Tunnel detection system, tunnel detection vehicle, tunnel detection method and controller

Abstract

The invention provides a tunnel detection system, a tunnel detection vehicle, a tunnel detection method and a controller. The tunnel detection vehicle comprises a walking system which is movably arranged in the front-back direction so that the tunnel detection vehicle can walk in a tunnel; the supporting system is arranged on the walking system and used for being connected with a detector used for detecting the damage of the tunnel so as to support the detector, the supporting system has a stretching state extending in the circumferential direction of the tunnel, and at least one of the shape and the size of the supporting system can be adjusted so as to simulate the profile of the section of the tunnel; and / or, the supporting system guides the detector to move in the circumferential direction of the tunnel to detect different positions of the section of the tunnel. Therefore, the performance of the tunnel detection vehicle can be improved.

Description

Technical Field

[0001] This application relates to the technical field of tunnel detection, and particularly to a tunnel detection system, a tunnel detection vehicle, a tunnel detection method, and a controller. Background Art

[0002] Tunnels may have disease problems such as lining cracks, roof voids, rock stratum seepage, and extrusion deformation. Therefore, it is necessary to detect the corresponding diseases to prevent accidents.

[0003] Currently, there are mainly two methods for tunnel disease detection: manual detection and tunnel detection vehicle detection. Among them, detection components such as radars are installed on the tunnel detection vehicle to automatically detect tunnel diseases. Compared with the manual detection method, the tunnel detection vehicle detection method has higher efficiency and safety factor.

[0004] However, the performance of the tunnel detection vehicle still needs to be improved. Summary of the Invention

[0005] One technical problem to be solved by this application is to improve the performance of the tunnel detection vehicle.

[0006] To solve the above technical problem, this application provides a tunnel detection vehicle, which includes:

[0007] A traveling system, which is movably arranged in the front-rear direction so that the tunnel detection vehicle can travel in the tunnel; and

[0008] A supporting system, which is arranged on the traveling system and is used to connect with a detector for detecting diseases of the tunnel to support the detector. The supporting system has an extended state extending along the circumferential direction of the tunnel, wherein: at least one of the shape and size of the supporting system is adjustable to simulate the contour of the cross-section of the tunnel; and / or, the supporting system guides the detector to move along the circumferential direction of the tunnel to detect different positions of the cross-section of the tunnel.

[0009] In some embodiments, the supporting system includes a supporting mechanism, and the supporting mechanism includes a first supporting member for connecting with the detector. The first supporting member is connected to the traveling system and includes a plurality of supporting segments that are sequentially rotatably connected, so that the first supporting member can adjust at least one of the shape and size through the rotation between the plurality of supporting segments; and / or, the supporting system is used to detachably connect with the detector.

[0010] In some embodiments, the supporting system is configured as at least one of the following:

[0011] The first supporting member is rotatably connected to the traveling system;

[0012] The first supporting member is a boom, and the plurality of supporting segments are the multiple boom sections of the boom;

[0013] The support mechanism further includes a second support member, and the first support member is connected to the detector through the second support member;

[0014] The support system includes two support mechanisms, which are arranged at intervals in the front - rear direction and are used to be connected to the same detector.

[0015] In some embodiments, the support system is configured as at least one of the following:

[0016] The support mechanism further includes at least one adjustment mechanism. The adjustment mechanism includes a connecting arm and a supporting member. The supporting member is connected to the first support member through the connecting arm and supports the second support member. The connecting arm is movably connected to the first support member so as to adjust the second support member by moving relative to the first support member, enabling the second support member to simulate the contour of the cross - section of the tunnel;

[0017] The support mechanism further includes a connecting member. The connecting member has two connecting parts, which are arranged at opposite ends of the connecting member. One of the two connecting parts is connected to the second support member of this tunnel inspection vehicle, and the other is connected to the second support member of another tunnel inspection vehicle arranged opposite to this tunnel inspection vehicle;

[0018] The second support member is used to be detachably connected to the detector;

[0019] The second support member is movably arranged along the first support member to drive the detector to move circumferentially along the tunnel;

[0020] The second support member includes a rope.

[0021] In some embodiments, the support system is configured as at least one of the following:

[0022] The connecting arm is rotatably connected to the first support member;

[0023] The supporting member includes a pulley;

[0024] The support mechanism includes a plurality of adjustment mechanisms, which are arranged at intervals along the length direction of the first support member;

[0025] The connecting part includes a threaded hole;

[0026] The support system further includes a plumb bob, and the plumb bob and the detector are switchably connected to the second support member.

[0027] In some embodiments, the tunnel inspection vehicle further includes an auxiliary support, which is movably connected to the traveling system so as to switch between a deployed state and a retracted state. In the deployed state, the auxiliary support protrudes towards one side in the left - right direction relative to the traveling system and is used to contact the ground to keep the tunnel inspection vehicle balanced during the process of the detector detecting diseases of the tunnel. In the retracted state, the auxiliary support is retracted so that the tunnel inspection vehicle can avoid the vehicles passing through the tunnel.

[0028] In some embodiments, the auxiliary support is configured as at least one of the following:

[0029] The auxiliary support includes a first support, the first support includes a transverse leg and a longitudinal leg, the transverse leg connects the traveling system and the longitudinal leg, and is telescopically extendable along the left - right direction, so that the first support can be switched between a first position corresponding to the deployed state and a second position corresponding to the retracted state;

[0030] The auxiliary support includes a second support, the second support is inclined and telescopically extendable, so that the second support can be switched between a third position corresponding to the deployed state and a fourth position corresponding to the retracted state;

[0031] The auxiliary support is provided with a first wheel and a second wheel, the first wheel and the second wheel are respectively used for contacting the trackless ground and the track;

[0032] The auxiliary support is provided with a backing plate for contacting the ground.

[0033] In some embodiments, the auxiliary support is configured as at least one of the following:

[0034] The longitudinal leg is telescopically arranged up and down;

[0035] The inclination angle of the second support is adjustable;

[0036] The auxiliary support includes a second support and two first supports, and the two first supports are arranged on the front and rear sides of the second support;

[0037] Both the first wheel and the second wheel are arranged at the lower end of the longitudinal leg of the first support of the auxiliary support and are arranged side by side along the left - right direction;

[0038] The backing plate is arranged at the lower end of the second support of the auxiliary support.

[0039] In some embodiments, the traveling system includes a traveling mechanism and a vehicle body, the traveling mechanism is movably arranged along the front - rear direction, the vehicle body is rotatably arranged on the traveling mechanism, and the supporting system is arranged on the vehicle body.

[0040] In addition, the present application also provides a tunnel detection system, which includes a detector and also includes the tunnel detection vehicle of any one of the embodiments.

[0041] In some embodiments, the tunnel detection system includes two tunnel detection vehicles, the two tunnel detection vehicles are arranged opposite to each other along the left - right direction, the detector is connected to the supporting systems of the two tunnel detection vehicles, and can move circumferentially along the tunnel under the guidance of the supporting systems of the two tunnel detection vehicles to detect diseases at different positions of the cross - section of the tunnel.

[0042] In some embodiments, the detector includes a detecting member, a supporting device, and two connecting devices. The detecting member is disposed on the supporting device and is used for detecting diseases of the tunnel. The two connecting devices are both disposed on the supporting device and are respectively connected to the supporting systems of two tunnel inspection vehicles, so that the detector is connected to the supporting systems of the two tunnel inspection vehicles and can move circumferentially along the tunnel.

[0043] In some embodiments, the detector is configured as at least one of the following:

[0044] The detector further includes rollers, which are rotatably disposed on the detecting member and are used for contacting the inner wall of the tunnel;

[0045] The supporting device includes a supporting arm, which is vertically telescopically disposed, and the upper end thereof is connected to the detecting member to adjust the height position of the detecting member;

[0046] The connecting device is connected to the second supporting member of the supporting system;

[0047] The detecting member includes a scanning member.

[0048] In some embodiments, the detector is configured as at least one of the following:

[0049] The detector includes multiple groups of rollers, the multiple groups of rollers are arranged at intervals in the left-right direction, and each group of rollers includes at least one roller;

[0050] The connecting device includes a suspension member, which is suspended from the second supporting member so that the second supporting member drives the detector to move circumferentially along the tunnel.

[0051] In some embodiments, the detector is configured as at least one of the following:

[0052] Each group of rollers includes multiple rollers, and the multiple rollers of each group of rollers are arranged at intervals in the front-rear direction;

[0053] The suspension member includes a support column and a caliper. The caliper is connected to the supporting device through the support column and includes a caliper body, an external clamping ring, and an internal clamping ring. The external clamping ring is connected to one end of the caliper body, and the internal clamping ring is movably disposed in the channel in the caliper body to approach or move away from the external clamping ring, and together with the external clamping ring, clamp or release the second supporting member;

[0054] The connecting device includes two suspension members. The two suspension members of the connecting device are arranged at intervals in the front-rear direction and are respectively suspended from the two second supporting members of the supporting system of the same tunnel inspection vehicle.

[0055] In some embodiments, the suspension member further includes an actuating member, which is movably disposed in the channel and is used for driving the internal clamping ring to approach or move away from the external clamping ring.

[0056] In some embodiments, the actuator is threadedly connected to the channel so that the actuator is movably disposed in the channel.

[0057] In addition, the present application also provides a tunnel detection method based on the tunnel detection system of any of the embodiments, which includes:

[0058] Using a detector connected to the support system of the tunnel detection vehicle to detect diseases in the cross-section of the tunnel;

[0059] Wherein, before using the detector connected to the support system of the tunnel detection vehicle to detect diseases in the cross-section of the tunnel, the support system is further adjusted to simulate the contour of the cross-section of the tunnel; and / or,

[0060] During the process of using the detector connected to the support system of the tunnel detection vehicle to detect diseases in the cross-section of the tunnel, the detector is moved along the circumferential direction of the tunnel under the action of the support system of the tunnel detection vehicle to detect diseases at different positions of the cross-section of the tunnel.

[0061] In some embodiments, the tunnel detection method further includes:

[0062] Before using the detector connected to the support system of the tunnel detection vehicle to detect diseases in the cross-section of the tunnel, the detector is further connected to the support systems of two tunnel detection vehicles arranged opposite to each other in the left-right direction.

[0063] In some embodiments, connecting the detector to the support systems of two tunnel detection vehicles arranged opposite to each other in the left-right direction includes:

[0064] Connecting the detector to the second support member of the support systems of two tunnel detection vehicles arranged opposite to each other in the left-right direction.

[0065] In some embodiments, connecting the detector to the second support member of the support systems of two tunnel detection vehicles arranged opposite to each other in the left-right direction includes:

[0066] Removing the gravity hammers on the second support members of the support systems of two tunnel detection vehicles arranged opposite to each other in the left-right direction;

[0067] Connecting the second support members of the support systems of two tunnel detection vehicles arranged opposite to each other in the left-right direction together;

[0068] Connecting the detector to the second support member of the support systems of two tunnel detection vehicles arranged opposite to each other in the left-right direction.

[0069] In some embodiments, adjusting the support system includes:

[0070] Relatively rotating the multi-section support segments of the first support member of the support system to adjust the first support member.

[0071] In some embodiments, the adjustment support system further includes:

[0072] After adjusting the first support member, the second support member of the support system for connecting the first support member and the detector is further adjusted.

[0073] In some embodiments, before the detector of the support system connected to the tunnel inspection vehicle detects diseases of the cross-section of the tunnel, the auxiliary support of the tunnel inspection vehicle is switched from the retracted state to the deployed state, and during the process of the detector detecting diseases of the cross-section of the tunnel, if there is a vehicle passing through the tunnel, before the vehicle travels to the cross-section to be detected, the auxiliary support of the tunnel inspection vehicle is switched from the deployed state to the retracted state.

[0074] In some embodiments, before the detector of the support system connected to the tunnel inspection vehicle detects diseases of the cross-section of the tunnel, the tunnel inspection vehicle is located at the edge of the tunnel in the left-right direction.

[0075] In addition, the present application further provides a controller, which includes a memory and a processor coupled to the memory. The processor is configured to execute the tunnel detection method of any embodiment based on instructions stored in the memory.

[0076] In addition, the present application further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are executed by the processor to perform the control method of any embodiment.

[0077] In addition, the present application further provides a computer program product, including a computer program, which when executed by the processor, implements the control method of any embodiment.

[0078] By setting the support system of the tunnel inspection vehicle to have an extended state extending along the circumferential direction of the tunnel, and being able to simulate the contour of the tunnel cross-section, and / or being able to guide the detector to move along the circumferential direction of the tunnel, the tunnel inspection vehicle can be adapted to tunnel cross-sections of different specifications, and / or perform circumferential sliding detection, and perform disease detection based on a simpler structure and control process. Therefore, the performance of the tunnel inspection vehicle can be improved.

[0079] By describing the exemplary embodiments of the present application in detail with reference to the following drawings, other features and advantages of the present application will become clear. Description of the Drawings

[0080] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0081] Figure 1 It is a schematic diagram of the operation scenario of the tunnel detection system in the embodiment of the present application.

[0082] Figure 2 It is a three-dimensional schematic diagram of the tunnel detection vehicle in the embodiment of the present application.

[0083] Figure 3 It is a side view of the tunnel detection vehicle in the embodiment of the present application.

[0084] Figure 4 It is a combined schematic diagram of the first support member and the adjustment mechanism in the embodiment of the present application.

[0085] Figure 5 It is a three-dimensional schematic diagram of the adjustment mechanism in the embodiment of the present application.

[0086] Figure 6 It is a schematic diagram of the connection principle of the gravity hammer and the second support member in the embodiment of the present application.

[0087] Figure 7 It is a structural schematic diagram of the detector in the embodiment of the present application.

[0088] Figure 8 It is a structural schematic diagram of the suspension member in the embodiment of the present application.

[0089] Figure 9 It is a connection schematic diagram of the caliper and the second support member in the embodiment of the present application.

[0090] Explanation of reference numerals:

[0091] 100, tunnel detection system; 200, tunnel;

[0092] 101, tunnel detection vehicle; 102, traveling system; 103, auxiliary support; 104, support system; 105, support mechanism; 106, detector; 107, support device; 108, connection device;

[0093] 1. Traveling mechanism; 2. First support; 201. Lateral leg; 202. Longitudinal leg; 203. First wheel; 204. Second wheel; 205. First driving cylinder; 3. First slewing bearing; 4. Vehicle body; 5. First supporting member; 501. Second slewing bearing; 502. Base; 503. Primary driving cylinder; 504. First supporting section; 505. Secondary driving cylinder; 506. Second supporting section; 507. Tertiary driving cylinder; 508. Third supporting section; 509. Quaternary driving cylinder; 510. Fourth supporting section; 511. Supporting section; 512. Boom; 513. Boom section; 6. Second support; 601. Base plate; 602. Second driving cylinder; 7. Drum; 8. Motor; 9. Second supporting member; 901. Rope; 10. Gravity hammer; 1001. Hanging rope; 1002. Connecting piece; 1003. Stud; 1004. Connecting portion; 1005. Threaded hole; 11. Adjusting mechanism; 1101. Third slewing bearing; 1102. Connecting arm; 1103. Rotating shaft; 1104. Supporting member; 1105. Wheel body; 1106. Wheel shaft; 1107. Pulley; 12. Load-bearing base; 13. Suspension member; 1301. Support pillar; 1302. Caliper; 1303. Actuating member; 1304. External snap ring; 1305. Internal snap ring; 1306. Caliper body; 1307. Channel; 14. Support arm; 15. Detection device; 1501. Roller; 1502. Scanning piece; 1503. Back plate; 1504. Detection piece;

[0094] X, left - right direction; Y, front - back direction; Z, up - down direction. Detailed implementation manners

[0095] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0096] For technologies, methods, and devices known to those of ordinary skill in the relevant field, they may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification.

[0097] In the description of the present application, it should be understood that using terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without further statement, the above terms have no special meaning, so they cannot be construed as limiting the scope of protection of the present application.

[0098] In this application, unless otherwise specified, "a plurality (of sections)" means at least two (sections), that is, including the cases of two (sections) and at least three (sections).

[0099] In addition, the technical features involved in different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0100] To improve the performance of the tunnel inspection vehicle, this application provides a tunnel inspection vehicle, a tunnel inspection system, a tunnel inspection method, a controller, a computer storage medium, and a computer program product.

[0101] Figures 1 - 9 The structures of the tunnel inspection vehicle and the tunnel inspection system in this application are exemplarily shown.

[0102] For the convenience of description, based on Figure 1 and Figure 2 the state when the tunnel inspection vehicle shown is working properly to define the directions, wherein, the up-down direction Z is parallel to the gravity direction, with the direction opposite to the gravity being "up" and the direction the same as the gravity being "down"; the front-back direction Y is along the traveling direction of the tunnel inspection vehicle and is perpendicular to the up-down direction Z; the left-right direction X is perpendicular to the up-down direction Z and the front-back direction Y, and is also the width direction of the tunnel inspection vehicle and the tunnel.

[0103] Referring to Figures 1 - 9 , in this application, the tunnel inspection vehicle 101 includes a traveling system 102 and a supporting system 104. The traveling system 102 is movably arranged along the front-back direction Y so that the tunnel inspection vehicle 101 can travel in the tunnel 200. The supporting system 104 is arranged on the traveling system 102 and is used to connect with the detector 106 for detecting diseases of the tunnel 200 to support the detector 106. Wherein, the supporting system 104 has an extended state extending along the circumferential direction of the tunnel 200, and at least one of the shape and size of the supporting system 104 is adjustable to simulate the contour of the cross-section of the tunnel 200; and / or, the supporting system 104 guides the detector 106 to move along the circumferential direction of the tunnel 200 to detect different positions of the cross-section of the tunnel 200.

[0104] In the above solution, the supporting system 104 is configured to have an extended state extending along the circumferential direction of the tunnel 200, and can simulate the contour of the tunnel cross-section, and / or can guide the detector 106 to move along the circumferential direction of the tunnel 200, which can improve the performance of the tunnel inspection vehicle 101.

[0105] Among them, the support system 104 is configured to have an extended state extending circumferentially along the tunnel 200 and can guide the detector 106 to move circumferentially along the tunnel 200, which is more conducive to realizing the detection of different positions of the tunnel cross-section based on a relatively simple structure and control process, thereby improving the performance of the tunnel inspection vehicle 101.

[0106] For the traditional tunnel inspection vehicle 101, its support system 104 does not guide the detector 106 to move circumferentially along the tunnel 200. In this case, multiple detectors 106 arranged circumferentially along the tunnel are usually required on the support system 104, and some support systems 104 also need to be configured to be swingable circumferentially along the tunnel 200 to drive the detector 106 to swing circumferentially during the detection process and change the circumferential position, so as to realize the detection of different positions of the tunnel cross-section. In this case, the number of detectors 106 is large, the control process of the support system 104 is complex, resulting in a more complex structure of the tunnel inspection vehicle 101 and a lower detection efficiency. Therefore, the performance of the tunnel inspection vehicle 101 is affected.

[0107] By setting the support system 104 to have an extended state extending circumferentially along the tunnel 200 and being able to guide the detector 106 to move circumferentially along the tunnel 200, then referring to Figures 1 - 4 , the detector 106 can be enabled to move circumferentially along the tunnel  200 under the action of the support system 104 and reach different circumferential positions of the cross-section of the tunnel 200 for disease detection. Since the detector 106 moves circumferentially along the tunnel 200 under the action of the support system 104, it can reach different positions of the cross-section of the tunnel 200 and detect different circumferential positions of the cross-section of the tunnel 200 without relying on multiple detectors 106 and the swing of the support system 104 in the cross-section circumference. This is conducive to reducing the number of detectors 106 and simplifying the control process of the support system 104. Therefore, the disease detection of the tunnel 200 can be realized based on a simpler structure and control process. So, it is beneficial to simplify the structure of the tunnel inspection vehicle 101, improve the efficiency of the tunnel inspection vehicle 101, and thus effectively improve the performance of the tunnel inspection vehicle 101.

[0108] In addition, the support system 104 guides the detector 106 to move circumferentially along the tunnel 200. Another advantage is that since the detector 106 moves circumferentially along the tunnel 200 under the action of the support system 104, it can reach different positions of the tunnel cross-section and detect different circumferential positions of the tunnel cross-section without relying on the swinging of multiple detectors 106 and the support system 104 in the circumferential direction of the cross-section. Therefore, the tunnel inspection vehicle 101 does not need to be located in the middle of the width direction of the tunnel 200, but only needs to lean against the edge of the width direction of the tunnel 200. This is beneficial to reducing the interference of the tunnel inspection vehicle 101 on the traffic flow in the tunnel 200 and improving the adaptability of the tunnel inspection vehicle 101 to the operating tunnel. In particular, it is beneficial to reduce the interference of the tunnel inspection vehicle 101 on the traffic flow in the tunnel 200 and improve the adaptability of the tunnel inspection vehicle 101 to the operating tunnel in cooperation with the auxiliary support 103 mentioned below.

[0109] When the tunnel inspection vehicle 101 conducts inspections at the edge of the tunnel 200, it is possible to use one tunnel inspection vehicle 101 to achieve the inspection of the entire cross-section (or almost the entire cross-section) of the tunnel 200. For example, the support system 104 of the tunnel inspection vehicle 101 is set to extend along the entire circumference of the tunnel 200 (i.e., the protruding distance of the support system 104 in the circumferential direction of the tunnel 200 is almost equal to the entire circumferential length of the tunnel 200), and the inspection of the entire tunnel cross-section is achieved through multiple detectors 106 fixedly connected to the support system 104 or a single or multiple detectors 106 slidably connected to the support system 104; or, see Figure 1 , it is also possible to use two tunnel inspection vehicles 101 that are opposite to each other in the left-right direction X to cooperate to achieve the inspection of the entire cross-section of the tunnel 200. For example, the support system 104 of the tunnel inspection vehicle 101 is set to extend along a part of the circumference of the tunnel 200 (for example, the protruding distance of the support system 104 in the circumferential direction of the tunnel 200 is only equal to a part of the circumferential length of the tunnel 200), and the inspection of the entire tunnel cross-section is achieved through multiple detectors 106 fixedly connected to the support systems 104 of the two tunnel inspection vehicles 101 or a single or multiple detectors 106 slidably connected to the support systems 104 of the two tunnel inspection vehicles 101. When two opposite tunnel inspection vehicles 101 cooperate to achieve the inspection of the entire cross-section of the tunnel 200, the protruding distance of the support system 104 of each tunnel inspection vehicle 101 in the circumferential direction of the tunnel 200 can be smaller, for example, only roughly corresponding to half of the circumference of the tunnel 200. In this way, it is beneficial to further improve the operation stability and reduce the risk of rollover during the inspection process.

[0110] When two tunnel inspection vehicles 101 facing each other cooperate to inspect the cross-section of a tunnel 200, the two tunnel inspection vehicles 101 may or may not be connected. Among them, when the two tunnel inspection vehicles 101 facing each other are connected to each other, it is more conducive to realizing the inspection of the top of the tunnel (which can be called the vault). For example, refer to Figure 1 , when the two tunnel inspection vehicles 101 facing each other are connected to each other, the detector 106 can be connected to the support system 104 of the two tunnel inspection vehicles 101, and the detector 106 can move along the support system 104 of the two tunnel inspection vehicles 101. In this way, not only can the inspection of different positions of the cross-section of the tunnel 200 except the vault be conveniently realized, but also it is convenient for the detector 106 to move along the support systems 104 of the two tunnel inspection vehicles 101 to directly below the vault to inspect the vault, effectively solving the problem of difficult inspection of the tunnel vault.

[0111] In addition, the support system 104 is configured to have an extended state extending along the circumferential direction of the tunnel 200, and at least one of the shape and size is adjustable to simulate the contour of the cross-section of the tunnel 200, so as to improve the performance of the tunnel inspection vehicle 101 by enhancing the adaptability of the tunnel inspection vehicle 101 to different tunnel cross-sections.

[0112] Because, when the support system 104 has an extended state extending along the circumferential direction of the tunnel 200, and at least one of the shape and size is adjustable to simulate the contour of the cross-section of the tunnel 200, at least one of the shape and size of the support system 104 is not fixed but variable. In this way, during the inspection process, it is convenient to adjust the support system 104 according to the change of the cross-section contour of the tunnel 200, and adjust the support system 104 to be closer to the tunnel cross-section to be inspected, so as to improve the adaptability of the tunnel inspection vehicle 101 to tunnel cross-sections of different specifications (shape and / or size). In this way, not only can the applicable range of the tunnel inspection vehicle 101 be further expanded, but also the closer the support system 104 is to the tunnel cross-section to be inspected, the better the detector 106 supported by the support system 104 can align with each position in the circumferential direction of the corresponding tunnel cross-section for inspection. Therefore, it is also conducive to improving the inspection accuracy and realizing the accurate inspection of tunnel cross-sections of different specifications.

[0113] The cross-sections of different tunnels 200 and different cross-sections of the same tunnel 200 may have inconsistent specifications. For example, the cross-sections of some tunnels 200 may be in a common horseshoe shape, while the cross-sections of some other tunnels 200 may be in special shapes. For another example, some tunnels 200 may be variable cross-section tunnels. Although the shapes at different cross-sections are the same, the sizes are inconsistent. The radial size of some cross-sections is large, and the radial size of some other cross-sections is small.

[0114] The traditional tunnel inspection vehicle 101 usually can only meet the inspection requirements of a tunnel section of one specification and cannot adapt to the inspection requirements of tunnel sections of different specifications. This also restricts the adaptability and working flexibility of the tunnel inspection vehicle 101 and may cause the detector 106 to be unable to accurately detect, affecting the accuracy of the detection results. All of these affect the performance of the tunnel inspection vehicle 101.

[0115] By setting the support system 104 to have an extended state extending circumferentially along the tunnel 200 and with adjustable shape and / or size, the above problems can be effectively solved, enabling the same tunnel inspection vehicle 101 to more accurately detect tunnel sections of different specifications, further improving the adaptability, flexibility, and detection accuracy of the tunnel inspection vehicle 101. In particular, when the detector 106 can move along the support system 104, if the support system 104 is set to have adjustable shape and / or size and can simulate tunnel sections of different specifications, it is beneficial to make the detector 106 more accurately align with the corresponding positions when guiding the detector 106 to slide along the support system 104 to various positions of the tunnel section for detection, obtaining more accurate detection results.

[0116] A variety of structural designs can be adopted to make the support system 104 have an extended state extending circumferentially along the tunnel 200 and at least one of the shape and / or size adjustable.

[0117] As one of them, see Figures 1 - 4 , in some embodiments, the support system 104 includes a support mechanism 105. The support mechanism 105 includes a first support member 5. The first support member 5 is used to connect to the detector 106. The first support member 5 is connected to the traveling system 102 and includes a plurality of support segments 511 that are sequentially rotatably connected, so that the first support member 5 adjusts at least one of the shape and size through the rotation between the plurality of support segments 511.

[0118] Based on the above settings, when the plurality of support segments 511 of the first support member 5 rotate, the first support member 5 can have an extended state extending circumferentially along the tunnel 200 and change the shape and / or size of the first support member 5, enabling the first support member 5 to better simulate the cross-section of the tunnel 200, so that the detector 106 connected to the first support member 5 can better align with the part of the tunnel cross-section to be detected, achieving more accurate detection. By using the rotation between the plurality of support segments 511 of the first support member 5 to simulate the cross-section of the tunnel 200, it is simple and convenient, especially convenient for simultaneously simulating the shape and radial size of the cross-section of the tunnel 200 to achieve more accurate detection.

[0119] Exemplarily, the first support member 5 is the boom 512, and the multi-section support segments 511 of the first support member 5 are the multi-section boom segments 513 of the boom 512. At this time, the first support member 5 has a strong supporting ability, which is beneficial to providing a more stable supporting force for the detector 106 and improving the reliability of the overall structure.

[0120] In the case where the support mechanism 105 of the support system 104 includes the first support member 5, refer to Figures 2 - 4 , in some embodiments, the first support member 5 is rotatably connected to the traveling system 102. At this time, not only can the support segments 511 of the first support member 5 rotate relative to each other, but also the first support member 5 as a whole can rotate relative to the traveling system 102. In this way, the working flexibility of the first support member 5 can be further enhanced, facilitating the first support member 5 to more accurately simulate the cross-section of the tunnel 200 and achieving more accurate detection.

[0121] In addition, in the case where the support mechanism 105 includes the first support member 5, the first support member 5 can be directly connected or indirectly connected to the detector 106.

[0122] Exemplarily, refer to Figures 1 - 4 , the support mechanism 105 further includes a second support member 9, and the first support member 5 is connected to the detector 106 through the second support member 9. At this time, the first support member 5 is not directly connected to the detector 106, but is indirectly connected to the detector 106 through the second support member 9.

[0123] In the above setting, the first support member 5 is indirectly connected to the detector 106 through the second support member 9. The advantage is that it is more convenient to realize the movement of the detector 106 relative to the first support member 5 in the circumferential direction of the tunnel for circumferential sliding detection.

[0124] For example, refer to Figures 1 - 4 , in some embodiments, the second support member 9 is movably arranged along the first support member 5 to drive the detector 106 to move in the circumferential direction of the tunnel 200. At this time, the detector 106 moves with the second support member 9, and thus can realize the movement along the first support member 5. Since the first support member 5 is close to the cross-section of the tunnel 200, the detector 106 can move in the circumferential direction of the tunnel 200 by moving along the first support member 5 and reach different circumferential positions of the tunnel cross-section to achieve circumferential sliding detection. Since the second support member 9 is supported by the first support member 5, after the first support member 5 is adjusted to be consistent with the cross-sectional contour of the tunnel 200, even if the second support member 9 is not further adjusted, the second support member 9 can be made relatively close to the cross-sectional contour of the tunnel 200. In this case, if the detector 106 moves with the second support member 9, the detector 106 can accurately align with each part to be detected of the tunnel cross-section and obtain accurate detection results.

[0125] Among them, the second support member 9 can adopt various structural forms. For example, in some embodiments, the second support member 9 includes a slider (not shown). Correspondingly, a slide rail is provided on the first support member 5, and the slider is slidably engaged with the slide rail. At this time, the second support member 9 is slidably connected to the first support member 5, so that the second support member 9 can slide along the first support member 5, thereby driving the detector 106 to move along the first support member 5 to achieve circumferential sliding detection. For another example, referring to Figures 2 - 4 , in some other embodiments, the second support member 9 includes a rope 901 (such as a steel wire rope). The rope 901 is movably connected to the first support member 5 along the first support member 5, so that the second support member 9 can move along the first support member 5, thereby driving the detector 106 to move along the first support member 5 to achieve circumferential sliding detection. Since the rope 901 is a flexible component, its own winding and unwinding can generate movement relative to the first support member 5. Therefore, it is more convenient to realize the movement of the second support member 9 relative to the first support member 5. Moreover, the flexible characteristic of the rope 901 also enables the rope 901 to better adapt to the rotation between the support sections 511 of the first support member 5, so that the detector 106 can be driven to smoothly move along the first support member 5 in various postures of the first support member 5, improving the detection smoothness and accuracy. In particular, in the case where two tunnel inspection vehicles 101 cooperate in detection and / or the first support member 5 is a boom 512, the rope 901 can more conveniently drive the detector 106 to smoothly move along the first support member 5, improving the detection smoothness and accuracy.

[0126] In addition, the first support member 5 is indirectly connected to the detector 106 through the second support member 9, and the advantage is also that it is convenient to perform two-stage adjustment on the support mechanism 105 to more conveniently and better simulate the cross-sectional profile of the tunnel 200.

[0127] For example, referring to Figures 1 - 5, in some embodiments, the support mechanism 105 further includes at least one adjustment mechanism 11. The adjustment mechanism 11 includes a connecting arm 1102 and a supporting member 1104. The supporting member 1104 is connected to the first support member 5 through the connecting arm 1102 and supports the second support member 9. The connecting arm 1102 is movably connected to the first support member 5 to adjust the second support member 9 by moving relative to the first support member 5, so that the second support member 9 simulates the contour of the cross-section of the tunnel 200. Based on this, not only can the cross-section contour of the tunnel 200 be simulated by adjusting the first support member 5, but also the cross-section contour of the tunnel 200 can be simulated by adjusting the second support member 9. In this way, two-stage adjustment of the support mechanism 105 can be achieved. For example, the first support member 5 can be adjusted first, and then the second support member 9 can be adjusted through the adjustment mechanism 11. This two-stage adjustment method is more conducive to improving the consistency between the support mechanism 105 and the tunnel cross-section, thereby improving the accuracy of the detection results. Moreover, this two-stage adjustment method adds the adjustment of the second support member on the basis of the adjustment of the first support member, which is also beneficial to reducing the adjustment requirements for the first support member 5. Even if there is some gap between the first support member 5 after adjustment and the cross-section contour of the tunnel 200, the overall support mechanism 105 can still be made closer to the tunnel cross-section by further adjusting the second support member 9. This is beneficial to reducing the adjustment difficulty, that is, it is beneficial to achieve a more accurate simulation of the tunnel cross-section based on a lower adjustment difficulty. Therefore, it is more convenient to improve the detection accuracy.

[0128] Among them, the connecting arm 1102 of the adjustment mechanism 11 is movably connected to the first support member 5. The movement form of the connecting arm 1102 can be translation and / or rotation. That is to say, the connecting arm 1102 can be movably and / or rotatably connected to the first support member 5. In this way, the spatial position of the supporting member 1104 can be adjusted by moving and / or rotating the connecting arm 1102 relative to the first support member 5, and then the second support member 9 can be adjusted to make the second support member 9 close to the cross-section contour of the tunnel 200.

[0129] In addition, the structural form of the supporting member 1104 is not limited. Exemplarily, when the second support member 9 includes a rope 901, the supporting member 1104 may include a pulley 1107. In this way, the pulley 1107 can cooperate effectively with the rope 901, which can not only support the rope 901, but also enable the rope 901 to be movably arranged relative to the first support member 5, facilitating the movement of the rope 901 along the first support member 5. Moreover, referring to Figure 9 , the pulley 1107 is also convenient for cooperating with the detector 106 to realize the connection between the detector 106 and the second support member 9, especially the rope 901.

[0130] In the foregoing embodiments, the number of the adjustment mechanisms 11 in the support mechanism 105 is not limited and can be one, or can also be multiple (that is, at least two). For example, referring toFigures 1 - 4 In some embodiments, the support mechanism 105 includes a plurality of adjustment mechanisms 11, which are arranged at intervals along the length direction of the first support member 5 (or the circumferential direction of the tunnel 200). Based on this, the plurality of adjustment mechanisms 11 can be used to adjust multiple positions of the second support member 9. In this way, it is beneficial to achieve a more precise adjustment of the second support member 9, so as to adjust the second support member 9 to be closer to the actual contour of the tunnel cross-section, so that the detector 106 connected to the second support member 9 can more accurately align with the part to be detected of the tunnel cross-section and obtain more accurate detection results.

[0131] The second support member 9 and the detector 106 can be detachably connected, or they can also be non-detachably connected. In the case where the second support member 9 and the detector 106 are detachably connected, a detachable connection between the support system 104 and the detector 106 can be realized. In this way, it is not only convenient to replace, maintain and transport the tunnel inspection vehicle 101 and the detector 106 respectively, but also convenient for the tunnel inspection vehicle 101 to travel lightly loaded, as well as the sliding connection between the detector 106 and the support system 104. Because when the support system 104 and the detector 106 are detachably connected, the tunnel inspection vehicle 101 does not need to be always connected to the detector 106, but can be connected to the detector 106 only when needed. For example, the detector 106 can be separated from the support system 104 during the normal driving process of the tunnel inspection vehicle 101 to reduce the weight of the whole vehicle, further facilitate the driving of the whole vehicle, and further reduce the risk of rollover. For another example, the detector 106 can be connected to the support system 104 only after at least part of the support system 104 (such as the first support member 5) is adjusted to be consistent (including the same or close) with the cross-sectional contour of the tunnel 200, so that the detector 106 does not need to be carried during the adjustment process of the corresponding part of the support system 104, thereby further facilitating the adjustment of the corresponding part of the support system 104, more efficiently and accurately simulating the cross-sectional contour of the tunnel 200, and realizing a more efficient and accurate detection process.

[0132] In the case where the second support member 9 and the detector 106 are detachably connected, see Figure 2 In some embodiments, the support system 104 further includes a plumb bob 10, and the plumb bob 10 and the detector 106 are switchably connected to the second support member 9. Based on this, in the case where the detector 106 is separated from the second support member 9, the plumb bob 10 can be connected to the second support member 9 to prevent the second support member 9 from slipping and causing unnecessary trouble. This method is especially applicable to the case where the second support member 9 includes a rope 9o1.

[0133] To realize the connection between the second support member 9 and the plumb bob 10, see Figure 6, in some embodiments, the supporting mechanism 105 further includes a connecting member 1002. The connecting member 1002 has two connecting portions 1004. The two connecting portions 1004 are disposed at opposite ends of the connecting member 1002 and are respectively connected to the second supporting member 9 and the gravity hammer 10. In this way, the connection between the second supporting member 9 and the gravity hammer 10 can be conveniently achieved. Wherein, the form of the connecting portion 1004 is not limited. As an example, refer to Figure 6 , the connecting portion 1004 includes a threaded hole 1005. At this time, the connecting member 1002 is threadedly connected to both the second supporting member 9 and the gravity hammer 10, and the detachable connection between the second supporting member 9 and the gravity hammer 10 can be realized, which facilitates the disassembly and assembly of the gravity hammer 10 to flexibly meet the anti-disconnection requirement of the second supporting member before detection and the connection requirement of the detector 106 during detection. Of course, the connecting portion 1004 can also adopt other structural forms such as a clamping structure to realize the detachable connection between the second supporting member 9 and the gravity hammer 10.

[0134] In addition, the provided connecting member 1002 is not limited to being used to realize the connection between the second supporting member 9 and the gravity hammer 10, but can also be used to realize the connection between two relatively opposed tunnel inspection vehicles 101. For example, refer to Figure 1 and Figure 6 , in some embodiments, the two connecting portions 1004 of the connecting member 1002 are configured such that one is connected to the second supporting member 9 of the present tunnel inspection vehicle 101, and the other is connected to the second supporting member 9 of another tunnel inspection vehicle 101 opposite to the present tunnel inspection vehicle 101. In this way, the connection between two relatively opposed tunnel inspection vehicles 101 can be realized by using the connecting member 1002 to connect the second supporting members 9 of the two relatively opposed tunnel inspection vehicles 101, so as to detect various positions of the tunnel cross-section including the vault. Moreover, when the supporting system 104 includes a gravity hammer 10, the connecting member 1002 can be connected to the second supporting member 9 of the present tunnel inspection vehicle 101 through one connecting portion 1004, and then switchably connected to the gravity hammer 10 and the second supporting member 9 of another tunnel inspection vehicle 101 through the other connecting portion 1004, so that the connecting member 1002 serves two purposes, that is, it can connect the second supporting member 9 and the gravity hammer 10, and can also connect two second supporting members 9. In this way, the switching connection between the second supporting member 9 and the gravity hammer 10 and the second supporting member 9 of another tunnel inspection vehicle 101 can be realized based on a relatively simple structure.

[0135] In the foregoing embodiments, the number of the supporting mechanisms 105 in the supporting system 104 is not limited and can be one or more. For example, refer to Figures 1 - 3In some embodiments, the support system 104 includes two support mechanisms 105 spaced apart along the front-to-back direction Y and configured to connect to the same detector 106. Thus, the tunnel inspection vehicle 101 can support the detector 106 via the two support mechanisms 105 spaced apart along the front-to-back direction Y, which helps improve the stability and firmness of the support for the detector 106. This is particularly helpful in guiding the detector 106 to more smoothly and stably perform sliding inspections along the circumferential direction of the tunnel 200, further improving inspection efficiency and accuracy.

[0136] The study found that the performance of the traditional tunnel inspection vehicle 101 is poor. Another important reason is that the traditional tunnel inspection vehicle 101 has poor adaptability to operating tunnels and is likely to interfere with the normal passage of vehicles in the operating tunnels.

[0137] Traditional tunnel inspection vehicles 101 rely entirely on the travel system 102 to support the entire vehicle. In this case, the travel system 102 needs to have a relatively wide width (i.e., the dimension in a direction perpendicular to the direction of travel and the vertical direction) to effectively prevent the tunnel inspection vehicle 101 from overturning during the inspection process. However, the wider travel system 102 occupies a large area of road, which will hinder the normal passage of vehicles in the tunnel. As a result, the tunnel inspection vehicle 101 can only inspect non-operating tunnels where no vehicles pass through, or, although it can inspect operating tunnels, it needs to close the tunnel or control the passage of vehicles during the inspection process, and resume traffic after the entire tunnel inspection is completed. Or, although the tunnel is not closed or the passage of vehicles is not controlled, it needs to pass or move the vehicle when there are vehicles passing through. Among these three situations, in the first case, the tunnel inspection vehicle 101 can only inspect non-operating tunnels but not operating tunnels. It is applicable to fewer types of tunnels and has a limited scope of application. In the second case, the tunnel inspection vehicle 101 will interfere with the normal operation of the tunnel and cannot perform inspections around the clock, which makes inspections inconvenient and affects efficiency. In the third case, the tunnel inspection vehicle 101 cannot operate continuously and is limited by space issues. It is difficult to pass or move vehicles in the tunnel, which will still interfere with the passage of vehicles. Therefore, it is more difficult and less efficient.

[0138] It can be seen that the traditional tunnel inspection vehicle 101 can usually only perform inspections when there are no vehicles passing through the tunnel, and it is difficult to perform inspections when there are vehicles passing through the tunnel. It has poor adaptability to operating tunnels and is likely to interfere with the normal passage of vehicles in the operating tunnel. It has problems such as weak adaptability, poor working flexibility, and low efficiency. Therefore, it also affects the performance of the tunnel inspection vehicle 101 and restricts the further improvement of the performance of the tunnel inspection vehicle 101.

[0139] In view of the above situation, as a further improvement to the above embodiments, see Figures 1 - 2, in some embodiments, the tunnel inspection vehicle 101 further includes an auxiliary support 103, which is movably connected to the traveling system 102 to switch between a deployed state and a retracted state. In the deployed state, the auxiliary support 103 protrudes from the traveling system 102 toward one side in the left-right direction X and is used to contact the ground to keep the tunnel inspection vehicle 101 balanced during the process of the detector 106 detecting diseases of the tunnel 200. In the retracted state, the auxiliary support 103 is retracted so that the tunnel inspection vehicle 101 can avoid the vehicles passing through the tunnel 200.

[0140] By providing the auxiliary support 103 that can be switched between the deployed state and the retracted state in the tunnel inspection vehicle 101, the tunnel inspection vehicle 101 no longer solely relies on the traveling system 102 to support the whole vehicle during the detection process, but relies on both the auxiliary support 103 and the traveling system 102 to support the whole vehicle. In this way, it can effectively improve the stability of the whole vehicle during the detection process, reduce the risk of tipping over, and achieve a safe and efficient detection process. Moreover, it is also beneficial to reduce the width of the traveling system 102. After the auxiliary support 103 is retracted, the width of the whole vehicle is smaller, so that it can avoid the passing vehicles and does not affect the normal passing of the vehicles in the operating tunnel 200. In this way, the tunnel inspection vehicle 101 is not only suitable for detecting non-operating tunnels 200, but also suitable for detecting operating tunnels 200. And during the detection process of the operating tunnel 200, there is no need to close the tunnel 200 or conduct traffic control. Instead, when there are vehicles passing by, the auxiliary support 103 can be switched from the deployed state to the retracted state to avoid the passing vehicles. After the vehicle passes, it can be switched back to the deployed state to continue the detection, achieving the effect of being able to avoid vehicles without the need for passing or moving the vehicle, and being able to quickly continue the detection after the avoidance. Therefore, it can effectively improve the adaptability of the tunnel inspection vehicle 101 to tunnels 200 under different operating conditions (including whether it is operating and the traffic flow situation), enhance the working flexibility, improve the detection efficiency, and achieve a safe, efficient, non-interfering traffic flow, and all-weather detection process.

[0141] During the working process, the tunnel inspection vehicle 101 can not only travel in the tunnel 200 under the action of the traveling system 102, reach each cross-section (or cross-sectional area) of the tunnel 200, and after reaching each cross-section of the tunnel 200, detect diseases of each cross-section of the tunnel 200 through the detector 106 connected to the supporting system 104. Moreover, during the process of the detector 106 detecting diseases of each cross-section of the tunnel 200, the auxiliary support 103 in the deployed state and the traveling system 102 can be used together to support the whole vehicle. Since the auxiliary support 103 in the deployed state protrudes towards one side of the left-right direction X relative to the traveling system 102, the grounding width of the whole vehicle in the left-right direction X can be increased. Therefore, the stability of the whole vehicle can be increased, enabling the whole vehicle to better maintain balance during the disease detection process, preventing tipping over, and realizing a relatively safe and efficient detection process. And, if there are vehicles passing through the tunnel 200 during the disease detection process, the auxiliary support 103 can be switched from the deployed state to the retracted state, reducing the width of the whole vehicle to avoid the passing vehicles, so that the vehicle can pass smoothly.

[0142] It can be seen that by setting the auxiliary support 103 in the tunnel inspection vehicle 101 that can be switched between the deployed state and the retracted state, the adaptability and working flexibility of the tunnel inspection vehicle 101 can be effectively improved, so that the tunnel inspection vehicle 101 is no longer restricted by conditions such as whether the tunnel is in operation and the traffic flow situation, but can flexibly meet the different needs of disease detection in operating and non-operating tunnels and the normal passage of vehicles in operating tunnels, realizing a safe and efficient, non-interfering traffic flow, and all-weather tunnel disease detection process.

[0143] Among them, the structural form of the auxiliary support 103 can be diverse.

[0144] For example, referring to Figure 2 , in some embodiments, the auxiliary support 103 includes a first support 2, and the first support 2 includes a transverse leg 201 and a longitudinal leg 202. The transverse leg 201 connects the traveling system 102 and the longitudinal leg 202 and can extend and retract along the left-right direction X, so that the first support 2 can be switched between a first position corresponding to the deployed state and a second position corresponding to the retracted state.

[0145] Based on the above settings, just by extending the transverse leg 201 of the first support 2 along the left-right direction X and grounding through the longitudinal leg 202, the first support 2 and the traveling system 102 can support the whole vehicle together during the detection process, effectively increasing the grounding area, enhancing the balance of the whole vehicle during the detection process, preventing rollover, and moreover, just by retracting the transverse leg 201 along the left-right direction X, the width of the whole vehicle can be effectively reduced to avoid the passing vehicles and meet the vehicle passing requirements, which is simple, convenient, flexible and efficient.

[0146] Furthermore, referring toFigure 2 In some embodiments, the longitudinal leg 202 can be arranged to be telescopically extended and retracted vertically. Based on this, the length of the longitudinal leg 202 is adjustable, and it can adapt to the ground with different heights. In this way, the first support 2 can effectively support the ground with different heights, and can not only adapt to the tunnels 200 with different operating conditions, but also adapt to the tunnels 200 with different ground conditions. Therefore, the adaptability and working flexibility of the tunnel inspection vehicle 101 can be further improved, the applicable range of the tunnel inspection vehicle 101 can be more effectively expanded, and the inspection efficiency can be improved.

[0147] For different types of tunnels 200, such as trackless tunnels like highway tunnels and tracked tunnels like railway tunnels, since the former does not have tracks while the latter has tracks, their ground heights are not the same. Moreover, even for the same type of tunnel 200, due to the influence of actual geographical environment, construction quality, usage conditions, and maintenance conditions, etc., the ground heights of different tunnels 200 are not the same. Even for the same tunnel 200, there are differences in ground height at different cross-sections. By setting the longitudinal leg 202 to be telescopically extended and retracted vertically, it can effectively adapt to these grounds with different heights, enabling the first support 2 to effectively support under various ground conditions and reliably prevent the whole vehicle from tipping over.

[0148] For another example, refer to Figure 2 In some embodiments, the auxiliary support 103 includes a second support 6. The second support 6 is inclined and telescopic, so that the second support 6 can switch between a third position corresponding to the deployed state and a fourth position corresponding to the retracted state.

[0149] The above-mentioned second support 6 that is inclined and telescopic can also extend during the inspection process and support the whole vehicle together with the traveling system 102, effectively increasing the grounding area, enhancing the balance of the whole vehicle during the inspection process, and preventing tipping over. It can also retract when there are vehicles passing by, reducing the width of the whole vehicle to avoid passing vehicles and meet the vehicle passing requirements. It is simple, convenient, flexible, and efficient.

[0150] Furthermore, in some embodiments, the inclination angle of the second support 6 is adjustable. In this way, the second support 6 can not only be telescopic, but also change the inclination angle, which is convenient for flexibly adjusting the grounding position according to the actual situation to achieve a better support effect, more effectively improve the stability of the whole vehicle, which is also beneficial to further improving the adaptability and working flexibility of the tunnel inspection vehicle 101, expanding the applicable range of the tunnel inspection vehicle 101, and improving the operation efficiency of the tunnel inspection vehicle 101.

[0151] Both the first support 2 and the second support 6 provide lateral support for the vehicle. The main difference between the two lies in whether they are tilted. The first support 2 is horizontally telescopic and does not tilt, while the second support 6 is tilted and telescopic, forming an angle with the left-right direction X. Compared with the second support 6, the first support 2 provides a better support effect and can more effectively enhance the stability of the vehicle.

[0152] Of course, the auxiliary support 103 is not limited to including only one of the first support 2 and the second support 6, but may also include the first support 2 and the second support 6 at the same time to further improve the operational stability of the entire vehicle.

[0153] For example, see Figure 2 In some embodiments, the auxiliary support 103 includes a second support 6 and two first supports 2, with the two first supports 2 being disposed on the front and rear sides of the second support 6. Based on this, during the inspection process, the two first supports 2 can provide additional support from the front and rear sides of the vehicle, while the second support 6 can further strengthen support between the two first supports 2. In this way, the auxiliary support 103 can provide lateral support to the vehicle at three points in the front-to-rear direction, and one of the second support 6 and the first support 2 can provide support when the other is retracted. For example, if the first support 2 is retracted first when a vehicle is passing, the second support 6 can still provide support. Therefore, the stability of the vehicle can be more effectively improved, and the rollover of the tunnel inspection vehicle 101 can be more reliably prevented.

[0154] In the aforementioned embodiments, the auxiliary support 103 may be in direct contact with the ground, or may be in indirect contact with the ground.

[0155] For example, see Figure 2 In some embodiments, the auxiliary support 103 is provided with a first wheel 203 and a second wheel 204, which are used to contact the trackless surface and the track, respectively. In this case, the auxiliary support 103 is provided with wheels, and indirectly contacts the ground through the wheels. This allows the tunnel inspection vehicle 101 to travel conveniently even without the auxiliary support 103 being retracted. This facilitates both operational support and vehicle movement while achieving effective operational support. Furthermore, because the auxiliary support 103 contacts the ground not only through one type of wheel, but also through both the first wheel 203 and the second wheel 204, the tunnel inspection vehicle 101 can travel conveniently on both trackless surfaces on highways and on railroad tracks, enabling the tunnel inspection vehicle 101 to effectively adapt to both trackless and tracked surfaces. This further enhances the adaptability and operational flexibility of the tunnel inspection vehicle 101, expanding its scope of application and improving efficiency.

[0156] When the auxiliary support 103 includes the aforementioned first support 2, the first wheel 203 and the second wheel 204 can be arranged at the lower end of the first support 2. For example, they can be arranged at the lower end of the longitudinal leg 202 and be arranged side by side along the left - right direction X. In this way, it is convenient for the first wheel 203 and the second wheel 204 to alternately contact the two types of ground, namely the trackless ground and the track, increasing the adaptability of the first support 2 to the two types of ground, namely the trackless ground and the track, and improving the operation smoothness and running convenience of the whole vehicle in different types of tunnels such as highways and railways.

[0157] For another example, referring to Figure 2 , in some embodiments, a backing plate 601 is provided on the auxiliary support 103, and the backing plate 601 is used to contact the ground. At this time, the auxiliary support 103 indirectly contacts the ground through the backing plate 601. It is convenient to utilize the characteristic that the grounding area of the backing plate 601 is larger than that of the auxiliary support 103 to increase the grounding area, improve the support effect, and enhance the smoothness of the whole vehicle.

[0158] When the auxiliary support 103 includes the aforementioned second support 6, the backing plate 601 can be arranged at the lower end of the second support 6 to contact the ground, increasing the grounding area of the second support 6, improving the support effect of the second support 6, and enhancing the operation smoothness of the whole vehicle.

[0159] As an example of the traveling system 102 in the foregoing embodiments, referring to Figure 2 and Figure 3 , the traveling system 102 includes a traveling mechanism 1. The traveling mechanism 1 (such as a crawler - type traveling mechanism, a wheel - type traveling mechanism, or a roller - type traveling mechanism) is movably arranged along the front - rear direction Y to realize the traveling function of the whole vehicle. And the traveling system 102 further includes a vehicle body 4. The vehicle body 4 is rotatably arranged on the traveling mechanism 1, and the support system 104 is arranged on the vehicle body 4.

[0160] Since the traveling system 102 not only includes the traveling mechanism 1 that realizes the traveling of the whole vehicle, but also includes the vehicle body 4, and the vehicle body 4 is rotatably arranged on the traveling mechanism 1, and the support system 104 is arranged on the corresponding rotatable vehicle body 4, therefore, the support system 104 can not only move forward and backward together with the traveling mechanism 1, but also rotate relative to the traveling mechanism 1 together with the vehicle body 4 to flexibly adjust the orientation according to actual needs. For example, referring to Figure 1 , before the tunnel inspection vehicle 101 enters the tunnel 200, the vehicle body 4 can be rotated to adjust the support system 104 to face the middle of the width direction of the tunnel 200, so as to facilitate the subsequent entry of the tunnel inspection vehicle 101 into the tunnel 200 and perform inspection operations in the tunnel 200.

[0161] Based on the tunnel inspection vehicle 101 of the foregoing various embodiments, the present application further provides a tunnel inspection system 100.

[0162] Referring toFigure 1 The tunnel detection system 100 includes a detector 106 and the tunnel detection vehicle 101 of any one of the embodiments. In this way, the cooperation between the tunnel detection vehicle 101 and the detector 106 can be used to detect the diseases of the tunnel 200.

[0163] As described above, the tunnel detection system 100 can achieve the detection of the diseases of the tunnel 200 by only one tunnel detection vehicle 101, or can also achieve the detection of the diseases of the tunnel 200 through the cooperation of two tunnel detection vehicles 101. In the case of achieving the detection of the diseases of the tunnel 200 through the cooperation of two tunnel detection vehicles 101, the two tunnel detection vehicles 101 are arranged opposite to each other along the left - right direction X, and the detector 106 is connected to the support systems 104 of the two tunnel detection vehicles 101 and can move circumferentially along the tunnel 200 under the guidance of the support systems 104 of the two tunnel detection vehicles 101 to detect the diseases at different positions of the cross - section of the tunnel 200.

[0164] To connect the detector 106 to the support systems 104 of the two tunnel detection vehicles 101 and enable it to move circumferentially along the tunnel 200 under the guidance of the support systems 104 of the two tunnel detection vehicles 101, refer to Figures 7 - 9 In some embodiments, the detector 106 includes a detection member 1504, a support device 107, and two connecting devices 108. The detection member 1504 is arranged on the support device 107 and is used to detect the diseases of the tunnel 200. The two connecting devices 108 are both arranged on the support device 107 and are respectively connected to the support systems 104 of the two tunnel detection vehicles 101, so that the detector 106 is connected to the support systems 104 of the two tunnel detection vehicles 101 and can move circumferentially along the tunnel 200 under the guidance of the support systems 104 of the two tunnel detection vehicles 101. In this way, the detector 106 detects the diseases of the tunnel 200 through the detection member 1504, is connected to the support systems 104 of the two tunnel detection vehicles 101 through the two connecting devices 108, and can move circumferentially along the tunnel 200 under the guidance of the support systems 104 of the two tunnel detection vehicles 101. In this way, the detector 106 can perform circumferential sliding detection, so that the tunnel detection system 100 can conveniently detect the entire cross - section of the tunnel only through one detector 106.

[0165] In the case where the support system 104 includes the second support member 9, refer to Figure 1 and Figures 7 - 9 The connecting device 108 can be connected to the support system 104 by connecting to the second support member 9 and can move circumferentially along the tunnel under the drive of the second support member 9.

[0166] For example, refer to Figure 1 and Figures 7 - 9, in some embodiments, the connecting device 108 includes a suspension member 13, and the suspension member 13 is suspended from the second support member 9 so that the second support member 9 drives the detector 106 to move circumferentially along the tunnel 200. Thus, the detector 106 is suspended from the second support member 9, and as a whole, it can reach different circumferential positions of the tunnel cross-section as the second support member 9 moves relative to the first support member 5.

[0167] Among them, the suspension member 13 can adopt various structural forms to realize the connection with the second support member 9. As one of them, see Figures 7 - 9 , the suspension member 13 includes a support column 1301 and a caliper 1302. The caliper 1302 is connected to the support device 107 through the support column 1301, and includes a caliper body 1306, an external snap ring 1304 and an internal snap ring 1305. The external snap ring 1304 is connected to one end of the caliper body 1306, and the internal snap ring 1305 is movably arranged in the channel 1307 in the caliper body 1306 to approach or move away from the external snap ring 1304, and together with the external snap ring 1304, clamp or release the second support member 9. Thus, by simply controlling the internal snap ring 1305 to approach or move away from the external snap ring 1304, it can be controlled whether the suspension member 13 is suspended from the second support member 9, which is simple and convenient. In particular, see Figure , the caliper 1302 including the internal snap ring 1305 and the external snap ring 1304 can effectively cooperate with the supporting member 1104 of the aforementioned adjusting mechanism 11 to realize the suspension of the detector 106 on the second support member 9. Among them, the external snap ring 1304 can be configured as a semicircle to cooperate with the internal snap ring 1305 to clamp the upper half of the second support member 9, while the supporting member 1104 of the adjusting mechanism 11 restricts the lower half of the second support member 9 to realize the suspension setting of the detector 106 on the second support member 9.

[0168] Furthermore, in order to facilitate the control of the internal snap ring 1305 approaching or moving away from the external snap ring 1304, see ​ and ​ , in some embodiments, the suspension member 13 further includes an actuator 1303. The actuator 1303 is movably arranged in the channel 1307 and is used to drive the internal snap ring 1305 to approach or move away from the external snap ring 1304. Thus, the actuator 1303 can be used to conveniently control the internal snap ring 1305 to approach or move away from the external snap ring 1304, and further conveniently control whether the detector 106 is connected to the second support member 9.

[0169] Among them, the connection manner between the actuator 1303 and the channel 1307 can be diverse. As one of them, see ​ and ​, the actuator 1303 is threadedly connected to the channel 1307 so that the actuator 1303 is movably disposed in the channel 1307. In this way, by simply screwing the actuator 1303, the built-in snap ring 1305 can be controlled to approach or move away from the external snap ring 1304, which is simple and convenient.

[0170] In the connecting device 108 of the foregoing embodiments, the number of the suspension members 13 is not limited and may be one or more. For example, in some embodiments, the connecting device 108 includes two suspension members 13. The two suspension members 13 of the connecting device 108 are arranged at intervals along the front-rear direction Y and are respectively suspended on two second support members 9 of the support system 104 of the same tunnel inspection vehicle 101. In this way, the detector 106 can be suspended on the two second support members 9 of the same tunnel inspection vehicle 101, and a more stable inspection process can be realized, and more accurate inspection results can be obtained.

[0171] As a further improvement of the detector 106 in the foregoing embodiments, refer to ​ , the detector 106 further includes a roller 1501. The roller 1501 is rotatably disposed on the detecting member 1504 and is used to contact the inner wall of the tunnel 200. Based on this, on the one hand, the roller 1501 can make the detecting member 1504 not directly contact the inner wall of the tunnel 200, but there is a gap between the roller 1501 and the inner wall of the tunnel 200. In this way, it is more conducive to meeting the detection requirements and obtaining accurate detection results; on the other hand, when the detector 106 moves circumferentially along the tunnel 200, the roller 1501 can roll as the detector 106 moves circumferentially along the tunnel 200, which is more convenient for the detector 106 to perform circumferential sliding detection.

[0172] Among them, the number of the rollers 1501 in the detector 106 is not limited. As an example, refer to ​ , the detector 106 includes multiple groups of rollers 1501. These multiple groups of rollers 1501 are arranged at intervals along the left-right direction X, and each group of rollers 1501 includes at least one roller 1501. At this time, the detector 106 includes a plurality of rollers 1501, and these plurality of rollers 1501 are divided into multiple groups arranged at intervals along the left-right direction X, and can contact the inner wall of the tunnel at multiple positions in the left-right direction X. In this way, it is beneficial to make the gap between the detecting member 1504 and the inner wall of the tunnel more uniform, and is beneficial to further facilitate the circumferential sliding of the detector 106.

[0173] Each group of rollers 1501 may include only one roller 1501, or may include multiple rollers 1501. When each group of rollers 1501 includes multiple rollers 1501, the multiple rollers 1501 of each group of rollers 1501 may be arranged at intervals along the front-rear direction Y to more stably support between the detection member 1504 and the inner wall of the tunnel, further improving the uniformity of the interval between the detection member 1504 and the inner wall of the tunnel, as well as the circumferential sliding smoothness of the detector 106.

[0174] In addition, in order to further improve the detection effect, refer to ​ , for the detector 106 of the foregoing embodiments, its support device 107 may include a support arm 14, and the support arm 14 is arranged to be vertically telescopic, and the upper end is connected to the detection member 1504 to adjust the height position of the detection member 1504. In this way, it is convenient to adjust the detection member 1504 to a position with a suitable distance from the tunnel part to be detected, so that whether it is different cross-sections of the tunnel 200 or different positions of the same cross-section, the detection member 1504 can perform detection at a suitable position to obtain more accurate detection results. Therefore, the adaptability and detection accuracy of the tunnel detection system 100 can be further improved.

[0175] The structure of the detection member 1504 in the foregoing embodiments is not limited, as long as it can detect diseases of the tunnel 200. As an example, the detection member 1504 includes a scanning member 1502 to perform disease detection by means of scanning. Alternatively, as an alternative, the detection member 1504 may also include other components such as a camera to perform disease detection by means of taking pictures or other means.

[0176] Based on the tunnel detection system 100 of the foregoing embodiments, the present application also provides a tunnel detection method, which includes:

[0177] Making the detector 106 connected to the support system 104 of the tunnel detection vehicle 101 detect diseases of the cross-section of the tunnel 2;

[0178] Wherein, before making the detector 106 connected to the support system 104 of the tunnel detection vehicle 101 detect diseases of the cross-section of the tunnel 200, the support system is further adjusted to simulate the contour of the cross-section of the tunnel 200; and / or,

[0179] During the process of making the detector 106 connected to the support system 104 of the tunnel detection vehicle 101 detect diseases of the cross-section of the tunnel 200, the detector 106 is moved along the circumferential direction of the tunnel 200 under the action of the support system 104 of the tunnel detection vehicle 101 to detect diseases at different positions of the cross-section of the tunnel 200.

[0180] By adopting the above method, the tunnel detection system 100 can simulate the contours of different tunnel cross-sections, adapt to different tunnel cross-section specifications, and / or perform circumferential sliding detection, and perform disease detection based on a simpler structure and control process.

[0181] Specifically, in the case where the support system 104 includes the first support member 5, in some embodiments, adjusting the support system 104 includes:

[0182] Rotating the multi-section support segments 511 of the first support member 5 of the support system 104 relative to each other to adjust at least one of the shape and size of the first support member 5.

[0183] The above steps enable the support system 104 to be adjusted by adjusting the first support member 5, so that the support system 104 simulates the contour of the tunnel cross-section.

[0184] More specifically, in the case where the support system 104 includes not only the first support member 5 but also the second support member 9, in some embodiments, adjusting the support system 104 further includes:

[0185] After adjusting the first support member 5, the second support member 9 of the support system 104 for connecting the first support member 5 and the detector 106 is further adjusted.

[0186] After adjusting the first support member 5, further adjusting the second support member 9 can make the support system 104 closer to the contour of the tunnel cross-section, which is beneficial to further improving the detection accuracy.

[0187] As an improvement to the tunnel detection method in the foregoing embodiments, the tunnel detection method further includes:

[0188] Before the detector 106 of the support system 104 connected to the tunnel detection vehicle 101 performs disease detection on the cross-section of the tunnel 200, the detector 106 is further connected to the support systems 104 of two tunnel detection vehicles 101 arranged opposite to each other in the left-right direction X.

[0189] Based on the above method, the detection can be completed by the cooperation of two tunnel detection vehicles 101 arranged opposite to each other in the left-right direction X and the detector 106 together, which is more convenient to realize the circumferential sliding detection process of the detector.

[0190] Specifically, in the case where the support system 104 includes the second support member 9, connecting the detector 106 to the support systems 104 of two tunnel detection vehicles 101 arranged opposite to each other in the left-right direction X includes:

[0191] Connecting the detector 106 to the second support member 9 of the support systems 104 of two tunnel detection vehicles 101 arranged opposite to each other in the left-right direction X.

[0192] By connecting the detector 106 to the second support member 9 of two tunnel inspection vehicles 101 arranged oppositely along the left - right direction X, the connection between the detector 106 and the two tunnel inspection vehicles 101 can be conveniently achieved, and it is also convenient for the detector 106 to move circumferentially along the tunnel 200 driven by the second support member 9, realizing circumferential sliding detection.

[0193] More specifically, in the case where the support system 104 includes the second support member 9 and the gravity hammer 10, in some embodiments, connecting the detector 106 to the second support member 9 of the support system 104 of two tunnel inspection vehicles 101 arranged oppositely along the left - right direction X includes:

[0194] Removing the gravity hammer 10 on the second support member 9 of the support system 104 of two tunnel inspection vehicles 101 arranged oppositely along the left - right direction X;

[0195] Connecting the second support members 9 of the support systems 104 of two tunnel inspection vehicles 101 arranged oppositely along the left - right direction X together;

[0196] Connecting the detector 106 to the second support member 9 of the support system 104 of two tunnel inspection vehicles 101 arranged oppositely along the left - right direction X.

[0197] The above steps mean that the detector 106 is connected to the second support member 9 of the two tunnel inspection vehicles 101, and the connection between the detector 106 and the second support member 9 is detachable. Moreover, before the detector 106 is connected to the second support member 9, the gravity hammer 10 is connected to the second support member 9, and the connection between the gravity hammer 10 and the second support member 9 is also detachable. In this way, the gravity hammer 10 can be used to hold the second support member 9 before the detector 106 is connected to the second support member 9 to prevent the second support member 9 from slipping and shifting, and when it is necessary to connect the detector 106, the gravity hammer 10 can be removed in time, connect the second support members 9 of the two tunnel inspection vehicles 101 together, and then connect the detector 106 for formal detection.

[0198] In addition, in the case where the tunnel inspection vehicle 101 includes the auxiliary support 103, in some embodiments, before the detector 106 connected to the support system 104 of the tunnel inspection vehicle 101 detects diseases of the cross - section of the tunnel 200, the auxiliary support 103 of the tunnel inspection vehicle 101 is also switched from the retracted state to the deployed state, and during the process of the detector 106 detecting diseases of the cross - section of the tunnel 200, if there is a vehicle passing through the tunnel 200, before the vehicle travels to the cross - section to be detected, the auxiliary support 103 of the tunnel inspection vehicle 101 is switched from the deployed state to the retracted state.

[0199] By adopting the above method, the tunnel detection system 100 is no longer restricted by conditions such as whether the tunnel is in operation and the traffic flow situation. Instead, it can take into account the different needs of detecting diseases in both operating and non-operating tunnels and the normal passage of vehicles in the operating tunnel, achieving a safe, efficient, non-traffic-flow-interfering, and all-weather tunnel disease detection process.

[0200] In addition, in the foregoing embodiments, before the detector 106 of the support system 104 connected to the tunnel inspection vehicle 101 detects diseases in the cross-section of the tunnel 200, the tunnel inspection vehicle 101 can be located at the edge of the tunnel 200 along the left-right direction X to further reduce the impact of the tunnel inspection vehicle 101 on the traffic flow.

[0201] The tunnel detection methods of the foregoing embodiments can be carried out under the control of a controller. Therefore, the present application also provides a controller, which includes a memory and a processor coupled to the memory. The processor is configured to execute the tunnel detection method of any one of the embodiments based on instructions stored in the memory.

[0202] In addition, the present application also provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are executed by the processor to execute the control method of any one of the embodiments.

[0203] In addition, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by the processor, it implements the control method of any one of the embodiments.

[0204] Next, the following ​ shown embodiments will be further introduced.

[0205] As ​ shown, in this embodiment, the tunnel detection system 100 includes two tunnel inspection vehicles 101 and a detector 106. The two tunnel inspection vehicles 101 are arranged opposite to each other along the left-right direction X, and the detector 106 is movably connected to the two tunnel inspection vehicles 101 along the circumferential direction (or circumferential direction) of the tunnel 200 for circumferential sliding detection.

[0206] Among them, the structures of the two tunnel inspection vehicles 101 are the same, and both include a traveling system 102, an auxiliary support 103, and a support system 104.

[0207] The traveling system 102 is used to realize the traveling of the whole vehicle and support the auxiliary support 103 and the support system 104. As ​ and ​As shown, in this embodiment, the traveling system 102 includes a traveling mechanism 1, a vehicle body 4, and a first slewing bearing 3. The traveling mechanism 1 is a crawler-type traveling mechanism, mainly used for traveling on the edge of the tunnel. Its width is relatively small, and it can travel normally on the possible platforms on the edge of the tunnel. The vehicle body 4 is rotationally connected to the traveling mechanism 1 through the first slewing bearing 3, so that the vehicle body 4 can rotate 360° relative to the traveling mechanism 1 to drive the support auxiliary support 103 and the support system 104 to rotate 360° together.

[0208] The auxiliary support 103 is used to increase the grounding area during the detection process, improve the operation stability of the whole vehicle, and reduce the interference to passing vehicles. As ​ shown, in this embodiment, the auxiliary support 103 is arranged on the vehicle body 4 and includes two first supports 2 and a second support 6. The two first supports 2 are connected to the front and rear ends of the vehicle body 4, and the second support 6 is located between the two first supports 2 in the front-rear direction Y.

[0209] Among them, the structures of the two first supports 2 are the same, and both include a transverse leg 201, a longitudinal leg 202, and a first driving cylinder 205. A first wheel 203 and a second wheel 204 are provided on both of the two first supports 2.

[0210] Specifically, the transverse leg 201 extends along the left-right direction X and is connected to the vehicle body 4 through a pin shaft, and can be telescoped along the left-right direction X under the action of the first driving cylinder 205 to adjust the width of the first support 2 (i.e., the dimension in the left-right direction X), and change the transverse (i.e., the left-right direction X) distance of the longitudinal leg 202 and the first wheel 203 and the second wheel 204 relative to the vehicle body 4. For example, during the disease detection process of a railway tunnel, the position of the longitudinal leg 202 and the second wheel 204 can be adjusted by extending the transverse leg 201 so that the second wheel 204 can travel on the railway track; when a train passes through the tunnel, the transverse leg 201 contracts, and the longitudinal leg 202 and the second wheel 204 can be retracted from the railway track and can be placed back on the railway track again after the train passes. In this way, different requirements for disease detection and vehicle passage can be flexibly met, facilitating the safe and efficient operation of the tunnel detection system 100 and the tunnel detection vehicle 101 in tunnels 200 with different operating conditions.

[0211] The longitudinal support leg 202 is vertically arranged, with its upper end connected to the outer end of the transverse support leg 201 (i.e., the end away from the vehicle body 4), and its lower end connected to the central axis of the first wheel 203. The outer side of the central axis of the first wheel 203 is connected to the second wheel 204, such that the first wheel 203 and the second wheel 204 are respectively arranged on the left and right sides of the lower end of the longitudinal support leg 202, and can respectively contact the trackless ground and the railway track through the first wheel 203 and the second wheel 204. The longitudinal support leg 202 is telescopic, so that the distances between the first wheel 203 and the second wheel 204 and the ordinary ground or the track surface can be adjusted, enabling the first wheel 203 and the second wheel 204 to maintain good contact with the ordinary ground and the track surface respectively under different conditions.

[0212] As ​ shown, in this embodiment, the diameters of the first wheel 203 and the second wheel 204 are not the same. Among them, the diameter of the first wheel 203 is larger than that of the second wheel 204. In this way, the lower edge of the second wheel 204 is higher than the lower edge of the first wheel 203, which is adapted to the characteristic that the track surface is usually higher than the ordinary ground (or called trackless ground). The first wheel 203 and the second wheel 204 can respectively contact the ordinary ground and the track surface. For example, when the tunnel 200 is a highway tunnel, the first wheel 203 contacts the ordinary ground and the first wheel 203 is suspended; when the tunnel 200 is a railway tunnel, the second wheel 204 contacts the railway track, and the first wheel 203 is suspended or contacts the ordinary ground beside the railway track.

[0213] It can be seen that the first wheel 203 can achieve the contact and travel with the ground in tunnels such as highways, while the second wheel 204 can achieve the contact and travel with the railway track in tunnels such as railways. In this way, the tunnel detection system 100 and the tunnel detection vehicle 101 are adapted to two different working conditions of ordinary road surfaces and track surfaces, and can detect different tunnels 200 such as highway tunnels or railway tunnels, with stronger adaptability.

[0214] The second support 6 is mainly used to enhance the stability of the tunnel detection system 100 and the tunnel detection vehicle 101 during the detection operation. As ​ shown, in this embodiment, the second support 6 is a telescopic structure and is inclined downward. The upper end of the second support 6 is hinged to the geometric center of one of the left and right sides of the vehicle body 4, and a backing plate 601 is provided at the lower end to contact the ground through the backing plate 601. The second support 6 is telescoped under the action of the second driving cylinder 602. The head and tail of the second driving cylinder 602 are respectively hinged to the second support 6 and the vehicle body 4, and the second driving cylinder 602 and the second support 6 are located in the same longitudinal plane.

[0215] By setting the second support 6, the operation stability can be further enhanced. In particular, when operating in a railway tunnel, when a train passes by and the longitudinal leg 202 needs to be retracted from the railway track, the second support 6 can still be in contact with the ground during the retraction process of the longitudinal leg 202, so that the whole vehicle can still maintain stability and prevent the occurrence of rollover accidents.

[0216] The support system 104 is arranged on the vehicle body 4 and connected to the detector 106 to support the detector 106 and drive the detector 106 to slide circumferentially along the tunnel section to achieve circumferential sliding detection. As ​ shown, in this embodiment, the support system 104 includes two support mechanisms 105, which are arranged at intervals along the front-rear direction Y, and can both be switched between an extended state and a retracted state, and both include a first support member 5, a second support member 9 and a plurality of adjustment mechanisms 11. Moreover, both of these two support mechanisms 105 are equipped with a drum 7, a motor 8, a gravity hammer 10 and a connecting member 1002.

[0217] Among them, the first support member 5 is a boom 512, which is rotatably connected to the vehicle body 4 through a second slewing bearing 501, so that the first support member 5 can rotate relative to the vehicle body 4 and change its own orientation. And, by ​ it can be known that in this embodiment, the first support member 5 includes a base 502, a first-stage driving cylinder 503, a second-stage driving cylinder 505, a third-stage driving cylinder 507 and a fourth-stage driving cylinder 509, and also includes at least three support sections 511 with boom sections 513. Specifically, it includes four support sections 511 with boom sections 513, namely the first support section 504, the second support section 506, the third support section 508 and the fourth support section 510. The base 502 is arranged on the second slewing bearing 501. The lower end of the first support section 504 is connected to the ear plate holes on both sides of the base 502 through a pin shaft and rotates under the combined action of two first-stage driving cylinders 503 to perform lifting and lowering. The lower end of the second support section 506 is hinged to the upper end of the first support section 504, and the head and tail of the second-stage driving cylinder 505 are respectively connected to the second support section 506 and the first support section 504 to drive the second support section 506 to rotate relative to the first support section 504 to perform lifting and lowering. Similarly, the connection methods and functions of the third support section 508, the second support section 506 and the third-stage driving cylinder 507, and the fourth support section 510, the third support section 508 and the fourth-stage driving cylinder 509 are the same and will not be elaborated.

[0218] Based on the above settings, the first support member 5 can not only rotate as a whole relative to the vehicle body 4, but also the multi-section support sections 511 of the first support member 5 can rotate relative to each other, so that the first support member 5 can be switched between an extended state and a retracted state, and in the extended state, its own shape and size in the tunnel radial direction can be adjusted to simulate tunnel sections of different shapes and sizes.

[0219] The drum 7 is rotatably arranged on the vehicle body 4. Specifically, it is arranged on one side in the front-rear direction of the vehicle body 4 and is used to realize the winding and unwinding of the second support member 9 of the rope 901, so that the second support member 9 can move along the first support member 5, realizing the circumferential movement of the second support member 9 relative to the first support member 5 along the tunnel 200.

[0220] The motor 8 is drivingly connected to the drum 7 to drive the drum 7 to rotate, control the forward rotation, reverse rotation and rotation speed of the drum 7, and further control the winding and unwinding of the second support member 9 and the winding and unwinding speed.

[0221] The second support member 9 is a rope 901. It is wound around the drum 7 and pulled out from the drum 7 and lapped on the supporting member 1104 on the adjusting mechanism 11. So that during the rotation of the drum 7, the second support member 9 can move along the first support member 5, driving the detector 106 connected to the second support member 9 to move along the first support member 5, realizing the movement of the detector 106 on the support system 104, so that the detector 106 can move circumferentially along the tunnel 200 by moving along the support system 104 on the support system 104 for circumferential sliding detection.

[0222] The gravity hammer 10 is hung at the end of the second support member 9 and is used to hold the second support member 9 in the non-working state (that is, not connected to the detector 106) to prevent the second support member 9 from slipping off the supporting member 1104.

[0223] The adjusting mechanism 11 is located on the side of the first support member 5. A plurality of adjusting mechanisms 11 are equidistantly installed on the side of each support section 511 of the first support member 5. The specific number of the adjusting mechanisms 11 can be determined according to the actual situation. Such as ​As shown, in this embodiment, the structures of the adjusting mechanisms 11 are the same, each including a third slewing bearing 1101, a connecting arm 1102, a rotating shaft 1103, and a pulley 1107 serving as a supporting member 1104. The pulley 1107 is used to support the second supporting member 9 released by the winding drum 7. The third slewing bearing 1101 is the connection medium between the adjusting mechanism 11 and the first supporting member 5. It can rotate by itself to enable the rotatable setting of the adjusting mechanism 11 on the first supporting member 5, so that the adjusting mechanism 11 can adjust the position of the pulley 1107 by rotating relative to the first supporting member 5, thereby finely adjusting the spatial position of the second supporting member 9 and changing the shape of the second supporting member 9. The two ends of the connecting arm 1102 are respectively connected to the third slewing bearing 1101 and the rotating shaft 1103, and the other end of the rotating shaft 1103 is connected to the central shaft of the pulley 1107. The pulley 1107 is rotatably arranged on the rotating shaft 1103 to rotate as the second supporting member 9 is wound and unwound. The pulley 1107 includes a wheel shaft 1106 and two wheel bodies 1105 arranged at opposite ends of the wheel shaft 1106. The second supporting member 9 is lapped on the wheel shaft 1106 between the two wheel bodies 1105 of the pulley 1107 and is supported and constrained by the pulley 1107.

[0224] ​ The connection structure between the gravity hammer 10 and the second supporting member 9 is shown. As ​ shown, in this embodiment, the end of the second supporting member 9 is detachably connected to the gravity hammer 10 through a connecting member 1002. Specifically, a stud 1003 is provided at the end of the second supporting member 9, a hanging rope 1001 is provided at the upper end of the gravity hammer 10, and a stud 1003 is also provided at the other end of the hanging rope 1001. The connecting member 1002 is cylindrical, and two threaded holes 1005 are respectively provided at both axial ends of it. The two threaded holes 1005 do not communicate with each other and both serve as connecting parts 1004. Among them, one threaded hole 1005 is threadedly connected to the stud 1003 on the second supporting member 9 of this tunnel inspection vehicle 101, and the other threaded hole 1005 is threadedly connected to the stud 1003 on the gravity hammer 10. Moreover, the threaded hole 1005 connected to the gravity hammer 10 is also connected to the stud 1003 on the second supporting member 9 of another tunnel inspection vehicle 101 after the gravity hammer 10 is removed, so as to realize the connection of the second supporting members 9 of the two tunnel inspection vehicles 101.

[0225] The detector 106 is used for detecting diseases of the tunnel 200. As ​ shown, in this embodiment, the detector 106 includes a detection device 15, a support device 107, and two connection devices 108.

[0226] Among them, the detection device 15 is used to detect diseases of the tunnel 200. In this embodiment, the detection device 15 is a radar, which includes a scanning member 1502, a back plate 1503, and two groups of rollers 1501. The back plate 1503 is connected below the scanning member 1502 and is hinged to the support arm 14 of the support device 107 to realize the rotational connection between the detection device 15 and the support device 107. The scanning member 1502 serves as the detection member 1504, which is a scanning screen and is located on the back plate 1503. Its main function is to scan the tunnel to achieve the purpose of disease detection. The two groups of rollers 1501 are arranged at intervals in the left-right direction X, and each group of rollers 1501 includes two rollers 1501 arranged at intervals in the front-back direction Y. In this way, the detector 106 includes a total of four rollers 1501. The rollers 1501 have two main functions: First, to form a necessary scanning interval between the scanning member 1502 and the inner wall of the tunnel (lining surface); second, when the detector 106 moves along the second support member 9, the detection device 15 can follow synchronously. During the process of scanning the inner wall of the tunnel, the detection device 15 can transmit the disease scan map to a computer or a mobile phone client.

[0227] The support device 107 is used to support the detection device 15 and the two connection devices 108. In this embodiment, the support device 107 includes a load-bearing base 12 and a support arm 14. The support arm 14 is arranged on the load-bearing base 12 and is used to connect with the detection device 15. Specifically, the lower end of the support arm 14 is connected to the center of the upper surface of the load-bearing base 12, and the upper end is hinged to the detection device 15 so that the detection device 15 can rotate left and right in the longitudinal plane. Moreover, in this embodiment, the support arm 14 is telescopic to adjust the height position of the detection device 15, so that the detection device 15 can maintain good contact with the inner wall of the tunnel at different height positions.

[0228] The two connection devices 108 are used to realize the connection between the detector 106 and the support systems 104 of the two tunnel inspection vehicles 101, so that the detector 106 can perform circumferential sliding detection. As ​ shown, in this embodiment, the two connection devices 108 are arranged on the load-bearing base 12 and are located on the left and right sides of the support arm 14, and each connection device 108 includes two suspension members 13 arranged at intervals in the front-back direction. The two suspension members 13 of the same connection device 108 are respectively hung on the two second support members 9 of the same tunnel inspection vehicle 101. In this way, the detector 106 is hung on the four second support members 9 of the two tunnel inspection vehicles 101 by four suspension members 13 and can move along the first support member 5 with these four second support members 9 to move circumferentially along the tunnel 200 to reach different circumferential positions of the cross-section of the tunnel 200.

[0229] As ​As shown, in this embodiment, the structures of the suspension members 13 are the same, each including a support column 1301, a caliper 1302, and an actuator 1303. Among them, both ends of the support column 1301 are respectively connected to the load-bearing base 12 and the caliper 1302. The function of the caliper 1302 is to clamp the second support member 9 to suspend the detector 106, so that the detector 106 can move along the first support member 5 together with the second support member 9. The caliper 1302 includes a caliper body 1306, an external snap ring 1304, and an internal snap ring 1305. The actuator 1303 is a bolt.

[0230] ​ It shows the connection principle between the caliper 1302 and the second support member 9, as well as the relationship between the caliper 1302 and the second support member 9 and the pulley 1107. ​ It can be seen that in this embodiment, the internal snap ring 1305 is arranged in the channel 1307 inside the caliper body 1306. When connecting with the second support member 9, first withdraw the actuator 1303 from the channel 1307 of the caliper body 1306, then place the second support member 9 in the gap formed by the external snap ring 1304 and the internal snap ring 1305, and then tighten the actuator 1303 so that the front part of the actuator 1303 abuts against the end of the internal snap ring 1305. As the actuator 1303 is screwed in, the internal snap ring 1305 is pushed forward until it forms an enclosure with the external snap ring 1304 and clamps the second support member 9 tightly. After the four calipers 1302 are respectively clamped on the corresponding second support members 9, the hanging of the detector 106 can be completed. After the hanging is completed, the four suspension members 13 are located outside the adjusting mechanisms 11 of the four support systems 104, and the calipers 1302 of each suspension member 13 only clamp the upper half of the second support member 9, while the lower half of the second support member 9 is located between the two wheel bodies 1105 of the pulley 1107. In this way, the detector 106 can move on the adjusting mechanism 11 together with the second support member 9 to reach different circumferential positions of the cross-section of the tunnel 200.

[0231] The working process of the tunnel detection system 100 in this embodiment is roughly as follows:

[0232] (1) Before entering the entrance of the tunnel 200, place two tunnel detection vehicles 101 (which can be respectively called the first vehicle and the second vehicle) on both sides of the tunnel. The two tunnel detection vehicles 101 are pre-rotated through the first slewing bearing 3 so that the first support member 5, the first support 2, and the second support 6 are all as ​towards the middle in the width direction of the tunnel 200. Immediately afterwards, the two tunnel inspection vehicles 101 travel synchronously along the position close to the side wall at the edge of the tunnel, so that the two tunnel inspection vehicles 101 reach the entrance of the tunnel 200 and stop. Then, the first support 2 and the second support 6 are adjusted to switch the auxiliary support 103 from the retracted state to the deployed state for auxiliary support. If it is a trackless tunnel such as a highway tunnel, after the transverse leg 201 of the first support 2 extends out, the longitudinal leg 202 is adjusted so that the first wheel 203 contacts the ground, thus making the whole vehicle stable. If it is a track tunnel such as a railway tunnel, after the transverse leg 201 of the first support 2 extends out, the longitudinal leg 202 is adjusted so that the second wheel 204 contacts the upper surface of the nearest rail. After the longitudinal leg 202 in the above two cases is adjusted, the second driving cylinder 602 is adjusted to adjust the second support 6 to an appropriate angle, and then the second support 6 is extended outwards until the backing plate 601 contacts the ground to make the whole vehicle more stable.

[0233] (2) Start all the driving cylinders of the first support member 5, drive the respective support sections 511 of the first support member 5 to rotate relative to each other, so that the first support member 5 extends along the contour line of the cross-section to be detected of the tunnel 200 until as ​ shown, the shape and the dimension in the tunnel radial direction of the first support member 5 are close to the contour of the cross-section to be detected of the tunnel 200. Subsequently, start the motors 8 on the front and rear sides of the vehicle body 4, and drive the winding drum 7 to release the second support member 9 outwards until the plumb bob 10 at the end of the second support member 9 drops to a position suitable for the operator to remove the plumb bob 10 (for example, the abdominal position of the operator), and the motor 8 stops working.

[0234] (3) The operator removes the plumb bobs 10 of the two tunnel inspection vehicles 101, then removes the connecting piece 1002 at the end of the second support member 9 of one of the tunnel inspection vehicles 101 (for example, the first vehicle), and screws the stud 1003 on the second support member 9 from which the connecting piece 1002 is removed into the connecting piece 1002 of the other tunnel inspection vehicle 101 (for example, the second vehicle). Immediately afterwards, the calipers 1302 on the four suspension members 13 of the detector 106 are respectively installed on the second support member 9 and fixed and clamped.

[0235] (4) Rotate the motors 8 of the two tunnel inspection vehicles 101 in the reverse direction at a constant speed, tighten the second support members 9 of the two tunnel inspection vehicles 101 upwards until the detector 106 is adjusted to the spatial position as ​ shown, and stop the motor 8. Subsequently, start the respective adjusting mechanisms 11 on the first support member 5 of the two tunnel inspection vehicles 101, and adjust the spatial positions of the respective supporting members 1104 by the rotation of the respective third slewing bearings 1101 until the second support member 9 is adjusted to the state closest to the contour of the tunnel cross-section.

[0236] (5) Activate the support arm 14 of the detector 106 to lift the detection device 15 upward until the rollers 1501 of the detection device 15 are in close contact with the inner wall of the tunnel, so that the scanning member 1502 can face the inner wall of the tunnel. Then, activate the motors 8 of the two tunnel inspection vehicles 101, so that the motors 8 of the two tunnel inspection vehicles 101 rotate at a constant speed in the same direction (both towards the first vehicle direction or both towards the second vehicle direction), causing the detector 106 to move circumferentially along the tunnel as the second support member 9 is retracted and extended, until the detector 106 is in close contact with the vehicle body 4 of the first vehicle (or the second vehicle) and cannot move down any further, then stop the motor 8, so that the detector 106 reaches one side edge of the detectable area of the cross-section of the tunnel 200. It should be noted that during the retraction and extension of the second support member 9, it is always in close contact with the surface of the axle 1106 of the support member 1104, so that the detector 106 is always on the surface of the second support member 9 and will not fall off.

[0237] (6) Start the detection device 15 to make it in the working state, that is, scan and detect the cross-section of the tunnel 200. At the same time, start the motors 8 of the two tunnel inspection vehicles 101, so that the rotational speeds of the motors 8 of the two tunnel inspection vehicles 101 are slow, and the moving directions are opposite to the moving direction of the detector 106 before. The moving speeds and directions of the motors 8 of the two tunnel inspection vehicles 101 are the same this time, so that the detector 106 moves along the circumferential direction of the tunnel 200 with the second support member 9, gradually moving from one side edge of the detectable area of the cross-section of the tunnel 200 to the other side. During the slow movement, the detection device 15 of the detector 106 is always in the working state, so that while the detector 106 moves along the circumferential direction of the tunnel 200 with the second support member 9, it can synchronously scan the cross-section of the tunnel 200. When the detector 106 moves to closely adhere to the vehicle body 4 of the second vehicle (or the first vehicle) and can no longer move down, it means that the detector 106 has detected the other side edge of the detectable area of the cross-section of the tunnel 200. Therefore, stop the motor 8, and the detection of the first cross-section of the tunnel 200 is completed. Then, start the two tunnel inspection vehicles 101, so that the two tunnel inspection vehicles 101 travel synchronously along the position close to the tunnel edge. When the two tunnel inspection vehicles 101 reach the next cross-section to be detected in the tunnel, stop the two tunnel inspection vehicles 101 and start the circumferential sliding detection of the corresponding cross-section. Repeat this process until all the cross-sections of the tunnel are detected. During the detection of different cross-sections of the tunnel 200, if the cross-section contour does not change, there is no need to readjust the shape of the support system 104. Only when the contour of the previous cross-section is different from that of the next cross-section, it is necessary to adjust the shape of the support system 104 before starting the formal detection of the next cross-section. And most of the cross-sections of the tunnel 200 in the whole length direction are the same. Even for the variable cross-section tunnel 200, usually only the cross-section contour changes at the variable cross-section. Therefore, usually, during the detection process of the whole tunnel 200, only one or a few shape adjustments of the support system 104 are required, and the process is relatively simple.

[0238] (7) After all the cross-sections of the tunnel 200 are detected, rotate the motors 8 of the two tunnel inspection vehicles 101 to reset the detector 106 to the ​ spatial position as shown. Subsequently, repeat the relevant operations in step (2), lower the detector 106 to a suitable position, remove the detector 106, and connect each gravity hammer 10 to the connecting member 1002 at the end of each second support member 9. Then, rotate the motors 8 of the two tunnel inspection vehicles 101 in the reverse direction, so that the gravity hammers 10 are tightened upward until they reach the ​ state as shown, and stop the motor 8. Then, retract the first support member 5 to restore all components to their original states and end the operation.

[0239] It can be seen that the tunnel detection system 100 of this embodiment can realize the detection process of "circumferential sliding detection, advancing section by section" through the collaboration between the detector 106 and the walking system 102, auxiliary support 103 and support system 104 of the two tunnel detection vehicles 101, and can perform safe, accurate, flexible and efficient detection on both tracked and trackless tunnels 200, as well as tunnels 200 with different cross-sectional specifications and different operating conditions, and can effectively meet the disease detection needs of different types of tunnels such as roads, railways, and water conservancy and hydropower.

[0240] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A tunnel inspection vehicle (101), characterized in that, Comprising: A traveling system (102) movably arranged in the front-rear direction (Y) to enable the tunnel inspection vehicle (101) to travel in the tunnel (200); and A supporting system (104) arranged on the traveling system (102) and used for connecting with a detector (106) for detecting diseases of the tunnel (200) to support the detector (106). The supporting system (104) has an extended state extending circumferentially along the tunnel (200), wherein at least one of the shape and size of the supporting system (104) is adjustable to simulate the contour of the cross-section of the tunnel (200); and / or, the supporting system (104) guides the detector (106) to move circumferentially along the tunnel (200) to detect different positions of the cross-section of the tunnel (200).

2. The tunnel inspection vehicle (101) according to claim 1, characterized in that, The supporting system (104) includes a supporting mechanism (105), and the supporting mechanism (105) includes a first supporting member (5) for connecting with the detector (106). The first supporting member (5) is connected to the traveling system (102) and includes a plurality of telescopically connected supporting segments (511) that are rotatably connected in sequence, so that the first supporting member (5) adjusts at least one of the shape and size through the rotation between the plurality of supporting segments (511); and / or, the supporting system (104) is used for detachably connecting with the detector (106).

3. The tunnel inspection vehicle (101) according to claim 2, characterized in that, The supporting system (104) is configured as at least one of the following: The first supporting member (5) is rotatably connected to the traveling system (102); The first supporting member (5) is a boom (512), and the plurality of telescopically connected supporting segments (511) are a plurality of boom segments (513) of the boom (512); The supporting mechanism (105) further includes a second supporting member (9), and the first supporting member (5) is connected to the detector (106) through the second supporting member (9); The supporting system (104) includes two such supporting mechanisms (105), and the two supporting mechanisms (105) are arranged at intervals in the front-rear direction (Y) and are used for connecting with the same detector (106).

4. The tunnel inspection vehicle (101) according to claim 3, characterized in that, The supporting system (104) is configured as at least one of the following: The supporting mechanism (105) further includes at least one adjusting mechanism (11), and the adjusting mechanism (11) includes a connecting arm (1102) and a supporting member (1104). The supporting member (1104) is connected to the first supporting member (5) through the connecting arm (1102) and supports the second supporting member (9). The connecting arm (1102) is movably connected to the first supporting member (5) to adjust the second supporting member (9) by moving relative to the first supporting member (5) so that the second supporting member (9) simulates the contour of the cross-section of the tunnel (200); The support mechanism (105) further includes a connecting member (1002) having two connecting portions (1004) disposed at opposite ends of the connecting member (1002). One of the two connecting portions (1004) is connected to the second support member (9) of the present tunnel inspection vehicle (101), and the other is connected to the second support member (9) of another tunnel inspection vehicle (101) disposed opposite to the present tunnel inspection vehicle (101). The second support member (9) is used for detachably connecting to the detector (106). The second support member (9) is movably disposed along the first support member (5) to drive the detector (106) to move circumferentially along the tunnel (200). The second support member (9) includes a rope (901).

5. The tunnel inspection vehicle (101) according to claim 4, characterized in that, The support system (104) is configured as at least one of the following: The connecting arm (1102) is rotatably connected to the first support member (5). The supporting member (1104) includes a pulley (1107). The support mechanism (105) includes a plurality of the adjusting mechanisms (11) arranged at intervals along the length direction of the first support member (5). The connecting portion (1004) includes a threaded hole (1005). The support system (104) further includes a plumb bob (10), and the plumb bob (10) and the detector (106) are selectively connected to the second support member (9).

6. The tunnel inspection vehicle (101) according to any one of claims 1-5, characterized in that, The tunnel inspection vehicle (101) further includes an auxiliary support (103) movably connected to the traveling system (102) to switch between a deployed state and a retracted state. In the deployed state, the auxiliary support (103) protrudes from the traveling system (102) toward one side in the left - right direction (X) and is used for contacting the ground to keep the tunnel inspection vehicle (101) balanced during the process of the detector (106) detecting diseases of the tunnel (200). In the retracted state, the auxiliary support (103) is retracted to enable the tunnel inspection vehicle (101) to avoid vehicles passing through the tunnel (200).

7. The tunnel inspection vehicle (101) according to claim 6, characterized in that, The auxiliary support (103) is configured as at least one of the following: The auxiliary support (103) includes a first support (2). The first support (2) includes a transverse leg (201) and a longitudinal leg (202). The transverse leg (201) connects the traveling system (102) and the longitudinal leg (202) and is telescopable along the left - right direction (X) to switch the first support (2) between a first position corresponding to the deployed state and a second position corresponding to the retracted state. The auxiliary support (103) includes a second support (6). The second support (6) is inclined and telescopable to switch the second support (6) between a third position corresponding to the deployed state and a fourth position corresponding to the retracted state. A first wheel (203) and a second wheel (204) are provided on the auxiliary support (103), and the first wheel (203) and the second wheel (204) are respectively used for contacting the trackless ground and the track. A backing plate (601) is provided on the auxiliary support (103), and the backing plate (601) is used for contacting the ground.

8. The tunnel inspection vehicle (101) according to claim 7, characterized in that, The auxiliary support (103) is configured as at least one of the following: The longitudinal leg (202) is provided to be vertically telescopic. The inclination angle of the second support (6) is adjustable. The auxiliary support (103) includes the second support (6) and two of the first supports (2), and the two first supports (2) are arranged on the front and rear sides of the second support (6). Both the first wheel (203) and the second wheel (204) are provided at the lower end of the longitudinal leg (202) of the first support (2) of the auxiliary support (103) and are arranged side by side along the left-right direction (X). The backing plate (601) is provided at the lower end of the second support (6) of the auxiliary support (103).

9. The tunnel inspection vehicle (101) according to any one of claims 1-5, characterized in that, The traveling system (102) includes a traveling mechanism (1) and a vehicle body (4). The traveling mechanism (1) is movably arranged along the front-rear direction (Y), the vehicle body (4) is rotatably arranged on the traveling mechanism (1), and the supporting system (104) is arranged on the vehicle body (4).

10. A tunnel detection system (100), comprising a detector (106), characterized in that, It further includes a tunnel inspection vehicle (101) as described in any one of claims 1-9.

11. The tunnel detection system (100) according to claim 10, characterized in that, The tunnel inspection system (100) includes two tunnel inspection vehicles (101). The two tunnel inspection vehicles (101) are arranged opposite to each other along the left-right direction (X). The detector (106) is connected to the supporting systems (104) of the two tunnel inspection vehicles (101) and can move circumferentially along the tunnel (200) under the guidance of the supporting systems (104) of the two tunnel inspection vehicles (101) to detect diseases at different positions of the cross-section of the tunnel (200).

12. The tunnel detection system (100) according to claim 11, characterized in that, The detector (106) includes a detection member (1504), a support device (107), and two connecting devices (108). The detection member (1504) is arranged on the support device (107) and is used for detecting diseases of the tunnel (200). The two connecting devices (108) are both arranged on the support device (107) and are respectively connected to the supporting systems (104) of the two tunnel inspection vehicles (101), so that the detector (106) is connected to the supporting systems (104) of the two tunnel inspection vehicles (101) and can move circumferentially along the tunnel (200).

13. The tunnel detection system (100) according to claim 12, characterized in that, The detector (106) is configured as at least one of the following: The detector (106) further includes a roller (1501). The roller (1501) is rotatably arranged on the detection member (1504) and is used for contacting the inner wall of the tunnel (200). The support device (107) includes a support arm (14), the support arm (14) is arranged to be telescopically extendable up and down, and the upper end is connected to the detection member (1504) to adjust the height position of the detection member (1504); The connecting device (108) is connected to the second support member (9) of the support system (104); The detection member (1504) includes a scanning member (1502).

14. The tunnel detection system (100) according to claim 13, characterized in that, The detector (106) is configured as at least one of the following: The detector (106) includes multiple groups of the rollers (1501), the multiple groups of the rollers (1501) are arranged at intervals in the left - right direction (X), and each group of the rollers (1501) includes at least one roller (1501); The connecting device (108) includes a suspension member (13), the suspension member (13) is suspended from the second support member (9) so that the second support member (9) drives the detector (106) to move circumferentially along the tunnel (200).

15. The tunnel detection system (100) according to claim 14, characterized in that, The detector (106) is configured as at least one of the following: Each group of the rollers (1501) includes multiple rollers (1501), and the multiple rollers (1501) of each group of the rollers (1501) are arranged at intervals along the front - back direction (Y); The suspension member (13) includes a support column (1301) and a caliper (1302), the caliper (1302) is connected to the support device (107) through the support column (1301), and includes a caliper body (1306), an external snap ring (1304) and an internal snap ring (1305), the external snap ring (1304) is connected to one end of the caliper body (1306), and the internal snap ring (1305) is movably arranged in a channel (1307) in the caliper body (1306) to approach or move away from the external snap ring (1304), and together with the external snap ring (1304) to clamp or release the second support member (9); The connecting device (108) includes two of the suspension members (13), the two suspension members (13) of the connecting device (108) are arranged at intervals along the front - back direction (Y) and are respectively suspended from two second support members (9) of the support system (104) of the same tunnel inspection vehicle (101).

16. The tunnel detection system (100) according to claim 15, characterized in that, The suspension member (13) further includes an actuating member (1303), the actuating member (1303) is movably arranged in the channel (1307) and is used to drive the internal snap ring (1305) to approach or move away from the external snap ring (1304).

17. The tunnel detection system (100) according to claim 16, characterized in that, The actuating member (1303) is threadedly connected to the channel (1307) so that the actuating member (1303) is movably arranged in the channel (1307).

18. A tunnel detection method based on the tunnel detection system (100) according to any one of claims 10-17, characterized in that, Including: Enabling the detector (106) connected to the support system (104) of the tunnel inspection vehicle (101) to detect diseases in the cross - section of the tunnel (200); Before the detector (106) of the support system (104) connected to the tunnel inspection vehicle (101) detects diseases of the cross-section of the tunnel (200), the support system (104) is further adjusted to simulate the contour of the cross-section of the tunnel (200); and / or, During the process of the detector (106) of the support system (104) connected to the tunnel inspection vehicle (101) detecting diseases of the cross-section of the tunnel (200), the detector (106) is moved circumferentially along the tunnel (200) under the action of the support system (104) of the tunnel inspection vehicle (101) to detect diseases at different positions of the cross-section of the tunnel (200).

19. The tunnel detection method according to claim 18, wherein, The tunnel detection method further includes: Before the detector (106) of the support system (104) connected to the tunnel inspection vehicle (101) detects diseases of the cross-section of the tunnel (200), the detector (106) is further connected to the support systems (104) of two tunnel inspection vehicles (101) arranged oppositely in the left-right direction (X).

20. The tunnel detection method according to claim 19, characterized in that, Connecting the detector (106) to the support systems (104) of two tunnel inspection vehicles (101) arranged oppositely in the left-right direction (X) includes: Connecting the detector (106) to the second support member (9) of the support systems (104) of two tunnel inspection vehicles (101) arranged oppositely in the left-right direction (X).

21. The tunnel detection method according to claim 19, wherein Connecting the detector (106) to the second support member (9) of the support systems (104) of two tunnel inspection vehicles (101) arranged oppositely in the left-right direction (X) includes: Removing the gravity hammer (10) from the second support member (9) of the support systems (104) of two tunnel inspection vehicles (101) arranged oppositely in the left-right direction (X); Connecting the second support members (9) of the support systems (104) of two tunnel inspection vehicles (101) arranged oppositely in the left-right direction (X) together; Connecting the detector (106) to the second support member (9) of the support systems (104) of two tunnel inspection vehicles (101) arranged oppositely in the left-right direction (X).

22. The tunnel detection method according to claim 18, characterized in that Adjusting the support system (104) includes: Relatively rotating the multi-section support segments (511) of the first support member (5) of the support system (104) to adjust the first support member (5).

23. The tunnel detection method according to claim 22, wherein, Adjusting the support system (104) further includes: After adjusting the first support member (5), further adjusting the second support member (9) of the support system (104) for connecting the first support member (5) and the detector (106).

24. The tunnel detection method according to claim 18, characterized in that, Before the detector (106) of the support system (104) connected to the tunnel inspection vehicle (101) detects diseases in the cross-section of the tunnel (200), the auxiliary support (103) of the tunnel inspection vehicle (101) is switched from the retracted state to the deployed state, and during the process of the detector (106) detecting diseases in the cross-section of the tunnel (200), if there is a vehicle passing through the tunnel (200), before the vehicle travels to the cross-section to be detected, the auxiliary support (103) of the tunnel inspection vehicle (101) is switched from the deployed state to the retracted state.

25. The tunnel detection method according to claim 18, characterized in that, Before the detector (106) of the support system (104) connected to the tunnel inspection vehicle (101) detects diseases in the cross-section of the tunnel (200), the tunnel inspection vehicle (101) is located at the edge of the tunnel (200) along the left-right direction (X).

26. A controller, characterized in that, Comprising a memory and a processor coupled to the memory, the processor is configured to execute the tunnel detection method according to any one of claims 18-25 based on instructions stored in the memory.

27. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are executed by the processor to perform the control method according to any one of claims 18-25.

28. A computer program product comprising a computer program which, when executed by a processor, implements the control method according to any one of claims 18-25.

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