A tunnel supporting structure construction quality detection device and detection method

Abstract

The application relates to the technical field of tunnel detection, in particular to a tunnel supporting structure construction quality detection device and method, which utilizes a flying support platform to provide support force for a ground penetrating radar system, and elastically connects the ground penetrating radar system with the mobile platform, so that the ground penetrating radar system is fully and reliably attached to a region to be detected with different heights, thereby accurately and effectively detecting the quality of the tunnel supporting structure; meanwhile, the mobile platform drives the ground penetrating radar system to detect along a survey line, which can change the advancing route to avoid obstacles during the detection along the survey line, adapt to the detection requirements of complex surfaces with concave-convex unevenness and obstacles such as steel heads, further improve the accuracy and effectiveness of the detection results, and meet the actual detection requirements.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, specifically to a device and method for inspecting the construction quality of tunnel support structures. Background Technology

[0002] During tunnel construction, ground-penetrating radar (GPR) is typically used to inspect the construction quality in order to ensure the safety and reliability of the tunnel support structure. During the inspection, GPR is used to probe the tunnel's arch, left and right arch waists, and left and right sidewalls by attaching it to the survey lines. To ensure reliable contact between the GPR and the tunnel support structure, operators often need to hold the GPR handheld and place it against the tunnel support structure for detection. For detection at higher locations such as the tunnel arch and arch waist, operators need to use a mobile vehicle to work along the corresponding survey lines.

[0003] Manual inspection requires handheld equipment, which can lead to arm fatigue as the work time increases, making the operation more difficult. Furthermore, standing on a moving vehicle can cause instability for the operator, making it difficult to ensure effective contact between the ground-penetrating radar and the inspection area, and increasing the risk of the operation.

[0004] Although Chinese invention patent application No. 202111504293.8 provides a support frame and method for radar detection of tunnel lining, it utilizes the top ends of two first telescopic rods to fit against the inner wall of the tunnel, so that the second telescopic rod between the two first telescopic rods approximates the tangent of the corresponding position of the inner wall of the tunnel, and then pushes the ground penetrating radar upward to fit against the inner wall of the tunnel through the third telescopic rod on the second telescopic rod to achieve detection of the corresponding position of the inner wall of the tunnel.

[0005] However, for tunnel support, the uneven surface caused by the initial shotcreting operation on the tunnel wall, as well as the intricate rebar ends, make it impossible to ensure that the ground-penetrating radar antenna makes full contact with the support using existing solutions. At the same time, the ground-penetrating radar cannot avoid obstacles such as rebar ends during the detection process, thus failing to guarantee the accuracy and effectiveness of the detection signal and failing to meet actual detection needs. Summary of the Invention

[0006] The purpose of this invention is to provide a device and method for detecting the construction quality of tunnel support structures, thereby solving the technical problem that current methods for detecting the construction quality of tunnel support structures cannot guarantee the accuracy and effectiveness of the detection results.

[0007] The solution of the present invention to the above-mentioned technical problems is as follows: A tunnel support structure construction quality testing device includes a ground-penetrating radar system, a mobile platform connected to the ground-penetrating radar system, and a flight support platform connected to the mobile platform. The ground-penetrating radar system is elastically connected to the mobile platform, and the detection end of the ground-penetrating radar system extends to the outside of the mobile platform. The flight support platform is used to push the mobile platform to squeeze the ground-penetrating radar system into full contact with the area to be detected, and the mobile platform is used to drive the ground-penetrating radar system to move in the area to be detected.

[0008] Further specifying, the flight support platform includes a support base, a central control unit, multiple electronic speed controllers, and multiple rotor units; Multiple rotor units are arranged circumferentially around the axis of the support base. The detection control unit is located inside the support base and is connected to the corresponding rotor unit via an electronic speed controller. The rotor units are located below the mobile platform and extend to the outside of the mobile platform. The mobile platform is detachably connected to the support base. The ground-penetrating radar system is connected to the detection control unit via a signal.

[0009] Further defined, the rotor unit includes blades, a brushless motor, a frame, and support feet; the blades are connected to one end of the frame via the brushless motor, and the other end of the frame is connected to the support base; the frame is located below the mobile platform; the electronic speed controller (ESC) is mounted on the frame; and the overall control system is connected to the brushless motor via the ESC; the support feet are located at the bottom of the frame.

[0010] Further defined, the mobile platform includes a walking unit, a mobile base plate, and an obstacle avoidance unit; The mobile base plate is connected between the ground penetrating radar system and the support base. The obstacle avoidance unit is located at one end of the mobile base plate. There are two traveling units, which are located on opposite sides of the mobile base plate. The obstacle avoidance unit is located between the two traveling units and is connected to the traveling units via a detection control system.

[0011] Further specifying, the ground-penetrating radar system includes a flexible connector, a radar clamp, a ground-penetrating radar, and a pressure sensor; The ground-penetrating radar's connecting end is detachably connected to the radar clamp; one end of the elastic connector is connected to the bottom of the radar clamp, and the other end of the elastic connector is detachably connected to the moving base plate; the ground-penetrating radar's detection end extends above the traveling unit; the pressure sensor is installed at the ground-penetrating radar's detection end, and the pressure sensor is connected to the traveling unit and the rotor unit via a detection control system.

[0012] Furthermore, the tunnel support structure construction quality testing device also includes: The control unit is used to send manual testing information to the main testing control unit. The host computer is used to receive detection status information sent by the central control unit, detection information sent by the ground penetrating radar, and pressure data sent by the pressure sensor; to display the detection status information and detection information; to send automatic detection signals to the central control unit; and to obtain and display the detection results based on the detection information.

[0013] Further specifying, the detection status information includes position information, attitude information, height information, and distance information; the overall detection control includes: The positioning module is used to obtain the real-time location information of the flight support platform; Gyroscopes are used to acquire real-time attitude information of the flight support platform; The air pressure module is used to acquire real-time altitude information of the flight support platform; The ultrasonic module is used to acquire real-time distance information between the flight support platform and external obstacles; The control module is used to obtain and send flight control signals and / or crawl control signals based on the detection status information, manual detection information and automatic detection signals; The communication module is used to send the position information, attitude information, altitude information, distance information, detection information, and pressure data to the host computer; and to send manual detection information and automatic detection signals to the control module.

[0014] A method for inspecting the construction quality of tunnel support structures, based on the aforementioned tunnel support structure construction quality inspection device, includes the following steps: S1. Determine the survey lines of the tunnel support structure and debug the tunnel support structure construction quality testing device; S2. The flight support platform takes off, and the mobile platform drives the ground-penetrating radar system closer to the corresponding survey line position. S3. When the ground-penetrating radar system is in close contact with the survey line, the mobile platform drives the ground-penetrating radar system to move along the survey line and perform detection. S4. Acquire detection data from the ground-penetrating radar system and obtain detection results.

[0015] Further specifying, step S2 includes the following steps: S21. The host computer determines the current status of the flight support platform: If the pressure data is less than the set fitting pressure value and the flight support platform is not taken off based on the altitude information, then the flight support platform is determined to be in a reset state, and step S22 is executed. If the pressure data is less than the set fitting pressure value, but the flight support platform is determined to have taken off based on the altitude information, then the flight support platform is determined to be in flight mode, and step S23 is executed. If the pressure data is equal to or greater than the set bonding pressure value, and the flight support platform has taken off based on the altitude information, then the flight support platform is determined to be in a bonding state, and step S3 is executed. S22. The control module receives the takeoff signal sent by the host computer through the communication module, and sends the corresponding flight control signal to the rotor unit according to the takeoff signal and detection status information. S23. The control module receives the bonding signal sent by the host computer through the communication module, and sends the corresponding flight control signal to the rotor unit according to the take-off signal and detection status information.

[0016] Further specifying, step S3 includes the following steps: S31. The host computer sends an automatic detection signal, and the control module receives the automatic detection signal through the communication module. S32. The control module sends the corresponding flight control signal to the rotor unit and the corresponding crawl control signal to the traveling unit based on the detection status information. S33. The control module determines whether there is an obstacle in front of the walking unit based on the obstacle avoidance information. If so, it sends an obstacle avoidance reminder to the host computer through the communication module and executes step S34; otherwise, it executes step S32. S34. Start the control unit. The operator uses the control unit to perform obstacle avoidance operations based on the obstacle avoidance information. The control unit sends the corresponding manual detection information to the control module through the communication module. S35. The control module sends the corresponding flight control signal to the rotor unit and / or the corresponding crawl control signal to the running unit based on the manual detection information. S36. Determine whether the obstacle avoidance reminder has stopped. If not, proceed to step S35; if yes, proceed to step S37. S37. Determine whether the detection is complete. If yes, end the process; otherwise, proceed to step S32.

[0017] The beneficial effects of this invention are as follows: 1. This invention utilizes a flight support platform to provide support for the ground-penetrating radar system and elastically connects the ground-penetrating radar system to the mobile platform. This allows the ground-penetrating radar system to be reliably and fully fitted to the areas to be inspected at different heights, thereby enabling accurate and effective quality inspection of tunnel support structures. Simultaneously, the mobile platform drives the ground-penetrating radar system to perform inspection operations along the survey line. This allows the system to change its route to avoid obstacles during the inspection process, adapting to the inspection needs of uneven surfaces with obstacles such as rebar ends, further improving the accuracy and effectiveness of the detection results and meeting actual inspection requirements.

[0018] 2. This invention utilizes the control unit, host computer, and detection control system to achieve automatic detection of tunnel support structures. At the same time, it can also use the control unit to avoid obstacles during the detection process according to the site environment, ensuring stable detection and further improving the detection requirements of different tunnel environments. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the tunnel support structure construction quality testing device of the present invention; Figure 2 This is a schematic diagram of the overall structure of the flight support platform as described in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the overall structure of the mobile platform as described in Embodiment 3 of the present invention; Figure 4 This is a schematic diagram of the connection between the support base and the movable substrate as described in Embodiment 3 of the present invention; Figure 5 This is a schematic diagram of the overall structure of the traveling unit as described in Embodiment 3 of the present invention; Figure 6 This is a schematic diagram of the overall structure of the ground-penetrating radar system described in Embodiment 4 of the present invention; Figure 7 This is a schematic diagram of the connection between the radar clamp and the movable base plate as described in Embodiment 4 of the present invention; Figure 8 This is a schematic diagram of the tunnel support structure construction quality testing device described in Embodiment 5 of the present invention; Figure 9 This is a step diagram of the tunnel support structure construction quality inspection method described in Embodiment 6 of the present invention; In the diagram, 100-Flight support platform; 110-Support base; 120-Electronic speed controller; 130-Rotor unit; 131-Propeller blade; 132-Brushless motor; 133-Frame; 134-Support foot; 200-Mobile platform; 210-Traveling unit; 211-Track; 212-Track wheel; 213-Traveling drive; 214-Drive connecting plate; 220-Mobile base plate; 221-Copper pillar; 230-Obstacle avoidance unit; 300-Ground penetrating radar system; 310-Elastic connector; 311-Preload spring; 312-Spring baffle; 313-Connecting bolt; 314-Connecting nut; 320-Radar clamp; 330-Ground penetrating radar; 400-Control unit; 500-Host computer. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] refer to Figure 1 This invention provides a tunnel support structure construction quality inspection device, comprising a flight support platform 100, a mobile platform 200, and a ground-penetrating radar system 300 connected in sequence. The flight support platform 100 generates lift, which drives the mobile platform 200 to closely fit the ground-penetrating radar system 300 against the tunnel support structure for inspection. Furthermore, the mobile platform 200 moves the ground-penetrating radar system 300 along corresponding survey lines on the sidewalls, arch waist, and arch crown within the tunnel, thus avoiding manual hand-held operation and ensuring that the ground-penetrating radar system 300 can fully contact the tunnel support surface in uneven areas to be inspected, thereby conducting effective inspections and ensuring accurate and reliable results. Simultaneously, during the crawling process of the ground-penetrating radar system 300, the crawling direction of the mobile platform 200 is controlled to avoid obstacles in the inspection area, further ensuring continuous and reliable inspection, improving the effectiveness and accuracy of the inspection results, and meeting practical operational requirements.

[0022] Example 1 To further explain, the flight support platform 100 can be a multi-rotor aircraft, with a quadcopter aircraft as an example.

[0023] refer to Figure 2 The flight support platform 100 includes a support base 110, a central control unit, four electronic speed controllers (ESCs) 120, and four rotor units 130. The ESCs 120 are installed on the corresponding rotor units 130, with each unit corresponding to the other. The central control unit is connected to the corresponding rotor unit 130 via the ESCs 120, and the rotor unit 130 is connected to the support base 110. At this time, the mobile platform 200 is connected to the support base 110. For ease of storage and disassembly, the mobile platform 200 is preferably detached from the support base 110. The ground-penetrating radar system 300 is connected to the central control unit via a signal.

[0024] The support base 110 can be optionally powered by a battery to improve its applicability; alternatively, a power cord can be installed to provide power, increasing the continuous working time. Preferably, the battery is installed on the support base 110 and is electrically connected to the ground penetrating radar system 300, the mobile platform 200, the detection control unit, and the electronic speed controller 120. Furthermore, the battery is preferably detachably connected to the support base 110 to facilitate quick battery replacement during use and ensure a stable and reliable battery connection during operation.

[0025] Specifically, the rotor unit 130 includes blades 131, a brushless motor 132, a frame 133, and support feet 134. The blades 131 are connected to the output shaft of the brushless motor 132, the connection end of the brushless motor 132 is connected to one end of the frame 133, and the other end of the frame 133 is connected to the support base 110. At this time, four frames 133 are arranged circumferentially around the axis of the support base 110. One end of the frame 133 extends to the outside of the mobile platform 200 and the ground penetrating radar system 300 to avoid contact and damage to the blades 131 when they rotate. At the same time, the mobile platform 200 is located above the blades 131 to avoid contact and damage to the area to be detected when the ground penetrating radar system 300 is in contact with the tunnel support structure.

[0026] The electronic speed controller (ESC) 120 is mounted on the frame 133 and is close to the support base 110. The support foot 134 is located at the bottom of the frame 133, between the brushless motor 132 and the ESC 120, and close to the brushless motor 132. This prevents wear between the frame 133 and the ground during takeoff, thus improving the service life and reliability of the flight support platform 100.

[0027] The flight support platform 100 provides continuous and reliable support for the ground penetrating radar system 300, ensuring that the ground penetrating radar system 300 maintains a close fit with the detection area. This avoids the problem of insufficient contact between the ground penetrating radar system 300 and the detection area due to improper operation or prolonged hand-held operation, which would affect the detection results. At the same time, the height of the ground penetrating radar system 300 can be adjusted according to the uneven surface of the tunnel support, so that the ground penetrating radar system 300 makes full and effective contact with the detection area, thereby improving the accuracy and effectiveness of the detection results.

[0028] Example 2 Based on Example 1, the tunnel support structure construction quality testing device provided in this embodiment includes the following overall control: The positioning module is used to acquire the real-time position information of the flight support platform 100; it facilitates the planning of the flight direction based on the horizontal position information of the flight support platform 100 and the size information of the detection area; the positioning module can be a GPS positioning module or a Beidou positioning module, preferably a Beidou positioning module, to improve positioning accuracy and reliability.

[0029] The gyroscope is used to acquire the real-time attitude information of the flight support platform 100; it facilitates the determination of the adjustment direction and angle based on the attitude of the flight support platform 100, so that the flight support platform 100 can maintain a stable flight state during operation, improve the stability of the fit between the ground penetrating radar system 300 and the tunnel, and ensure the reliability of the detection results.

[0030] The air pressure module is used to acquire real-time altitude information of the flight support platform 100; this facilitates the planning of flight altitude changes based on the altitude data of the detection area, and thus determines the flight path planning of the flight support platform 100 during operation in combination with the flight direction.

[0031] The ultrasonic module is used to acquire real-time distance information between the flight support platform 100 and external obstacles; this facilitates the acquisition of distance to the tunnel, adjustment of flight status, and ensures reliable contact between the ground penetrating radar system 300 and the tunnel.

[0032] The control module is used to plan the flight path and crawling path by combining the detection status information, and to obtain the flight control signal based on the flight path plan. The ESC 120 controls the speed of the four brushless motors 132 according to the flight control signal to ensure that the ground penetrating radar system 300 is reliably attached to the tunnel. The mobile platform 200 adjusts the travel direction and travel angle of the ground penetrating radar system 300 according to the crawling control signal to complete the detection task of the detection area.

[0033] Example 3 refer to Figure 3 Based on Embodiment 2, the tunnel support structure construction quality inspection device provided in this embodiment includes a mobile platform 200 comprising a traveling unit 210, a mobile base plate 220, and an obstacle avoidance unit 230. Preferably, there are two traveling units 210, installed on the left and right sides of the mobile base plate 220. The obstacle avoidance unit 230 is installed at the front end of the mobile base plate 220, preferably in the middle. At this time, both the traveling unit 210 and the obstacle avoidance unit 230 are located outside the ground-penetrating radar system 300, avoiding contact with it and preventing obstruction of operations. The ground-penetrating radar system 300 is installed on top of the mobile base plate 220. For ease of assembly and disassembly, the ground-penetrating radar system 300 is detached from the mobile base plate 220.

[0034] refer to Figure 4 The top of the support base 110 and the bottom of the movable substrate 220 can be connected by a copper pillar 221 to reserve space for the battery; the copper pillar 221 is connected to the movable substrate 220 and the support base 110 by bolts for easy disassembly and assembly.

[0035] Among them, reference Figure 5The traveling unit 210 includes tracks 211, track wheels 212, traveling drives 213, and drive connecting plates 214. The tracks 211 are located on the outside of the ground-penetrating radar system 300. There are two traveling drives 213 and two track wheels 212. The drive connecting plate 214 is installed on the side of the movable base plate 220, and the traveling drives 213 are installed at the end of the drive connecting plate 214. The track wheels 212 are connected to the output shaft of the traveling drives 213. The tracks 211 are sleeved on the outside of the two track wheels 212, and the track wheels 212 cooperate with the inside of the tracks 211. The traveling drives 213 are connected to the control module signal and adjust their speed and direction of rotation according to the crawling control signal. The system utilizes track wheels 212 to drive the outer track 211 to rotate. With the lift provided by the flight support platform 100, the friction between the track 211 and the tunnel support structure increases, enabling the track 211 to rotate and drive the ground penetrating radar system 300 to crawl and move on the tunnel support structure, achieving movement in different directions and angles, further adapting to the uneven driving environment of the tunnel support structure. The obstacle avoidance unit 230 can detect obstacles such as steel bars and avoid obstacles during the detection process by adjusting the crawling direction, improving the applicability of the ground penetrating radar system 300, further ensuring continuous and effective contact between the ground penetrating radar system 300 and the area to be detected, and improving the effectiveness and accuracy of the detection results.

[0036] The obstacle avoidance unit 230 can be selected from ultrasonic radar, millimeter-wave radar and / or camera. In order to facilitate the acquisition of obstacle information and reduce obstacle avoidance costs, the obstacle avoidance unit 230 is preferably a camera. In actual use, the direction of travel of the mobile platform 200 can be remotely adjusted by the operator based on the image captured by the camera.

[0037] Example 4 refer to Figure 6 Based on Embodiment 3, the tunnel support structure construction quality inspection device provided in this embodiment includes a ground-penetrating radar system 300, which includes an elastic connector 310, a radar clamp 320, a ground-penetrating radar 330, and a pressure sensor. The radar clamp 320 is detachably connected to the movable base plate 220 through the elastic connector 310, which is convenient for disassembly and assembly. At the same time, different specifications of ground-penetrating radar 330 can be replaced according to the usage requirements to meet the usage requirements.

[0038] The radar clamp 320 is designed according to the contour of the ground penetrating radar 330. The radar clamp 320 is sleeved on the outside of the connecting end of the ground penetrating radar 330 so that it can stably clamp the ground penetrating radar 330, prevent it from falling off, and ensure stable and reliable use.

[0039] The detection end of the ground penetrating radar 330 extends to the outside of the radar clamp 320 for fitting with the tunnel support structure; at the same time, a pressure sensor is installed on the detection end of the ground penetrating radar 330 to detect whether the ground penetrating radar 330 fits sufficiently with the tunnel; for example, the pressure sensor sets a fitting value and determines the fitting status of the ground penetrating radar 330 by judging whether the real-time pressure value of the pressure sensor reaches or exceeds the fitting value.

[0040] The pressure sensor can be connected to the control module signal. In this case, in order to avoid the contact being too tight and affecting the movement of the ground penetrating radar 330, it is preferable to set a limit value. When the real-time pressure value of the pressure sensor exceeds the limit value, the control module needs to adjust the speed of the brushless motor 132 to reduce the lift and ensure that the real-time pressure value of the pressure sensor is not less than the contact value.

[0041] The number of elastic connectors 310 can be multiple, and an array of multiple elastic connectors 310 is arranged at the bottom of the radar clamp 320. Preferably, the number of elastic connectors 310 is four, and the four elastic connectors 310 are arranged at the four top corners of the radar clamp 320.

[0042] For details, please refer to Figure 7 The elastic connector 310 includes a preload spring 311, a spring baffle 312, a connecting bolt 313, and a connecting nut 314. The top of the connecting bolt 313 is fixedly connected to the bottom of the radar clamp 320, and the bottom of the connecting bolt 313 extends through the movable base plate 220 to the bottom of the movable base plate 220. The connecting nut 314 cooperates with the bottom of the connecting bolt 313 and is located below the movable base plate 220. The preload spring 311 and the spring baffle 312 are both sleeved on the outside of the connecting bolt 313. The preload spring 311 is located between the spring baffle 312 and the bottom of the radar clamp 320. It can provide preload force for the ground penetrating radar 330 and also allow the ground penetrating radar 330 to have different degrees of compression at different positions, which can better adapt to the detection of uneven surfaces of tunnel support.

[0043] In the initial state, the detection end of the ground penetrating radar 330 extends above the track 211. During operation, the flight support platform 100 drives the moving base plate 220 to approach the tunnel support structure. The detection end of the ground penetrating radar 330 first contacts the tunnel support structure. As the lift of the flight support platform 100 increases, the preload spring 311 is compressed and the track 211 contacts the tunnel until the real-time pressure value of the pressure sensor reaches the contact value. Then, the flight support platform 100 maintains stable lift, the track 211 rotates, and drives the ground penetrating radar 330 to move along the survey line to achieve the detection operation.

[0044] Example 5 refer to Figure 8Based on Embodiment 4, the tunnel support structure construction quality inspection device provided in this embodiment also includes a control unit 400 and a host computer 500, and the overall control of the inspection also includes a communication module.

[0045] The host computer 500 is connected to the control module via a communication module. It is used to receive detection status information sent by the central control unit, detection information sent by the ground penetrating radar 330, and pressure data sent by the pressure sensor. It is used to display detection status information and detection information. It is used to send automatic detection signals to the control module through the communication module. It is used to obtain and display detection results based on the detection information. It can also save the received information.

[0046] The automatic detection signals include takeoff signal, contact signal, contact stabilization signal, and travel signal. When the host computer 500 determines that the flight support platform 100 has not taken off based on the detection status information and pressure data, the host computer 500 sends a takeoff signal to the control module to control the flight support platform 100 to take off. When the host computer 500 determines that the flight support platform 100 has taken off but the ground penetrating radar 330 has not been contacted based on the detection status information and pressure data, it sends a contact signal to the control module, and the flight support platform 100 moves the ground penetrating radar 330 closer to the tunnel support structure. When the host computer 500 determines that the ground penetrating radar 330 is in sufficient contact based on the detection status information and pressure data, it sends a contact stabilization signal and a travel signal, the flight support platform 100 provides stable lift, and the traveling unit 210 moves the ground penetrating radar 330 to perform detection.

[0047] The control unit 400 is connected to the control module via a communication module. The control unit 400 can be a control handle or can be used with a mouse and keyboard to actively adjust the flight parameters of the flight support platform 100 and the crawling parameters of the mobile platform 200. Preferably, the control unit 400 is a control handle, which facilitates remote intervention by operators when there are obstacles in the direction of travel.

[0048] When operators intervene, the control unit 400 sends manual detection information to the control module through the communication module. The manual detection information includes the flight direction and flight angle of the flight support platform 100, as well as the crawling direction and crawling angle of the walking unit 210, so as to manually avoid obstacles and ensure more reliable operation.

[0049] Example 6 Based on the tunnel support structure construction quality testing device provided in Embodiment 5, this embodiment provides a method for testing the construction quality of tunnel support structures, including the following steps: S1. Determine the survey lines of the tunnel support structure and debug the tunnel support structure construction quality testing device; S2. Flight support platform 100 takes off and drives ground penetrating radar system 300 to approach the corresponding survey line position via mobile platform 200; S3. When the ground-penetrating radar system 300 is in contact with the survey line, the mobile platform 200 drives the ground-penetrating radar system 300 to move along the survey line and perform detection. S4. Acquire the detection data from the ground penetrating radar system 300 and obtain the detection results.

[0050] To further explain, step S2 includes the following steps: S21. The host computer 500 determines the current status of the flight support platform 100: If the pressure data is less than the set fitting pressure value and the flight support platform 100 is not taken off based on the altitude information, then the flight support platform 100 is determined to be in a reset state, and step S22 is executed. If the pressure data is less than the set fitting pressure value, but the flight support platform 100 is determined to have taken off based on the altitude information, then the flight support platform 100 is determined to be in flight state, and step S23 is executed. If the pressure data is equal to or greater than the set bonding pressure value, and the flight support platform 100 has taken off based on the altitude information, then the flight support platform 100 is determined to be in a bonding state, and step S3 is executed. S22. The control module receives the takeoff signal sent by the host computer 500 through the communication module, and sends the corresponding flight control signal to the rotor unit 130 according to the takeoff signal and the detection status information. S23. The control module receives the bonding signal sent by the host computer 500 through the communication module, and sends the corresponding flight control signal to the rotor unit 130 according to the take-off signal and detection status information.

[0051] To further explain, step S3 includes the following steps: S31, The host computer 500 sends an automatic detection signal, and the control module receives the automatic detection signal through the communication module; S32. The control module sends the corresponding flight control signal to the rotor unit 130 and the corresponding crawl control signal to the walking unit 210 according to the detection status information. S33. The control module determines whether there is an obstacle in front of the walking unit 210 based on the obstacle avoidance information. If so, it sends an obstacle avoidance reminder to the host computer 500 through the communication module and executes step S34; otherwise, it executes step S32. S34. Start the control unit 400. The operator uses the control unit 400 to perform obstacle avoidance operations based on the obstacle avoidance information. The control unit 400 sends the corresponding manual detection information to the control module through the communication module. S35. The control module sends the corresponding flight control signal to the rotor unit 130 and / or the corresponding crawl control signal to the running unit 210 based on the manual detection information. S36. Determine whether the obstacle avoidance reminder has stopped. If not, proceed to step S35; if yes, proceed to step S37. S37. Determine whether the detection is complete. If yes, end the process; otherwise, proceed to step S32.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A device for testing the construction quality of tunnel support structures, characterized in that, It includes a ground-penetrating radar system (300), a mobile platform (200) connected to the ground-penetrating radar system (300), and a flight support platform (100) connected to the mobile platform (200). The connection end of the ground penetrating radar system (300) is elastically connected to the mobile platform (200), and the detection end of the ground penetrating radar system (300) extends to the outside of the mobile platform (200). The flight support platform (100) is used to push the mobile platform (200) to squeeze the ground penetrating radar system (300) to fully fit with the area to be detected. The mobile platform (200) is used to drive the ground penetrating radar system (300) to move in the area to be detected. The flight support platform (100) includes a support base (110), a detection and control system, multiple electronic speed controllers (120), and multiple rotor units (130). Multiple rotor units (130) are arranged circumferentially around the axis of the support base (110). The detection control unit is located inside the support base (110) and is signal-connected to the corresponding rotor unit (130) via an electronic speed controller (120). The rotor unit (130) is located below the mobile platform (200) and extends to the outside of the mobile platform (200). The mobile platform (200) is detachably connected to the support base (110). The ground-penetrating radar system (300) is signal-connected to the detection control unit. The mobile platform (200) includes a walking unit (210), a mobile base plate (220), and an obstacle avoidance unit (230). The movable base plate (220) is connected between the ground penetrating radar system (300) and the support base (110). The obstacle avoidance unit (230) is disposed at one end of the movable base plate (220). There are two walking units (210). The two walking units (210) are disposed on opposite sides of the movable base plate (220). The obstacle avoidance unit (230) is located between the two walking units (210). The obstacle avoidance unit (230) is signal-connected to the walking unit (210) through the detection control. The ground-penetrating radar system (300) includes a flexible connector (310), a radar clamp (320), a ground-penetrating radar (330), and a pressure sensor; The ground-penetrating radar (330) is detachably connected to the radar clamp (320). One end of the elastic connector (310) is connected to the bottom of the radar clamp (320), and the other end of the elastic connector (310) is detachably connected to the moving base plate (220). The detection end of the ground-penetrating radar (330) extends above the traveling unit (210). The pressure sensor is located at the detection end of the ground-penetrating radar (330), and the pressure sensor is connected to the traveling unit (210) and the rotor unit (130) respectively through the detection control.

2. The tunnel support structure construction quality testing device according to claim 1, characterized in that, The rotor unit (130) includes a blade (131), a brushless motor (132), a frame (133), and a support foot (134). The blade (131) is connected to one end of the frame (133) via the brushless motor (132), and the other end of the frame (133) is connected to the support base (110). The frame (133) is located below the mobile platform (200). The electronic speed controller (ESC) (120) is mounted on the frame (133), and the overall control system is connected to the brushless motor (132) via the ESC (120). The support foot (134) is located at the bottom of the frame (133).

3. The tunnel support structure construction quality testing device according to claim 1, characterized in that, The tunnel support structure construction quality testing device also includes: The control unit (400) is used to send manual detection information to the main detection control; The host computer (500) is used to receive detection status information sent by the detection control center, detection information sent by the ground penetrating radar (330) and pressure data sent by the pressure sensor; to display the detection status information and detection information; to send automatic detection signals to the detection control center; and to obtain and display the detection results based on the detection information.

4. The tunnel support structure construction quality testing device according to claim 3, characterized in that, The detection status information includes position information, attitude information, height information, and distance information; the overall detection control includes: The positioning module is used to obtain the real-time location information of the flight support platform (100); A gyroscope is used to acquire real-time attitude information of the flight support platform (100); The air pressure module is used to acquire real-time altitude information of the flight support platform (100); An ultrasonic module is used to acquire real-time distance information between the flight support platform (100) and external obstacles; The control module is used to obtain and send flight control signals and / or crawl control signals based on the detection status information, manual detection information and automatic detection signals; The communication module is used to send the position information, attitude information, height information, distance information, detection information and pressure data to the host computer (500); and to send manual detection information and automatic detection signals to the control module.

5. A method for inspecting the construction quality of tunnel support structures, based on the tunnel support structure construction quality inspection device described in claim 4, characterized in that, Includes the following steps: S1. Determine the survey lines of the tunnel support structure and debug the tunnel support structure construction quality testing device; S2, the flight support platform (100) takes off and drives the ground penetrating radar system (300) to approach the corresponding survey line position via the mobile platform (200); S3. When the ground-penetrating radar system (300) is in contact with the survey line, the mobile platform (200) drives the ground-penetrating radar system (300) to move along the survey line and perform detection; S4. Acquire the detection data of the ground penetrating radar system (300) and obtain the detection results.

6. The method for testing the construction quality of tunnel support structures according to claim 5, characterized in that, Step S2 includes the following steps: S21. The host computer (500) determines the current status of the flight support platform (100): If the pressure data is less than the set fitting pressure value and the flight support platform (100) is not taken off based on the altitude information, then the flight support platform (100) is determined to be in a reset state, and step S22 is executed. If the pressure data is less than the set fitting pressure value, but the flight support platform (100) is determined to have taken off based on the altitude information, then the flight support platform (100) is determined to be in flight state, and step S23 is executed. If the pressure data is equal to or greater than the set fitting pressure value, and the flight support platform (100) is determined to have taken off based on the altitude information, then the flight support platform (100) is determined to be in the fitting state, and step S3 is executed. S22. The control module receives the takeoff signal sent by the host computer (500) through the communication module, and sends the corresponding flight control signal to the rotor unit (130) according to the takeoff signal and the detection status information. S23. The control module receives the bonding signal sent by the host computer (500) through the communication module, and sends the corresponding flight control signal to the rotor unit (130) according to the take-off signal and detection status information.

7. The method for testing the construction quality of tunnel support structures according to claim 6, characterized in that, Step S3 includes the following steps: S31, The host computer (500) sends an automatic detection signal, and the control module receives the automatic detection signal through the communication module; S32. The control module sends the corresponding flight control signal to the rotor unit (130) and the corresponding crawl control signal to the running unit (210) according to the detection status information. S33. The control module determines whether there is an obstacle in front of the walking unit (210) based on the obstacle avoidance information. If so, it sends an obstacle avoidance reminder to the host computer (500) through the communication module and executes step S34; otherwise, it executes step S32. S34. Start the control unit (400). The operator uses the control unit (400) to perform obstacle avoidance operation according to the obstacle avoidance information. The control unit (400) sends the corresponding manual detection information to the control module through the communication module. S35, the control module sends the corresponding flight control signal to the rotor unit (130) and / or the corresponding crawl control signal to the running unit (210) based on the manual detection information; S36. Determine whether the obstacle avoidance reminder has stopped. If not, proceed to step S35; if yes, proceed to step S37. S37. Determine whether the detection is complete. If yes, end the process; otherwise, proceed to step S32.

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