Multi-sensor fused tunnel water seepage detection device

Abstract

The invention belongs to the technical field of tunnel water seepage detection, and discloses a multi-sensor fused tunnel water seepage detection device, a detection box can move on a tunnel wall surface or a tunnel ground to avoid an operating train, a sensing assembly comprises a detection plate, and a humidity sensor, a temperature sensor and an infrared sensor which are mounted on the detection plate, the detection device comprises a detection box, a detection plate is arranged on the detection box, then a leakage point is judged under the normal weather condition, an adjusting assembly comprises a first driving part installed on the detection box, the first driving part drives the detection plate to ascend or descend according to requirements, and practicability and detection accuracy are improved; the knocking unit comprises a second driving part, a swing arm and a knocking column, the second driving part drives the swing arm to rotate to drive the knocking column to knock the tunnel, and sound wave collectors are installed at the top and the bottom of the detection box to collect sound wave information and analyze and judge whether splitting and cavity water leakage exist or not, so that the detection accuracy is improved under the condition of too high humidity or cold weather.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel seepage detection, and particularly to a tunnel seepage detection device with multi-sensor fusion. Background Art

[0002] There are a large number of joints in the tunnel body, and each joint may be a potential leakage source. Usually, a sensor array is used to detect the exact position of the leakage point. The sensor array is integrated on the tunnel seepage detection device, and the tunnel seepage detection device is placed in the tunnel and can freely switch between the tunnel floor operation mode and the tunnel wall operation mode, so as to detect the tunnel leakage point on the premise of avoiding train operation.

[0003] However, the existing tunnel seepage detection devices have the following problems: the detection height is limited, and it can only detect the tunnel seepage situation under a specific height horizontal plane; only the temperature sensor and humidity sensor are used to detect the temperature and humidity of the tunnel, and the seepage point is judged according to the temperature and humidity, resulting in the influence of rainy weather or cold weather on the judgment accuracy. Summary of the Invention

[0004] The purpose of the present invention is to provide a tunnel seepage detection device with multi-sensor fusion, which has an adjustable detection height, avoids the influence of climate, and improves the detection accuracy.

[0005] To achieve this purpose, the present invention adopts the following technical solutions: A tunnel seepage detection device with multi-sensor fusion, comprising: A detection box configured to move on the tunnel wall or the tunnel floor; A sensing component, which includes a detection board, a humidity sensor, a temperature sensor and an infrared sensor. The detection board is installed on the detection box with adjustable height, and the humidity sensor, the temperature sensor and the infrared sensor are all installed on the detection board; An adjustment component, which includes a first driving member installed on the side wall of the detection box, and the first driving member is used to drive the detection board to rise or fall; A listening component, which includes a knocking unit and a sound wave collector. The knocking unit is installed on the front of the detection box. The knocking unit includes a second driving member, a swing arm and a knocking column. One end of the swing arm is rotatably connected to the front of the detection box, and its rotating shaft is horizontally arranged. The knocking column is vertically arranged and connected to the other end of the swing arm. The second driving member is configured to drive the swing arm to rotate, drive the knocking column to knock on the tunnel, and the sound wave collectors are installed on the top and bottom of the detection box, and the sound wave collectors are close to the knocking unit.

[0006] Preferably, the adjustment component also includes a guide gear ring and a guide slide, the guide slide vertically opens a guide slide, the guide gear ring internally meshes with a moving gear, the moving gear is rotatably connected to a moving arm, one end of the moving arm is provided with a first pendulum column, the sliding limit of the first pendulum column is located in the guide slide, one end of the first pendulum column extends out of the guide slide and is connected to the detection plate, and the first driving member is configured to drive the moving gear to rotate along the guide gear ring to drive the moving arm to rotate and the first pendulum column to slide in the guide slide.

[0007] Preferably, the adjustment assembly also includes an adjustment box and a connecting arm, the adjustment box is installed on the side wall of the detection box, the first driving member, the guide gear ring and the first driving member are all installed on the side of the adjustment box away from the detection box, the guide slide is a U-shaped structure, the guide slide is buckled and installed on the adjustment box, one end of the connecting arm is connected to the output end of the first driving member, and the other end of the connecting arm is connected to the moving gear, and the first driving member is configured to drive the connecting arm and the moving gear to rotate.

[0008] Preferably, a through slot is vertically provided on the front side of the detection box, and the knocking unit further includes a fixed column, a turntable and a second pendulum column. The fixed column is rotatably provided on the inner wall of the detection box, and the rotating shaft of the fixed column is horizontally provided. One end of the swing arm extends into the through slot and is connected to the fixed column. The second driving member is installed inside the detection box, and the turntable is installed at the output end of the second driving member. The second pendulum column is provided on the side of the turntable away from the second driving member. The swing arm has a motion hole provided along its length direction, and the end sliding limit of the second pendulum column is located in the motion hole. The second driving member is configured to drive the turntable and the second pendulum column to rotate, and the second pendulum column slides in the motion hole to drive the swing arm and the knocking column to rotate.

[0009] Preferably, ultrasonic flaw detectors are provided on the top and bottom of the detection box, and the ultrasonic flaw detectors are configured to perform flaw detection.

[0010] Preferably, the detection box is also equipped with a camera, and the camera is configured to collect image information.

[0011] Preferably, a processing center is also included, and the humidity sensor, the temperature sensor, the infrared sensor, the sound wave collector and the camera are all connected to the processing center, and the processing center is used to receive and process image information, humidity information, temperature information, infrared information and sound wave information.

[0012] Preferably, it further includes a pulley walking assembly, which includes a first driving unit and a plurality of wheel sets. The plurality of wheel sets are installed at the bottom of the detection box in an array, the first driving unit is installed on the detection box, and the first driving unit is configured to drive the plurality of wheel sets to move forward or backward.

[0013] Preferably, it further includes an adsorption walking assembly, which includes a vacuum pump, a suction cup, a second driving unit and a plurality of wheel legs. The vacuum pump is installed on the detection box, the suction cup is installed on the top of the detection box and is used for adsorbing on the tunnel wall surface, and the vacuum pump is connected to the suction cup. The plurality of wheel legs are rotatably arranged on opposite sides of the detection box, and the second driving unit is configured to drive the plurality of wheel legs to rotate to move forward or backward on the tunnel wall surface.

[0014] Preferably, it further includes a remote control terminal, and the remote control terminal is communicatively connected to the vacuum pump and the second driving unit.

[0015] Advantages of the present invention: The present invention provides a tunnel seepage detection device with multi-sensor fusion, which includes a detection box, a sensing assembly, an adjustment assembly and a listening assembly. The detection box can move on the tunnel wall or the tunnel floor to avoid operating trains. The sensing assembly includes a detection board, a humidity sensor, a temperature sensor and an infrared sensor, so as to judge the leakage point under normal weather conditions. The detection board is installed on the detection box in a height-adjustable manner, and the humidity sensor, the temperature sensor and the infrared sensor are all installed on the detection board. The adjustment assembly includes a first driving member installed on the side wall of the detection box, and the first driving member is used to drive the detection board to rise or fall, adjusting the detection height according to requirements, improving the practicability and accuracy. The listening assembly includes a knocking unit and a sound wave collector. The knocking unit includes a second driving member, a swing arm and a knocking column. One end of the swing arm is rotatably connected to the front of the detection box, and its rotating shaft is horizontally arranged. The knocking column is vertically arranged and connected to the other end of the swing arm. The second driving member is configured to drive the swing arm to rotate, driving the knocking column to knock on the tunnel. Sound wave collectors are installed on both the top and the bottom of the detection box, and the sound wave collectors are close to the knocking unit. The sound wave collectors collect the knocking sounds and analyze the signals to determine whether there are splits or cavity leaks. Furthermore, it can avoid the problem of low detection accuracy caused by the failure of the temperature sensor and the humidity sensor in case of excessive humidity or cold weather, improving the detection accuracy. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of the tunnel seepage detection device with multi-sensor fusion provided by an embodiment of the present invention; Figure 2 is an assembled schematic diagram of the detection assembly and the adjustment assembly provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of the tapping unit provided by an embodiment of the present invention.

[0017] In the figure: 1. Detection box; 101. Wheel set; 102. Suction cup; 103. Camera; 21. Detection plate; 22. Humidity sensor; 23. Temperature sensor; 24. Infrared sensor; 31. First driving member; 32. Guide gear ring; 33. Guide sliding member; 331. Guide sliding track; 34. Moving gear; 35. Moving arm; 36. First pendulum column; 37. Connecting arm; 38. Adjusting box; 41. Second driving member; 42. Swing arm; 421. Moving hole; 43. Tapping column; 431. Buffer pad; 44. Fixed column; 45. Turntable; 46. Second pendulum column; 5. Sound wave collector; 6. Ultrasonic flaw detector. Specific embodiments

[0018] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0019] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above and to the right", and "on the top of" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below and to the left", and "under the bottom of" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature is at a lower horizontal height than the second feature.

[0021] In the description of this embodiment, the orientation or positional relationships such as "upper", "lower", "right", etc. are based on the orientation or positional relationships shown in the drawings. It is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0022] This embodiment provides a multi-sensor fusion tunnel seepage detection device with adjustable detection height, which can avoid the influence of climate and improve the accuracy of detection.

[0023] Please refer to Figures 1 to 3 , the multi-sensor fusion tunnel seepage detection device includes a detection box 1, an adjustment component, a sensing component and a listening component. Among them, the adjustment component, the sensing component and the listening component are all integrated on the detection box 1. The detection box 1 can move on the tunnel wall surface or the tunnel ground to avoid operating trains. The sensing component can judge the leakage point under normal weather conditions. The adjustment component can adjust the height of the sensing component according to requirements, improving the practicability and accuracy. The listening component can judge the leakage point in rainy or cold weather, preventing the influence of bad weather on the judgment and improving the accuracy of detecting the leakage point.

[0024] The multi-sensor fusion tunnel seepage detection device provided in this embodiment includes a pulley walking component, and the movement of the detection box 1 on the tunnel ground is realized by setting the pulley walking component.

[0025] Specifically, please refer to Figure 1 , the pulley walking component includes a first driving unit and a plurality of wheel groups 101. The plurality of wheel groups 101 are arranged in an array at the bottom of the detection box 1, and the first driving unit is installed on the detection box 1. In this embodiment, the detection box 1 is placed on the tunnel ground. By starting the first driving unit, the plurality of wheel groups 101 are driven to move forward or backward synchronously, and then the detection box 1 is driven to move forward or backward to detect the leakage point in the tunnel.

[0026] The multi-sensor fusion tunnel seepage detection device provided in this embodiment includes an adsorption walking component, and the movement of the detection box 1 on the tunnel wall surface is realized by setting the adsorption walking component.

[0027] Specifically, please refer to Figure 1, the adsorption walking assembly includes a vacuum pump, a suction cup 102, a second driving unit and a plurality of wheel legs. The vacuum pump is installed in the detection box 1, the suction cup 102 is installed on the top of the detection box 1, the vacuum pump is connected to the suction cup 102, and when the vacuum pump is started, the suction cup 102 adsorbs to the tunnel wall surface; further, a plurality of wheel legs are rotatably arranged on opposite sides of the detection box 1, and by starting the second driving unit, the plurality of wheel legs are driven to rotate, thereby driving the detection box 1 to move forward or backward on the tunnel wall surface.

[0028] Please refer to Figure 1 , the detection box 1 is further equipped with a camera 103. Preferably, the camera 103 is installed on the front of the detection box 1. The camera 103 is used to collect image information of the road surface, so as to effectively analyze the road conditions and adjust the direction when encountering raised screws, support structures, etc. on the tunnel wall surface.

[0029] The tunnel seepage detection device with multi-sensor fusion provided in this embodiment further includes a remote control terminal. The remote control terminal is communicatively connected to the vacuum pump and the second driving unit. The remote control terminal issues instructions to the vacuum pump and the second driving unit to control the suction cup 102 to adsorb to the tunnel wall surface, drive the plurality of wheel legs to rotate, and thereby drive the detection box 1 to move forward or backward on the tunnel wall surface, saving manpower and avoiding high-altitude operations.

[0030] Exemplarily, please refer to Figure 2 , the sensing assembly includes a detection board 21, a humidity sensor 22, a temperature sensor 23 and an infrared sensor 24. The detection board 21 is installed on the detection box 1 with adjustable height. The humidity sensor 22, the temperature sensor 23 and the infrared sensor 24 are all installed on the detection board 21. The humidity sensor 22, the temperature sensor 23 and the infrared sensor 24 are respectively used to collect the humidity information, temperature information and infrared information of the tunnel to facilitate the judgment of seepage points.

[0031] Preferably, there are two humidity sensors 22, and the two humidity sensors 22 are respectively arranged at both ends of the detection board 21 to improve the accuracy of humidity information. The temperature sensor 23 and the infrared sensor 24 are arranged between the two humidity sensors 22.

[0032] This embodiment is provided with an adjustment assembly for adjusting the height of the detection board 21.

[0033] Exemplarily, please continue to refer to Figure 2The adjustment assembly includes a first driving member 31, a guide gear ring 32 and a guide slide 33 installed on the detection box 1. The guide slide 33 is provided with a guide slide 331, and the guide slide 331 is vertically arranged. The guide gear ring 32 is internally meshed with a moving gear 34, and the moving gear 34 is rotatably connected to a moving arm 35. A first pendulum 36 is provided at one end of the moving arm 35. The first pendulum 36 is limited in sliding in the guide slide 331. One end of the first pendulum 36 extends out of the guide slide 331 and is connected to the detection plate 21. Through the above arrangement, the first driving member 31 drives the moving gear 34 to rotate, and the moving gear 34 rotates along the guide gear ring 32 to drive the moving arm 35 to rotate. Since the first pendulum 36 is limited in sliding in the guide slide 331, the first pendulum 36 drives the detection plate 21 to slide up and down in the guide slide 331, thereby adjusting the detection plate 21 to rise or fall.

[0034] Preferably, the first driving member 31 , the guide gear ring 32 and the guide slide member 33 are installed on the side wall of the detection box 1 and are located on the same side as the detection plate 21 .

[0035] Furthermore, the adjustment component also includes a connecting arm 37, one end of the connecting arm 37 is connected to the output end of the first driving member 31, and the other end of the connecting arm 37 is connected to the moving gear 34. The first driving member 31 drives the connecting arm 37 to rotate, thereby driving the moving gear 34 thereon to rotate.

[0036] Furthermore, the adjustment assembly also includes an adjustment box 38, which is installed on the side wall of the detection box 1 and is located on the same side as the detection plate 21. The first drive member 31, the guide gear ring 32 and the first drive member 31 are all installed on the side of the adjustment box 38 away from the detection box 1. In this embodiment, the guide slide 33 is set to a U-shaped structure, and the two ends of the guide slide 33 are buckled on the top and bottom of the adjustment box 38, and the two ends of the guide slide 33 are fixed to the adjustment box 38.

[0037] Through the above arrangement, the first driving member 31 drives the connecting arm 37 to rotate, driving the moving gear 34 thereon to rotate, and the moving gear 34 rotates along the guide gear ring 32 to drive the moving arm 35 thereon to rotate. Since the first pendulum column 36 on the moving arm 35 is limited in the guide slide 331, the first pendulum column 36 drives the detection plate 21 and the humidity sensor 22, temperature sensor 23 and infrared sensor 24 thereon to slide up and down in the guide slide 331, thereby adjusting the height of the detection plate 21, expanding the detection area, and realizing the inspection of tunnel water leakage at different heights.

[0038] In this embodiment, a listening component is provided to judge the leakage point in rainy or cold weather, so as to prevent the judgment from being affected by bad weather and improve the accuracy of leakage point detection.

[0039] The detection component includes a knocking unit and a sound wave collector 5. The knocking unit knocks on the tunnel surface, and the sound wave collector 5 collects the knocking sound and analyzes the signal to determine whether there are splits or cavity leaks. Furthermore, it can avoid the problem of low detection accuracy caused by the failure of the temperature sensor 23 and the humidity sensor 22 in rainy weather with high humidity or cold weather, and improve the detection accuracy.

[0040] Exemplarily, please refer to Figure 3 , the knocking unit is installed on the front of the detection box 1. The knocking unit includes a second driving member 41, a swing arm 42 and a knocking column 43. One end of the swing arm 42 is rotatably connected to the front of the detection box 1, and the knocking column 43 is connected to the other end of the swing arm 42. The second driving member 41 is used to drive the swing arm 42 to rotate, thereby driving the top of the knocking column 43 to knock on the tunnel wall or the bottom of the knocking column 43 to knock on the tunnel floor.

[0041] Preferably, the rotating shaft of the swing arm 42 is horizontally arranged, and the knocking column 43 is vertically arranged, so as to ensure that the swing arm 42 drives the knocking column 43 to swing in the vertical plane, and the knocking column 43 can smoothly knock on the wall and floor of the tunnel.

[0042] Further preferably, buffer pads 431 are laid on both the top and the bottom of the knocking column 43 to buffer the impact of the knocking column 43 on the tunnel wall and the tunnel floor and avoid damage.

[0043] Optionally, a through groove is vertically opened on the front of the detection box 1, and one end of the swing arm 42 extends into the through groove to reduce the exposed area of the swing arm 42 and improve the safety performance. Further optionally, the groove width of the through groove is the same as the width of the swing arm 42, so as to play a role in limiting the swing arm 42.

[0044] The knocking unit further includes a fixing column 44. The fixing column 44 is rotatably arranged on the inner wall of the detection box 1. The rotating shaft of the fixing column 44 is horizontally arranged. One end of the swing arm 42 extends into the through groove and is connected to the fixing column 44. The second driving member 41 is installed inside the detection box 1. By arranging the fixing column 44 and the second driving member 41 inside the detection box 1, it can play a protective role for them.

[0045] The knocking unit also includes a rotating disk 45 and a second pendulum 46, through which the second driving member 41 drives the swing arm 42 to rotate, and limits the rotation range of the swing arm 42. Specifically, the rotating disk 45 is installed at the output end of the second driving member 41, the second pendulum 46 is arranged on the side of the rotating disk 45 away from the second driving member 41, the swing arm 42 is provided with a motion hole 421 along its length direction, the end of the second pendulum 46 is limited in the motion hole 421, the second driving member 41 drives the rotating disk 45 and the second pendulum 46 thereon to rotate, and since the second pendulum 46 is limited in the motion hole 421, the second pendulum 46 slides in the motion hole 421 to drive the swing arm 42 and the knocking column 43 to rotate, and the sliding range of the second pendulum 46 is limited to the two ends of the motion hole 421, thereby limiting the rotation range of the swing arm 42.

[0046] In this embodiment, sound wave collectors are installed at the top and bottom of the detection box 1. Optionally, two sound wave collectors 5 are provided, and the two sound wave collectors 5 are respectively installed at the top and bottom of the detection box 1. The two sound wave collectors 5 collect sound wave information when the top of the knocking column 43 knocks the tunnel wall or the bottom of the knocking column 43 knocks the tunnel ground, respectively, to improve the accuracy of the sound wave information. Preferably, the sound wave collector 5 is arranged close to the knocking unit to further improve the accuracy of the sound wave information, thereby improving the detection accuracy of the leakage point.

[0047] See also Figure 1 In this embodiment, ultrasonic flaw detectors 6 are also arranged on the top and bottom of the detection box 1. When the detection box 1 moves on the tunnel ground, the ultrasonic flaw detector 6 at the bottom of the detection box 1 performs flaw detection on the tunnel ground. When the detection box 1 moves on the tunnel wall, the ultrasonic flaw detector 6 at the top of the detection box 1 performs flaw detection on the tunnel wall.

[0048] By setting up the ultrasonic flaw detector 6, in rainy weather with high humidity or cold weather, the leakage point detection is further carried out in cooperation with the detection component, which further avoids the problem of low detection accuracy caused by failure of the temperature sensor 23 and the humidity sensor 22, and improves the accuracy of detection.

[0049] The multi-sensor fusion tunnel water seepage detection device provided in this embodiment also includes a processing center, and the humidity sensor 22, the temperature sensor 23, the infrared sensor 24, the sound wave collector 5 and the camera 103 are all connected to the processing center. After receiving the image information, humidity information, temperature information, infrared information and sound wave information, the processing center comprehensively processes and judges the above information, and then locates the suspected leakage point.

[0050] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A tunnel seepage detection device with multi-sensor fusion, characterized in that, Comprising: A detection box (1), the detection box (1) being configured to move on the tunnel wall surface or the tunnel ground; A sensing component, the sensing component including a detection plate (21), a humidity sensor (22), a temperature sensor (23) and an infrared sensor (24), the detection plate (21) being installed on the detection box (1) with adjustable height, and the humidity sensor (22), the temperature sensor (23) and the infrared sensor (24) all being installed on the detection plate (21); An adjusting component, the adjusting component including a first driving member (31) installed on the side wall of the detection box (1), the first driving member (31) being used to drive the detection plate (21) to rise or fall; A listening component, the listening component including a knocking unit and a sound wave collector (5), the knocking unit being installed on the front of the detection box (1), the knocking unit including a second driving member (41), a swing arm (42) and a knocking column (43), one end of the swing arm (42) being rotatably connected to the front of the detection box (1), and its rotating shaft being horizontally arranged, the knocking column (43) being vertically arranged and connected to the other end of the swing arm (42), the second driving member (41) being configured to drive the swing arm (42) to rotate, driving the knocking column (43) to knock on the tunnel, and the sound wave collector (5) being installed on both the top and the bottom of the detection box (1), the sound wave collector (5) being close to the knocking unit.

2. The multi-sensor fusion tunnel seepage detection device according to claim 1, characterized in that, The adjusting component further includes a guiding gear ring (32) and a guiding slider (33), the guiding slider (33) vertically opening a guiding slideway (331), the guiding gear ring (32) internally meshing with a moving gear (34), a moving arm (35) being rotatably connected to the moving gear (34), one end of the moving arm (35) being provided with a first swinging column (36), the first swinging column (36) being slidably limited in the guiding slideway (331), one end of the first swinging column (36) extending out of the guiding slideway (331) and connecting the detection plate (21), the first driving member (31) being configured to drive the moving gear (34) to rotate along the guiding gear ring (32), so as to drive the moving arm (35) to rotate and the first swinging column (36) to slide in the guiding slideway (331).

3. The multi-sensor fusion tunnel seepage detection device according to claim 2, wherein The adjusting component further includes an adjusting box (38) and a connecting arm (37), the adjusting box (38) being installed on the side wall of the detection box (1), the first driving member (31), the guiding gear ring (32) and the first driving member (31) all being installed on the side of the adjusting box (38) facing away from the detection box (1), the guiding slider (33) having a U-shaped structure, the guiding slider (33) being buckled and installed on the adjusting box (38), one end of the connecting arm (37) being connected to the output end of the first driving member (31), the other end of the connecting arm (37) being connected to the moving gear (34), the first driving member (31) being configured to drive the connecting arm (37) and the moving gear (34) to rotate.

4. The multi-sensor fusion tunnel seepage detection device according to claim 1, characterized in that The front side of the detection box (1) is provided with a through slot vertically, the knocking unit further comprises a fixed column (44), a rotating disk (45) and a second swing column (46), the fixed column (44) is rotatably arranged on the inner wall of the detection box (1), the rotating shaft of the fixed column (44) is arranged horizontally, one end of the swing arm (42) extends into the through slot and is connected to the fixed column (44), the second driving member (41) is installed inside the detection box (1), and the rotating disk (45) is installed at the output end of the second driving member (41), The second pendulum column (46) is arranged on a side of the rotating disk (45) away from the second driving member (41); the swing arm (42) is provided with a movement hole (421) along its length direction; the end of the second pendulum column (46) is slidingly limited in the movement hole (421); the second driving member (41) is configured to drive the rotating disk (45) and the second pendulum column (46) to rotate; the second pendulum column (46) slides in the movement hole (421) to drive the swing arm (42) and the knocking column (43) to rotate.

5. The tunnel seepage detection device with multi-sensor fusion according to claim 1, characterized in that The top and bottom of the detection box (1) are both provided with ultrasonic flaw detectors (6), and the ultrasonic flaw detectors (6) are configured to perform flaw detection.

6. The tunnel seepage detection device with multi-sensor fusion according to claim 1, characterized in that, The detection box (1) is also equipped with a camera (103), and the camera (103) is configured to collect image information.

7. The tunnel seepage detection device with multi-sensor fusion according to claim 6, characterized in that, It also includes a processing center, to which the humidity sensor (22), the temperature sensor (23), the infrared sensor (24), the sound wave collector (5) and the camera (103) are all connected, and the processing center is used to receive and process image information, humidity information, temperature information, infrared information and sound wave information.

8. The multi-sensor fusion tunnel seepage detection device according to any one of claims 1-7, characterized in that, It also includes a pulley walking assembly, which includes a first driving unit and a plurality of wheel groups (101), wherein the plurality of wheel groups (101) are installed in an array at the bottom of the detection box (1), the first driving unit is installed on the detection box (1), and the first driving unit is configured to drive the plurality of wheel groups (101) forward or backward.

9. The tunnel seepage detection device with multi-sensor fusion according to any one of claims 1-7, characterized in that, The invention also comprises an adsorption walking assembly, the adsorption walking assembly comprising a vacuum pump, a suction cup (102), a second driving unit and a plurality of wheel legs, the vacuum pump being mounted on the detection box (1), the suction cup (102) being mounted on the top of the detection box (1) and being used for adsorption on the tunnel wall, the vacuum pump being connected to the suction cup (102), the plurality of wheel legs being rotatably arranged on opposite sides of the detection box (1), and the second driving unit being configured to drive the plurality of wheel legs to rotate so as to move forward or backward on the tunnel wall.

10. The multi-sensor fusion tunnel seepage detection device according to claim 9, characterized in that, It also includes a remote control terminal, which is communicatively connected to the vacuum pump and the second drive unit.

Images