Subway tunnel detection device and method based on three-dimensional laser scanning

Abstract

The invention belongs to the technical field of tunnel detection devices, and discloses a subway tunnel detection device and method based on three-dimensional laser scanning, the detection device comprises a sphere, a plurality of mounting tables uniformly distributed about the sphere center of the sphere are fixed on the peripheral side of the sphere, and each mounting table is provided with a driving mechanism for driving the sphere to move. A three-dimensional scanner used for conducting three-dimensional laser scanning on the interior of the subway tunnel is fixed to the side, away from the ball body, of each mounting table, and a plurality of auxiliary maintaining assemblies which are evenly distributed relative to the center of the ball body and keep one set of driving mechanisms on the ground are further arranged on the peripheral side of the ball body. According to the auxiliary maintaining assembly, the landing state of one driving mechanism can be maintained, the stability of the device in the detection process is guaranteed, and the probability that normal detection is affected due to the fact that the device topples over due to suction force generated by vehicle running is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection devices, and in particular to a subway tunnel detection device and method based on three-dimensional laser scanning. Background Art

[0002] 3D laser scanning technology, also known as real-scene replication technology, uses the principle of laser ranging and a horizontal automatic motor with good stability and accuracy to record the 3D coordinates, reflectivity, texture and other information of a large number of dense points on the surface of the measured object, and can quickly rebuild the 3D model of the measured target and various drawing data such as lines, surfaces and volumes. The laser transmitter lens of the 3D laser scanner rotates in the vertical plane, and the automatic motor drives the scanner body to rotate in the horizontal direction to complete 360-degree 3D scene scanning.

[0003] The 3D laser scanner also has a cross-sectional scanning function. The laser emitter rotates in the vertical plane, and the 3D laser scanner does not rotate horizontally. This function can be used for mobile scanning in tunnels and for tunnel cross-sectional status analysis.

[0004] In the prior art, when using a three-dimensional scanner to inspect the inside of a tunnel, the three-dimensional laser scanner is usually fixed on a platform. The three-dimensional scanner is fixed relative to the mobile platform. During the movement of the platform, the suction force generated by the vehicle may cause shaking or even tipping over, which has a certain impact on the normal use of the three-dimensional scanner. Therefore, it is necessary to improve the relevant design. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a subway tunnel detection device and method based on three-dimensional laser scanning.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: a subway tunnel detection device based on three-dimensional laser scanning, including a sphere, a plurality of mounting platforms evenly distributed about the center of the sphere are fixed on the circumference of the sphere, each of the mounting platforms is provided with a driving mechanism for driving the sphere to move, a three-dimensional scanner for performing three-dimensional laser scanning of the interior of the subway tunnel is fixed on the side of each mounting platform away from the sphere, and a plurality of auxiliary holding components evenly distributed about the center of the sphere and keeping one group of the driving mechanisms on the ground are also provided on the circumference of the sphere.

[0007] By adopting the above technical solution, the driving mechanism can drive the sphere to move forward, the three-dimensional scanner can perform three-dimensional laser scanning detection on the inside of the tunnel, and the auxiliary holding component can keep one set of driving mechanisms on the ground, thereby ensuring the stability of the device during the detection process and reducing the probability of the device tipping over due to the suction generated by the vehicle's driving and affecting normal detection.

[0008] The transmission gear of the present invention is connected with the gear of the transmission gear of the present invention, and the gear of the transmission gear is connected with the gear of the transmission gear of the present invention to the gear of the transmission gear of the present invention.

[0009] By adopting the above technical solution, after the rotating motor starts working, it drives the active bevel gear, the driven bevel gear meshing with the active bevel gear, the upper rotating rod fixed with the driven bevel gear, and the upper pulley fixed with the upper rotating rod to rotate. The upper pulley drives the lower pulley, the lower rotating rod fixed with the lower pulley, and the roller fixed on the lower rotating rod to rotate through the transmission belt, thereby driving the subway tunnel detection device forward. The three-dimensional scanners cooperate and perform three-dimensional laser scanning and detection on the inside of the subway tunnel, providing guarantee for the safe operation of the subway.

[0010] Furthermore, the power assembly includes a power motor fixed on the mounting platform, a driving gear fixed to the output end of the power motor, and a driven gear fixedly sleeved on the rotating platform and meshing with the driving gear.

[0011] By adopting the above technical solution, the power motor drives the driving gear and the driven gear meshing with the driving gear to rotate after working, so that the rotating table, the movable universal wheel installed on the rotating table and the roller installed on the rotating table all rotate synchronously, which is convenient for the subway tunnel detection device to turn, and expands the scope of three-dimensional laser scanning detection inside the subway tunnel.

[0012] Furthermore, the auxiliary retaining assembly includes a mounting tube fixed on the sphere, the mounting tube having a closed end away from the sphere, the auxiliary retaining assembly also includes a sliding plate that slidably cooperates with the inner wall of the mounting tube, a spring fixed between the side wall of the sliding plate away from the sphere and the inner wall of the mounting tube away from the sphere, a sliding rod that passes through and slidably cooperates with the end of the mounting tube away from the sphere, and an auxiliary universal wheel is arranged at the end of the sliding rod away from the sphere, one end of the sliding rod is fixed to the side wall of the sliding plate away from the sphere.

[0013] Furthermore, an X-direction mounting groove, a Y-direction mounting groove and a Z-direction mounting groove are arranged in the sphere, the X-direction mounting groove, the Y-direction mounting groove and the Z-direction mounting groove are connected to each other and are perpendicular to each other, the centers of the X-direction mounting groove, the Y-direction mounting groove and the Z-direction mounting groove coincide with the center of the sphere, and a plurality of counterweight balls are arranged at the bottom of the Z-direction mounting groove.

[0014] By adopting the above technical solution, when the subway tunnel detection device is tilted by the suction generated by the running of the vehicle, after the auxiliary universal wheel touches the ground, the ball is driven to move under the elastic force of the spring, and under the action of multiple counterweight balls, the ball is quickly stabilized, and the roller cooperates with the two mobile universal wheels to keep the subway tunnel detection device stable, so as to continue to perform three-dimensional laser scanning detection on the inside of the subway tunnel.

[0015] Furthermore, the lengths and widths of the X-direction mounting groove, the Y-direction mounting groove and the Z-direction mounting groove are correspondingly equal and larger than the diameter of the counterweight ball, and arc-shaped grooves for accommodating the counterweight ball are provided at both ends of the X-direction mounting groove, the Y-direction mounting groove and the Z-direction mounting groove.

[0016] By adopting the above technical solution, the counterweight ball can quickly fall to the bottom of the arc-shaped groove, reducing the frequency and number of shaking of the counterweight ball and reducing noise.

[0017] Furthermore, the spring is sleeved on the sliding rod, and the sphere is composed of two hemispheres whose structures are mirror images of each other.

[0018] By adopting the above technical solution, it is convenient to install the counterweight ball.

[0019] The present application also discloses a detection method of a subway tunnel detection device based on three-dimensional laser scanning, comprising the following steps:

[0020] S1. Start the rotating motor. After the rotating motor starts working, it drives the active bevel gear, the driven bevel gear meshing with the active bevel gear, the upper rotating rod fixed with the driven bevel gear, and the upper pulley fixed with the upper rotating rod to rotate. The upper pulley drives the lower pulley, the lower rotating rod fixed with the lower pulley, and the roller fixed on the lower rotating rod to rotate through the transmission belt, thereby driving the subway tunnel detection device forward. Each 3D scanner cooperates and performs 3D laser scanning detection on the inside of the subway tunnel, which provides a guarantee for the safe operation of the subway.

[0021] S2. Start the power motor. After the power motor starts working, it drives the driving gear and the driven gear meshing with the driving gear to rotate, so that the rotating table, the moving universal wheel installed on the rotating table, and the roller installed on the rotating table all rotate synchronously, which is convenient for the subway tunnel detection device to turn, and expands the scope of three-dimensional laser scanning detection inside the subway tunnel;

[0022] S3. When the subway tunnel detection device is tilted by the suction force generated by the running of the vehicle, after the auxiliary universal wheel touches the ground, the ball is driven to move under the elastic force of the spring, and the ball is quickly stabilized under the action of multiple counterweight balls, and the roller cooperates with the two mobile universal wheels to keep the subway tunnel detection device stable, so as to continue the three-dimensional laser scanning detection of the inside of the subway tunnel.

[0023] In summary, the present invention has the following beneficial effects:

[0024] 1. The auxiliary holding assembly in the present application can keep one set of driving mechanisms on the ground, thereby ensuring the stability of the device during the detection process and reducing the probability of the device tipping over due to the suction force generated by the vehicle and affecting normal detection;

[0025] 2. In the present application, after the rotating motor works, it drives the active bevel gear, the driven bevel gear meshing with the active bevel gear, the upper rotating rod fixed with the driven bevel gear, and the upper pulley fixed with the upper rotating rod to rotate. The upper pulley drives the lower pulley, the lower rotating rod fixed with the lower pulley, and the roller fixed on the lower rotating rod to rotate through the transmission belt, thereby driving the subway tunnel detection device forward. Each three-dimensional scanner cooperates and performs three-dimensional laser scanning and detection on the inside of the subway tunnel, providing a guarantee for the safe operation of the subway. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0027] Figure 2 yes Figure 1 A schematic diagram for highlighting the structure of the weighted ball;

[0028] Figure 3 yes Figure 1 The schematic diagram of the structure used to highlight the driving mechanism after cutting;

[0029] Figure 4 yes Figure 3 The enlarged schematic diagram of point A in the middle;

[0030] Figure 5 yes Figure 3 The enlarged schematic diagram of point B in the middle;

[0031] Figure 6 is a schematic diagram of the internal structure of a sphere used to highlight the embodiment of the present invention;

[0032] Figure 7 yes Figure 1 main view.

[0033] In the figure: 1. sphere; 11. X-direction mounting groove; 12. Y-direction mounting groove; 13. Z-direction mounting groove; 14. arc groove; 2. mounting table; 21. three-dimensional scanner; 3. driving mechanism; 31. moving component; 310. rotating table; 3101. through hole; 311. upper rod body; 312. upper rotating rod; 313. upper pulley; 314. driven bevel gear; 315. rotating motor; 316. driving bevel gear; 317. lower rod body; 318. lower rotating rod; 319. lower pulley; 3120. transmission belt; 3121. roller; 3122. moving universal wheel; 32. power component; 321. power motor; 322. driving gear; 323. driven gear; 4. auxiliary holding component; 41. mounting cylinder; 42. sliding plate; 43. spring; 44. sliding rod; 45. auxiliary universal wheel; 5. counterweight ball. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0035] like Figure 1-7 As shown, an embodiment of the present application discloses a subway tunnel detection device based on three-dimensional laser scanning, including a sphere 1, on the periphery of which are fixed a plurality of mounting platforms 2 evenly distributed about the center of the sphere 1, each of which is provided with a driving mechanism 3 for driving the sphere 1 to move, and on the side of each of which is away from the sphere 1, a three-dimensional scanner 21 for performing three-dimensional laser scanning on the interior of the subway tunnel is fixed, and a plurality of auxiliary retaining components 4 evenly distributed about the center of the sphere 1 and maintaining one group of the driving mechanisms 3 on the ground are also provided.

[0036] The driving mechanism 3 can drive the sphere 1 to move forward, and the three-dimensional scanner 21 performs three-dimensional laser scanning detection on the inside of the tunnel. The auxiliary holding component 4 can keep one group of driving mechanisms 3 on the ground, ensuring the stability of the device during the detection process and reducing the probability of the device tipping over due to the suction generated by the vehicle's driving, thereby affecting normal detection.

[0037] The driving mechanism 3 includes a moving component 31 and a power component 32, wherein the moving component 31 includes a rotating table 310 which is arranged on the mounting table 2 and is rotatably connected to the mounting table 2, an upper rod body 311 fixed on the top of the rotating table 310, an upper rotating rod 312 rotatably mounted on the upper rod body 311, an upper pulley 313 fixedly sleeved on the upper rotating rod 312, a driven bevel gear 314 fixedly sleeved on the upper rotating rod 312, a rotating motor 315 fixed on the top of the rotating table 310, an active bevel gear 316 fixed to the output end of the rotating motor 315 and meshing with the driven bevel gear 314, a lower rod body 317 fixed on the bottom of the rotating table 310, A lower rotating rod 318 rotatably installed on the lower rod body 317, a lower pulley 319 fixedly mounted on the lower rotating rod 318, a transmission belt 3120 for driving the lower pulley 319 to rotate synchronously with the upper pulley 313, a roller 3121 fixedly mounted on the lower rotating rod 318, and a movable universal wheel 3122 arranged at the bottom of the rotating table 310, wherein two movable universal wheels 3122 are provided, and the two movable universal wheels 3122 and the roller 3121 are evenly distributed about the axis of the rotating table 310, and the rotating table 310 is penetrated with a through hole 3101 for the transmission belt 3120 to pass through, and the power component 32 is used to drive the rotating table 310 to rotate.

[0038] After the rotating motor 315 starts working, it drives the active bevel gear 316, the driven bevel gear 314 meshing with the active bevel gear 316, the upper rotating rod 312 fixed to the driven bevel gear 314, and the upper pulley 313 fixed to the upper rotating rod 312 to rotate. The upper pulley 313 drives the lower pulley 319, the lower rotating rod 318 fixed to the lower pulley 319, and the roller 3121 fixed to the lower rotating rod 318 to rotate through the transmission belt 3120, thereby driving the subway tunnel detection device forward. The three-dimensional scanners 21 cooperate and perform three-dimensional laser scanning and detection on the inside of the subway tunnel, which provides a guarantee for the safe operation of the subway.

[0039] The power assembly 32 includes a power motor 321 fixed on the mounting platform 2, a driving gear 322 fixed to the output end of the power motor 321, and a driven gear 323 fixedly sleeved on the rotating platform 310 and meshed with the driving gear 322. After the power motor 321 is working, the driving gear 322 and the driven gear 323 meshed with the driving gear 322 are driven to rotate, so that the rotating platform 310, the moving universal wheel 3122 installed on the rotating platform 310, and the roller 3121 installed on the rotating platform 310 are all rotated synchronously, which is convenient for the subway tunnel detection device to turn, and expands the scope of three-dimensional laser scanning detection inside the subway tunnel.

[0040] The auxiliary retaining assembly 4 includes a mounting tube 41 fixed on the sphere 1, and the end of the mounting tube 41 away from the sphere 1 is closed. The auxiliary retaining assembly 4 also includes a sliding plate 42 that slidably cooperates with the inner wall of the mounting tube 41, a spring 43 fixed between the side wall of the sliding plate 42 away from the sphere 1 and the inner wall of the mounting tube 41 away from the sphere 1, a sliding rod 44 that penetrates and slidably cooperates with the end of the mounting tube 41 away from the sphere 1, and an auxiliary universal wheel 45 is arranged on the end of the sliding rod 44 away from the sphere 1, and one end of the sliding rod 44 is fixed to the side wall of the sliding plate 42 away from the sphere 1. The sphere 1 is provided with an X-direction mounting groove 11, a Y-direction mounting groove 12 and a Z-direction mounting groove 13, which are connected to each other and perpendicular to each other, and the centers of the X-direction mounting groove 11, the Y-direction mounting groove 12 and the Z-direction mounting groove 13 coincide with the center of the sphere 1, and a plurality of counterweight balls 5 are provided at the bottom of the Z-direction mounting groove 13.

[0041] When the subway tunnel detection device is tilted by the suction force generated by the running of the vehicle, after the auxiliary universal wheel 45 touches the ground, the ball 1 is driven to move under the elastic force of the spring 43, and under the action of multiple counterweight balls 5, the ball 1 is quickly stabilized, and the roller 3121 cooperates with the two movable universal wheels 3122 to keep the subway tunnel detection device stable, so as to continue to perform three-dimensional laser scanning detection on the inside of the subway tunnel.

[0042] In order to enable the counterweight ball 5 to quickly fall to the bottom of the arc-shaped groove 14, the lengths and widths of the X-direction mounting groove 11, the Y-direction mounting groove 12 and the Z-direction mounting groove 13 are equal and larger than the diameter of the counterweight ball 5, and arc-shaped grooves 14 for accommodating the counterweight ball 5 are provided at both ends of the X-direction mounting groove 11, the Y-direction mounting groove 12 and the Z-direction mounting groove 13.

[0043] To facilitate installation of the weighted ball 5, the spring 43 is sleeved on the sliding rod 44, and the sphere 1 is composed of two hemispheres 1 with mirror-image structures (the two hemispheres 1 can be fixedly connected by screws, which belongs to the prior art and need not be elaborated on here).

[0044] The operating principle of a subway tunnel detection device based on three-dimensional laser scanning in this embodiment is as follows: the driving mechanism 3 can drive the sphere 1 to move forward, the three-dimensional scanner 21 performs three-dimensional laser scanning detection on the inside of the tunnel, and the auxiliary holding component 4 can keep one group of driving mechanisms 3 on the ground, thereby ensuring the stability of the device during the detection process and reducing the probability of the device tipping over due to the suction generated by the vehicle's travel and affecting normal detection.

[0045] This embodiment also discloses a detection method of a subway tunnel detection device based on three-dimensional laser scanning, comprising the following steps:

[0046] S1. Start the rotating motor 315. After the rotating motor 315 starts working, it drives the active bevel gear 316, the driven bevel gear 314 meshing with the active bevel gear 316, the upper rotating rod 312 fixed to the driven bevel gear 314, and the upper pulley 313 fixed to the upper rotating rod 312 to rotate. The upper pulley 313 drives the lower pulley 319, the lower rotating rod 318 fixed to the lower pulley 319, and the roller 3121 fixed to the lower rotating rod 318 to rotate through the transmission belt 3120, thereby driving the subway tunnel detection device forward. Each three-dimensional scanner 21 cooperates and performs three-dimensional laser scanning detection on the inside of the subway tunnel, which provides a guarantee for the safe operation of the subway.

[0047] S2, start the power motor 321. After the power motor 321 starts working, it drives the driving gear 322 and the driven gear 323 meshing with the driving gear 322 to rotate, so that the rotating platform 310, the moving universal wheel 3122 installed on the rotating platform 310, and the roller 3121 installed on the rotating platform 310 all rotate synchronously, which is convenient for the subway tunnel detection device to turn, and expands the scope of the three-dimensional laser scanning detection inside the subway tunnel;

[0048] S3. When the subway tunnel detection device is tilted by the suction force generated by the running of the vehicle, after the auxiliary universal wheel 45 touches the ground, the ball 1 is driven to move under the elastic force of the spring 43, and the ball 1 is quickly stabilized under the action of multiple counterweight balls 5, and the roller 3121 cooperates with the two movable universal wheels 3122 to keep the subway tunnel detection device stable, so as to continue to perform three-dimensional laser scanning detection on the inside of the subway tunnel.

[0049] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A subway tunnel detection device based on three-dimensional laser scanning, characterized by: The invention comprises a sphere (1), a plurality of mounting platforms (2) evenly distributed about the center of the sphere (1) are fixed on the periphery of the sphere (1), a driving mechanism (3) for driving the sphere (1) to move is arranged on each of the mounting platforms (2), a three-dimensional scanner (21) for performing three-dimensional laser scanning of the interior of a subway tunnel is fixed on the side of each of the mounting platforms (2) away from the sphere (1), and a plurality of auxiliary holding components (4) evenly distributed about the center of the sphere (1) and for holding one group of the driving mechanisms (3) on the ground are also arranged on the periphery of the sphere (1).

2. The subway tunnel detection device based on three-dimensional laser scanning according to claim 1 is characterized in that: The driving mechanism (3) comprises a moving assembly (31) and a power assembly (32), wherein the moving assembly (31) comprises a rotating platform (310) which is arranged on the mounting platform (2) and is rotatably connected to the mounting platform (2), an upper rod body (311) fixed to the top of the rotating platform (310), an upper rotating rod (312) rotatably mounted on the upper rod body (311), an upper pulley (313) fixedly sleeved on the upper rotating rod (312), a driven bevel gear (314) fixedly sleeved on the upper rotating rod (312), a rotating motor (315) fixed to the top of the rotating platform (310), an active bevel gear (316) fixed to the output end of the rotating motor (315) and meshing with the driven bevel gear (314), and a lower rod body (317) fixed to the bottom of the rotating platform (310). ), a lower rotating rod (318) rotatably mounted on a lower rod body (317), a lower pulley (319) fixedly sleeved on the lower rotating rod (318), a transmission belt (3120) for driving the lower pulley (319) and the upper pulley (313) to rotate synchronously, a roller (3121) fixedly sleeved on the lower rotating rod (318), and a movable universal wheel (3122) arranged at the bottom of the rotating platform (310), wherein two movable universal wheels (3122) are provided, and the two movable universal wheels (3122) and the roller (3121) are evenly distributed about the axis of the rotating platform (310), and the rotating platform (310) is penetrated with a through hole (3101) for the transmission belt (3120) to pass through, and the power assembly (32) is used to drive the rotating platform (310) to rotate.

3. The subway tunnel detection device based on three-dimensional laser scanning according to claim 2 is characterized in that: The power assembly (32) comprises a power motor (321) fixed on the mounting platform (2), a driving gear (322) fixed to the output end of the power motor (321), and a driven gear (323) fixedly sleeved on the rotating platform (310) and meshing with the driving gear (322).

4. The subway tunnel detection device based on three-dimensional laser scanning according to claim 2 is characterized in that: The auxiliary holding assembly (4) comprises a mounting tube (41) fixed on the sphere (1), the end of the mounting tube (41) being closed away from the sphere (1), the auxiliary holding assembly (4) further comprising a sliding plate (42) slidably matched with the inner wall of the mounting tube (41), a spring (43) fixed between the side wall of the sliding plate (42) away from the sphere (1) and the inner wall of the mounting tube (41) away from the sphere (1), a sliding rod (44) penetrating and slidably matched with the end of the mounting tube (41) away from the sphere (1), and an auxiliary universal wheel (45) arranged at the end of the sliding rod (44) away from the sphere (1), one end of the sliding rod (44) being fixed to the side wall of the sliding plate (42) away from the sphere (1).

5. The subway tunnel detection device based on three-dimensional laser scanning according to claim 4 is characterized in that: The sphere (1) is provided with an X-direction mounting groove (11), a Y-direction mounting groove (12) and a Z-direction mounting groove (13); the X-direction mounting groove (11), the Y-direction mounting groove (12) and the Z-direction mounting groove (13) are connected to each other and are perpendicular to each other; the centers of the X-direction mounting groove (11), the Y-direction mounting groove (12) and the Z-direction mounting groove (13) coincide with the center of the sphere (1); and a plurality of counterweight balls (5) are provided at the bottom of the Z-direction mounting groove (13).

6. The subway tunnel detection device based on three-dimensional laser scanning according to claim 5 is characterized in that: The lengths and widths of the X-direction mounting groove (11), the Y-direction mounting groove (12) and the Z-direction mounting groove (13) are respectively equal and greater than the diameter of the counterweight ball (5); arc-shaped grooves (14) for accommodating the counterweight ball (5) are provided at both ends of the X-direction mounting groove (11), the Y-direction mounting groove (12) and the Z-direction mounting groove (13).

7. The subway tunnel detection device based on three-dimensional laser scanning according to claim 5 is characterized in that: The spring (43) is sleeved on the sliding rod (44), and the sphere (1) is composed of two hemispherical bodies (1) whose structures are mirror images of each other.

8. A detection method for a subway tunnel detection device based on three-dimensional laser scanning according to any one of claims 1 to 7, characterized in that: The steps include: S1, starting the rotating motor (315), after the rotating motor (315) starts working, it drives the driving bevel gear (316), the driven bevel gear (314) meshing with the driving bevel gear (316), the upper rotating rod (312) fixed with the driven bevel gear (314), and the upper belt pulley (313) fixed with the upper rotating rod (312) to rotate, and the upper belt pulley (313) drives the lower belt pulley (319), the lower rotating rod (318) fixed with the lower belt pulley (319), and the roller (3121) fixed on the lower rotating rod (318) to rotate through the transmission belt (3120), thereby driving the subway tunnel detection device forward, and each three-dimensional scanner (21) cooperates and performs three-dimensional laser scanning detection on the inside of the subway tunnel, thereby providing a guarantee for the safety of subway operation; S2, starting the power motor (321), after the power motor (321) works, it drives the driving gear (322) and the driven gear (323) meshing with the driving gear (322) to rotate, so that the rotating platform (310), the moving universal wheel (3122) installed on the rotating platform (310), and the roller (3121) installed on the rotating platform (310) all rotate synchronously, which facilitates the turning of the subway tunnel detection device and expands the scope of the three-dimensional laser scanning detection inside the subway tunnel; S3. When the subway tunnel detection device is tilted by the suction force generated by the running of the vehicle, after the auxiliary universal wheel (45) touches the ground, the ball (1) is driven to move under the elastic force of the spring (43), and the ball (1) is quickly stabilized under the action of the multiple counterweight balls (5), and the roller (3121) cooperates with the two movable universal wheels (3122) to keep the subway tunnel detection device stable, so as to continue to perform three-dimensional laser scanning detection on the inside of the subway tunnel.

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