Tunnel array type lining detection device and lining disease evaluation method

Abstract

The invention relates to the technical field of tunnel lining detection devices, in particular to a tunnel array type lining detection device and a lining disease assessment method.The tunnel array type lining detection device comprises a bottom plate, an air cylinder is fixedly installed on the upper surface of the bottom plate, a base plate is arranged on a telescopic shaft of the air cylinder, and a top plate is arranged above the base plate; a plurality of rectangular rods are fixedly installed between the top plate and the base plate, a supporting frame is fixedly installed on the upper surface of the top plate, and a supporting protruding block is fixedly installed at the end of a top plate body of the supporting frame; a left first servo motor and a right first servo motor are fixedly installed on the bottom face of the top plate, a long shaft is fixedly installed at the tail end of an output shaft of each first servo motor, a first three-dimensional laser scanner is fixedly installed on each long shaft, a second servo motor is arranged on the supporting protruding block, and a second three-dimensional laser scanner is arranged on an output shaft of each second servo motor. A guide rail is fixedly installed at the top end of the supporting rod, and a three-channel controller is arranged on the guide rail. Steering and angle adjusting operation is facilitated, and use is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel lining detection devices, and in particular to a tunnel array lining detection device and a lining disease assessment method. Background Art

[0002] With the rapid growth of my country's economy, the railway transportation industry is also developing continuously, and the number of tunnels is also increasing. As an important part of modern transportation engineering, the safety and durability of tunnels are directly related to the smoothness of transportation and the safety of people's lives and property. The tunnel lining is the main load-bearing part of the tunnel structure, and its quality is directly related to the overall stability and safety of the tunnel, such as lining water leakage, lining cracks, and voids.

[0003] In order to timely understand the specific conditions of tunnel lining, traditional tunnel lining detection methods, such as manual observation, analyze the development of lining diseases based on naked eye observation and monitoring data. However, due to the hidden nature of lining structure diseases, this method cannot detect structural diseases in the early stages of development, and is inefficient and cannot meet the needs of modern tunnel detection. Some operating methods also use core sampling to analyze the development of structural diseases by drilling core samples of the lining structure. Although this method can detect structural diseases to a certain extent, it has significant defects such as poor representativeness and damage to the lining structure, and has low detection efficiency and is prone to induce secondary diseases. At present, in order to achieve the effect of convenient and timely detection of tunnel diseases, the main means of detecting tunnel diseases at this stage are radar electromagnetic wave methods. Radar electromagnetic wave methods are sensitive to steel bars, but cannot detect the situation behind the steel mesh when the steel bars are dense, affecting the use effect.

[0004] The commonly used detection method at present is generally to use a 3D laser scanner for detection operations. However, when a conventional 3D laser detection device is used, the position of the 3D laser scanner on it is fixed, and the number of 3D laser scanners on most 3D laser detection devices is generally one, which is not conducive to adjusting the direction of the 3D laser scanner to capture the specific conditions of the tunnel lining at multiple angles. At this time, the staff is required to manually move the detection device to make the 3D laser scanner perform scanning operations, which affects its use effect and brings inconvenience to the user. In view of this, we propose a tunnel array lining detection device and a lining disease assessment method. Summary of the invention

[0005] The object of the present invention is to provide a tunnel array lining detection device and a lining disease assessment method to solve the defects mentioned in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] One of the purposes of the present invention is to provide a tunnel array lining detection device, comprising a bottom plate, a plurality of pulleys arranged in a matrix are fixedly installed at the bottom of the bottom plate, a cylinder is fixedly installed on the upper surface of the bottom plate, a pad is arranged on the telescopic shaft of the cylinder, a top plate is arranged above the pad, a plurality of rectangular rods arranged in a matrix are fixedly installed between the top plate and the pad, a support frame is fixedly installed on the upper surface of the top plate, and a support protrusion is fixedly installed at the end of the top plate body of the support frame;

[0008] Two mutually symmetrical first servo motors are fixedly mounted on the bottom surface of the top plate, a long shaft is fixedly mounted on the end of the output shaft of the first servo motor, a three-dimensional laser scanner 1 is fixedly mounted on the long shaft, two ends of the long shaft are respectively rotatably connected to the top plate and the support protrusion, a second servo motor is arranged on the support protrusion, and a three-dimensional laser scanner 2 is arranged on the output shaft of the second servo motor;

[0009] A support rod is fixedly installed on the rear side plate of the bottom plate, a guide rail is fixedly installed on the top end of the support rod, and a three-channel controller is arranged on the guide rail.

[0010] As a preferred embodiment of the present invention, two groups of symmetrical guide rods are fixedly installed on the upper surface of the base plate, and the number of guide rods in each group is 2 to 4. Sliding holes are provided on the bottom surface of the pad at positions opposite to the guide rods, and the guide rods are located in the sliding holes and are slidably connected with the sliding holes.

[0011] As a preferred embodiment of the present invention, the cross-sections of the guide rod and the slide hole are both semicircular, the length of the guide rod is equal to the length of the bottom plate, and the size of the guide rod is matched with the size of the slide hole.

[0012] As a preferred embodiment of the present invention, a slide groove is provided at the center position of the base plate along the length direction of the base plate, a steel plate is fixedly installed at the end of the telescopic shaft of the cylinder, the rear side of the pad is fixedly installed on the steel plate, and a limit rod is fixedly installed on the bottom surface of the steel plate, and the limit rod is located in the slide groove and is slidably connected with the slide groove.

[0013] As a preferred embodiment of the present invention, the front end of the slide groove is not connected to the outside world, the rear end of the slide groove is connected to the outside world, and the size of the limit rod is adapted to the size of the slide groove.

[0014] As a preferred embodiment of the present invention, two symmetrical vertical rods are fixedly installed on the bottom surface of the front side plate of the pad, the vertical rods are located on the front side of the base plate, and the bottom ends of the vertical rods are rotatably connected to steel wheels via a rotating shaft.

[0015] As a preferred embodiment of the present invention, an end plate is fixedly installed on the end of the supporting protrusion, a groove is provided on the supporting protrusion, a support is fixedly installed on the bottom surface of the three-dimensional laser scanner 2, the support is located in the groove and is rotatably connected to the left and right side groove walls of the groove through a rotating shaft, the second servo motor is fixedly installed on the end plate, and the end of the output shaft of the second servo motor is fixedly installed on the rotating shaft on the support.

[0016] As a preferred embodiment of the present invention, a third servo motor is fixedly mounted on the top of the guide rail, a lead screw is fixedly mounted on the end of the output shaft of the third servo motor, a slider is threadedly connected to the lead screw, and the three-channel controller is fixedly mounted on the slider.

[0017] As a preferred embodiment of the present invention, the size of the slider is matched with the size of the guide rail, the slider is slidably connected to the guide rail, and the smooth end column of the screw rod is rotationally connected to the guide rail.

[0018] The second object of the present invention is to provide a method for evaluating tunnel lining defects, using the above-mentioned tunnel array lining detection device, which specifically includes the following steps:

[0019] S1. First, two normally functioning three-dimensional laser scanners 1 are used to perform a scanning operation, and the corresponding first servo motors are used to drive the three-dimensional laser scanners 1 to rotate, so that each three-dimensional laser scanner 1 can independently scan the tunnel;

[0020] S2, using the normal working state of the second three-dimensional laser scanner to perform scanning operation, using the second servo motor to work, driving the second three-dimensional laser scanner to rotate upward for scanning, so as to scan the arch waist and arch crown area of ​​the tunnel lining and obtain the disease image data;

[0021] S3. Relying on the data obtained by 3D laser scanner 1 and 3D laser scanner 2, the data is processed and displayed on the three-channel controller to display the location of lining leakage, lining voids and the location angle, length, depth and width of cracks for comprehensive evaluation.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention can push the pad forward a certain distance by means of the provided cylinder, so that a larger distance is left between the components on the pad and the support rod, which is convenient for manual wiring and other operations. The provided pulley is conducive to sliding along the rails of the tunnel, which is convenient for use.

[0024] 2. The present invention provides a three-dimensional laser scanner 1 and a three-dimensional laser scanner 2, and also provides a first servo motor and a second servo motor. The first servo motor and the second servo motor can be used to drive the three-dimensional laser scanner 1 and the three-dimensional laser scanner 2 to rotate, thereby realizing a comprehensive scanning operation, which is more labor-saving and convenient to use.

[0025] 3. The guide rail, the third servo motor, the lead screw and the slider provided in the present invention facilitate the adjustment of the height of the three-channel controller, making manual observation and operation more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is one of the explosion structure schematic diagrams of the present invention;

[0028] Figure 3 This is the second schematic diagram of the explosion structure of the present invention;

[0029] Figure 4 It is one of the partial structural schematic diagrams of the present invention;

[0030] Figure 5 This is the second schematic diagram of the partial structure of the present invention;

[0031] Figure 6 is the F1 parameter table of the present invention;

[0032] Figure 7 is the F2 parameter table of the present invention;

[0033] Figure 8 is the F3 parameter table of the present invention;

[0034] Fig. 9 It is the comprehensive grade evaluation diagram of the lining of the present invention;

[0035] Fig.10 The evaluation workflow diagram of the present invention is shown in FIG.

[0036] The meaning of each number in the figure is:

[0037] 1. Bottom plate; 10. Pulley; 11. Guide rod; 12. Slideway;

[0038] 2. Cylinder; 20. Steel plate; 21. Limit rod; 22. Pad; 23. Slide hole; 24. Vertical rod; 241. Steel wheel; 25. Rectangular rod; 26. Top plate; 27. Support frame; 28. Support convex block; 281. End plate; 29. ​​Groove;

[0039] 3. 3D laser scanner 1; 30. 1st servo motor; 31. long axis; 32. 3D laser scanner 2; 33. support; 34. 2nd servo motor;

[0040] 4. Support rod; 40. Guide rail; 41. Third servo motor; 42. Lead screw; 43. Three-channel controller; 44. Slider. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships 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 referred device or element 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.

[0043] See also Figure 1-Figure 10 , this embodiment provides a technical solution: a tunnel array lining detection device, comprising a bottom plate 1, a plurality of pulleys 10 arranged in a matrix are fixedly installed at the bottom of the bottom plate 1, and the pulleys 10 are used to slide along the rails; a cylinder 2 is fixedly installed on the upper surface of the bottom plate 1, a pad 22 is arranged on the telescopic shaft of the cylinder 2, a top plate 26 is arranged above the pad 22, a plurality of rectangular rods 25 arranged in a matrix are fixedly installed between the top plate 26 and the pad 22, a support frame 27 is fixedly installed on the upper surface of the top plate 26, and a support protrusion 28 is fixedly installed at the end of the top plate body of the support frame 27;

[0044] Two first servo motors 30 are fixedly mounted on the bottom surface of the top plate 26, and a long shaft 31 is fixedly mounted on the end of the output shaft of the first servo motor 30. A three-dimensional laser scanner 3 is fixedly mounted on the long shaft 31. The two ends of the long shaft 31 are rotatably connected to the top plate 26 and the support protrusion 28 respectively. A second servo motor 34 is arranged on the support protrusion 28. A three-dimensional laser scanner 32 is arranged on the output shaft of the second servo motor 34, so as to realize the scanning operation by using the three-dimensional laser scanner 3 and the three-dimensional laser scanner 32.

[0045] Specifically, a support rod 4 is fixedly installed on the rear side plate of the base plate 1, a guide rail 40 is fixedly installed on the top of the support rod 4, a three-channel controller 43 is arranged on the guide rail 40, a third servo motor 41 is fixedly installed on the top of the guide rail 40, a screw rod 42 is fixedly installed on the end of the output shaft of the third servo motor 41, a slider 44 is threadedly connected to the screw rod 42, and the three-channel controller 43 is fixedly installed on the slider 44; the size of the slider 44 is compatible with the size of the guide rail 40, the slider 44 is slidingly connected to the guide rail 40, and the smooth end section column of the screw rod 42 is rotatably connected to the guide rail 40, so that the height of the three-channel controller 43 can be adjusted by using the third servo motor 41.

[0046] In this embodiment, two groups of symmetrical guide rods 11 are fixedly installed on the upper surface of the base plate 1, and the number of guide rods 11 in each group is 2 to 4. A sliding hole 23 is provided on the bottom surface of the pad 22 at a position opposite to the guide rod 11. The guide rod 11 is located in the sliding hole 23 and is slidably connected with the sliding hole 23. The cross-sections of the guide rod 11 and the sliding hole 23 are both semicircular, the length of the guide rod 11 is equal to the length of the base plate 1, and the size of the guide rod 11 is matched with the size of the sliding hole 23, so as to realize the guiding operation of the movement of the pad 22.

[0047] Specifically, a slide groove 12 is arranged along the length direction of the base plate 1 at the center position of the base plate 1, a steel plate 20 is fixedly installed at the end of the telescopic shaft of the cylinder 2, the rear side of the pad 22 is fixedly installed on the steel plate 20, and a limit rod 21 is fixedly installed on the bottom surface of the steel plate 20. The limit rod 21 is located in the slide groove 12 and is slidably connected with the slide groove 12; the front end of the slide groove 12 is not connected to the outside world, and the rear end of the slide groove 12 is connected to the outside world. The size of the limit rod 21 is adapted to the size of the slide groove 12, which plays a role in guiding the movement of the steel plate 20.

[0048] Furthermore, two symmetrical vertical rods 24 are fixedly installed on the bottom surface of the front side plate of the pad 22. The vertical rods 24 are located on the front side of the base plate 1. A steel wheel 241 is rotatably connected to the bottom end of the vertical rod 24 through a rotating shaft, so that the pad 22 can be supported by the vertical rods 24.

[0049] In addition, an end plate 281 is fixedly installed at the end of the support protrusion 28, a groove 29 is provided on the support protrusion 28, a support 33 is fixedly installed on the bottom surface of the three-dimensional laser scanner 2 32, the support 33 is located in the groove 29 and is rotatably connected to the left and right side walls of the groove 29 through a rotating shaft, a second servo motor 34 is fixedly installed on the end plate 281, and the end of the output shaft of the second servo motor 34 is fixedly installed on the rotating shaft on the support 33.

[0050] Finally, it should be noted that the components involved in the present invention, such as the three-dimensional laser scanner 2 32, the three-dimensional laser scanner 1 3 and the three-channel controller 43, are all universal standard parts or components known to technical personnel in this field, and their structures and principles are all known to technical personnel in this field through technical manuals or through conventional experimental methods. In the idle space of this device, all the above-mentioned electrical components, which refer to power elements, electrical components, and adapted controllers and power supplies, are connected through wires. The specific connection means should refer to the working principle of the present invention. The electrical connection is completed between each electrical component in a sequential working order, and the detailed connection means are all well-known technologies in the field.

[0051] In addition, this embodiment also provides a method for evaluating tunnel lining defects, using the above-mentioned tunnel array lining detection device, and specifically including the following steps:

[0052] S1. First, two normally functioning three-dimensional laser scanners 3 are used to perform scanning operations. The corresponding first servo motor 30 is used to work, and the output shaft on the servo motor rotates to drive the three-dimensional laser scanner 3 to rotate, so that each three-dimensional laser scanner 3 independently scans the tunnel 120°, and the combination of the two covers a range of 180°;

[0053] S2, using the normal working of the three-dimensional laser scanner 2 32 to perform scanning operation, using the second servo motor 34 to work, the output shaft on the second servo motor 34 rotates to drive the three-dimensional laser scanner 2 32 to rotate 90° upward to scan, so as to scan the arch waist and arch crown area of ​​the tunnel lining and obtain the disease image data;

[0054] S3, relying on the data obtained by the three-dimensional laser scanner 1 3 and the three-dimensional laser scanner 2 32, the data is processed and displayed on the three-channel controller 43, showing the location of lining water leakage, lining voids and the location angle, length, depth and width of cracks, and making a comprehensive assessment;

[0055] The arch waist, arch bottom and arch crown correspond to different unknown coefficients K1. The corresponding unknown coefficient of the arch crown is 0.8, the corresponding unknown coefficient of the arch waist is 0.6, the corresponding unknown coefficient of the wall waist is 0.5, and the corresponding unknown coefficient of the wall bottom is 0.3. When the crack runs through the arch top and the wall waist at the same time, the corresponding unknown coefficient is 1.

[0056] The crack characteristics influencing factors at different locations of the tunnel lining, the crack angle has the greatest impact on the tunnel structure:

[0057] When cracks appear in the tunnel wall waist and footing:

[0058] K2=a*cosψ+b*sinψ+(c*cosφ+d)+e(a=0.15,b=0.3,c=0.3,d=0.15,e=0.1)

[0059] When cracks appear in the tunnel waist and arch:

[0060] K2=a*cosψ+b*sinψ+(d*cosφ+c)+e(a=0.15,b=0.3,c=0.3,d=0.15,e=0.1)

[0061] When the cracks penetrate both the top of the arch and the waist of the wall:

[0062] K2=a*cosψ+b*sinψ+(c*cosφ+dsinφ)+e(a=0.15,b=0.3,c=0.3,d=0.3,e=0.1)

[0063] Where ψ is the angle between the crack section and the horizontal tangent of the tunnel annular contour, which is 0° to 180°, φ is the angle between the crack direction and the tunnel annular contour, which is 0° to 180°, a is the hazard coefficient of the tangential displacement of the tunnel annular contour, b is the hazard coefficient of the normal compression of the tunnel annular contour, c is the hazard coefficient of the vertical displacement of the tunnel contour, and d is the hazard coefficient of the horizontal displacement of the tunnel contour. e is the additional hazard coefficient. The standard for crack grade assessment is F1=s1*K1*K2*L*W, where s1 is the regularization coefficient, s1=0.5. L is the ratio of the longitudinal length of the lining crack to the lining thickness, which is generally 0 to 1, and W is the width of the crack, which is 0mm to 5mm.

[0064] The F2 water leakage degradation level assessment is divided into 5 levels according to whether the tunnel water leakage affects the tunnel safety.

[0065] F2=s2*R*|PH-7.5|*G

[0066] Where s2 is the regularization coefficient, s2 = 0.01, R is the water output coefficient, and G is the soluble substance concentration coefficient.

[0067] The F3 assessment level of tunnel vault and tunnel bottom non-compactness is based on the ratio of the volume of the void behind the lining to the unit length of the tunnel, the ratio of the length of the continuous non-compacted line to the circumference of the tunnel lining, and the ratio of the non-compacted area to the unit length of the tunnel lining area. It is also divided into five levels.

[0068] F3=s3*N*Si*Vi*Li

[0069] Where s3 is the regularization coefficient s3 = 8, N is the uncompacted position coefficient, Si is the ratio of the uncompacted area to the lining area per unit length of the tunnel, Vi is the ratio of the uncompacted area to the lining area per unit length of the tunnel, and Li is the ratio of the uncompacted continuous measurement line length to the circumferential length of the tunnel lining.

[0070] The lining structure strength F4=s4*{1-(qi / q)} is the ratio of the average strength of the lining concrete measuring point at the monitoring point section to the designed lining concrete strength, s4 is the regularization coefficient, s4=2~86, that is, qi / q is divided into five levels of 0.65, 0.75, 0.85, 0.95 and 1.

[0071] Lining comprehensive grade assessment M = F1*w1+F2*w2+F3*w3+F4*w4. (s is the regularization coefficient, w is the weight coefficient, s constrains the variable F within the same range and then uses w for weighting. s1 = 0.5, s2 = 0.01, s3 = 8, s4 = 2.86, w1 = 0.063, w2 = 0.18, w3 = 0.32, w4 = 0.43).

[0072] The above shows and describes 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 by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A tunnel array lining detection device, comprising a bottom plate (1), characterized in that: A plurality of pulleys (10) arranged in a matrix are fixedly mounted on the bottom of the base plate (1); a cylinder (2) is fixedly mounted on the upper surface of the base plate (1); a pad (22) is arranged on the telescopic shaft of the cylinder (2); a top plate (26) is arranged above the pad (22); a plurality of rectangular rods (25) arranged in a matrix are fixedly mounted between the top plate (26) and the pad (22); a support frame (27) is fixedly mounted on the upper surface of the top plate (26); a support protrusion (28) is fixedly mounted on the end of the top plate of the support frame (27); Two mutually symmetrical first servo motors (30) are fixedly mounted on the bottom surface of the top plate (26); a long shaft (31) is fixedly mounted at the end of the output shaft of the first servo motor (30); a three-dimensional laser scanner (3) is fixedly mounted on the long shaft (31); two ends of the long shaft (31) are rotatably connected to the top plate (26) and the supporting protrusion (28), respectively; a second servo motor (34) is arranged on the supporting protrusion (28); and a three-dimensional laser scanner (32) is arranged on the output shaft of the second servo motor (34); A support rod (4) is fixedly mounted on the rear side plate of the base plate (1), a guide rail (40) is fixedly mounted on the top end of the support rod (4), and a three-channel controller (43) is arranged on the guide rail (40).

2. The tunnel array lining detection device according to claim 1 is characterized in that: Two groups of mutually symmetrical guide rods (11) are fixedly mounted on the upper surface of the base plate (1), and the number of guide rods (11) in each group is 2 to 4. A sliding hole (23) is provided on the bottom surface of the pad (22) at a position directly facing the guide rods (11), and the guide rods (11) are located in the sliding hole (23) and are slidably connected to the sliding hole (23).

3. The tunnel array lining detection device according to claim 2 is characterized in that: The cross-sections of the guide rod (11) and the slide hole (23) are both semicircular, the length of the guide rod (11) is equal to the length of the base plate (1), and the size of the guide rod (11) is matched to the size of the slide hole (23).

4. The tunnel array lining detection device according to claim 1, characterized in that: A slide groove (12) is arranged at the center position of the base plate (1) along the length direction of the base plate (1); a steel plate (20) is fixedly installed at the end of the telescopic shaft of the cylinder (2); the rear side of the pad (22) is fixedly installed on the steel plate (20); a limit rod (21) is fixedly installed on the bottom surface of the steel plate (20); the limit rod (21) is located in the slide groove (12) and is slidably connected to the slide groove (12).

5. The tunnel array lining detection device according to claim 4 is characterized in that: The front end of the slide groove (12) is not connected to the outside world, the rear end of the slide groove (12) is connected to the outside world, and the size of the limit rod (21) is compatible with the size of the slide groove (12).

6. The tunnel array lining detection device according to claim 5, characterized in that: Two mutually symmetrical vertical rods (24) are fixedly mounted on the bottom surface of the front side plate body of the pad (22). The vertical rods (24) are located on the front side of the bottom plate (1). A steel wheel (241) is rotatably connected to the bottom end of the vertical rod (24) via a rotating shaft.

7. The tunnel array lining detection device according to claim 1, characterized in that: An end plate (281) is fixedly mounted on the end of the support protrusion (28), a groove (29) is provided on the support protrusion (28), a support (33) is fixedly mounted on the bottom surface of the second three-dimensional laser scanner (32), the support (33) is located in the groove (29) and is rotatably connected to the left and right groove walls of the groove (29) via a rotating shaft, the second servo motor (34) is fixedly mounted on the end plate (281), and the end of the output shaft of the second servo motor (34) is fixedly mounted on the rotating shaft on the support (33).

8. The tunnel array lining detection device according to claim 1, characterized in that: A third servo motor (41) is fixedly mounted on the top of the guide rail (40), a lead screw (42) is fixedly mounted on the end of the output shaft of the third servo motor (41), a slider (44) is threadedly connected to the lead screw (42), and the three-channel controller (43) is fixedly mounted on the slider (44).

9. The tunnel array lining detection device according to claim 8, characterized in that: The size of the slider (44) is matched with the size of the guide rail (40), the slider (44) is slidably connected to the guide rail (40), and the smooth end column of the screw rod (42) is rotationally connected to the guide rail (40).

10. A method for evaluating tunnel lining defects, using the tunnel array lining detection device according to any one of claims 1 to 9, characterized in that: The specific steps include: S1. First, two normally working three-dimensional laser scanners (3) are used to perform a scanning operation, and the corresponding first servo motors (30) are used to drive the three-dimensional laser scanners (3) to rotate, so that each three-dimensional laser scanner (3) can independently scan the tunnel; S2, using the normal working of the second three-dimensional laser scanner (32) to perform a scanning operation, using the second servo motor (34) to drive the second three-dimensional laser scanner (32) to rotate upward to perform scanning, so as to scan the arch waist and arch crown area of ​​the tunnel lining and obtain disease image data; S3. Relying on the data obtained by the three-dimensional laser scanner 1 (3) and the three-dimensional laser scanner 2 (32), the data is processed and displayed on the three-channel controller (43), showing the location of lining water leakage, lining voids and the location angle, length, depth and width of cracks, and conducting a comprehensive evaluation.

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