Tunnel lining quality detection device and detection method

Abstract

The invention relates to the technical field of tunnel surface detection, in particular to a tunnel lining quality detection device and method. The tunnel lining quality detection device comprises a rack, the rack is provided with a track which extends along the section contour of a tunnel and is concentric with the tunnel, the track is provided with a moving seat, the moving seat is provided with a lifting platform, the lifting platform is provided with a flatness detection unit, and the flatness detection unit comprises a sensor, a telescopic assembly and a contact head. When the moving seat is located at the initial position, the contact head is driven by the lifting table to abut against the surface of the tunnel lining, the telescopic assembly has the set retraction amount, in the process that the moving seat moves along the track, the contact head keeps making contact with the surface of the tunnel lining under the action of the telescopic assembly, and the telescopic assembly correspondingly stretches out and draws back; the sensor detects the change of the expansion amount of the telescopic assembly on the movement path of the contact head so as to detect the flatness of the tunnel lining surface, and the contact detection mode is not affected by the environment in the tunnel and is beneficial to guaranteeing the detection precision.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel surface detection, and in particular to a tunnel lining quality detection device and detection method. Background Art

[0002] The primary and secondary lining supports of tunnels are key steps in tunnel formation and maintenance. Evaluating the lining quality is an essential process in tunnel construction. Tunnel lining quality evaluation generally includes surface quality and internal defects. Surface quality testing primarily includes flatness testing, water seepage testing, and crack testing, while internal defect testing primarily includes concrete hollowing testing and bond density testing. Traditional testing methods require manual handheld instrumentation to perform item-by-item inspections after lining construction. For example, flatness testing requires a handheld level, while water seepage testing requires manual surface inspection. This makes the lining quality inspection process complex during tunnel construction and prevents comprehensive testing on a single device. The labor consumption and cost of testing are extremely low, and multiple processes require manual operation, resulting in low inspection efficiency. Inspection accuracy is significantly affected by subjective judgment, and for large-section tunnels, workers face the risk of working at height.

[0003] In recent years, with the deepening of research on tunnel lining quality inspection devices and methods, devices and methods have gradually emerged that use ground-penetrating radar, ultrasonic flaw detection, etc. to detect internal defects, and use machine vision to detect surface quality. For example, the Chinese invention patent application with application publication number CN118640959A discloses a comprehensive tunnel lining inspection system integrated on a lining trolley. This system realizes the integration of tunnel lining inspection devices and can automatically detect internal and surface defects in the lining, which can greatly improve the efficiency and accuracy of tunnel lining construction defect detection. The system consists of a track module, a geological radar module, an ultrasonic shear wave module, a 3D laser imaging scanning module, and a central control computer module. The track module has three tracks and is connected to the rear of the lining trolley via a connecting plate. The geological radar module carries the geological radar antenna and moves on one of the tracks, continuously inspecting lining thickness and back-side compactness. The ultrasonic shear wave module carries the ultrasonic shear wave instrument and moves on one of the tracks, inspecting lining thickness and back-side compactness through point measurements. The 3D laser imaging scanning module carries a 3D laser imaging scanner and moves on one of the tracks, continuously inspecting the overall width and height of the tunnel's internal contour, wall flatness, and lining appearance quality. The geological radar module, ultrasonic shear wave module, and 3D laser imaging scanning module can each move on their own tracks without interfering with each other. The central control computer controls each module individually, including starting, moving, braking, adjusting height, and starting / stopping data collection. Through comprehensive analysis of ultrasonic shear wave and geological radar images, lining thickness and back-side compactness can be accurately determined. By analyzing laser contours, images and point cloud images, the overall quality of the tunnel (inner contour width and height), wall flatness and lining appearance are detected.

[0004] For the flatness detection of the tunnel lining surface, the above-mentioned detection device uses a three-dimensional laser imaging scanning module for detection. However, the internal environment of the tunnel is relatively harsh. The amount of dust in the tunnel is often large due to construction, which affects the light of the three-dimensional laser imaging scanning module, easily causing errors in the detection results and poor detection accuracy. Summary of the Invention

[0005] The purpose of the present invention is to provide a tunnel lining quality detection device to solve the problem that the current tunnel lining quality detection device uses a three-dimensional laser imaging scanning module for automatic detection, which is easily affected by the environment inside the tunnel and results in poor detection accuracy; the purpose of the present invention is also to provide a tunnel lining quality detection method to solve the above problem.

[0006] The technical solution of the tunnel lining quality detection device of the present invention is:

[0007] A tunnel lining quality inspection device comprises a frame, the frame is provided with a track which extends along the cross-sectional profile of the tunnel and is concentric with the tunnel when in use, the track is provided with a moving seat, the moving seat is provided with a lifting platform, the lifting platform is provided with a flatness detection unit, the flatness detection unit comprises a sensor, a telescopic assembly and a contact head arranged at the end of the telescopic assembly, when the moving seat is in an initial position, the lifting platform drives the contact head to abut against the tunnel lining surface and causes the telescopic assembly to have a set retraction amount, when the moving seat moves along the track, the contact head maintains contact with the tunnel lining surface under the action of the telescopic assembly and the telescopic assembly adapts to expansion and contraction accordingly, the sensor is used to detect the change in the expansion and contraction amount of the telescopic assembly on the movement path of the contact head to realize the flatness inspection of the tunnel lining surface.

[0008] Beneficial effect: The present invention makes element changes based on the tunnel lining quality detection device in the prior art, and uses a contact-type flatness detection unit to detect the flatness of the tunnel lining surface. When the movable seat on the track is in the initial position, the flatness detection unit is raised by the lifting platform, so that the contact head at the end of the telescopic component is against the tunnel lining surface and the telescopic component is retracted to the set retraction amount. The movable seat moves along the track driven by the corresponding driving mechanism, and the lifting platform and the flatness detection unit on the lifting platform move accordingly. The track extends along the cross-sectional contour of the tunnel and is concentric with the tunnel, so that the movable seat moves around the center of the tunnel, and the contact head moves along the cross-sectional contour of the tunnel. The center of the tunnel moves. Under the action of the telescopic assembly, the contact head maintains contact with the lining surface, and as the tunnel lining surface is uneven, the contact head rises and falls accordingly, and the telescopic assembly adapts to the expansion and contraction. The sensor detects the change in the expansion and contraction of the telescopic assembly. When there is a bulge on the tunnel lining surface, the telescopic assembly retracts accordingly. When there is a depression on the tunnel lining surface, the telescopic assembly extends accordingly. By detecting the expansion and contraction change, the unevenness information of the tunnel lining surface on the movement path of the contact head can be obtained, that is, the flatness detection of the tunnel lining surface is realized. This contact detection method is not affected by the environment inside the tunnel, and the detection results are not prone to errors, which is conducive to ensuring detection accuracy.

[0009] Furthermore, there are more than two flatness detection units, and at least two flatness detection units are spaced apart in the tunnel extending direction.

[0010] Furthermore, there are three or more flatness detection units, the contact heads of the flatness detection units are not on the same straight line, and the distance between any two adjacent flatness detection units is the same.

[0011] Furthermore, the telescopic assembly includes a telescopic sleeve and a telescopic spring sleeved on the telescopic sleeve. One end of the telescopic spring is connected to the lifting platform and the other end is connected to the end of the telescopic sleeve. The contact head is arranged at the end of the telescopic sleeve. The telescopic spring expands and contracts as the telescopic sleeve expands and contracts. The sensor is used to measure the length of the telescopic spring to detect changes in the expansion and contraction amount of the telescopic assembly.

[0012] Furthermore, a roller is installed at the end of the telescopic assembly, and the roller constitutes a contact head for rolling on the tunnel lining surface.

[0013] Furthermore, the lifting platform includes a lifting seat and more than three hydraulic cylinders, both ends of each hydraulic cylinder are hinged to the lifting seat and the moving seat respectively, and the flatness detection unit is arranged on the lifting seat.

[0014] Furthermore, the tunnel lining quality inspection device also includes a travel guide rail arranged along the extension direction of the tunnel when in use, and the frame is movably arranged on the travel guide rail.

[0015] Furthermore, the lifting platform is also provided with at least one of a hollowing and strength detection module, a water seepage and crack detection module, and a quality defect marking module, and the quality defect marking module is used to spray paint and mark the defect position.

[0016] The technical solution of the tunnel lining quality detection method of the present invention is:

[0017] A method for inspecting the quality of a tunnel lining comprises: placing a contact head of a tunnel lining quality inspection device against the tunnel lining surface, moving the contact head along the tunnel cross-sectional profile around the tunnel center, maintaining contact with the tunnel lining surface during the movement, and displacing the contact head relative to the tunnel center as the tunnel lining surface rises and falls, and detecting changes in the displacement to determine the flatness of the tunnel lining surface.

[0018] Beneficial effects: The present invention makes element changes on the basis of the tunnel lining quality detection method in the prior art, and utilizes a contact-type flatness detection unit to detect the flatness of the tunnel lining surface. When there is a bulge on the tunnel lining surface, the telescopic component retracts accordingly, and when there is a depression on the tunnel lining surface, the telescopic component extends accordingly. By detecting the telescopic change, the unevenness information of the tunnel lining surface on the movement path of the contact head can be obtained, that is, the flatness detection of the tunnel lining surface is realized. Such a contact-type detection method is not affected by the environment inside the tunnel, and the detection results are not prone to errors, which is conducive to ensuring the detection accuracy.

[0019] Furthermore, more than three contact heads are used for detection at the same time, the contact heads are not on the same straight line, the distance between any two adjacent contact heads is the same, the contact heads have the same displacement detection benchmark, and each contact head corresponds to a detection point for detecting its displacement relative to the detection benchmark. The ratio of the difference in distance between the detection points corresponding to two adjacent contact heads and the detection benchmark to the distance between the two adjacent contact heads is used as the flatness value per unit length. The maximum value of the flatness values corresponding to each contact head at the same moment is compared with the standard flatness value to evaluate whether the flatness of the part of the tunnel lining surface corresponding to the area enclosed by each contact head at that moment is qualified. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a tunnel lining quality inspection device according to an embodiment of the present invention when in use;

[0021] Figure 2 for Figure 1 Schematic diagram of the structure of the tunnel lining quality detection device;

[0022] Figure 3 for Figure 2 Schematic diagram of the inspection robot body without the moving base;

[0023] Figure 4 for Figure 3 A schematic diagram of the structure of the flatness detection unit in FIG.

[0024] Figure 5 for Figure 4 Schematic diagram of the flatness detection unit in detecting the tunnel lining surface;

[0025] Figure 6 for Figure 1 Schematic diagram of the flow of the inspection process when the tunnel lining quality inspection device is used.

[0026] In the figure: 1. Detection robot body; 11. Moving seat; 12. Lifting platform; 121. Hydraulic cylinder; 122. Lifting seat; 13. Flatness detection unit; 131. Telescopic sleeve; 132. Telescopic spring; 133. Roller; 134. Displacement sensor; 14. Impact generating device; 15. Sound wave receiving device; 16. Water seepage and crack detection module; 17. Quality defect marking module; 2. Frame; 21. Track; 3. Travel guide rail; 4. Tunnel wall after lining; 5. Surrounding rock. DETAILED DESCRIPTION

[0027] The basic concept of the tunnel lining quality detection device of the present invention is to use a contact-type flatness detection unit to detect the flatness of the tunnel lining surface, so as to avoid the dust environment in the tunnel affecting the detection accuracy.

[0028] The technical solution of the present invention is described in detail below with reference to specific embodiments.

[0029] Embodiments of the tunnel lining quality detection device of the present invention:

[0030] like Figure 1 、 Figure 2As shown, the tunnel lining quality inspection device is used to inspect the quality of the tunnel lining. The surface of the tunnel lining is the surface of the tunnel wall 4 after lining, and the outer periphery of the lining is the surrounding rock 5. The tunnel lining quality inspection device includes an inspection robot body 1 and a frame 2. The inspection robot body 1 is installed on the frame 2. The shape of the frame 2 is similar to the shape of the tunnel cross-sectional profile. The frame 2 is provided with a track 21. The inspection robot body 1 can move along the track 21. When the tunnel lining quality inspection device is used for inspection, the track 21 extends along the tunnel cross-sectional profile and is concentric with the tunnel. The inspection robot body 1 includes a moving seat 11, a lifting platform 12 and a flatness detection unit 13. The moving seat 11 is movably arranged on the track 21. The lifting platform 12 is provided on the moving seat 11. The flatness detection unit 13 is provided on the lifting platform 12. The flatness detection unit 13 includes a sensor, a telescopic component and a contact head provided at the end of the telescopic component. When the moving seat 11 is in the initial position, the lifting platform 12 drives the contact head to abut against the tunnel lining surface and causes the telescopic component to have a set retraction amount. During the movement of the moving seat 11 along the track 21, the contact head maintains contact with the tunnel lining surface under the action of the telescopic component and the telescopic component adapts to the expansion and contraction accordingly. The sensor is used to detect the change in the expansion and contraction amount of the telescopic component on the movement path of the contact head to realize the flatness detection of the tunnel lining surface.

[0031] During the inspection, the flatness inspection unit 13 keeps in contact with the tunnel lining surface, and the contact flatness inspection unit 13 is used to inspect the flatness of the tunnel lining surface. When the movable seat 11 on the track 21 is in the initial position, the flatness inspection unit 13 is lifted by the lifting platform 12, so that the contact head at the end of the telescopic assembly is against the tunnel lining surface and the telescopic assembly retracts to the set retraction amount. The movable seat 11 moves along the track 21 driven by the corresponding driving mechanism, and the lifting platform 12 and the flatness inspection unit 13 on the lifting platform 12 move accordingly. The track 21 extends along the cross-sectional contour of the tunnel and is concentric with the tunnel, so that the movable seat 11 moves around the center of the tunnel, and the contact head moves along the tunnel. The cross-sectional profile moves around the center of the tunnel. Under the action of the telescopic assembly, the contact head maintains contact with the lining surface, and as the tunnel lining surface becomes uneven, the contact head rises and falls accordingly, causing the telescopic assembly to adapt and expand accordingly. The sensor detects the change in the telescopic amount of the telescopic assembly. When there is a bulge on the tunnel lining surface, the telescopic assembly retracts accordingly. When there is a depression on the tunnel lining surface, the telescopic assembly extends accordingly. By detecting the change in expansion and contraction, the unevenness information of the tunnel lining surface on the movement path of the contact head can be obtained, that is, the flatness detection of the tunnel lining surface is realized. This contact detection method is not affected by the environment inside the tunnel, and the detection results are not prone to errors, which is conducive to ensuring detection accuracy.

[0032] The inspection robot body 1 is located between the frame 2 and the tunnel wall, with the frame 2 facing radially outward. The tunnel's cross-sectional profile is circular, and accordingly, the frame 2 is configured as an arc-shaped structure, resulting in an arc-shaped cross-section. With the tunnel extending in the forward and backward directions, rails 21 are provided at both the front and rear ends of the frame 2. The front and rear ends of the movable base 11 are movable along the corresponding rails 21, allowing the inspection robot body 1 to move along the rails 21. The rails 21 extend along an arc. During inspection, the circle encompassing the rail 21 arc is concentric with the circle encompassing the tunnel's cross-sectional profile. The centerline of the frame 2 is collinear with the tunnel's centerline, allowing the contact head of the flatness inspection unit 13 to move along the tunnel's cross-sectional profile on the tunnel lining surface. The frame 2 is provided with a gear ring, and the movable base 11 is provided with a drive device. The drive device includes a motor and a gear mounted on the motor's output shaft. The gear meshes with the gear ring, so that when the motor is running, the gear and gear ring engage to enable the inspection robot body 1 to move along the rails 21.

[0033] Combine Figure 3 、 Figure 4 、 Figure 5 The telescopic assembly of the flatness detection unit 13 includes a telescopic sleeve 131 and a telescopic spring 132. The telescopic spring 132 is the spring of the telescopic assembly. The telescopic sleeve 131 includes an inner rod and an outer tube. One end of the inner rod extends into the outer tube and the other end is fixed to the lifting seat 122 of the lifting platform 12. The telescopic spring 132 is sleeved on the telescopic sleeve 131. One end of the telescopic spring 132 is connected to the lifting seat 122 of the lifting platform 12 and the other end is connected to the end of the telescopic sleeve 131. The end of the outer tube away from the lifting seat 122 constitutes the end of the telescopic sleeve 131. The end of the telescopic sleeve 131 is the end of the telescopic assembly. A roller 133 is installed at the end of the telescopic sleeve 131. The roller 133 constitutes a contact head for abutting against the tunnel lining surface. The telescopic spring 132 can be extended and retracted as the telescopic sleeve 131 is extended and retracted. A displacement sensor 134 is installed at the end of the telescopic sleeve 131. The displacement sensor 134 is a sensor for detecting changes in the extension and retraction amount of the telescopic component. The displacement sensor 134 is used to measure the length of the telescopic spring 132 to detect changes in the extension and retraction amount of the telescopic component.

[0034] In this embodiment, a telescopic sleeve 131 is combined with a telescopic spring 132 to form a telescopic assembly. The elasticity of the telescopic spring 132 allows the telescopic assembly to retract to a set amount and maintain contact between the contact head and the tunnel lining surface during the inspection process. In other embodiments, a gas strut can also be used as the telescopic assembly. After the flatness detection unit is pressed against the tunnel lining surface via a lifting platform, the gas strut is compressed to achieve a set retraction amount. During the movement of the contact head, the internal gas pressure causes it to expand and contract, maintaining contact between the contact head and the tunnel lining surface. At this time, a sensor detects the distance between the two ends of the gas strut to detect changes in the telescopic assembly's expansion and contraction amount.

[0035] In this embodiment, a roller 133 is mounted at the end of the telescopic assembly. This roller 133 forms a contact head for rolling against the tunnel lining surface. The rolling axis of roller 133 extends in the fore-aft direction, reducing friction between the contact head and the tunnel lining surface. In other embodiments, the contact head can also be integrally connected to the outer tube of the telescopic sleeve. The contact head surface can be treated for wear resistance, creating sliding friction against the tunnel lining surface during testing.

[0036] A displacement sensor 134 is mounted on the end of the telescopic sleeve 131, on the side facing the lifting seat 122. A fixed disk is provided at the end of the telescopic sleeve 131. The displacement sensor 134 is mounted on the fixed disk and located on the side of the fixed disk facing the lifting seat 122. A hinged lug is provided on the side of the fixed disk facing away from the lifting seat 122 for mounting the roller 133. One end of the telescopic spring 132 abuts the fixed disk, and the other end abuts the lifting seat 122. Each contact head is equipped with a displacement sensor 134. The location of the displacement sensor 134 constitutes a detection point. The displacement sensor 134 can measure the distance from the detection point to the lifting seat 122, and thus the length of the telescopic spring 132. Changes in the length of the telescopic spring 132 represent changes in the telescopic expansion and contraction of the telescopic assembly. This change in expansion and contraction can be used to determine the degree of undulation on the tunnel lining surface.

[0037] The lifting platform 12 includes a lifting seat 122 and a plurality of hydraulic cylinders 121. The two ends of each hydraulic cylinder 121 are respectively hinged to the lifting seat 122 and the moving seat 11. The flatness detection unit 13 is arranged on the lifting seat 122. In this embodiment, there are four hydraulic cylinders 121, and each hydraulic cylinder 121 cooperates to form a flexible support platform. The bottom end of the cylinder body of the hydraulic cylinder 121 is hinged to the moving seat 11, and the top end of the piston rod of the hydraulic cylinder 121 is hinged to the lifting seat 122. The position of the flatness detection unit 13 is maintained by the flexible support platform, so that the flatness detection unit 13 moves with the moving seat 11, providing reliable support. At the same time, the lifting seat 122 can be raised and lowered by the extension and retraction of the hydraulic cylinder 121, so that the flatness detection unit 13 can move radially outward to abut against the tunnel lining surface to achieve a set retraction amount, or can move radially inward to leave the tunnel lining surface to facilitate switching to the next detection area. In other implementations, only one hydraulic cylinder may be provided, with a movable end of the hydraulic cylinder fixedly connected to the center position of the lifting seat and a fixed end of the hydraulic cylinder fixed to the moving seat.

[0038] There are multiple flatness detection units 13, and at least two flatness detection units 13 are spaced apart in the direction of tunnel extension, so that two or more detection paths are formed by using different contact heads, and one end of the left and right ends of the track 21 is defined as the initial position of the movable seat 11, and the other end is defined as the terminal position of the movable seat 11. The process from the initial position to the terminal position is a detection process, and the corresponding contact head forms a detection path, and the flatness of the lining surface on the detection path can be obtained. Using different contact heads, more than two front and rear detection paths can be realized in one detection process, which expands the detection area and improves the detection efficiency. In other embodiments, only one flatness detection unit can be set, and only the area rolled over by one roller can be detected at a time. In other embodiments, only two flatness detection units corresponding to the front and rear positions can be set.

[0039] There are four flatness detection units 13, which are distributed in a rectangular shape. Each flatness detection unit 13 has an adjacent flatness detection unit 13 facing it in the front-to-back direction and the left-to-right direction. The contact heads of each flatness detection unit 13 are not on the same straight line but are distributed at the four corners of the rectangle. The two flatness detection units 13 on the same side of the rectangle constitute two adjacent flatness detection units 13. The movement paths of the two corresponding flatness detection units 13 on the left and right are the same. The spacing between any two adjacent flatness detection units 13 is the same. The telescopic amounts of the telescopic components of each flatness detection unit 13 can be compared. At the same moment, the difference in the length of the telescopic components of the two flatness detection units 13 and the ratio of the spacing between the two flatness detection units 13 can represent the flatness per unit length. The unit length is equal to the spacing between the flatness detection units 13. The difference in the length of the telescopic components is the difference in the length of the telescopic spring 132, which is also the difference in the displacement of the contact heads. Since the contact heads of each flatness detection unit 13 are on the same plane, the flatness of the partial surface of the tunnel lining surface corresponding to the area enclosed by the contact heads of each flatness detection unit 13 can be detected. By using the flatness of each unit length formed by each flatness detection unit 13 and comparing the maximum value with the standard value, it can be determined whether the flatness of the area meets the requirements, that is, the flatness of a certain area of the tunnel lining surface can be detected. In other embodiments, the four flatness detection units can also be distributed at the four corners of a parallelogram, with each flatness detection unit having a front-to-back spacing. In other embodiments, three flatness detection units can also be set, distributed at the three corners of a triangle, so that the contact heads of each flatness detection unit form a surface.

[0040] The area of the tunnel lining corresponding to the initial position is typically polished and smoothed. This ensures that when the flatness detection unit 13 is placed against the area corresponding to the initial position, the telescopic components of each flatness detection unit 13 have the same retraction amount, ensuring the same baseline value for detecting telescopic changes. Simultaneously, the flatness of the location on the tunnel lining surface corresponding to the initial position also forms the reference position flatness. For changes in telescopic changes detected by the same flatness detection unit 13, this change in telescopic amount can be used to detect unevenness on the lining surface, that is, the flatness of other locations along the detection path relative to the reference position flatness. The lifting base 122 serves as the displacement detection reference for each contact head. The displacement of the contact head relative to the tunnel center is consistent with the telescopic component's expansion and contraction. This displacement change can be measured by detecting the change in spring length using the displacement sensor 134. The contact head moves along the tunnel cross-sectional contour around the tunnel center. Each contact head has the same displacement detection reference. The location of the displacement sensor 134 represents the detection point corresponding to the contact head. The distance between the detection point and the displacement detection reference can be represented by the spring length detected by the displacement sensor 134.

[0041] The tunnel lining quality inspection device also includes a travel guide rail 3 arranged along the extension direction of the tunnel when in use. The frame 2 is movably arranged on the travel guide rail 3. After one inspection process is completed, the frame 2 is driven by the corresponding driving mechanism to move along the travel guide rail 3 to further inspect the flatness of the next area.

[0042] The lifting base 122 is also equipped with a hollowing and strength detection module, a water seepage and crack detection module 16, and a quality defect marking module 17. The quality defect marking module 17 is used to spray paint the defect locations. The hollowing and strength detection module includes an impact generator 14 and a sound wave receiver 15. Located within the area enclosed by the flatness detection units 13, these modules can simultaneously perform hollowing and strength detection, water seepage and crack detection, and quality defect marking module 17. This diverse functionality improves detection efficiency and takes into account both internal and external quality inspections.

[0043] The flatness detection units 13 together constitute a flatness detection module. The track 21 of the frame 2 satisfies the detection range of the detection robot body 1 to cover the positions that need to be detected in the circumferential direction of the lining. The travel guide rail 3 can be fixed on the frame of the lining trolley, and the oil cylinder is used as a linear drive mechanism to achieve the purpose of walking and increase the coverage of the detection system. The lifting platform 12 is formed by hydraulic components to support the detection module and enable the roller 133 of the flatness detection unit 13 to be close to the surface of the tunnel lining. After the inspection, when it needs to return to the original position, it is separated from the tunnel wall to avoid interference with other devices and structures during movement. The lifting seat 122 is an arc-shaped platform that imitates the shape of the tunnel cross-section to support all detection modules. At the same time, the profiling platform maintains a concentric circle design with the arc surface of the tunnel cross-section to ensure that after the support of the hydraulic cylinder 121, each roller 133 of the flatness detection module can fit with the tunnel lining surface, and after being tightened in the initial position, the telescopic amount of the telescopic assembly under each roller 133 can be kept consistent, so as to unify the benchmark during benchmark correction.

[0044] When performing hollowing and strength detection of tunnel lining, the impact generating device 14 of the hollowing and strength detection module automatically impacts the tunnel lining surface. A stress sensor is installed at the front end of the impact generating device 14 to read the rebound force Fn after the impact of the impact generating device 14. The rebound value of the impact generating device 14 can be calculated by the formula x=Fn / K (K is the elastic coefficient of the spring), that is, the strength of the tunnel lining concrete can be calculated accordingly; at the same time, after the sound waves generated by the impact propagate inside the concrete, the return sound waves are received by the sound wave receiving device 15, and the hollowing of the lining surface inside the lining is obtained according to the calculation.

[0045] When conducting tunnel lining seepage and crack detection, the visual device of the seepage and crack detection module 16 (not limited to structured light camera, binocular camera, laser, etc.) is used to follow the rotational motion and linear motion of the detection robot body 1 to collect the surface features of the tunnel lining surface. The denoising filtering method is used to detect and mark the seepage and cracks according to the grayscale value.

[0046] The three inspection modules are the flatness inspection module, the hollowing and strength inspection module, and the water seepage and crack inspection module 16. The quality defect marking module 17 includes a nozzle and three different colored paint lines. After the three inspection modules have been inspected, locations with substandard flatness, hollowing and strength, and water seepage and cracks can be marked with paint based on the test results. The paint colors for marking different tunnel defects are automatically adapted. For example, locations with substandard flatness are marked with red paint, locations with substandard hollowing and strength are marked with blue paint, and locations with water seepage and cracks are marked with yellow paint, making it easier for subsequent workers to complete corresponding treatment tasks based on the color.

[0047] The tunnel lining quality inspection device is used to perform an inspection method: a contact head of the tunnel lining quality inspection device is placed against the tunnel lining surface, and the contact head is moved along the tunnel cross-sectional contour around the tunnel center, maintaining contact with the tunnel lining surface during the movement. The contact head generates a displacement relative to the tunnel center as the tunnel lining surface rises and falls, and the change in displacement is detected to determine the flatness of the tunnel lining surface. Furthermore, three or more contact heads are used simultaneously for inspection, the contact heads are not aligned, the spacing between any two adjacent contact heads is the same, and the contact heads have the same displacement detection reference. Each contact head has a corresponding detection point for detecting its displacement relative to the detection reference. The flatness value per unit length is calculated as the ratio of the difference in distance between the detection points of two adjacent contact heads relative to the detection reference and the spacing between the two adjacent contact heads. The maximum value of the flatness values generated by each contact head at the same time is compared with the standard flatness value to evaluate whether the flatness of the portion of the tunnel lining surface corresponding to the area enclosed by each contact head at that time is acceptable.

[0048] After the lifting seat 122 rises until the roller 133 is close to the tunnel lining surface, the hydraulic cylinder 121 continues to extend, and at the same time the telescopic component of the flatness detection unit 13 retracts. When it retracts to a certain length, the displacement sensor 134 is read, and the length of the telescopic spring 132 is recorded as x1. After following the rotation of the moving seat 11, when the tunnel surface is completely flat, the x1 position value remains unchanged. If the tunnel lining height exceeds the reference plane (initial position surface), the telescopic sleeve 131 on the flatness detection module is further compressed, causing the telescopic spring 132 to be further compressed. If the tunnel lining height is lower than the reference plane, the telescopic sleeve 131 on the flatness detection module is extended, causing the telescopic spring 132 to release a certain amount of compression. 2 When the length changes, read the displacement sensor 134 and record the length of the telescopic spring 132 as x2. The flatness detection module is equipped with 4 flatness detection units 13. The distance between the four detection units is set to be the same, which is L. During the movement, the length of the telescopic spring 132 collected by each flatness detection unit 13 is [x21, x22, x23, x24]. The collected tunnel surface height difference is [x21-x1, x22-x1, x23-x1, x24-x1]. According to the positive and negative values in the above array, the lining surface at the corresponding position can be obtained compared with the reference surface under-spraying and over-spraying. This information is automatically recorded and stored in the host computer. At the same time, four flatness values can be calculated within this range, that is, Automatically compare the flatness values in the above array, take the maximum value and compare it with the national standard flatness. Each moment of a detection process has a corresponding area, and the flatness of the corresponding area can be evaluated to see if it is qualified.

[0049] The lifting platform 12 constitutes a hydraulic support system, and the rollers 133 constitute walking wheels. Figure 6The inspection process is introduced. When conducting tunnel lining quality inspection, the inspection device first automatically moves to the initial position. After the inspection starts, the hydraulic cylinder 121 starts to extend, driving the roller 133 to contact the tunnel lining surface and further extend until the telescopic spring 132 of the flatness detection module is compressed to the set length x1, and then the set retraction amount is achieved. The movable seat 11 drives the rotation movement. At the same time, each inspection module starts automatic inspection and automatically records the flatness, hollowness and strength, water seepage and cracks detected in the background, and automatically compares their values with the set standard values. If the value of each parameter meets the set standard, the inspection continues. If the detection value exceeds the set standard, it is automatically determined which parameter exceeds the threshold, and the quality defect marking module 17 is automatically started. The position is sprayed with the corresponding color according to the previous setting. After a contour rotation inspection process is completed, the linear motion system is started and automatically moves to the initial position of the next rotation movement for inspection according to the front and rear width of the frame 2 or the coverage range of the flatness detection module until the entire inspection cycle is completed.

[0050] This tunnel lining quality inspection device boasts a high level of intelligent testing, a wide inspection range, and a wide range of test types. It also automatically marks detected defects, providing intuitive results. By utilizing a contact-type inspection head, telescopic components, and displacement sensors to inspect tunnel lining flatness, the device provides more accurate results.

[0051] Embodiments of the tunnel lining quality detection method of the present invention:

[0052] The tunnel lining quality inspection method includes: placing a contact head of a tunnel lining quality inspection device against the tunnel lining surface, moving the contact head along the tunnel cross-sectional contour around the tunnel center, maintaining contact with the tunnel lining surface during movement, causing the contact head to generate displacement relative to the tunnel center as the tunnel lining surface rises and falls, and detecting changes in this displacement to determine the flatness of the tunnel lining surface. Inspection is performed simultaneously using three or more contact heads, wherein the contact heads are not aligned, the spacing between any two adjacent contact heads is the same, and each contact head has the same displacement detection reference. Each contact head has a corresponding detection point for detecting its displacement relative to the detection reference, and the ratio of the difference between the distances between the detection points of two adjacent contact heads relative to the detection reference to the spacing between the two adjacent contact heads is used as the flatness value per unit length. The maximum value of the flatness values generated by each contact head at the same time is compared with a standard flatness value to evaluate whether the flatness of the portion of the tunnel lining surface corresponding to the area enclosed by each contact head at that time is acceptable.

[0053] The specific implementation process of the tunnel lining quality detection method can be found in the above-mentioned embodiment of the tunnel lining quality detection device, which will not be repeated here.

[0054] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments without inventive effort, or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A tunnel lining quality detection device, characterized in that: The machine comprises a frame, on which is provided a track which extends along the cross-sectional profile of the tunnel and is concentric with the tunnel when in use; on the track is provided a moving seat, on the moving seat is provided a lifting platform, on the lifting platform is provided a flatness detection unit, the flatness detection unit comprises a sensor, a telescopic assembly and a contact head arranged at the end of the telescopic assembly; when the moving seat is in an initial position, the lifting platform drives the contact head to abut against the tunnel lining surface and causes the telescopic assembly to have a set retraction amount; when the moving seat moves along the track, the contact head maintains contact with the tunnel lining surface under the action of the telescopic assembly and the telescopic assembly adapts to telescoping accordingly; the sensor is used to detect changes in the telescopic amount of the telescopic assembly on the movement path of the contact head to realize flatness detection of the tunnel lining surface.

2. The tunnel lining quality inspection device according to claim 1 is characterized in that: There are more than two flatness detection units, and at least two flatness detection units are spaced apart in the tunnel extending direction.

3. The tunnel lining quality inspection device according to claim 2 is characterized in that: There are more than three flatness detection units, the contact heads of the flatness detection units are not on the same straight line, and the distance between any two adjacent flatness detection units is the same.

4. The tunnel lining quality detection device according to claim 1, 2 or 3, characterized in that: The telescopic assembly includes a telescopic sleeve and a telescopic spring sleeved on the telescopic sleeve. One end of the telescopic spring is connected to the lifting platform and the other end is connected to the end of the telescopic sleeve. The contact head is set at the end of the telescopic sleeve. The telescopic spring expands and contracts as the telescopic sleeve expands and contracts. The sensor is used to measure the length of the telescopic spring to detect changes in the expansion and contraction amount of the telescopic assembly.

5. The tunnel lining quality inspection device according to claim 1, 2 or 3, characterized in that: A roller is installed at the end of the telescopic assembly, which constitutes a contact head for rolling on the tunnel lining surface.

6. The tunnel lining quality inspection device according to claim 1, 2 or 3, characterized in that: The lifting platform includes a lifting seat and more than three hydraulic cylinders. Both ends of each hydraulic cylinder are hinged on the lifting seat and the moving seat respectively. The flatness detection unit is arranged on the lifting seat.

7. The tunnel lining quality inspection device according to claim 1, 2 or 3, characterized in that: The tunnel lining quality detection device further comprises a travel guide rail which is arranged along the extending direction of the tunnel when in use, and the frame is movably arranged on the travel guide rail.

8. The tunnel lining quality inspection device according to claim 1, 2 or 3, characterized in that: The lifting platform is also provided with at least one of a hollowing and strength detection module, a water seepage and crack detection module, and a quality defect marking module. The quality defect marking module is used to spray paint and mark the defect position.

9. A method for detecting the quality of a tunnel lining, characterized in that: The contact head of the tunnel lining quality inspection device is placed against the tunnel lining surface, and the contact head is moved around the tunnel center along the tunnel cross-sectional contour, while maintaining contact with the tunnel lining surface during the movement. The contact head is displaced relative to the tunnel center as the tunnel lining surface rises and falls, and the change in this displacement is detected to determine the flatness of the tunnel lining surface.

10. The tunnel lining quality inspection method according to claim 9, characterized in that: Use three or more contact heads for detection at the same time. The contact heads are not on the same straight line. The distance between any two adjacent contact heads is the same. Each contact head has the same displacement detection benchmark. Each contact head corresponds to a detection point for detecting its displacement relative to the detection benchmark. The ratio of the difference in distance between the detection points corresponding to two adjacent contact heads and the detection benchmark to the distance between the two adjacent contact heads is used as the flatness value per unit length. The maximum value of the flatness values corresponding to each contact head at the same moment is compared with the standard flatness value to evaluate whether the flatness of the part of the tunnel lining surface corresponding to the area enclosed by each contact head at that moment is qualified.

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