Tunnel top surface detection device and tunnel top surface detection method

Abstract

The present invention discloses a tunnel top surface detection device and a tunnel top surface detection method, which relate to the technical field of tunnel construction detection, and include a moving mechanism, a supporting mechanism, a swing rod, a driving rod, an adsorption mechanism and a geological radar module, wherein the moving mechanism is used to move on the ground; the supporting mechanism is vertically installed on the surface of the moving mechanism; one end of the swing rod is hinged to the upper end of the supporting mechanism, and a spherical motor is installed on the other end, and the swing rod is retractable; one end of the driving rod is hinged to the rod body of the swing rod, and the other end is hinged to the rod body of the supporting mechanism; one side of the adsorption mechanism is fixedly connected to the spherical motor, and a negative pressure vacuum chamber is arranged on the other side, and a flexible sealing folding cover with elasticity is fixed around the negative pressure vacuum chamber, and the adsorption mechanism is provided with a negative pressure fan; the geological radar module is fixedly installed on both sides of the adsorption mechanism. The negative pressure inside of the negative pressure vacuum chamber is continuously negatively pressurized by the negative pressure fan, so that the geological radar module better fits the inner wall of the tunnel lining, and ensures the accuracy of the detection result.

Description

Technical Field

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

[0002] Tunnels are engineering buildings buried in the ground, and are a form of human use of underground space. Tunnels can be divided into traffic tunnels, hydraulic tunnels, municipal tunnels, mining tunnels, etc. The structure of the tunnel includes two parts: the main building and the auxiliary equipment. During the construction process, the tunnel lining needs to be inspected, and the inspection method is generally to use geological radar for non-destructive inspection. This inspection method is to place the geological radar antenna close to the lining part to be inspected, and transmit and receive electromagnetic waves through the antenna during the movement to scan and inspect the tunnel lining. For this reason, the existing inspection method is often that the manual handheld radar monitoring device stands on the lifting vehicle, and the lifting vehicle transports the inspection personnel to different locations for inspection, which is very inefficient. For this reason, the utility model with the publication number CN219874026U discloses a support for tunnel lining inspection geological radar, including a support body and a clamp, the clamp is located at the top of the support body, the top of the support body is fixedly connected with a support buffer component, and the top of the support body is provided with a convenient adjustment component. The problem of manual lifting is solved by setting up a clamp to fix the detection radar, and then using the support buffer component and the convenient adjustment component to buffer and adjust the bottom of the clamp. However, since the detection equipment is lifted by the bracket, the radar detection device cannot be well fixed in the area to be inspected, and the radar detection device cannot be made close to the inner wall of the tunnel lining, resulting in insufficient accuracy of the detection result. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a tunnel top surface detection device that can ensure the accuracy of the detection result.

[0004] The present invention also provides a tunnel top surface detection method having the above tunnel top surface detection device.

[0005] A tunnel top surface detection device according to an embodiment of the first aspect of the present invention comprises a moving mechanism, a supporting mechanism, a swing rod, a driving rod, an adsorption mechanism and a geological radar module, wherein the moving mechanism is used to move on the ground; the supporting mechanism is vertically mounted on the surface of the moving mechanism; one end of the swing rod is hinged to the upper end of the supporting mechanism so that the swing rod can swing up and down in a vertical plane, and a spherical motor is mounted on the other end, and the swing rod is retractable; one end of the driving rod is hinged to the rod body of the swing rod, and the other end is hinged to the rod body of the supporting mechanism, and the driving rod has a self-locking mechanism; one side of the adsorption mechanism is fixedly connected to the spherical motor, and the other side is provided with a negative pressure vacuum chamber, and a flexible sealing folding cover with elasticity is fixed around the negative pressure vacuum chamber, and a negative pressure fan is provided on the side where the adsorption mechanism is fixedly connected to the spherical motor, and the negative pressure fan is connected to the negative pressure vacuum chamber; the geological radar module is fixedly mounted on both sides of the adsorption mechanism, the top of the geological radar module is connected to the image acquisition module through a mechanical arm, and the detection end of the geological radar module faces the inner wall of the tunnel lining.

[0006] A tunnel top surface detection device according to an embodiment of the present invention has at least the following beneficial effects:

[0007] 1. The negative pressure fan is used to maintain a continuous negative pressure inside the negative pressure vacuum chamber, so that the geological radar module can better fit the inner wall of the tunnel lining and ensure the accuracy of the detection results;

[0008] 2. Use the mobile mechanism to adjust the position, and use the swing rod and spherical motor to adjust the direction of the adsorption mechanism so that the adsorption mechanism can adapt to various positions of the inner wall of the tunnel lining, ensure the stability of the position of the adsorption mechanism, and ensure the accuracy of the detection results.

[0009] According to some embodiments of the present invention, an adsorption layer is built into the negative pressure vacuum chamber, an adsorption surface is fixedly connected to the end of the flexible sealing folding cover, the adsorption surface is an arc surface protruding outward, the adsorption layer is provided with a plurality of first adsorption holes, the adsorption surface is provided with a plurality of second adsorption holes, the flexible sealing folding cover can be stretched and retracted so that the adsorption layer and the adsorption surface are in contact, and the first adsorption hole and the second adsorption hole correspond to each other; wherein, the total area of ​​the adsorption surface is S1, the area of ​​the adsorption surface excluding the second adsorption hole is S2, 60%≥S2 / S1≥40%, the adsorption surface is circular, the diameter of the second adsorption hole is greater than 0.5 mm and less than 0.8 mm, and the diameter of the first adsorption hole is greater than the area of ​​the second adsorption hole.

[0010] According to some embodiments of the present invention, the supporting mechanism includes a first electric push rod and a turntable, the turntable is pivotally mounted on the surface of the moving mechanism, and the first electric push rod is vertically fixed on the turntable.

[0011] According to some embodiments of the present invention, the driving rod is a second electric push rod, and the swing rod is a third electric push rod.

[0012] According to some embodiments of the present invention, the geological radar module includes two shells, a receiving antenna and a transmitting antenna. The two shells are respectively fixed at two ends of the adsorption mechanism. The receiving antenna and the transmitting antenna are respectively arranged in the two shells and facing the inner wall of the tunnel lining. The receiving antenna is used to receive detection signals, and the transmitting antenna is used to transmit detection signals.

[0013] According to some embodiments of the present invention, an electromagnetic shielding layer is provided between the receiving antenna and the shell, and between the transmitting antenna and the shell.

[0014] According to some embodiments of the present invention, a negative pressure control module is further included, and the negative pressure control module includes:

[0015] An air pressure detector, built into the negative pressure vacuum chamber;

[0016] A data transmission antenna, electrically connected to the air pressure detector, to receive air pressure data from the air pressure detector;

[0017] The remote central control terminal is connected to the data transmission antenna signal to receive the air pressure data from the data transmission antenna. The remote central control terminal is electrically connected to the negative pressure fan to control the power of the negative pressure fan.

[0018] According to some embodiments of the present invention, the remote central control terminal has a built-in preset air pressure value. When the preset air pressure value is smaller than the air pressure data from the data transmission antenna, the remote central control terminal controls the negative pressure fan to reduce power; when the preset air pressure value is larger than the air pressure data from the data transmission antenna, the remote central control terminal controls the negative pressure fan to increase power.

[0019] According to some embodiments of the present invention, the moving mechanism includes a track and a trolley, the track is detachably laid on the ground along the extension direction of the tunnel, and the trolley is slidably connected to the track.

[0020] According to some embodiments of the present invention, the adsorption mechanism is provided with a mounting frame, the mounting frame is penetrated by air holes, the negative pressure fan is built into the mounting frame, and the spherical motor is fixedly connected to the mounting frame.

[0021] The tunnel top surface detection method according to the second aspect of the present invention comprises the following steps:

[0022] Step 1: The moving mechanism moves the tunnel top surface detection device to below the starting position of the area to be detected;

[0023] Step 2: The driving rod drives the pendulum to swing up and down so that the adsorption mechanism corresponds to the detection position;

[0024] Step 3: Extend the swing rod so that the adsorption mechanism covers the corresponding position of the tunnel top surface;

[0025] Step 4: The spherical motor drives the entire adsorption mechanism to perform universal rotation, so that the flexible sealing folding cover on the adsorption mechanism can fit the inner wall of the tunnel lining to maintain sealing;

[0026] Step 5: Start the negative pressure fan to evacuate the negative pressure vacuum chamber to increase the internal air pressure of the negative pressure vacuum chamber;

[0027] Step 6: Use the geological radar module to detect the coverage area;

[0028] Step 7: Use the image acquisition module to shoot the surrounding coverage area, and the robotic arm changes the position of the image acquisition module to expand the shooting area;

[0029] Step 8: The moving mechanism moves along the extension direction of the tunnel, driving the adsorption mechanism to move along the extension direction of the tunnel, and inspecting the area to be inspected on the moving path;

[0030] Step 9: Repeat steps 1 to 8.

[0031] The tunnel top surface detection method according to the embodiment of the present invention has at least the following beneficial effects:

[0032] 1. The negative pressure fan is used to maintain a continuous negative pressure inside the negative pressure vacuum chamber, so that the geological radar module can better fit the inner wall of the tunnel lining and ensure the accuracy of the detection results;

[0033] 2. Use the mobile mechanism to adjust the position, and use the swing rod and spherical motor to adjust the direction of the adsorption mechanism so that the adsorption mechanism can adapt to various positions of the inner wall of the tunnel lining, ensure the stability of the position of the adsorption mechanism, and ensure the accuracy of the detection results.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0036] Figure 1 A schematic diagram of a tunnel top surface detection device according to an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of transporting a tunnel top surface detection device according to an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of the use of the adsorption mechanism of the tunnel top surface detection device according to an embodiment of the present invention;

[0039] Figure 4 A schematic diagram of the structure of an adsorption mechanism of a tunnel top surface detection device according to an embodiment of the present invention;

[0040] Figure 5 It is a structural schematic diagram of the adsorption mechanism (without geological radar module) of the tunnel top surface detection device according to an embodiment of the present invention;

[0041] Figure 6 A schematic diagram of a negative pressure control module of a tunnel top surface detection device according to an embodiment of the present invention;

[0042] Figure 7 A schematic structural diagram of an adsorption mechanism of a tunnel top surface detection device according to another embodiment of the present invention;

[0043] Figure 8 For the present invention Figure 7 Schematic diagram of the distribution of micro airbags of a tunnel top surface detection device according to an embodiment.

[0044] Reference numerals: 100, moving mechanism; 110, track; 120, trolley;

[0045] 200, supporting mechanism; 210, first electric push rod; 220, turntable;

[0046] 300, swing rod; 310, spherical motor;

[0047] 400, driving rod;

[0048] 500, adsorption mechanism; 510, negative pressure vacuum chamber; 520, flexible sealing folding cover; 521, adsorption surface; 5211, second adsorption hole; 530, negative pressure fan; 540, mounting frame; 541, air hole; 550, adsorption layer; 551, first adsorption hole; 552, sealing hole;

[0049] 600, geological radar module; 610, housing; 620, receiving antenna; 630, transmitting antenna; 640, electromagnetic shielding layer;

[0050] 700, image acquisition module; 710, robotic arm;

[0051] 800, remote central control terminal;

[0052] 900, negative pressure control module; 910, air pressure detector; 920, data transmission antenna;

[0053] 1010, micro airbag; 1020, airway; 1030, piston mechanism; 1031, sleeve; 1032, piston rod; 1040, sealing plug. DETAILED DESCRIPTION

[0054] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0055] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0056] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0057] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0058] Reference Figures 1 to 5The tunnel top surface detection device of the embodiment of the present invention includes a moving mechanism 100, a supporting mechanism 200, a swing rod 300, a driving rod 400, an adsorption mechanism 500 and a geological radar module 600. The moving mechanism 100 is used to move on the ground; the supporting mechanism 200 is vertically installed on the surface of the moving mechanism 100; one end of the swing rod 300 is hinged to the upper end of the supporting mechanism 200 so that the swing rod 300 can swing up and down in the vertical plane, and the other end is installed with a spherical motor 310, and the swing rod 300 is retractable; one end of the driving rod 400 is hinged to the rod body of the swing rod 300, and the other end is hinged to the rod body of the supporting mechanism 200, and the driving rod 400 has a self-locking mechanism; one side of the adsorption mechanism 500 is fixedly connected to the spherical motor 310. Specifically, the adsorption mechanism 50 A mounting frame 540 is provided, and an air hole 541 is provided throughout the mounting frame 540. A negative pressure fan 530 is built in the mounting frame 540. The spherical motor 310 and the mounting frame 540 are fixedly connected. A negative pressure vacuum chamber 510 is provided on the other side of the adsorption mechanism 500. A flexible sealing folding cover 520 with elasticity is fixed around the negative pressure vacuum chamber 510. A negative pressure fan 530 is provided on the side where the adsorption mechanism 500 and the spherical motor 310 are fixedly connected, and the negative pressure fan 530 is communicated with the negative pressure vacuum chamber 510. A geological radar module 600 is fixedly installed on both sides of the adsorption mechanism 500. The top of the geological radar module 600 is connected to the image acquisition module 700 through a mechanical arm 710, and the detection end of the geological radar module 600 faces the inner wall of the tunnel lining.

[0059] Preferably, as an overall control of the entire tunnel top surface detection device, a remote central control terminal 800 is also provided. The remote central control terminal 800 can control the extension length of the pendulum 300, the rotation angle of the spherical motor 310, and the extension length of the drive rod 400 (indirectly control the swing angle of the pendulum 300) according to the instructions input by the user to realize fully automated detection. Specifically, in an embodiment of the present invention, the support mechanism 200 is used as a carrier for the pendulum 300 and the adsorption mechanism 500. The adsorption mechanism 500 is used to better fit the geological radar modules 600 on both sides to the inner wall of the tunnel lining. The pendulum 300 is used to adjust the height position of the adsorption mechanism 500 and adjust the distance between the adsorption mechanism 500 and the inner wall of the tunnel lining through a retractable structure. The drive rod 400 is used to drive the pendulum 300 to swing up and down, wherein the self-locking structure can effectively support the pendulum 300, and the spherical motor 310 is a A motor capable of generating three-degree-of-freedom motion in space, whose working principle is based on the electromagnetic principle, generates a magnetic field by controlling the current of the stator coil, and then drives the rotor to realize rotation or tilt motion in any direction in space. The adsorption mechanism 500 fixedly connected to the spherical motor 310 can also realize three-degree-of-freedom motion in space, matching the curvature of the inner wall of the tunnel lining, so that the flexible sealing folding cover 520 can better fit to the inner wall of the tunnel lining, thereby improving the sealing degree of the negative pressure vacuum chamber 510. As the sealing degree of the negative pressure vacuum chamber 510 increases, the negative pressure effect of the negative pressure fan 530 is better, thereby improving the stability of the adsorption mechanism 500 adsorbed on the inner wall of the tunnel lining. The geological radar modules 600 installed on both sides of the adsorption mechanism 500 are used to transmit and receive signals to detect the inner wall of the tunnel lining. Specifically, its detection data will be directly transmitted to the above-mentioned remote central control terminal 800 for the detection personnel to organize and analyze the data.

[0060] The tunnel top surface detection method of the tunnel top surface detection device according to the embodiment of the present invention comprises the following steps:

[0061] Step 1: The moving mechanism 100 moves the tunnel top surface detection device to below the starting position of the area to be detected (the tunnel entrance);

[0062] Step 2: The driving rod 400 drives the swing rod 300 to swing up and down, so that the adsorption mechanism 500 corresponds to the detection position;

[0063] Step 3: Extend the swing rod 300 so that the adsorption mechanism 500 covers the corresponding position of the tunnel top surface;

[0064] Step 4: The spherical motor 310 drives the entire adsorption mechanism 500 to perform universal rotation, so that the flexible sealing folding cover 520 on the adsorption mechanism 500 can fit the inner wall of the tunnel lining to maintain sealing;

[0065] Step 5: Start the negative pressure fan 530 to evacuate the negative pressure vacuum chamber 510 to increase the internal air pressure of the negative pressure vacuum chamber 510;

[0066] Step 6: Use the geological radar module 600 to detect the coverage area;

[0067] Step 7: Use the image acquisition module 700 to shoot the surrounding coverage area, and the robotic arm 710 changes the position of the image acquisition module 700 to expand the shooting area;

[0068] Step 8: The moving mechanism 100 moves along the extension direction of the tunnel, driving the adsorption mechanism 500 to move along the extension direction of the tunnel, and inspecting the area to be inspected on the moving path;

[0069] Step 9: Repeat steps 1 to 8.

[0070] Further explanation of the above tunnel top surface detection method:

[0071] First, refer to Figure 2 , Steps 1 to 8 are a single detection process, moving the entire tunnel top surface detection device from end A along the extension direction of the tunnel, so that all positions at the same height can be detected, and in step 9, a second detection is required in the opposite direction at the opposite end of end A (end B), and this detection is for different heights of the tunnel. In summary, after multiple reciprocations, the entire tunnel top surface can be completely detected;

[0072] Secondly, when performing steps 2 and 3, first shorten the swing rod 300 to its shortest position, and when the swing rod 300 swings to a suitable height (corresponding to the position to be inspected), extend the swing rod 300 to make the flexible sealing folding cover 520 fit the inner wall of the tunnel lining;

[0073] Thirdly, the flexible sealing folding cover 520 is elastic and can better fit to the inner wall of the tunnel lining by utilizing elastic force;

[0074] Fourthly, the detection using the geological radar module 600 described in step 6 is a conventional method in the prior art and will not be described in detail here. Similarly, the specific working principle of the image acquisition module 700 in step 7 will not be described in detail here;

[0075] Fifth, refer to Figure 3 In step 7, the robot arm 710 has six degrees of freedom and can control the position (translation, rotation) of the image acquisition module 700 in space to achieve the purpose of large-scale image extraction, wherein the collected information includes but is not limited to images of lining surface diseases, cracks on the inner wall of the tunnel lining, water leakage, corrosion, etc.

[0076] In summary, the embodiments of the present invention have the following advantages:

[0077] 1. The negative pressure fan 530 is used to maintain a continuous negative pressure inside the negative pressure vacuum chamber 510, so that the geological radar module 600 can better fit the inner wall of the tunnel lining to ensure the accuracy of the detection results;

[0078] 2. Use the moving mechanism 100 to adjust the position, and use the swing rod 300 and the spherical motor 310 to adjust the orientation of the adsorption mechanism 500, so that the adsorption mechanism 500 can adapt to various positions of the inner wall of the tunnel lining, ensure the stability of the position of the adsorption mechanism 500, and ensure the accuracy of the detection result.

[0079] Reference Figure 4 and Figure 5 In order to further improve the adsorption effect and make the position of the adsorption mechanism 500 more stable, the negative pressure vacuum chamber 510 is built with an adsorption layer 550, and the end of the flexible sealing folding cover 520 is fixedly connected with an adsorption surface 521, the adsorption surface 521 is an arc surface protruding outward, the adsorption layer 550 is provided with a plurality of first adsorption holes 551, and the adsorption surface 521 is provided with a plurality of second adsorption holes 5211, and the flexible sealing folding cover 520 can be stretched to make the adsorption layer 550 and the adsorption surface 521 fit together, and the first adsorption holes 551 and the second adsorption holes 5211 correspond to each other; wherein, the total area of ​​the adsorption surface 521 is S1, and the area of ​​the adsorption surface 521 minus the second adsorption holes 5211 is S2, 60%≥S2 / S1≥40%, the adsorption surface 521 is circular, the diameter of the second adsorption hole 5211 is greater than 0.5mm and less than 0.8mm, and the diameter of the first adsorption hole 551 is greater than the area of ​​the second adsorption hole 5211.

[0080] Specifically, the adsorption layer 550 covers the entire negative pressure vacuum chamber 510, effectively preventing gas leakage. When performing step 3, the flexible sealing folding cover 520 is compressed and folded by extending the rocker arm 300. At the same time, the adsorption layer 550 is close to the adsorption surface 521. When the adsorption layer 550 is close to the adsorption surface 521, the adsorption surface 521 can be squeezed by the extension pressure of the rocker arm 300. The adsorption surface 521 is made of soft rubber material, and the soft rubber material can be specifically TPE, TPR, silicone, rubber or PVC, etc. Therefore, the adsorption surface 521 can expand and fit to the inner wall of the tunnel lining under the action of pressure, and cooperate with the flexible sealing folding cover 520 at the edge to cover the entire inner wall area of ​​the tunnel lining to improve the adsorption force. When performing step 4, the placement angle of the entire adsorption mechanism 500 is adjusted by the spherical motor 310, so that the edge of the adsorption surface 521 can be better fitted to the inner wall of the tunnel lining, thereby improving the adsorption force.

[0081] Furthermore, on the adsorption layer 550 and the adsorption surface 521, the corresponding first adsorption holes 551 and the second adsorption holes 5211 will form a plurality of negative pressure microcavities under the action of the negative pressure fan 530, so that the plurality of negative pressure microcavities can provide strong adsorption force, and the deformable adsorption surface 521 can cause the formed negative pressure microcavity to undergo a small amount of deformation, so that the negative pressure microcavity can better perform adsorption and connection with the inner wall of the tunnel lining, thereby improving the overall stability.

[0082] In another embodiment, referring to Figure 7 and Figure 8 In order to improve the adsorption force and the sealing performance of the entire negative pressure vacuum chamber, a plurality of micro airbags 1010 are arranged inside the negative pressure vacuum chamber. The plurality of micro airbags 1010 are arranged around the end surface of the adsorption mechanism. The adsorption mechanism has an air channel 1020 built in. One end of the air channel 1020 is connected to the micro airbag 1010, and the other end is connected to a piston mechanism 1030. The piston mechanism 1030 includes a piston rod 1032 and a sleeve 1031. One end of the sleeve 1031 is slidably connected to the piston rod 1032, and the other end is provided with an air port. The air port is connected to the end of the air channel 1020. The other end of the piston rod 1032 is fixedly connected with a sealing plug 1040, and a sealing hole 552 is provided in the middle of the adsorption layer. The sealing plug 1040 is built into the sealing hole 552 and can be extended and retracted in the sealing hole 552, wherein a plurality of hole positions are provided at the edge of the adsorption surface, and the micro airbag 1010 can be built into the hole position. When in the adsorption state, the micro airbag 1010 is built into the hole position and expands to fill the uneven area of ​​the inner wall of the tunnel lining. When in the moving state, the micro airbag 1010 shrinks and detaches from the hole position, so as to facilitate the position change of the entire device.

[0083] During actual use, when the adsorption layer adheres to the adsorption surface, the sealing plug 1040 is squeezed and drives the piston rod 1032 to inflate the micro airbag 1010. After the micro airbag 1010 is inflated, it expands to fill the remaining area with insufficient airtightness, thereby improving the sealing of the entire negative pressure vacuum chamber and improving the adsorption force.

[0084] Further, in some embodiments, the support mechanism 200 includes a first electric push rod 210 and a turntable 220, the turntable 220 is pivotally mounted on the surface of the mobile mechanism 100, and the first electric push rod 210 is vertically fixed on the turntable 220. The first electric push rod 210 can increase the detection height range of the entire device, and the turntable 220 can be used to rotate the entire support mechanism 200 so that the adsorption mechanism 500 matches the turning position of the tunnel.

[0085] It can be seen from the above-mentioned embodiment that both the drive rod 400 and the rocker arm 300 have a self-locking structure to ensure the stability of the entire structure. To this end, the drive rod 400 is the second electric push rod and the rocker arm 300 is the third electric push rod. The length locking of the drive rod 400 and the rocker arm 300 is achieved by electric torque self-locking.

[0086] It is worth mentioning that, refer to Figure 4 The geological radar module 600 is a split type. Specifically, the geological radar module 600 includes two shells 610, a receiving antenna 620 and a transmitting antenna 630. The two shells 610 are respectively fixed at both ends of the adsorption mechanism 500. The receiving antenna 620 and the transmitting antenna 630 are respectively arranged in the two shells 610 and facing the inner wall of the tunnel lining. The receiving antenna 620 is used to receive detection signals, and the transmitting antenna 630 is used to transmit detection signals.

[0087] In this embodiment, the transmitting antenna 630 transmits an electromagnetic wave signal toward the inner wall of the tunnel lining. When the signal encounters a detection target on the inner wall of the tunnel lining (such as detecting a steel layer or a cavity in the inner wall of the tunnel lining), a reflection signal will be generated. The receiving antenna 620 will obtain the reflection signal and display it after amplification. According to the presence or absence of the reflection signal, it can be judged whether there is a target on the north side. According to the time after the arrival of the reflection signal and the average reflection wave velocity of the target object, the distance to the detection target can be roughly calculated to complete the layered inspection of the inner wall of the tunnel lining. Furthermore, the geological radar module 600 is based on the detection principle of ultra-wideband impulse pulse radar, and utilizes the strong penetration and high resolution characteristics of ultra-wideband pulses, combined with the back-end data processing core algorithms such as RF suppression-anti-strong noise and interference, to realize the detection of lining structure defects.

[0088] In addition, in order to shield the signal interference generated by other components of the tunnel top surface detection equipment and ensure the normal signal collection of the geological radar module 600, an electromagnetic shielding layer 640 is arranged between the receiving antenna 620 and the shell 610, and between the transmitting antenna 630 and the shell 610.

[0089] In some embodiments, reference Figure 6 The tunnel top surface detection equipment also includes a negative pressure control module 900, which includes an air pressure detector 910 and a data transmission antenna 920. The air pressure detector 910 is built into the negative pressure vacuum chamber 510; the data transmission antenna 920 is electrically connected to the air pressure detector 910 to receive air pressure data from the air pressure detector 910; wherein the remote central control terminal 800 is signal-connected to the data transmission antenna 920 to receive air pressure data from the data transmission antenna 920, and the remote central control terminal 800 is electrically connected to the negative pressure fan 530 to control the power of the negative pressure fan 530.

[0090] Specifically, in the tunnel top surface detection method of the tunnel top surface detection device, during the entire process of step 5 and step 8, the air pressure of the negative pressure vacuum chamber 510 is detected in real time by the air pressure detector 910, so that the negative pressure inside the negative pressure vacuum chamber 510 meets the preset air pressure value. Preferably, the remote central control terminal 800 has the preset air pressure value built in. When the preset air pressure value is less than the air pressure data from the data transmission antenna 920, the remote central control terminal 800 controls the power of the negative pressure fan 530 to reduce to avoid excessive air pressure inside the negative pressure vacuum chamber 510, resulting in the adsorption mechanism 500 being unable to move; when the preset air pressure value is greater than the air pressure data from the data transmission antenna 920, the remote central control terminal 800 controls the power of the negative pressure fan 530 to increase to avoid the adsorption mechanism 500 being unable to approach the inner wall of the tunnel lining.

[0091] In some embodiments, the mobile mechanism 100 includes a track 110 and a trolley 120. The track 110 is detachably laid on the ground of the track 110 along the extension direction of the tunnel, and the trolley 120 is slidably connected to the track 110. When installing the equipment, the track 110 is first laid inside the tunnel, and then the trolley 120 is installed so that the trolley 120 can move along the track 110.

[0092] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A tunnel top surface detection device, characterized in that: include: A moving mechanism, for moving on the ground; A supporting mechanism is vertically mounted on the surface of the moving mechanism; A swing rod, one end of which is hinged to the upper end of the support mechanism so that the swing rod can swing up and down in a vertical plane, and the other end of which is equipped with a spherical motor, and the swing rod is retractable; A driving rod, one end of which is hinged to the rod body of the swing rod, and the other end of which is hinged to the rod body of the supporting mechanism, and the driving rod has a self-locking mechanism; The adsorption mechanism is fixedly connected to the spherical motor on one side and is provided with a negative pressure vacuum chamber on the other side. A flexible sealing folding cover with elasticity is fixed around the negative pressure vacuum chamber. A negative pressure fan is provided on the side where the adsorption mechanism is fixedly connected to the spherical motor, and the negative pressure fan is communicated with the negative pressure vacuum chamber; A geological radar module is fixedly installed on both sides of the adsorption mechanism, the top of the geological radar module is connected to the image acquisition module through a mechanical arm, and the detection end of the geological radar module faces the inner wall of the tunnel lining; The negative pressure vacuum chamber is provided with an adsorption layer, an end of the flexible sealing folding cover is fixedly connected with an adsorption surface, the adsorption surface is an outwardly protruding arc surface, the adsorption layer is provided with a plurality of first adsorption holes, the adsorption surface is provided with a plurality of second adsorption holes, the flexible sealing folding cover can be extended and retracted so that the adsorption layer and the adsorption surface are attached, and the first adsorption holes correspond to the second adsorption holes; A plurality of micro airbags are arranged on the inner side of the negative pressure vacuum chamber, and the plurality of micro airbags are arranged around the end surface of the adsorption mechanism. An air channel is built in the adsorption mechanism, one end of the air channel is connected to the micro airbag, and the other end is connected to a piston mechanism, the piston mechanism comprises a piston rod and a sleeve, one end of the sleeve is slidably connected to the piston rod, and the other end is provided with an air outlet, the air outlet is connected to the end of the air channel, the other end of the piston rod is fixedly connected to a sealing plug, a sealing hole is provided in the middle of the adsorption layer, the sealing plug is built in the sealing hole, and can be extended and retracted in the sealing hole.

2. A tunnel top surface detection device according to claim 1, characterized in that: The supporting mechanism comprises a first electric push rod and a turntable, wherein the turntable is pivotally mounted on the surface of the moving mechanism, and the first electric push rod is vertically fixed on the turntable.

3. A tunnel top surface detection device according to claim 1, characterized in that: The driving rod is a second electric push rod, and the swing rod is a third electric push rod.

4. A tunnel top surface detection device according to claim 1, characterized in that: The geological radar module includes two shells, a receiving antenna and a transmitting antenna. The two shells are respectively fixed at the two ends of the adsorption mechanism. The receiving antenna and the transmitting antenna are respectively arranged in the two shells and facing the inner wall of the tunnel lining. The receiving antenna is used to receive detection signals, and the transmitting antenna is used to transmit detection signals.

5. A tunnel top surface detection device according to claim 4, characterized in that: An electromagnetic shielding layer is arranged between the receiving antenna and the shell, and between the transmitting antenna and the shell.

6. The tunnel top surface detection device according to claim 1, characterized in that: It also includes a negative pressure control module, the negative pressure control module includes: An air pressure detector, built into the negative pressure vacuum chamber; A data transmission antenna, electrically connected to the air pressure detector, to receive air pressure data from the air pressure detector; A remote central control terminal is connected to the data transmission antenna signal to receive air pressure data from the data transmission antenna, and the remote central control terminal is electrically connected to the negative pressure fan to control the power of the negative pressure fan; Among them, the remote central control end has a built-in preset air pressure value. When the preset air pressure value is less than the air pressure data from the data transmission antenna, the remote central control end controls the negative pressure fan to reduce power; when the preset air pressure value is greater than the air pressure data from the data transmission antenna, the remote central control end controls the negative pressure fan to increase power.

7. The tunnel top surface detection device according to claim 1, characterized in that: The moving mechanism comprises a track and a trolley. The track is detachably laid on the ground along the extension direction of the tunnel, and the trolley is slidably connected to the track.

8. The tunnel top surface detection device according to claim 1, characterized in that: The adsorption mechanism is provided with a mounting frame, the mounting frame is penetrated with air holes, the negative pressure fan is built in the mounting frame, and the spherical motor is fixedly connected to the mounting frame.

9. A tunnel top surface detection method, used in the tunnel top surface detection device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: The moving mechanism moves the tunnel top surface detection device to below the starting position of the area to be detected; Step 2: The driving rod drives the pendulum to swing up and down so that the adsorption mechanism corresponds to the detection position; Step 3: Extend the swing rod so that the adsorption mechanism covers the corresponding position of the tunnel top surface; Step 4: The spherical motor drives the entire adsorption mechanism to perform universal rotation, so that the flexible sealing folding cover on the adsorption mechanism can fit the inner wall of the tunnel lining to maintain sealing; Step 5: Start the negative pressure fan to evacuate the negative pressure vacuum chamber to increase the internal air pressure of the negative pressure vacuum chamber; Step 6: Use the geological radar module to detect the coverage area; Step 7: Use the image acquisition module to shoot the surrounding coverage area, and the robotic arm changes the position of the image acquisition module to expand the shooting area; Step 8: The moving mechanism moves along the extension direction of the tunnel, driving the adsorption mechanism to move along the extension direction of the tunnel, and inspecting the area to be inspected on the moving path; Step 9: Repeat steps 1 to 8.

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