A multi-sensor fusion tunnel water seepage detection device

Abstract

The application belongs to the technical field of tunnel water seepage detection, and discloses a tunnel water seepage detection device based on multi-sensor fusion. The detection box can move on the tunnel wall or the tunnel ground to avoid the running train. The sensing assembly includes a detection plate, a humidity sensor, a temperature sensor and an infrared sensor installed on the detection plate, so as to determine the leakage point under normal weather conditions. The adjusting assembly includes a first driving element installed on the detection box. The first driving element drives the detection plate to rise or fall according to the requirement, thereby improving the practicability and detection accuracy. The listening assembly includes a knocking unit and a sound wave collector installed on the detection box. The knocking unit includes a second driving element, a swing arm and a knocking column. The second driving element drives the swing arm to rotate and drives the knocking column to knock the tunnel. The top and bottom of the detection box are both provided with the sound wave collector to collect sound wave information and analyze whether there is a crack, a cavity or water leakage. Thus, the detection accuracy can be improved under the condition of excessive humidity or cold weather.

Description

Technical Field

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

[0002] There are a huge number of joints in the tunnel body, each of which may be a potential source of leakage. A sensor array is usually used to detect the precise location of the leakage point. The sensor array is integrated into a tunnel water seepage detection device, which is placed in the tunnel and can be freely switched between tunnel ground operation mode and tunnel wall operation mode. This allows the detection of tunnel leakage points to be achieved while avoiding the operation of trains.

[0003] However, existing tunnel water seepage detection devices have the following problems: the detection height is limited and can only detect tunnel water seepage below a specific height level; the temperature and humidity of the tunnel are only detected by temperature sensors and humidity sensors, and the water seepage point is determined based on the temperature and humidity, resulting in rainy or cold weather affecting the accuracy of the judgment. Summary of the Invention

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

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A multi-sensor fusion tunnel water seepage detection device, comprising:

[0007] a detection box configured to move on a tunnel wall or a tunnel floor;

[0008] A sensing assembly, comprising a detection plate, a humidity sensor, a temperature sensor, and an infrared sensor. The detection plate is height-adjustably mounted on the detection box, and the humidity sensor, temperature sensor, and infrared sensor are all mounted on the detection plate.

[0009] An adjustment assembly, the adjustment assembly comprising a first driving member mounted on a side wall of the detection box, the first driving member being used to drive the detection plate to rise or fall;

[0010] The listening component 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, driving the knocking column to knock on the tunnel. The sound wave collector is installed on the top and bottom of the detection box, and the sound wave collector is close to the knocking unit.

[0011] 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 engages 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.

[0012] 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 sliding member is U-shaped, the guide sliding member 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.

[0013] Preferably, a through slot is vertically provided on the front 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 arranged on the inner wall of the detection box, and the rotating shaft of the fixed column is horizontally arranged. 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 arranged on the side of the turntable away from the second driving member. The swing arm has a motion hole 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.

[0014] 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.

[0015] Preferably, the detection box is further equipped with a camera, and the camera is configured to collect image information.

[0016] 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.

[0017] Preferably, it further includes a pulley walking assembly, which includes a first drive unit and multiple wheel groups, the multiple wheel groups are installed in an array at the bottom of the detection box, the first drive unit is installed in the detection box, and the first drive unit is configured to drive the multiple wheel groups forward or backward.

[0018] Preferably, it also includes an adsorption walking component, which includes a vacuum pump, a suction cup, a second drive 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 to be adsorbed on the tunnel wall, and the vacuum pump is connected to the suction cup, and the plurality of wheel legs are rotated and arranged on opposite sides of the detection box, and the second drive unit is configured to drive the plurality of wheel legs to rotate so as to move forward or backward on the tunnel wall.

[0019] Preferably, a remote control terminal is further included, and the remote control terminal is communicatively connected to the vacuum pump and the second driving unit.

[0020] Beneficial effects of the present invention:

[0021] The present invention provides a tunnel water seepage detection device with multi-sensor fusion, including a detection box, a sensor component, an adjustment component and a detection component. The detection box can be moved on the tunnel wall or tunnel ground to avoid operating trains. The sensor component includes a detection plate, a humidity sensor, a temperature sensor and an infrared sensor, so as to judge the leakage point under normal weather conditions. The detection plate is height-adjustable and installed on the detection box. The humidity sensor, the temperature sensor and the infrared sensor are all installed on the detection plate. The adjustment component includes a first driving member installed on the side wall of the detection box. The first driving member is used to drive the detection plate to rise or fall, and the detection height is adjusted according to demand to improve practicality and accuracy. The component 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 the top and bottom of the detection box. The sound wave collectors are close to the knocking unit. The sound wave collectors collect the knocking sound and analyze the signal to determine whether there is splitting, cavity leakage, etc., thereby avoiding the problem of low detection accuracy caused by failure of temperature sensors and humidity sensors when the humidity is too high or in cold weather, thereby improving the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 1 is a schematic structural diagram of a tunnel water seepage detection device using multi-sensor fusion according to an embodiment of the present invention;

[0023] Figure 2 1 is a schematic diagram of the assembly of the detection component and the adjustment component provided by an embodiment of the present invention;

[0024] Figure 3 2 is a schematic structural diagram of a knocking unit provided in an embodiment of the present invention.

[0025] In the picture:

[0026] 1. Detection box; 101. Wheel assembly; 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 slide; 331. Guide slide; 34. Motion gear; 35. Motion arm; 36. First pendulum column; 37. Connecting arm; 38. Adjustment box; 41. Second driving member; 42. Pendulum arm; 421. Motion hole; 43. Knocking column; 431. Buffer pad; 44. Fixed column; 45. Turntable; 46. Second pendulum column; 5. Sound wave collector; 6. Ultrasonic flaw detector. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0028] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0029] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0030] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0031] This embodiment provides a tunnel water seepage detection device with multi-sensor fusion, with adjustable detection height to avoid climate influence and improve detection accuracy.

[0032] See also Figures 1 to 3The multi-sensor fusion tunnel water seepage detection device includes a detection box 1, an adjustment component, a sensor component and a listening component, wherein the adjustment component, the sensor component and the listening component are all integrated on the detection box 1. The detection box 1 can be moved on the tunnel wall or the tunnel ground to avoid operating trains. The sensor component can judge the leakage point under normal weather conditions. The adjustment component can adjust the height of the sensor component according to needs to improve practicality and accuracy. The listening component can judge the leakage point in rainy or cold weather to prevent bad weather from affecting the judgment and improve the accuracy of leakage point detection.

[0033] The multi-sensor fusion tunnel water seepage detection device provided in this embodiment includes a pulley traveling assembly, and the detection box 1 is moved on the tunnel floor by setting the pulley traveling assembly.

[0034] Specifically, see Figure 1 The pulley travel assembly includes a first drive unit and multiple wheel sets 101. The multiple wheel sets 101 are installed in an array at the bottom of the detection box 1, and the first drive unit is installed in the detection box 1. In this embodiment, the detection box 1 is placed on the tunnel floor. By activating the first drive unit, the multiple wheel sets 101 are driven forward or backward synchronously, which in turn drives the detection box 1 forward or backward, thereby performing leakage detection in the tunnel.

[0035] The multi-sensor fusion tunnel water seepage detection device provided in this embodiment includes an adsorption walking component, and the adsorption walking component is provided to enable the detection box 1 to move on the tunnel wall.

[0036] Specifically, please refer to Figure 1 The adsorption walking component includes a vacuum pump, a suction cup 102, a second drive unit and multiple wheel legs. The vacuum pump is installed on 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 the vacuum pump is started, and the suction cup 102 is adsorbed on the tunnel wall; further, multiple wheel legs are rotated and arranged on opposite sides of the detection box 1. By starting the second drive unit, the multiple wheel legs are driven to rotate, thereby driving the detection box 1 to move forward or backward on the tunnel wall.

[0037] See also Figure 1 The detection box 1 is also 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 that the road condition can be effectively analyzed and the direction can be adjusted when encountering raised screws, support structures, etc. on the tunnel wall.

[0038] The multi-sensor fusion tunnel water seepage detection device provided in this embodiment also includes a remote control terminal, which is communicatively connected to the vacuum pump and the second drive unit. The remote control terminal issues instructions to the vacuum pump and the second drive unit to control the suction cup 102 to be adsorbed on the tunnel wall, drive multiple wheel legs to rotate, and then drive the detection box 1 to move forward or backward on the tunnel wall, saving manpower and avoiding high-altitude operations.

[0039] For example, see Figure 2 The sensing component includes a detection plate 21, a humidity sensor 22, a temperature sensor 23 and an infrared sensor 24. The detection plate 21 is mounted on the detection box 1 in an adjustable manner. The humidity sensor 22, the temperature sensor 23 and the infrared sensor 24 are all mounted on the detection plate 21. The humidity sensor 22, the temperature sensor 23 and the infrared sensor 24 are respectively used to collect humidity information, temperature information and infrared information of the tunnel in order to determine the water seepage point.

[0040] Preferably, two humidity sensors 22 are provided, and the two humidity sensors 22 are respectively arranged at both ends of the detection plate 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.

[0041] In this embodiment, an adjustment component is provided to adjust the height of the detection plate 21 .

[0042] For example, please see Figure 2 The 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 engaged with a motion gear 34, and the motion gear 34 is rotatably connected to the motion arm 35. One end of the motion arm 35 is provided with a first pendulum column 36. The first pendulum column 36 is limited in sliding in the guide slide 331. One end of the first pendulum column 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 motion gear 34 to rotate, and the motion gear 34 rotates along the guide gear ring 32 to drive the motion arm 35 to rotate. Since the first pendulum column 36 is limited in sliding in the guide slide 331, the first pendulum column 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.

[0043] Preferably, the first driving member 31 , the guide gear ring 32 and the guide sliding 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 .

[0044] Furthermore, the adjustment assembly 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.

[0045] 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 sliding member 33 is set to a U-shaped structure, and the two ends of the guide sliding member 33 are buckled on the top and bottom of the adjustment box 38, and the two ends of the guide sliding member 33 are fixed to the adjustment box 38.

[0046] Through the above-mentioned 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.

[0047] In this embodiment, a listening component is provided to determine the leakage point in rainy or cold weather, thereby preventing the judgment from being affected by bad weather and improving the accuracy of leakage point detection.

[0048] The listening component includes a knocking unit and an acoustic wave collector 5. The knocking unit knocks on the tunnel surface, and the acoustic wave collector 5 collects the knocking sound and analyzes the signal to determine whether there is splitting or cavity leakage. This can avoid the problem of low detection accuracy caused by failure of the temperature sensor 23 and the humidity sensor 22 in rainy weather with excessive humidity or in cold weather, thereby improving the accuracy of detection.

[0049] For example, see 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 ground.

[0050] Preferably, the rotating shaft of the swing arm 42 is set horizontally and the knocking column 43 is set vertically, thereby ensuring that the swing arm 42 drives the knocking column 43 to swing on the vertical plane, and the knocking column 43 can smoothly knock the wall and ground of the tunnel.

[0051] Further preferably, buffer pads 431 are laid on the top and bottom of the knocking column 43 to cushion the impact of the knocking column 43 on the tunnel wall and the tunnel ground to avoid damage.

[0052] Optionally, a through slot is vertically formed on the front of the detection box 1, and one end of the swing arm 42 extends into the through slot, thereby reducing the exposed area of ​​the swing arm 42 and improving safety. Further, optionally, the width of the through slot is the same as the width of the swing arm 42, thereby limiting the swing arm 42.

[0053] The knocking unit also includes a fixed column 44, which 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 groove and is connected to the fixed column 44. The second driving member 41 is installed inside the detection box 1. By arranging the fixed column 44 and the second driving member 41 inside the detection box 1, a protective effect is played.

[0054] The knocking unit also includes a turntable 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 turntable 45 is installed at the output end of the second driving member 41, and the second pendulum 46 is arranged on the side of the turntable 45 away from the second driving member 41. The swing arm 42 has a motion hole 421 along its length. The end of the second pendulum 46 is limited in the motion hole 421. The second driving member 41 drives the turntable 45 and the second pendulum 46 thereon to rotate. 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 post 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.

[0055] In this embodiment, acoustic wave collectors are installed at both the top and bottom of the detection box 1. Optionally, two acoustic wave collectors 5 are provided, one at the top and one at the bottom of the detection box 1. The two acoustic wave collectors 5 collect acoustic wave information when the top of the knocking column 43 strikes the tunnel wall or the bottom of the knocking column 43 strikes the tunnel floor, respectively, thereby improving the accuracy of the acoustic wave information. Preferably, the acoustic wave collectors 5 are located near the knocking unit to further improve the accuracy of the acoustic wave information, thereby improving the accuracy of leak point detection.

[0056] See also Figure 1 In this embodiment, ultrasonic flaw detectors 6 are further provided at 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.

[0057] 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 conjunction with the detection component, further avoiding the problem of low detection accuracy caused by failure of the temperature sensor 23 and the humidity sensor 22, and improving the accuracy of detection.

[0058] The multi-sensor fusion tunnel water seepage detection device provided in this embodiment also includes a processing center, and the humidity sensor 22, temperature sensor 23, infrared sensor 24, sound wave collector 5 and 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.

[0059] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A multi-sensor fusion tunnel water seepage detection device, comprising: The detection box (1) moves on the tunnel wall or the tunnel floor; A sensing assembly comprises a detection plate (21), a humidity sensor (22), a temperature sensor (23) and an infrared sensor (24); the detection plate (21) is mounted on the detection box (1) in an adjustable manner in height; the humidity sensor (22), the temperature sensor (23) and the infrared sensor (24) are all mounted on the detection plate (21); The adjusting assembly includes a first driving member (31) installed on the side wall of the detection box (1), the first driving member (31) drives the detection plate (21) to rise or fall, and also includes a guide gear ring (32) and a guide slide member (33), the guide slide member (33) vertically opens a guide slideway (331), the guide gear ring (32) is internally engaged with a motion gear (34), the motion gear (34) is rotatably connected to a motion arm (35), one end of the motion arm (35) is provided with a first pendulum (36), the first pendulum (36) is slidably limited in the guide slideway (331), one end of the first pendulum (36) extends out of the guide slideway (331) and is connected to the detection plate (21), the first driving member (31) drives the motion gear ( 34) rotates along the guide gear ring (32), drives the motion arm (35) to rotate, and the first pendulum column (36) slides in the guide slideway (331), and also includes an adjustment box (38) and a connecting arm (37), the adjustment box (38) is installed on the side wall of the detection box (1), the first driving member (31), the guide gear ring (32) and the first driving member (31) are all installed on the side of the adjustment box (38) away from the detection box (1), the guide slide member (33) is U-shaped, buckled and installed on the adjustment box (38), the connecting arm (37) connects the output end of the first driving member (31) and the motion gear (34), and the first driving member (31) drives the connecting arm (37) and the motion gear (34) to rotate; The detection component comprises a knocking unit and a sound wave collector (5). The knocking unit is installed on the front of the detection box (1) and comprises 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 its rotation axis is horizontally arranged. The knocking column (43) is vertically arranged and connected to the other end of the swing arm (42). The second driving member (41) drives the swing arm (42) to rotate, driving the knocking column (43) to knock on the tunnel. The sound wave collector (5) is installed on the top and bottom of the detection box (1).

2. The multi-sensor fusion tunnel water seepage detection device according to claim 1, characterized in that: The acoustic wave collector (5) is close to the knocking unit, and a through slot is vertically provided on the front of the detection box (1). The knocking unit further comprises a fixed column (44), a turntable (45) and a second swing column (46). The fixed column (44) is rotatably arranged on the inner wall of the detection box (1), and the rotating shaft of the fixed column (44) is horizontally arranged. 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 turntable (45) is installed on the second driving member. The output end of the member (41), the second pendulum column (46) is arranged on the side of the turntable (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 column (46) is slidingly limited in the motion hole (421), the second driving member (41) is configured to drive the turntable (45) and the second pendulum column (46) to rotate, and the second pendulum column (46) slides in the motion hole (421) to drive the swing arm (42) and the knocking column (43) to rotate.

3. The multi-sensor fusion tunnel water seepage detection device 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.

4. The multi-sensor fusion tunnel water seepage detection device 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.

5. The multi-sensor fusion tunnel water seepage detection device according to claim 4, characterized in that: The invention also includes a processing center, wherein 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, and the processing center is used to receive and process image information, humidity information, temperature information, infrared information and sound wave information.

6. The multi-sensor fusion tunnel water seepage detection device according to any one of claims 1 to 5, characterized in that: The invention also includes a pulley traveling assembly, wherein the pulley traveling assembly 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), and 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.

7. The multi-sensor fusion tunnel water seepage detection device according to any one of claims 1 to 5, characterized in that: The invention also includes an adsorption walking assembly, which includes a vacuum pump, a suction cup (102), a second drive unit and a plurality of wheel legs, wherein the vacuum pump is installed on the detection box (1), the suction cup (102) is installed on the top of the detection box (1) and is used to be adsorbed on the tunnel wall, and the vacuum pump is connected to the suction cup (102), and the plurality of wheel legs are rotatably arranged on opposite sides of the detection box (1), and the second drive unit is configured to drive the plurality of wheel legs to rotate so as to move forward or backward on the tunnel wall.

8. The multi-sensor fusion tunnel water seepage detection device according to claim 7, characterized in that: It also includes a remote control terminal, which is communicatively connected to the vacuum pump and the second drive unit.

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