic film.

4. The tunnel pre-embedded channel detection equipment according to claim 1, characterized in that: An elastic layer (21) is installed on the surface of the moving wheel (2). The interior of the elastic layer (21) is hollow and filled with gas. A wear-resistant mesh is installed on the surface of the elastic layer (21).

5. The tunnel pre-embedded channel detection equipment according to claim 4, characterized in that: The movable wheel (2) is mounted on a bracket on the base (1) via a rotating shaft. Multiple movable wheels (2) are mounted side by side on the same rotating shaft, and there are gaps between the movable wheels (2).

6. The tunnel pre-embedded channel detection equipment according to claim 1, characterized in that: The fixing plate (6) is rotatably mounted on the lower surface of the base (1), and a torsion spring is installed between the fixing plate (6) and the base (1); The card block (7) has a through hole, and the fixing plate (6) is inserted into the through hole. The card block (7) is fixed to the fixing plate (6) by screws. The fixing plate (6) on the right detection module (1b) has a locking groove (61) on its side. The fixing plate (6) on the left detection module (1a) has a protrusion on its corresponding side. The protrusion matches the locking groove (61).

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