Tunnel lining disease detection device and method

Abstract

A tunnel lining disease detection device comprises a mobile vehicle body which is provided with an installation base, walking mechanisms are arranged at the four corners of the installation base, the mobile vehicle body further comprises a main supporting leg, an auxiliary supporting leg and a supporting foot, and a composite adsorption system is arranged on the supporting foot; the sensing unit comprises a sensing box, and an infrared sensor, a capacitive humidity sensor, a GPS positioning sensor, an inertial sensor and a suspension position sensor which are electrically connected with the sensing box; the lighting device is arranged on the peripheral side wall of the mobile vehicle body; the camera device is arranged at the top of the mobile vehicle body; the scanning device is arranged on the mobile vehicle body; the internal disease radar detection system is arranged at the bottom of the mobile vehicle body; and the protective cover is buckled on the mobile vehicle body. According to the invention, the tunnel lining is prevented from being damaged by adsorption, the adsorption performance is improved, the applicability and durability are improved, the integration level is high, the automation capability is strong, the operation is simple, the detection efficiency is greatly improved, the safety of workers is enhanced, and the device is worthy of popularization and application in the industry.

Description

Technical Field

[0001] The invention relates to the field of wall climbing devices and detection technology, and in particular to a tunnel lining disease detection device and method. Background Art

[0002] During the construction and maintenance of tunnels, tunnel lining structures are often prone to water leakage, cracks, block fall, internal voids and other defects, resulting in obvious quality defects. If these structural problems are not discovered and dealt with in a timely manner, they will greatly reduce the safety and reliability of the tunnel structure and affect the safe operation of the tunnel.

[0003] The current tunnel disease detection method mainly relies on manual labor, but manual detection has many limitations. First, the detection accuracy of manual detection is limited, and there may be problems such as missed detection and wrong detection; second, there are certain safety risks in manual disease detection in the tunnel environment; third, the traditional manual detection method is highly dependent on equipment and tools, and the detection efficiency is low. It is time-consuming and laborious to conduct comprehensive inspections of long-distance tunnels.

[0004] In contrast, the wall-climbing tunnel defect detection device has obvious advantages in this field: first, it uses an adsorption method, can adapt to walls of different slopes, has high flexibility, and is not restricted by height; second, the integration of multiple detection equipment can significantly improve the accuracy and efficiency of tunnel defect detection; third, it improves operational safety.

[0005] However, the research on existing wall-climbing tunnel disease detection devices still faces a key technical bottleneck, that is, the adsorption capacity of traditional wall-climbing tunnel disease detection devices on tunnel lining is seriously insufficient, and the use of direct vacuum adsorption is bound to cause varying degrees of damage to the adsorption surface.

[0006] Therefore, in view of the problems existing in the prior art, the present invention actively studies and improves the present invention, thus a tunnel lining disease detection device and method are provided. Summary of the invention

[0007] The first purpose of the present invention is to provide a tunnel lining disease detection device in view of the defects in the prior art, such as the traditional wall-climbing tunnel disease detection device having a seriously insufficient adsorption capacity for the tunnel lining and the use of direct vacuum adsorption method which is bound to cause varying degrees of damage to the adsorption surface.

[0008] The second purpose of the present invention is to provide a tunnel lining disease detection method in view of the defects in the prior art, such as the traditional wall-climbing tunnel disease detection device has a serious lack of adsorption capacity for the tunnel lining, and the use of direct vacuum adsorption is bound to cause varying degrees of damage to the adsorption surface.

[0009] To achieve the first object of the present invention, the present invention provides a tunnel lining disease detection device, the tunnel lining disease detection device comprising:

[0010] The mobile vehicle body has a mounting base, and a walking mechanism is symmetrically arranged at the four corners of the mounting base, and the walking mechanism further comprises a main leg connected to the mounting base, a secondary leg connected to the main leg, and a foot connected to an end of the secondary leg different from the main leg, and a composite adsorption system is arranged on the foot;

[0011] The sensing unit includes a sensing box composed of a control center and an operation center, and an infrared sensor, a capacitive humidity sensor, a GPS positioning sensor, an inertial sensor, and a suspension position sensor electrically connected to the control center of the sensing box;

[0012] A lighting device, arranged on the outer side wall of the mobile vehicle body;

[0013] A camera device, arranged on the top of the mobile vehicle body;

[0014] A scanning device, arranged on the mobile vehicle body;

[0015] An internal disease radar detection system is arranged at the bottom of the mounting base of the mobile vehicle body;

[0016] A protective cover is buckled on the mobile vehicle body.

[0017] Optionally, a cleaning mechanism having a cleaning device and a dehumidifying device is further provided on the auxiliary supporting leg of the walking mechanism.

[0018] Optionally, the composite adsorption system further comprises a vacuum generating device and a composite suction cup connected to the vacuum generating device through a vent.

[0019] Optionally, the composite suction cup consists of a vacuum suction surface and a bristle suction surface.

[0020] Optionally, the camera device is a panoramic camera.

[0021] Optionally, the scanning device is a laser scanner.

[0022] Optionally, the tunnel lining disease detection device further comprises:

[0023] A detection module, which is composed of an infrared sensor, a capacitive humidity sensor, a GPS positioning sensor, an inertial sensor, a suspension position sensor, a camera device, and a scanning device electrically connected to the control center of the sensor box, and is used to obtain and output surface detection information and road condition information during the driving process of the mobile vehicle;

[0024] A control module, electrically connected to the detection module, includes a control center disposed in the sensor box, and is used to receive information fed back by the detection module, and control the operation of the traveling mechanism and the vacuum generating device of the composite adsorption system according to the surface detection information and road condition information during the traveling of the mobile vehicle;

[0025] The remote operation module is composed of a server and terminal equipment with a processor and memory having pre-processing software, including an operation center arranged in the sensor box, which is used to obtain, process, output and view the disease information transmitted by the internal disease radar detection system.

[0026] To achieve the second object of the present invention, the present invention provides a method for detecting defects using the tunnel lining defect detection device, comprising:

[0027] Execute step S1: obtain and output the surface detection information and road condition information of the moving vehicle during its travel through the detection module;

[0028] Execute step S2: determine whether it is a regular surface according to the surface detection information;

[0029] Execute step S3: determine whether the moving vehicle body is tilted and whether the supporting feet are off the ground according to the road condition information;

[0030] Execute step S4: obtain the tilt angle of the mobile body and the distance of the support legs from the ground;

[0031] Execute step S5: the control module controls the operation of the walking mechanism according to the tilt angle of the mobile body and the distance of the support legs from the ground;

[0032] Execute step S6: further obtain the driving road condition information of the moving vehicle;

[0033] Execute step S7: determine whether the moving vehicle is traveling on a complex environment surface according to the driving road condition information of the moving vehicle;

[0034] Execute step S8: obtain distance information between the vacuum generating device and the complex environment surface;

[0035] Execute step S9: the control module controls the vacuum generating device to operate according to the distance information between the vacuum generating device and the surface of the complex environment.

[0036] Optionally, in step S5, the control module determines whether it is a regular surface according to the surface detection information through a preset threshold; if so, the walking mechanism is controlled to operate; otherwise, the walking mechanism is not controlled to operate.

[0037] Optionally, after the control module determines that it is a regular surface, it adjusts the operation of the walking mechanism according to the road condition information, and determines whether the moving body is tilted and whether the support feet are off the ground; if so, the operation of the walking mechanism is adjusted; otherwise, the operation of the walking mechanism is not controlled.

[0038] Optionally, in step S9, the control module determines whether the moving vehicle is traveling on a complex environment surface according to the driving road condition information of the moving vehicle; if so, the vacuum generating device is controlled to operate; otherwise, the vacuum generating device is not controlled to operate.

[0039] Optionally, after determining that it is a complex environment surface, the control module obtains distance information between the vacuum generating device and the complex environment surface, and then controls the vacuum generating device to operate according to the distance information.

[0040] Optionally, the tunnel lining disease detection method further comprises:

[0041] Execute step S10: verify whether the disease information of the internal disease radar detection system is legal;

[0042] Execute step S11: control the server to receive legal disease information;

[0043] Execute step S12: the operation center determines whether the disease information transmitted by the internal disease radar detection system meets the information under the preset conditions;

[0044] Execute step S13: control the server to work according to the information.

[0045] Optionally, the step of controlling the operation of the server further comprises:

[0046] Execute step S131: send a disease information viewing request to the server;

[0047] Executing step S132: receiving disease information sent by the server;

[0048] Execute step S133: display disease information.

[0049] In summary, the tunnel disease detection device described in the present invention adopts a combination of vacuum adsorption surface and bristle adsorption, which not only avoids damage to the tunnel lining caused by adsorption, improves the adsorption performance, and improves the applicability and durability in different environments, but also has high integration, strong automation capability, simple operation, greatly improves detection efficiency, and enhances the safety of staff. It is worthy of promotion and use in the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The figure shows the schematic diagram of the structure of the tunnel lining disease detection device of the present invention;

[0051] Figure 2 The figure shows the structure diagram of the internal defect detection radar system of the tunnel lining defect detection device of the present invention;

[0052] Figure 3 The figure shows the structure schematic diagram of the crawling mechanism of the tunnel lining disease detection device of the present invention;

[0053] Figure 4 The figure shows the structure schematic diagram of the composite adsorption system of the tunnel lining disease detection device of the present invention;

[0054] Figure 5 Shown is a block diagram of a detection module and a control module of a tunnel lining disease detection device of the present invention;

[0055] Figure 6 Shown is a block diagram of a remote operation module of a tunnel lining disease detection device of the present invention;

[0056] Figure 7 The figure is a flow chart of a method for detecting defects by the tunnel lining defect detection device of the present invention;

[0057] Figure 8 Shown is a flowchart of the remote operation module of the present invention;

[0058] Fig. 9 Shown is a server workflow diagram of the remote operation module of the present invention. DETAILED DESCRIPTION

[0059] In order to explain the technical content, structural features, objectives and effects of the present invention in detail, the following will be described in detail with reference to embodiments and accompanying drawings.

[0060] See also Figure 1 to Figure 4 , Figure 1 Shown is a schematic structural diagram of the tunnel lining disease detection device of the present invention. Figure 2 Shown is a structural diagram of the internal defect detection radar system of the tunnel lining defect detection device of the present invention. Figure 3 Shown is a schematic diagram of the crawling mechanism structure of the tunnel lining disease detection device of the present invention. Figure 4 The figure shows the structure schematic diagram of the composite adsorption system of the tunnel lining disease detection device of the present invention. The tunnel lining disease detection device comprises:

[0061] A mobile body 1, the mobile body 1 having a mounting base 10, a walking mechanism 11 symmetrically arranged at four corners of the mounting base 10, the walking mechanism 11 further comprising a main leg 12 connected to the mounting base 10, a secondary leg 13 connected to the main leg 12, and a foot 14 connected to an end of the secondary leg 13 different from the main leg 12, and a composite adsorption system 15 is arranged on the foot 14;

[0062] The sensing unit 2 includes a sensing box composed of a control center and an operation center, and an infrared sensor, a capacitive humidity sensor, a GPS positioning sensor, an inertial sensor, and a suspension position sensor electrically connected to the control center of the sensing box;

[0063] A lighting device 3, wherein the lighting device 3 is arranged on the outer side wall of the mobile body 1;

[0064] A camera device 4, wherein the camera device 4 is arranged on the top of the mobile vehicle body 1;

[0065] A scanning device 5, wherein the scanning device 5 is arranged on the mobile vehicle body 1;

[0066] An internal damage radar detection system 6, wherein the internal damage radar detection system 6 is disposed at the bottom of the mounting base 10 of the mobile vehicle body 1;

[0067] A protective cover 7 is buckled on the mobile body 1 .

[0068] In the present invention, a cleaning mechanism 16 having a cleaning device 161 and a dehumidifying device 162 is further provided on the auxiliary leg 113 of the walking mechanism 11. The composite adsorption system 15 further comprises a vacuum generating device 151, a composite suction cup 153 connected to the vacuum generating device 151 through a vent 152, and the composite suction cup 153 comprises a vacuum adsorption surface 154 and a bristle adsorption 155. More specifically, the camera device 4 is a panoramic camera. The scanning device 5 is a laser scanner.

[0069] As a person skilled in the art can easily understand, when the tunnel lining disease detection device is driving, the camera device 4, infrared sensor, and scanning device 5 scan the surrounding environment of the mobile vehicle 1, and feed back the scanning results to the control center of the sensor box of the sensor unit 2. The control center realizes automatic obstacle avoidance through the GPS positioning sensor based on the information fed back by the camera device 4, infrared sensor, and scanning device 5. The infrared sensor scans the surrounding environment of the mobile vehicle 1 by emitting infrared rays, and calculates the distance between the mobile vehicle 1 and the obstacle by the infrared reflection time. The camera device 4 and the scanning device 5 feed back the shape and image information of the obstacle to the control center, which recognizes and tracks the obstacle based on the image recognition and processing algorithm, thereby realizing automatic obstacle avoidance.

[0070] On the other hand, the camera device 4 scans and photographs the tunnel lining concrete environment under the action of the lighting device 3, and feeds back the situation of the tunnel lining concrete structure to the operation center of the sensor unit 2. The scanning device 5 sketches the tunnel lining concrete structure to form a three-dimensional model to detect whether there are defects on the surface of the tunnel lining concrete structure. The defects include but are not limited to the length, width, depth of the cracks, as well as water leakage, deformation, breakage and falling off. The internal defect radar detection system 6 is arranged at the bottom of the mounting base 10 of the mobile body 1 to detect whether there are defects such as back cavities in the tunnel lining.

[0071] Obviously, when inspecting the tunnel lining, the staff can remotely control the mobile body 1 to enter the tunnel, or the mobile body 1 can use its own navigation and obstacle avoidance capabilities to autonomously drive into the tunnel, and then inspect the tunnel lining. During the inspection process, the infrared sensor, camera device 4, scanning device 5 and internal disease radar system 6 can be used independently or in combination to complete various inspections in a preset order. The protective cover 7 is buckled on the mobile body 1 to protect the functional components. The tunnel lining disease detection device of the present invention has high integration and strong automation capabilities. It is not only simple to operate and greatly improves the detection efficiency, but also enhances the safety of the staff.

[0072] Please continue reading Figure 2 , Figure 3 The walking mechanism 11 further includes a main leg 12 connected to the mounting base 10, a secondary leg 13 connected to the main leg 12, and a foot 14 connected to one end of the secondary leg 13 different from the main leg 12, and a composite adsorption system 15 is provided on the foot 14. The telescopic length and bending angle of the walking mechanism 11 are implemented by a built-in hydraulic mechanism. The mobile body 1 realizes the obstacle avoidance and obstacle crossing function by adjusting the telescopic length and bending angle of the walking mechanism 11, thereby achieving the purpose of stabilizing the mobile body 1 and improving the adaptability to complex environments.

[0073] See also Figure 2 , and refer to Figure 4The composite adsorption system 15 further includes a vacuum generating device 151, a composite suction cup 153 connected to the vacuum generating device 151 through a vent 152, and the composite suction cup 153 is composed of a vacuum adsorption surface 154 and a bristle adsorption 155. More specifically, the composite suction cup 153 corresponds to the vacuum generating device 151 one by one, and the number is equal. When the mobile body 1 travels on the surface of a complex environment, the initial adsorption control is first performed, and the initial adsorption control is achieved through a flexible bristle structure. The flexible bristle structure is made of nanomaterials and can automatically achieve initial adsorption of the complex environment surface by relying on its physical properties, such as van der Waals force and capillary force. Secondary adsorption control is then performed, and the secondary adsorption control is achieved through the vacuum generating device 151. The vacuum generating device 151 reduces the vacuum degree of the composite suction cup 153 to form a stable vacuum adsorption force. When the operation is completed or it is necessary to move, the vacuum generating device 151 is turned off to restore the atmospheric pressure of the composite suction cup 153 to achieve lossless desorption. Obviously, in the present invention, the composite suction cup system 15 can meet the needs of adsorption and lossless desorption of the mobile body 1 on the surface of a complex environment and carry out normal driving.

[0074] See also Figure 2 , Figure 3 A cleaning mechanism 16 having a cleaning device 161 and a dehumidifying device 162 is further provided on the auxiliary support leg 113 of the walking mechanism 11. The cleaning mechanism 16 can adjust the distance from the ground under the drive of the elastic component 163. When the cleaning mechanism 16 is working, the cleaning device 161 contacts the ground. As the moving vehicle body 1 moves, the cleaning device 161 cleans the gravel or dust on the tunnel lining. When encountering a wet surface, the dehumidifying device 162 is turned on to perform a dehumidification operation to improve the adsorption effect.

[0075] In order to more intuitively disclose the technical solution of the present invention and highlight the beneficial effects of the present invention, the working principle of the method for detecting defects using the tunnel lining defect detection device is now described in conjunction with a specific implementation. In the specific implementation, the structural form, quantity, functional definition, etc. of each functional component are only listed and should not be regarded as limiting the technical solution of the present invention.

[0076] See also Figure 5 , Figure 6 , and refer to Figure 1 to Figure 4 , Figure 5 Shown is a block diagram of the detection module and control module of the tunnel lining disease detection device of the present invention. Figure 6 The figure shows a block diagram of a remote operation module of a tunnel lining disease detection device of the present invention. The tunnel lining disease detection device further comprises:

[0077] A detection module, which is composed of an infrared sensor, a capacitive humidity sensor, a GPS positioning sensor, an inertial sensor, a suspension position sensor, a camera device 4, and a scanning device 5 electrically connected to the control center of the sensor box, and is used to obtain and output surface detection information and road condition information during the driving process of the mobile vehicle 1;

[0078] A control module, electrically connected to the detection module, includes a control center disposed in the sensor box, for receiving information fed back by the detection module, and controlling the operation of the traveling mechanism 11 and the vacuum generating device 151 of the composite adsorption system 15 according to the surface detection information and road condition information during the traveling of the mobile vehicle 1;

[0079] The remote operation module is composed of a server and terminal equipment with a processor and memory having pre-processing software, including an operation center set in the sensor box, which is used to obtain, process, output and view the disease information transmitted by the internal disease radar detection system 6.

[0080] As a specific implementation, the inertial sensor is used to detect the tilt angle formed by the mobile body 1 and the road surface. The suspension position sensor is used to detect the distance information of the support leg 14 from the ground. The remote operation module works according to the disease information transmitted by the internal disease radar detection system 6, and determines whether the disease information needs to be received, stored, pre-processed and analyzed. If so, the server is controlled to work; otherwise, the server is not controlled to work.

[0081] See also Figure 7 , and refer to Figure 1 to Figure 6 , Figure 7 The figure shows a flow chart of a method for detecting defects using the tunnel lining defect detection device of the present invention. The method for detecting defects using the tunnel lining defect detection device includes:

[0082] Execute step S1: obtain and output the surface detection information and road condition information of the mobile vehicle 1 during its travel through the detection module;

[0083] Execute step S2: determine whether it is a regular surface according to the surface detection information;

[0084] Execute step S3: determine whether the mobile body 1 is tilted and whether the support leg 14 is off the ground according to the road condition information;

[0085] Execute step S4: obtain the tilt angle of the mobile body 1 and the distance of the support leg 14 from the ground;

[0086] Execute step S5: the control module controls the walking mechanism 11 to work according to the tilt angle of the mobile body 1 and the distance of the support leg 14 from the ground;

[0087] Execute step S6: further obtain the driving road condition information of the mobile vehicle 1;

[0088] Execute step S7: determine whether the mobile vehicle 1 is traveling on a complex environment surface according to the driving road condition information of the mobile vehicle 1;

[0089] Execute step S8: obtain the distance information between the vacuum generating device 151 of the composite adsorption system 15 and the complex environment surface;

[0090] Execute step S9: the control module controls the vacuum generating device 151 to work according to the distance information between the vacuum generating device 151 and the surface of the complex environment.

[0091] In step S5, the control module determines whether the ground surface is a normal surface according to the ground surface detection information through a preset threshold value. If so, the walking mechanism 11 is controlled to work; otherwise, the walking mechanism 11 is not controlled to work.

[0092] Furthermore, after the control module determines that it is a normal surface, it adjusts the operation of the walking mechanism 11 according to the road condition information, and determines whether the mobile body 1 is tilted and whether the support legs 14 are off the ground. If so, the walking mechanism 11 is adjusted to work; otherwise, the walking mechanism 11 is not controlled to work.

[0093] In step S9, the control module determines whether the moving vehicle 1 is traveling on a complex surface according to the driving road condition information of the moving vehicle 1. If yes, the vacuum generating device 151 is controlled to operate; otherwise, the vacuum generating device 151 is not controlled to operate.

[0094] Furthermore, after determining that it is a complex environment surface, the control module obtains the distance information between the vacuum generating device 151 and the complex environment surface, and then controls the vacuum generating device 151 to work according to the distance information.

[0095] More specifically, the control module compares the tilt angle information of the mobile body 1 and the distance information of the support leg 14 from the ground with the angle and distance thresholds. When the tilt angle information of the mobile body 1 and the distance information of the support leg 14 from the ground are not greater than the angle and distance thresholds, the walking mechanism 11 is controlled to work, and the telescopic length and bending angle of the walking mechanism 14 are adjusted by the built-in hydraulic mechanism to stably support the running on the driving ground; otherwise, the walking mechanism 11 is not controlled to work, and the original length and angle are maintained. The control module compares the distance information with the distance threshold. When the distance information is not greater than the distance threshold, the vacuum generating device 151 is controlled to work, so that the composite suction cup 153 is adsorbed on the surface of the complex environment; otherwise, the vacuum generating device 151 is not controlled to work. Preferably, when the distance information is less than the distance threshold, the composite suction cup 153 abuts against the surface of the complex environment.

[0096] See also Figure 8-Figure 9 , Figure 8 Shown is a flowchart of the remote operation module of the present invention. Fig. 9 The server workflow diagram of the remote operation module of the present invention is shown. The method of using the tunnel lining disease detection device to detect diseases further includes:

[0097] Execute step S10: verify whether the disease information of the internal disease radar detection system is legal;

[0098] Execute step S11: control the server to receive legal disease information;

[0099] Execute step S12: the operation center determines whether the disease information transmitted by the internal disease radar detection system meets the information under the preset conditions;

[0100] Execute step S13: control the server to work according to the information.

[0101] The step of controlling the operation of the server further comprises:

[0102] Execute step S131: send a disease information viewing request to the server;

[0103] Executing step S132: receiving disease information sent by the server;

[0104] Execute step S133: display disease information.

[0105] Obviously, the tunnel disease detection device of the present invention adopts a combination of vacuum adsorption surface and bristle adsorption, which not only avoids damage to the tunnel lining caused by adsorption, improves the adsorption performance, and improves the applicability and durability in different environments, but also has high integration, strong automation capability, simple operation, greatly improves the detection efficiency, and enhances the safety of the staff. It is worthy of promotion and use in the industry.

[0106] In summary, the tunnel disease detection device described in the present invention adopts a combination of vacuum adsorption surface and bristle adsorption, which not only avoids damage to the tunnel lining caused by adsorption, improves the adsorption performance, and improves the applicability and durability in different environments, but also has high integration, strong automation capability, simple operation, greatly improves detection efficiency, and enhances the safety of staff. It is worthy of promotion and use in the industry.

[0107] Those skilled in the art will appreciate that various modifications and variations may be made to the present invention without departing from the spirit or scope of the present invention. Therefore, if any modification or variation falls within the scope of protection of the appended claims and equivalents, it is considered that the present invention covers these modifications and variations.

Claims

1. A tunnel lining disease detection device, characterized in that: The tunnel lining disease detection device comprises: The mobile vehicle body has a mounting base, and a walking mechanism is symmetrically arranged at the four corners of the mounting base, and the walking mechanism further comprises a main leg connected to the mounting base, a secondary leg connected to the main leg, and a foot connected to an end of the secondary leg different from the main leg, and a composite adsorption system is arranged on the foot; The sensing unit includes a sensing box composed of a control center and an operation center, and an infrared sensor, a capacitive humidity sensor, a GPS positioning sensor, an inertial sensor, and a suspension position sensor electrically connected to the control center of the sensing box; A lighting device, arranged on the outer side wall of the mobile vehicle body; A camera device, arranged on the top of the mobile vehicle body; A scanning device, arranged on the mobile vehicle body; An internal disease radar detection system is arranged at the bottom of the mounting base of the mobile vehicle body; A protective cover is buckled on the mobile vehicle body.

2. The tunnel lining defect detection device according to claim 1, characterized in that: A cleaning mechanism having a cleaning device and a dehumidifying device is further arranged on the auxiliary supporting leg of the walking mechanism.

3. The tunnel lining defect detection device and method according to claim 1, characterized in that: The composite adsorption system further comprises a vacuum generating device and a composite suction cup connected to the vacuum generating device through a vent.

4. The tunnel lining defect detection device according to claim 3, characterized in that: The composite suction cup is composed of a vacuum suction surface and bristle suction.

5. The tunnel lining disease detection device according to claim 1, characterized in that: The camera device is a panoramic camera.

6. The tunnel lining defect detection device according to claim 1, characterized in that: The scanning device is a laser scanner.

7. The tunnel lining defect detection device according to claim 1, characterized in that: The tunnel lining disease detection device further comprises: A detection module, which is composed of an infrared sensor, a capacitive humidity sensor, a GPS positioning sensor, an inertial sensor, a suspension position sensor, a camera device, and a scanning device electrically connected to the control center of the sensor box, and is used to obtain and output surface detection information and road condition information during the driving process of the mobile vehicle; A control module, electrically connected to the detection module, includes a control center disposed in the sensor box, and is used to receive information fed back by the detection module, and control the operation of the traveling mechanism and the vacuum generating device of the composite adsorption system according to the surface detection information and road condition information during the traveling of the mobile vehicle; The remote operation module is composed of a server and terminal equipment with a processor and memory having pre-processing software, including an operation center arranged in the sensor box, which is used to obtain, process, output and view the disease information transmitted by the internal disease radar detection system.

8. A method for detecting defects using the tunnel lining defect detection device as claimed in claim 7, characterized in that: The method for detecting defects using the tunnel lining defect detection device comprises: Execute step S1: obtain and output the surface detection information and road condition information of the moving vehicle during its travel through the detection module; Execute step S2: determine whether it is a regular surface according to the surface detection information; Execute step S3: determine whether the moving vehicle body is tilted and whether the supporting feet are off the ground according to the road condition information; Execute step S4: obtain the tilt angle of the mobile body and the distance of the support legs from the ground; Execute step S5: the control module controls the operation of the walking mechanism according to the tilt angle of the mobile body and the distance of the support legs from the ground; Execute step S6: further obtain the driving road condition information of the moving vehicle; Execute step S7: determine whether the moving vehicle is traveling on a complex environment surface according to the driving road condition information of the moving vehicle; Execute step S8: obtain distance information between the vacuum generating device and the complex environment surface; Execute step S9: the control module controls the vacuum generating device to operate according to the distance information between the vacuum generating device and the surface of the complex environment.

9. The method for detecting tunnel lining defects according to claim 8, characterized in that: In step S5, the control module determines whether it is a regular surface according to the surface detection information through a preset threshold; if so, the walking mechanism is controlled to operate; otherwise, the walking mechanism is not controlled to operate.

10. The tunnel lining disease detection method according to claim 9, characterized in that: After the control module determines that it is a normal surface, it adjusts the operation of the walking mechanism according to the road condition information, determines whether the moving vehicle body is tilted and whether the supporting feet are off the ground; if so, it adjusts the operation of the walking mechanism; Otherwise, the walking mechanism is not controlled to work.

11. The method for detecting tunnel lining defects according to claim 8, characterized in that: In step S9, the control module determines whether the moving vehicle is traveling on a complex surface according to the driving road condition information of the moving vehicle; if so, the vacuum generating device is controlled to operate; otherwise, the vacuum generating device is not controlled to operate.

12. The method for detecting tunnel lining defects according to claim 11, characterized in that: After determining that it is a complex environment surface, the control module obtains the distance information between the vacuum generating device and the complex environment surface, and then controls the vacuum generating device to work according to the distance information.

13. The method for detecting tunnel lining defects according to claim 8, characterized in that: The tunnel lining disease detection method further comprises: Execute step S10: verify whether the disease information of the internal disease radar detection system is legal; Execute step S11: control the server to receive legal disease information; Execute step S12: the operation center determines whether the disease information transmitted by the internal disease radar detection system meets the information under the preset conditions; Execute step S13: control the server to work according to the information.

14. The method for detecting tunnel lining defects according to claim 13, characterized in that: The step of controlling the operation of the server further comprises: Execute step S131: send a disease information viewing request to the server; Executing step S132: receiving disease information sent by the server; Execute step S133: display disease information.

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