Tunnel lining cavity detection device

Abstract

The invention discloses a tunnel lining cavity detection device, and relates to the technical field of tunnel detection devices. Through cooperation of the folding assembly, the lower-layer detection assembly and the upper-layer detection assembly, the folding and unfolding states are conveniently switched, so that the detection mechanism can be folded when the device is not used, the space is saved, and the capacity of saving the conveying space is achieved; the analysis module analyzes the rotation angle data of the geological detector, can accurately determine whether there is a barrier in the advancing direction of the geological detector, controls the telescopic action of the telescopic hydraulic rod according to the barrier condition, ensures that the geological detector adjusts the position in time when encountering the barrier, is always tightly attached to the inner wall of a tunnel, and maintains a stable detection state. Deviation of detection data caused by factors such as unevenness of the inner wall of the tunnel and existence of obstacles is avoided, accuracy and reliability of detection are greatly improved, and it is guaranteed that the detection data can truly reflect the actual condition of the tunnel lining.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection devices, and particularly to a tunnel lining cavity detection device. Background Art

[0002] A tunnel lining refers to a permanent structure that supports and maintains the long-term stability and durability of a tunnel. Its functions are: supporting and maintaining the stability of the tunnel, providing the space required for train operation, preventing the weathering of surrounding rocks, and relieving the influence of groundwater, etc.; the tunnel lining must have sufficient strength, durability, and certain frost resistance, impermeability, and erosion resistance; the tunnel lining mainly consists of an arch ring, side walls, an invert, and a floor; to drain the water in the tunnel, a drainage ditch is also provided in the tunnel.

[0003] Existing tunnel linings usually have various problems. Among them, the cavity problem will greatly affect the safety and quality of the lining. However, the surface of the internal cavity cannot be observed, making it difficult to detect, so detection equipment is needed to detect the cavity; the existing tunnel lining cavity detection equipment mainly relies on handheld geological exploration, and requires workers to cooperate with a lift truck to detect the internal conditions of each point of the lining, which is not only inefficient but also unsafe during the detection process.

[0004] Therefore, the present invention improves the existing equipment in view of the above problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to provide a tunnel lining cavity detection device.

[0006] To achieve the above purpose, the present invention adopts the following technical solution: A tunnel lining cavity detection device includes a truck, and a detection mechanism is provided on the truck behind the truck. The detection mechanism includes a folding assembly, a lower-layer detection assembly, and an upper-layer detection assembly, and an adjustment assembly is provided on the folding assembly.

[0007] Preferably, the folding assembly includes a mounting plate, the mounting plate is fixedly installed on the rear top surface of the truck, a rotating seat is fixedly connected to the front of the top surface of the mounting plate, a lifting frame is rotatably connected to the rotating seat, the lifting frame is of a bent structure, a pair of retracting hydraulic rods are rotatably connected to the top surface of the lifting frame through a hinge seat, the other ends of the retracting hydraulic rods are rotatably connected to the top surface of the truck, the other end of the lifting frame is fixedly connected to a guide plate, a lifting column is slidably connected to the guide plate, and a lifting hydraulic rod is provided between the lifting column and the lifting frame.

[0008] Preferably, the lower-layer detection assembly includes a lower-layer hinge seat, the lower-layer hinge seat is fixedly installed on the lower part of the front end face of the lifting column, a first extension sleeve is symmetrically hinged in the lower-layer hinge seat, a first extension rod is embedded in the first extension sleeve, and a first telescopic hydraulic rod is fixedly installed between the first extension rod and the first extension sleeve.

[0009] Preferably, a folding hinge seat is fixedly connected to the upper part of the front end face of the lifting column. A first folding hydraulic rod is rotatably connected inside the folding hinge seat. The other end of the first folding hydraulic rod is rotatably connected to a first extension sleeve. The front end of the first extension rod is rotatably connected to a second extension sleeve. A second extension rod is inlaid inside the second extension sleeve. A second telescopic hydraulic rod is installed and fixed between the second extension rod and the second extension sleeve.

[0010] Preferably, the upper detection assembly includes an upper hinge seat. The upper hinge seat is installed and fixed on the top surface of the lifting column. Three groups of first extension sleeves, first extension rods, and first telescopic hydraulic rods at equal angles are rotatably connected inside the upper hinge seat. A second folding hydraulic rod is rotatably connected between the first extension sleeves. Geological detectors are rotatably connected to the outer ends of the first extension rod and the second extension rod.

[0011] Preferably, the adjustment assembly includes a hydraulic oil controller. The hydraulic oil controller is installed and fixed on the outer side surface of the lifting frame. One side of the hydraulic oil controller is communicated with an oil supply system. A plurality of electric valves are equidistantly communicated with the top surface of the hydraulic oil controller.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] 1. Through the cooperation of the folding assembly, the lower detection assembly, and the upper detection assembly, it is convenient to switch the retracted and extended states, so that the detection mechanism can be retracted when the device is not in use, thus saving space, achieving the ability to save transportation space. Then, through the cooperation of the adjustment assembly, the lower detection assembly, and the upper detection assembly, it is convenient to freely adjust each geological detector to always fit the inner wall of the tunnel, improving the detection efficiency and the safety of the detection process, and achieving the ability to detect tunnels with different curvatures or front-to-back diameters in one go; ultimately solving the problem that existing detection equipment requires staff to cooperate with a lifting vehicle to detect each point of the lining.

[0014] 2. By analyzing the rotation angle data of the geological detector by the analysis module, it can accurately determine whether there are obstacles in its traveling direction, and control the telescopic action of the telescopic hydraulic rod according to the obstacle situation, ensuring that the geological detector adjusts its position in time when encountering obstacles, always tightly fitting the inner wall of the tunnel, maintaining a stable detection state, avoiding deviation of detection data caused by factors such as uneven inner wall of the tunnel and the existence of obstacles, greatly improving the accuracy and reliability of detection, and ensuring that the detection data can truly reflect the actual situation of the tunnel lining. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0016] Figure 1 This is a three-dimensional schematic diagram of the overall appearance of the device proposed by the present invention;

[0017] Figure 2 This is a three-dimensional schematic diagram of the structure of the detection mechanism proposed by the present invention;

[0018] Figure 3 This is a three-dimensional schematic diagram of the structure of the folding assembly proposed by the present invention;

[0019] Figure 4 This is a three-dimensional schematic diagram of the structure of the lower-layer detection assembly proposed by the present invention;

[0020] Figure 5 This is a three-dimensional schematic diagram of the structure of the upper-layer detection assembly proposed by the present invention;

[0021] Figure 6 This is a system flow chart proposed by the present invention.

[0022] Reference numerals in the figure: 1, truck; 2, mounting plate; 3, lifting frame; 4, recovery hydraulic rod; 5, lifting column; 6, lifting hydraulic rod; 7, lower-layer hinge seat; 8, first extension sleeve; 9, first extension rod; 10, first telescopic hydraulic rod; 11, folding hinge seat; 12, first folding hydraulic rod; 13, second extension sleeve; 14, second extension rod; 15, second telescopic hydraulic rod; 16, upper-layer hinge seat; 17, second folding hydraulic rod; 18, geological detector; 19, hydraulic oil controller; 20, electric valve. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0024] Embodiment: Refer to Figure 1-6, a tunnel lining cavity detection device in the present invention includes a truck 1. A detection mechanism is provided on the truck behind the truck 1. The detection mechanism includes a folding assembly, a lower layer detection assembly, and an upper layer detection assembly. An adjustment assembly is provided on the folding assembly. The modular design facilitates the maintenance and upgrade of the device. To solve the problem that existing equipment usually has difficulty in detecting complex tunnels at one time, the following technical solutions are adopted: The folding assembly includes a mounting plate 2. The mounting plate 2 is fixedly installed on the top rear of the truck 1. A rotating seat is fixedly connected to the front of the top surface of the mounting plate 2. A lifting frame 3 is rotatably connected to the rotating seat. The lifting frame 3 is a bent structure. A pair of recovery hydraulic rods 4 are rotatably connected to the top surface of the lifting frame 3 through a hinge seat. The other end of the recovery hydraulic rod 4 is rotatably connected to the top surface of the truck 1. The other end of the lifting frame 3 is fixedly connected to a guide plate. A lifting column 5 is slidably connected to the guide plate. A lifting hydraulic rod 6 is provided between the lifting column 5 and the lifting frame 3. The lower layer detection assembly includes a lower layer hinge seat 7. The lower layer hinge seat 7 is fixedly installed on the lower part of the front end surface of the lifting column 5. A pair of first extension sleeves 8 are symmetrically hinged in the lower layer hinge seat 7. A first extension rod 9 is inlaid in the first extension sleeve 8. A first telescopic hydraulic rod 10 is fixedly installed between the first extension rod 9 and the first extension sleeve 8. A folding hinge seat 11 is fixedly connected to the upper part of the front end surface of the lifting column 5. A first folding hydraulic rod 12 is rotatably connected in the folding hinge seat 11. The other end of the first folding hydraulic rod 12 is rotatably connected to the first extension sleeve 8. The front end of the first extension rod 9 is rotatably connected to a second extension sleeve 13. A second extension rod 14 is inlaid in the second extension sleeve 13. A second telescopic hydraulic rod 15 is fixedly installed between the second extension rod 14 and the second extension sleeve 13.

[0025] In the present invention, the upper layer detection assembly includes an upper layer hinge seat 16. The upper layer hinge seat 16 is fixedly installed on the top surface of the lifting column 5. Three groups of first extension sleeves 8, first extension rods 9, and first telescopic hydraulic rods 10 at equal angles are rotatably connected in the upper layer hinge seat 16. A second folding hydraulic rod 17 is rotatably connected between the first extension sleeves 8. Geological detectors 18 are rotatably connected to the outer ends of the first extension rods 9 and the second extension rods 14. The adjustment assembly includes a hydraulic oil controller 19. The hydraulic oil controller 19 is fixedly installed on the outer side surface of the lifting frame 3. One side of the hydraulic oil controller 19 is communicated with an oil supply system. A plurality of electric valves 20 are equidistantly communicated with the top surface of the hydraulic oil controller 19. Through the cooperation of the folding assembly, the lower layer detection assembly, and the upper layer detection assembly, it is convenient to switch the retraction and extension states so that the detection mechanism can be retracted when the device is not in use, thus saving space. Through the cooperation of the adjustment assembly, the lower layer detection assembly, and the upper layer detection assembly, it is convenient to freely adjust each geological detector 18 to always fit the inner wall of the tunnel.

[0026] A control box is installed on the truck 1 near the mounting plate 2. A intelligent control component is arranged inside the control box. The intelligent control component includes a acquisition module, an analysis module, and an execution module.

[0027] The acquisition module detects the rotation angle data of the geological detector 18, detects the ultrasonic time data sent and received by the geological detector 18, and transmits the detected data to the analysis module;

[0028] The analysis module analyzes the rotation angle data transmitted by the acquisition module, determines whether there is an obstacle in the traveling direction of the geological detector 18, and analyzes the obstacle. If it is determined to perform telescopic avoidance, a telescopic signal is generated; if it is determined to perform circumvention avoidance, a circumvention signal is generated; if it is determined that it is not the above two cases, a deceleration warning signal is generated; analyzes the ultrasonic time data transmitted by the acquisition module, determines the abnormality rate at the tunnel detection position, and compares the abnormality rate with a preset abnormality threshold to generate first-level, second-level, and third-level warning signals; transmits the signals generated by the analysis module to the execution module;

[0029] An infrared rangefinder is also installed outside the geological detector 18 through a turntable. The turntable rotates driven by a micro-motor to rotate the angle of the infrared rangefinder; a pressure sensor is also arranged outside the geological detector 18 to detect the pressure data between the tunnel top and the geological detector 18, and compares the detected pressure data with the preset pressure data. If the detected pressure data is greater than the preset pressure data, it is determined to be in close contact; otherwise, a close-contact adjustment signal is generated and transmitted to the execution module; after receiving the close-contact adjustment signal, the execution module controls the telescopic hydraulic rod at the corresponding position to extend, so that the position of the geological detector 18 rises and is in close contact with the tunnel top;

[0030] The included angle between the infrared rangefinder and the tunnel top is When the geological detector 18 is in close contact with the tunnel top, the distance between the infrared rangefinder and the tunnel top is Then the distance between the infrared rangefinder and the detection point If the detected distance data It is determined that there is a change in the height difference at the corresponding position of the tunnel top of the geological detector 18 in the traveling direction of the truck 1; if It is determined that there is an upward depression in the front, and continue to detect; if It is determined that there is a downward convexity in the front, and analyze the size of the downward convexity;

[0031] Transmit a signal to control the micro-motor to drive the infrared rangefinder to rotate the angle in the vertical direction, record the detection data of the infrared rangefinder during the rotation process, and compare the detection data at the two detection times before and after. When the difference is greater than the preset difference threshold, it is determined that the included angle between the infrared rangefinder and the horizontal direction at the previous moment is The distance between the bottom end of the downward convexity and the infrared rangefinder is Then the height of the downward convexity ; the adjustment speed of the telescopic hydraulic rod at the corresponding position is , then the adjustment time required for the downward convex height , the vertical adjustment time of the infrared rangefinder is , if , then analyze the width data of the downward convexity, is the forward speed of truck 1; conversely, generate a telescopic signal and transmit the telescopic signal to the execution module; after receiving the telescopic signal, the execution module controls the telescopic hydraulic rod at the corresponding position to shorten , and extend when the detected pressure data is less than the preset pressure data until the detected pressure data is equal to the preset pressure data;

[0032] After measuring the downward convex height data, the infrared rangefinder resets and rotates horizontally under the control of the micro motor. When the difference between the detection data at the two detection times before and after is greater than the preset difference threshold, determine the width of the downward convexity , is the time consumed for the horizontal rotation of the infrared rangefinder, and the reset time is short and negligible; if , then generate a deceleration warning signal and transmit the deceleration warning signal to the execution module, is the time required for the geological detector 18 to perform horizontal displacement; conversely, generate an avoidance signal and transmit the avoidance signal to the execution module; after receiving the deceleration warning signal, the execution module controls the warning light outside the control box to emit an audible and visual alarm to remind the driver to perform a deceleration operation; after receiving the avoidance signal, the execution module controls the telescopic hydraulic rod at the corresponding position to extend until the horizontal displacement of the geological detector 18 reaches half of the width data of the downward convexity.

[0033] During the detection process of the geological detector 18 by ultrasonic waves, record the propagation time of the ultrasonic waves and compare the obtained propagation time data with the preset time data. If the propagation time data from the emission to the reception of the reflected wave is greater than the preset time data , then determine that there is a cavity inside the tunnel at the detection position. The propagation speeds of the ultrasonic waves at the tunnel wall and cavity positions are respectively and , then the size data of the cavity at the detection position ; if the preset size threshold , then determine that the cavity detection is abnormal and increment the abnormal count by one;

[0034] Analyze the thickness of the tunnel lining detected based on the ultrasonic wave propagation data , compare the detected tunnel lining thickness data with the tunnel design thickness data , if , If it is a preset error value, it is determined that the lining thickness detection is abnormal, and the abnormal count is incremented by one;

[0035] Detect the amplitude and frequency of the received ultrasonic wave. According to the amplitude and frequency measured in normal dense lining concrete, calculate the amplitude attenuation rate and frequency change rate . If and are both greater than the corresponding preset thresholds, it is determined that the detection of loose lining structure is abnormal, and the abnormal count is incremented by one;

[0036] Normalize the calculated cavity size data, lining thickness data, amplitude attenuation rate and frequency change rate data, screen out the maximum and minimum values of the corresponding data, subtract the minimum value of the corresponding data from the calculated corresponding data, divide the obtained value by the difference between the maximum and minimum values of the corresponding data, and record the calculated data as , , and . Then the abnormal rate , , , are the weight coefficients of the corresponding items respectively. If , generate a first-level warning signal and transmit the first-level warning signal to the execution module, is the preset abnormal threshold. If , generate a second-level warning signal and transmit the second-level warning signal to the execution module, is the preset coefficient. If , generate a third-level warning signal and transmit the third-level warning signal to the execution module, is the preset coefficient. After receiving the first-level warning signal, the buzzer module in the intelligent control component emits a buzzer warning, and the green light representing the first-level warning among the three-color indicator lights connected to the control box in Truck 1 lights up, reminding the driver to perform a deceleration operation. After receiving the second-level warning signal, the buzzer module in the intelligent control component emits a buzzer warning, and the yellow light representing the second-level warning among the three-color indicator lights connected to the control box in Truck 1 lights up, reminding the driver to stop for marking operations. After receiving the third-level warning signal, the buzzer module in the intelligent control component emits a buzzer warning, and the red light representing the third-level warning among the three-color indicator lights connected to the control box in Truck 1 lights up, reminding the driver to stop and contact relevant technical personnel to conduct a comprehensive inspection of the detection site.

[0037] Working principle: When the present invention is in use, first, power is supplied to all electrical equipment. Then, the truck 1 is driven to the starting point. Then, through the cooperation of the hydraulic oil controller 19 and the electric valve 20, the recovery hydraulic rod 4 is extended, so that the detection mechanism in the retracted state rotates on the mounting plate 2 to form a vertical state. Then, the lifting hydraulic rod 6 is used to lift the lifting column 5, so that the lower hinge seat 7 and the upper hinge seat 16 rise to facilitate extension. Then, through the extension of the first folding hydraulic rod 12 and the second folding hydraulic rod 17, the first extension sleeve 8 and the second extension sleeve 13 both rotate around their respective rotation connection points. Then, through the first telescopic hydraulic rod 10 and the second telescopic hydraulic rod 15, the first extension rod 9 and the second extension rod 14 are extended, so that the geological detector 18 is close to the points of each tunnel. Then, the truck 1 is started to drive the geological detector 18 to slide on the tunnel, so as to scan and record the tunnel data. During the movement of the truck 1, the electric valve 20 will adjust the oil volume according to the actual situation of the tunnel, so that the first telescopic hydraulic rod 10 and the second telescopic hydraulic rod 15 control the geological detector 18 to continuously stick to the tunnel to ensure reliable data. When the truck 1 finishes traveling through the tunnel, all the data of the lining of the whole tunnel, including the cavity situation, can be obtained at one time. Then, reverse the above steps to retract the detection mechanism to complete the detection.

[0038] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A tunnel lining cavity detection device, comprising a truck (1), characterized in that: A detection mechanism is provided on the vehicle behind the truck (1). The detection mechanism includes a folding assembly, a lower-layer detection assembly, and an upper-layer detection assembly. An adjustment assembly is provided on the folding assembly. The folding assembly includes a mounting plate (2), and the mounting plate (2) is fixedly installed on the rear of the top surface of the truck (1). A rotating seat is fixedly connected to the front of the top surface of the mounting plate (2), and a lifting frame (3) is rotatably connected to the rotating seat. The lower-layer detection assembly includes a lower-layer hinge seat (7), and the lower-layer hinge seat (7) is fixedly installed on the lower part of the front end surface of the lifting column (5). A first extension sleeve (8) is symmetrically hinged in the lower-layer hinge seat (7), and a first extension rod (9) is embedded in the first extension sleeve (8). The upper-layer detection assembly includes an upper-layer hinge seat (16), and the upper-layer hinge seat (16) is fixedly installed on the top surface of the lifting column (5). Three groups of first extension sleeves (8), first extension rods (9), and first telescopic hydraulic rods (10) are rotatably connected in the upper-layer hinge seat (16) at equal angles. A control box is installed on the truck (1) near the mounting plate (2). A smart control component is arranged inside the control box, and the smart control component includes an analysis module. The analysis module analyzes the rotation angle data transmitted by the acquisition module, determines whether there is an obstacle in the advancing direction of the geological detector (18), and analyzes the obstacle. If it is determined to perform telescopic avoidance, a telescopic signal is generated; if it is determined to perform avoidance avoidance, an avoidance signal is generated; if it is determined that it is not the above two situations, a deceleration warning signal is generated; analyzes the ultrasonic time data transmitted by the acquisition module, determines the abnormality rate at the tunnel detection position, and generates first-level, second-level, and third-level warning signals according to the comparison between the abnormality rate and the preset abnormality threshold; transmits the signals generated by the analysis module to the execution module.

2. The tunnel lining cavity detection device according to claim 1, wherein: The lifting frame (3) is of a bent structure. A pair of recovery hydraulic rods (4) are rotatably connected to the top surface of the lifting frame (3) through a hinge seat. The other end of the recovery hydraulic rod (4) is rotatably connected to the top surface of the truck (1). The other end of the lifting frame (3) is fixedly connected with a guide plate, and a lifting column (5) is slidably connected to the guide plate. A lifting hydraulic rod (6) is provided between the lifting column (5) and the lifting frame (3).

3. The tunnel lining cavity detection device according to claim 1, characterized in that: A first telescopic hydraulic rod (10) is fixedly installed between the first extension rod (9) and the first extension sleeve (8).

4. The tunnel lining cavity detection device according to claim 3, characterized in that: A folding hinge seat (11) is fixedly connected to the upper part of the front end surface of the lifting column (5). A first folding hydraulic rod (12) is rotatably connected in the folding hinge seat (11), and the other end of the first folding hydraulic rod (12) is rotatably connected to the first extension sleeve (8). The front end of the first extension rod (9) is rotatably connected to a second extension sleeve (13), a second extension rod (14) is embedded in the second extension sleeve (13), and a second telescopic hydraulic rod (15) is fixedly installed between the second extension rod (14) and the second extension sleeve (13).

5. The tunnel lining cavity detection device according to claim 3, characterized in that: A second folding hydraulic rod (17) is rotatably connected between the first extension sleeves (8), and geological detectors (18) are rotatably connected to the outer ends of the first extension rod (9) and the second extension rod (14).

6. The tunnel lining cavity detection device according to claim 2, characterized in that: The adjustment assembly includes a hydraulic oil controller (19), which is fixedly installed on the outer side of the lifting frame (3). One side of the hydraulic oil controller (19) is communicated with an oil supply system, and a plurality of electric valves (20) are equidistantly communicated with the top surface of the hydraulic oil controller (19).

7. The tunnel lining cavity detection device according to claim 1, characterized in that: The intelligent control assembly further includes an acquisition module and an execution module; The acquisition module detects the rotation angle data of the geological detector (18), detects the ultrasonic time data sent and received by the geological detector (18), and transmits the detected data to the analysis module; The execution module receives the signals transmitted by the analysis module and performs corresponding operations according to the signal types; After receiving the telescopic signal, it controls the telescopic hydraulic rod at the corresponding position to shorten, and when the detected pressure data is less than the preset pressure data, it elongates until the detected pressure data is equal to the preset pressure data; After receiving the deceleration warning signal, it controls the warning light outside the control box to emit an audible and visual alarm to remind the driver to perform a deceleration operation; After receiving the avoidance signal, it controls the telescopic hydraulic rod at the corresponding position to elongate until the horizontal displacement of the geological detector (18) reaches half of the lower convex width data; After receiving the first-level warning signal, the buzzer module in the intelligent control assembly emits a buzzer warning, and the green light representing the first-level warning among the three-color indicator lights connected to the control box in the truck (1) lights up to remind the driver to perform a deceleration operation; after receiving the second-level warning signal, the buzzer module in the intelligent control assembly emits a buzzer warning, and the yellow light representing the second-level warning among the three-color indicator lights connected to the control box in the truck (1) lights up to remind the driver to stop for marking operations; after receiving the third-level warning signal, the buzzer module in the intelligent control assembly emits a buzzer warning, and the red light representing the third-level warning among the three-color indicator lights connected to the control box in the truck (1) lights up to remind the driver to stop and contact relevant technical personnel to conduct a comprehensive inspection of the detection site.

8. The tunnel lining cavity detection device according to claim 7, characterized in that: The analysis steps of the detection route by the analysis module are as follows: S1: The included angle between the infrared rangefinder and the tunnel roof is , when the geological detector (18) is close to the tunnel roof, the distance between the infrared rangefinder and the tunnel roof is , then the distance between the infrared rangefinder and the detection point is , if the detected distance data is , then it is determined that there is a change in the height difference at the corresponding position of the tunnel roof where the geological detector (18) is located in the traveling direction of the truck (1); if , then it is determined that there is an upwarping situation ahead, and continue the detection; if , then it is determined that there is a down convex situation ahead, and analyze the size of the down convex; S2: Transmit a signal to control the micro-motor to drive the infrared rangefinder to rotate at an angle in the vertical direction, record the detection data of the infrared rangefinder during the rotation process, and compare the difference between the detection data at two consecutive detection times. When the difference is greater than the preset difference threshold, it is determined that the angle between the infrared rangefinder and the horizontal direction at the previous moment is , the distance between the bottom end of the downward convexity and the infrared rangefinder is , then the height of the downward convexity ; the adjustment speed of the telescopic hydraulic rod at the corresponding position is , then the adjustment time required for the height of the downward convexity , the vertical adjustment time of the infrared rangefinder is , if , then analyze the width data of the downward convexity, is the forward speed of the truck (1); otherwise, generate a telescopic signal and transmit the telescopic signal to the execution module; S3: After measuring the data of the downward convex height, the infrared rangefinder is reset and rotates horizontally under the control of the micro-motor. When the difference between the detection data at the two detection times before and after is greater than the preset difference threshold, the width of the downward convex is determined , is the time consumed for the horizontal rotation of the infrared rangefinder, and the reset time is short and negligible; if , a deceleration warning signal is generated and the deceleration warning signal is transmitted to the execution module, is the time required for the geological detector (18) to perform horizontal displacement; otherwise, an avoidance signal is generated and the avoidance signal is transmitted to the execution module.

9. The tunnel lining cavity detection device according to claim 7, characterized in that: The analysis steps of the tunnel detection by the analysis module are as follows: M1: Compare the obtained propagation time data with the preset time data. If the propagation time data from transmission to reception of the reflected wave is greater than the preset time data , it is determined that there is a cavity inside the tunnel at the detection position. The propagation speeds of ultrasonic waves at the tunnel wall and the cavity position are respectively and , then the size data of the cavity at the detection position ; If the preset size threshold is met, it is determined that the hole detection is abnormal, and the abnormal count is incremented by one; M2: Analyze the detected tunnel lining thickness based on the ultrasonic propagation data , compare the detected tunnel lining thickness data with the tunnel design thickness data . If , is the preset error value, it is determined that the lining thickness detection is abnormal and the abnormal count is incremented by one; M3: The amplitude and frequency of the received ultrasonic wave are detected. According to the amplitude and frequency measured in normal dense lining concrete, the amplitude attenuation rate and the frequency change rate are calculated. If and are both greater than the corresponding preset thresholds, it is determined that the detection of the loose lining structure is abnormal, and the abnormal count is incremented by one; M4: Normalize the calculated data of cavity size, lining thickness, amplitude attenuation rate, and frequency change rate, screen out the maximum and minimum values of the corresponding data, subtract the minimum value of the corresponding data from the calculated corresponding data, divide the obtained value by the difference between the maximum and minimum values of the corresponding data, and denote the calculated data as , , and . Then the abnormality rate , , , are the weight coefficients of the corresponding items respectively. M5: If , generate a first-level warning signal and transmit the first-level warning signal to the execution module, is the preset abnormal threshold; If , generate a second-level warning signal and transmit the second-level warning signal to the execution module, is the preset coefficient; If , generate a third-level warning signal and transmit the third-level warning signal to the execution module, is the preset coefficient.

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