Visual monitoring and prevention and repair system for cracks at lining joints of water-rich tunnel

Abstract

The invention discloses a visual monitoring, prevention and repair system for cracks at a lining joint of a water-rich tunnel, and aims to solve the problems that the water-rich tunnel is easy to generate water seepage and lacks detection and repair equipment and the like. Honeycomb-shaped stiffening ribs are laid along the outer surface of a tunnel lining in the visual monitoring and prevention repair system, a plurality of crown-shaped water guide pipes are embedded in the tunnel lining, a plurality of water guide balls are communicated to the crown-shaped water guide pipes, a plurality of microbial capsules are pre-embedded in the tunnel lining, a water storage device is arranged in a foundation, and the water storage device is communicated with the water guide balls. A sliding rail is arranged below a tunnel lining in the span direction, a robot trolley is arranged on the sliding rail, the robot trolley comprises a fluorescent spraying device, a fluorescent spraying device, a mechanical arm, a repairing agent spraying device and a shooting device, and the fluorescent spraying device and the mechanical arm are arranged on frame arms on the two sides of the robot trolley respectively. The crack visual monitoring and prevention repair system can realize visual detection, and timely response repair can be carried out when lining cracks occur.

Description

Technical Field

[0001] The present invention relates to the field of tunnel lining structures and damage repair, and in particular to a system for preventing, repairing and detecting cracks in water-rich tunnel linings by combining a bionic structure with a microbial repair technology. Background Art

[0002] In recent years, transportation infrastructure construction has continued to advance at a rapid pace, with a three-dimensional road network comprised of highways, railways, and tunnels continuously breaking through the constraints of complex terrain. As the core vehicle for traversing mountainous terrain, tunnels occupy a crucial position in this network. However, their construction and operation have long faced challenges, including complex geological conditions and significant structural safety risks. Due to the diverse geological structures in mountainous areas (such as fault fracture zones, high ground stresses, and karst development) and the dynamic erosion of groundwater, tunnel lining structures are prone to cracking during construction and operation. This is particularly true of water-rich tunnels. The spliced structure of the tunnel lining joints makes them particularly susceptible to water seepage and corrosion, leading to structural cracks. Treating and preventing water seepage and cracks in the lining joints of water-rich tunnels is a key technical issue in the design and construction of water-rich tunnels. Failure to properly manage seepage, effectively drain groundwater, and prevent, detect, and promptly repair lining cracks can lead to serious subsequent problems.

[0003] Therefore, a solution for detecting, preventing, and repairing water seepage and cracks in water-rich tunnels is urgently needed to address the complex and ever-changing cracking issues in the lining structures of water-rich tunnels. Developing a technology system for preventing, detecting, and repairing cracks in the lining of water-rich tunnels has become a key breakthrough in improving tunnel safety throughout its lifecycle. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of water seepage in water-rich tunnels and lack of detection and repair equipment, and to provide a visual monitoring and prevention and repair system for cracks at lining joints in water-rich tunnels.

[0005] The present invention provides a visual monitoring, prevention, and repair system for cracks at joints in water-rich tunnel linings, comprising honeycomb stiffeners, microbial capsules, water conduits, water balls, a water storage device, a robotic trolley, and a slide rail. The honeycomb stiffeners are laid along the outer surface of the tunnel (concrete) lining, a plurality of crown-shaped water conduits are embedded in the tunnel lining, and a plurality of water balls are connected to the crown-shaped water conduits. A plurality of microbial capsules are pre-embedded in the tunnel lining and arranged adjacent to the crown-shaped water conduits. The microbial capsules comprise a water-permeable outer shell, urea-decomposing bacteria and a calcium-containing compound, a silicate patching agent, and a concrete filler. The urea-decomposing bacteria, the calcium-containing compound, the silicate patching agent, and the concrete filler are layered within the water-permeable outer shell. A water storage device is provided inside the foundation of the tunnel lining, and the seepage water in the water diversion ball flows into the water storage device in the foundation through the diversion groove on the bottom surface of the tunnel lining; A slide rail is arranged along the span direction under the tunnel lining, and a robot trolley is arranged on the slide rail. The robot trolley includes a fluorescent spray device, an ultraviolet lamp, a manipulator, a repair agent sprayer and a shooting device. The fluorescent spray device and the manipulator are respectively arranged on the frame arms on both sides of the robot trolley. The manipulator is provided with a repair agent sprayer. The frame of the robot trolley is also provided with an ultraviolet lamp and a shooting device.

[0006] The visual monitoring, prevention and repair system for cracks at the joints of the water-rich tunnel lining of the present invention mainly includes four parts. The first part is a bionic structure located on the outside and inside of the tunnel lining structure. The bionic structure is mainly used to prevent the occurrence of cracks. It mainly adopts crown-shaped and honeycomb-shaped bionic structures. The honeycomb stiffening ribs are installed on the outside of the tunnel lining structure, mainly to disperse the stress concentration phenomenon on the outside of the lining and prevent the occurrence of cracks; the crown-shaped aqueduct is embedded in the inside of the lining, responsible for diverting the seepage water that penetrates into the lining concrete to the water diversion ball, preventing the seepage water from causing corrosive damage to the lining concrete and preventing damage to the lining structure due to water erosion; the second part is the microbial capsule, which is mainly responsible for repairing cracks after they occur; the microbial capsule is an elliptical sphere, pre-buried in the lining concrete, arranged adjacent to the crown-shaped aqueduct, and mainly arranged on the inner side of the inner wall of the tunnel chamber; the microbial capsule is mainly used for emergency repair when cracks occur on the inner wall of the tunnel chamber Working method: The microbial capsule is mainly divided into three layers: upper, middle and lower, and a permeable layer is attached to the outside; the upper layer of the microbial capsule is urea-decomposing bacteria and calcium-containing compounds. When cracks occur, the crown-shaped aqueduct ruptures, and water flows through the outer permeable layer of the microbial capsule and enters the upper layer of the capsule, inducing and activating the urea-decomposing bacteria inside the upper layer of the capsule. After the bacteria come into contact with water, they react with the calcium-containing compounds and generate calcium carbonate precipitates. The generated calcium carbonate can fill the cracks; the middle layer is a silicate repair agent. When groundwater seeps in, the alkalinity inside the capsule decreases, and the middle layer will automatically release the silicate repair agent, which can improve the concrete strength of the lower concrete part, and accelerate the generation of calcium carbonate in the upper layer, while improving the repair durability of calcium carbonate; the lower layer of the capsule is concrete. Its main function is to make up for the insufficient strength of the lining concrete where the capsule is installed, and to better replace the original concrete vacancies at the crack position when cracks occur, so as to prevent the cracks from further expanding. The third part is the water diversion ball and the water storage device. The water diversion ball is located on the inner side of the tunnel lining and is connected to the crown-shaped aqueduct. The crown-shaped aqueduct first diverts the seepage water into the water diversion ball, and then discharges the seepage water out of the concrete structure through the water diversion ball. The water diversion ball directly discharges the seepage water to the bottom of the tunnel. The bottom of the tunnel is a slightly arched design. When the seepage water is discharged to the bottom of the tunnel, it can flow into the water storage device at the bottom of the tunnel through a small slope to prevent water accumulation at the bottom of the tunnel; the water storage device stores water resources. When a fire occurs in the tunnel or other situations require urgent water, the water source inside the water storage device can be directly called to fully utilize water resources.The fourth part is the intelligent robot trolley, which is mainly installed above the slide rail located on the inner side of the tunnel chamber, and can realize lateral movement at the tunnel lining joints through the slide rail to obtain a full range of lining crack conditions; the intelligent robot trolley is mainly composed of three devices. The first device is a fluorescent spray device, which is responsible for storing and spraying fluorescent agents; the second device is an ultraviolet radiation device and a shooting device, which is responsible for detecting the depth, width and position of the cracks, and shooting, storing, uploading and processing; the third device is a crack repair device, which is mainly responsible for repairing cracks that have not been completely treated by the microbial capsule and performing leveling treatment.

[0007] The system for visually monitoring, preventing and repairing cracks at lining joints in water-rich tunnels of the present invention has the following beneficial effects: 1. The present invention provides a visual monitoring, intelligent prevention, and repair system for cracks at the joints of the lining of water-rich tunnels, which can realize visual detection, prevention, and automatic repair of cracks in the lining of water-rich tunnels. Cracks in the lining of water-rich tunnels are the main reason affecting the safety of the tunnel lining structure. The present invention realizes the early prevention, visual detection, and later repair of lining cracks by adopting bionic structures, microbial capsules, and intelligent robot trolleys; the use of honeycomb-shaped lightweight and high-strength aluminum composite layer stiffening ribs effectively disperses the stress concentration phenomenon on the outside of the lining, preventing the occurrence of cracks. At the same time, the use of crown-shaped water pipes and water diversion balls realizes the drainage and storage of seepage water inside the tunnel lining, effectively avoiding the erosion and corrosion damage of the seepage water to the lining structure; the use of microbial capsules can promptly repair and reinforce the corresponding crack positions after the cracks occur, minimizing the damage of the cracks to the lining structure. Finally, the identification, recording, analysis, complete repair, and leveling of lining cracks are realized through the intelligent robot trolley.

[0008] 2. This invention embeds water conduits and microbial capsules within the concrete lining, potentially reducing lining strength. Therefore, stiffening ribs are placed on the outside of the lining to compensate for this loss of strength while also preventing further damage to the lining structure from seepage water. Furthermore, the use of intelligent robotic trolleys and microbial capsule repair technology significantly reduces both the labor costs of crack detection and subsequent repair costs, aligning with the principles of green engineering and sustainable development. The water storage device also fully utilizes water resources, resulting in high economic benefits. It also provides a valuable reference for subsequent tunnel construction and crack prevention strategies, demonstrating its high engineering value. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of the overall structure of the system for visually monitoring, preventing, and repairing cracks at lining joints in a water-rich tunnel according to the present invention; Figure 2 This is a schematic diagram of the structure of the honeycomb stiffener; Figure 3 This is a diagram of the crown aqueduct structure; Figure 4 Installation diagram of the water diversion ball; Figure 5 This is a diagram of the internal structure of the microbial capsule; Figure 6 This is the structure diagram of the robot trolley; In the figure, 1 is foundation; 2 is honeycomb stiffening rib; 3 is microbial capsule; 3-1 is permeable layer; 3-2 is urea-decomposing bacteria and calcium-containing compounds; 3-3 is silicate repair agent; 3-4 is concrete filler; 4 is crown-shaped aqueduct; 5 is water-diverting ball; 6 is water storage device; 7 is drainage outlet; 8 is robot trolley; 8-1 is spray nozzle; 8-2 is fluorescent agent storage device; 8-3 is light source intensity sensor; 8-4 is ultraviolet lamp; 8-5 is robot arm driving device; 8-6 is wire; 8-7 is robot arm bending hinge; 8-8 is repair agent sprayer; 8-9 is robot arm; 8-10 is telescopic device; 8-11 is slide rail connecting device; 8-12 is shooting device and camera; 9 is slide rail. DETAILED DESCRIPTION

[0010] Specific embodiment 1: The crack visualization monitoring and prevention and repair system at the joints of the water-rich tunnel lining in this embodiment includes honeycomb stiffeners 2, microbial capsules 3, water guide pipes 4, water diversion balls 5, water storage devices 6, robot trolleys 8 and slide rails 9. The honeycomb stiffeners 2 are laid along the outer surface of the tunnel (concrete) lining, and a plurality of crown-shaped water guide pipes 4 are buried in the tunnel lining. The crown-shaped water guide pipes 4 are connected to a plurality of water diversion balls 5. A plurality of microbial capsules 3 are pre-buried in the tunnel lining. The microbial capsules 3 are arranged adjacent to the crown-shaped water guide pipes 4. The microbial capsules 3 include a permeable shell 3-1, urea-decomposing bacteria and calcium-containing compounds 3-2, a silicate repair agent 3-3 and a concrete filler 3-4. The urea-decomposing bacteria and calcium-containing compounds 3-2, the silicate repair agent 3-3 and the concrete filler 3-4 are layered in the permeable shell 3-1. A water storage device 6 is provided inside the foundation 1 of the tunnel lining, and the seepage water in the water diversion ball 5 flows into the water storage device 6 in the foundation 1 through the diversion groove on the bottom surface of the tunnel lining; A slide rail 9 is provided along the span direction below the tunnel lining, and a robot trolley 8 is provided on the slide rail 9. The robot trolley 8 includes a fluorescent spray device, an ultraviolet lamp 8-4, a manipulator 8-9, a repair agent sprayer 8-8 and a photographing device 8-12. A fluorescent spray device and a manipulator 8-9 are provided on the frame arms on both sides of the robot trolley 8 respectively, and a repair agent sprayer 8-8 is provided on the manipulator 8-9. An ultraviolet lamp 8-4 and a photographing device 8-12 are also provided on the frame of the robot trolley 8.

[0011] This embodiment proposes a crack treatment system that can visually detect cracks in the lining of a water-rich tunnel, and can prevent and automatically repair them. This system can not only effectively avoid the corrosive damage of seepage water to the lining structure, but also greatly improve the crack resistance of the lining structure, and can effectively prevent cracks in the early stages of their occurrence; even after cracks occur, the characteristics of microorganisms and robotic trolleys can be used to promptly and thoroughly repair and reinforce the cracks, fully ensuring the safety of the lining structure. At the same time, it can avoid the corrosive effects of seepage water on the lining structure to the greatest extent, and can recollect and reuse water resources, and call them up for use when water is urgently needed, further ensuring the safety of the tunnel. This system can realize visual detection and automatic repair of cracks, greatly saving the detection and repair costs of cracks, improving the safety of the lining structure, having high economic benefits, and also having certain reference significance for subsequent tunnel construction projects.

[0012] Specific embodiment 2: This embodiment is different from the specific embodiment 1 in that the water diversion balls 5 are all located on the inner wall of the tunnel lining.

[0013] Specific embodiment three: This embodiment is different from specific embodiments one or two in that the urea-decomposing bacteria and the calcium-containing compound in the calcium-containing compound 3-2 are calcium lactate or calcium acetate.

[0014] In this embodiment, calcium lactate and calcium acetate are both environmentally friendly materials and have high biocompatibility.

[0015] Specific embodiment 4: This embodiment is different from specific embodiments 1 to 3 in that a plurality of drainage ports 7 are provided at the bottom of the water storage device 6 .

[0016] Specific embodiment five: The difference between this embodiment and any one of specific embodiments one to four is that the fluorescent spraying device in the robot trolley 8 includes a spray nozzle 8-1 and a fluorescent agent storage device 8-2, and the fluorescent agent storage device 8-2 is connected to the spray nozzle 8-1 via a pressurizing device.

[0017] Specific embodiment 6: This embodiment is different from any one of specific embodiments 1 to 5 in that the repair agent contained in the repair agent injector 8 - 8 is a potassium silicate solution or a sodium silicate solution.

[0018] This embodiment sprays a silicate solution onto concrete where cracks occur (because cracks can seep water) and the alkalinity is reduced, and the silicate reacts with Ca ions in the alkaline environment to form calcium silicate precipitation, thereby performing repairs.

[0019] Specific embodiment seven: This embodiment differs from any one of specific embodiments one to six in that a light source intensity sensor 8 - 3 is further provided on the robot trolley 8 .

[0020] Specific embodiment eight: This embodiment is different from specific embodiments one to seven in that the microorganism capsule 3 is an elliptical sphere, and the diameter of the microorganism capsule 3 is 0.1-0.3 mm.

[0021] Specific embodiment nine: The difference between this embodiment and any one of specific embodiments one to eight is that the crown-shaped water pipe 4 is connected to a main pipe with multiple branch pipes, the outer diameter of the main pipe is 18 to 22 mm, the wall thickness of the main pipe is 1.5 to 2.0 mm, and the outer diameter of the branch pipe is 3 to 5 mm.

[0022] Specific embodiment ten: This embodiment differs from specific embodiments one to nine in that a telescopic device 8 - 10 is provided between the robot trolley 8 and the slide rail 9 .

[0023] Example: The crack visualization monitoring and prevention and repair system at the joint of the water-rich tunnel lining in this embodiment includes a honeycomb stiffener 2, a microbial capsule 3, a crown-shaped water conduit 4, a water diversion ball 5, a water storage device 6, a robot trolley 8 and a slide rail 9. The honeycomb stiffener 2 is laid along the outer surface of the (concrete) tunnel lining, and the crown-shaped water conduit 4 is buried in the tunnel lining. The crown-shaped water conduit 4 is connected to multiple branch pipes on both sides of the main pipe (see Figure 3 As shown in FIG, wherein the lower branch pipe 4-1 is connected to the water diversion ball 5, and the upper branch pipe 4-2 leads to the outside of the tunnel lining to absorb water seepage from the outside of the tunnel. A plurality of microbial capsules 3 are also pre-buried in the tunnel lining. The microbial capsules 3 are arranged adjacent to the crown-shaped water conduit 4. The microbial capsules 3 include a water-permeable shell 3-1, urea-decomposing bacteria and calcium-containing compounds 3-2, a silicate repair agent 3-3, and a concrete filler 3-4. The urea-decomposing bacteria and calcium-containing compounds 3-2, the silicate repair agent 3-3, and the concrete filler 3-4 are layered in the water-permeable shell 3-1. A water storage device 6 is provided inside the foundation 1 of the tunnel lining, and the seepage water in the water diversion ball 5 flows into the water storage device 6 in the foundation 1 through the diversion groove on the bottom surface of the tunnel lining; A slide rail 9 is provided below the tunnel lining along the span direction. The robot trolley 8 is provided on the slide rail 9 through a slide rail connecting device 8-11. A manipulator driving device 8-5 is provided on the robot trolley 8. The manipulator driving device 8-5 can be a motor, which drives the manipulator 8-9 to rotate through a gear set or a hinge. A telescopic device 8-10 is provided between the robot trolley 8 and the slide rail 9. The telescopic device 8-10 is an electric telescopic rod, which cooperates with the rangefinder on the robot trolley 8 to adjust the distance between the robot trolley 8 and the tunnel lining. The robot trolley 8 includes a fluorescent spray device, an ultraviolet lamp 8-4, a manipulator 8-9, a repair agent sprayer 8-8 and a shooting device 8-12. The fluorescent spray device and the manipulator 8-9 are respectively provided on the frame arms on both sides of the robot trolley 8. The manipulator 8-9 is connected to the frame arm through a manipulator bending hub 8-7. A repair agent sprayer 8-8 is provided on the manipulator 8-9. The frame of the robot trolley 8 is also provided with an ultraviolet lamp 8-4 and a shooting device 8-12.

[0024] In this embodiment, the honeycomb stiffeners 2 and canopy-shaped aqueducts 4 are primarily responsible for preventing cracks in the tunnel lining. They primarily consist of the honeycomb (aluminum composite) stiffeners 2 installed on the outside of the tunnel lining and the canopy-shaped aqueducts 4 embedded within the tunnel lining concrete. These two structures utilize a biomimetic structure, leveraging the unique properties of biological structures to strengthen the lining. Because the canopy-shaped aqueducts 4 are embedded within the lining, they exert a certain influence on its strength. This is compensated for by the honeycomb stiffeners 2 on the outside. Furthermore, the lower layers 3-4 of microbial capsules surrounding the canopy-shaped aqueducts 4 are also filled with concrete, which improves the tunnel lining strength to a certain extent.

[0025] In an embodiment of the present invention, the crown-shaped water conduit 4 is embedded in the tunnel lining. It adopts a bionic crown-shaped structure, which can better absorb and guide underground seepage water into the corresponding water diversion ball 5 and water storage device 6, preventing underground seepage water from causing corrosive damage to the lining structure; the crown-shaped water conduit 4 is connected to the water diversion ball 5. When the groundwater below the mountain surface seeps into the external structure of the tunnel, it will tend to flow towards the crown-shaped water conduit 4. The inner wall of the crown-shaped water conduit 4 is coated with a water-repellent material. The water flow entering the crown-shaped water conduit 4 will not seep to the outside through the water conduit 4. The unique bionic structure of the crown-shaped water conduit 4 can also better gather all the seepage water into the water diversion ball 5.

[0026] In an embodiment of the present invention, the honeycomb stiffening rib 2 is fitted and installed on the outside of the tunnel lining structure, and is a special support structure independent of the tunnel lining structure. It adopts a high-strength lightweight aluminum composite material as the main structure and is assembled and installed in accordance with a honeycomb structure. It is worth mentioning that the thickness of the honeycomb aluminum composite layer stiffening rib 2 located on the outside of the tunnel lining is relatively thin and does not affect the normal design and installation of the primary support structure. The honeycomb bionic structure can effectively disperse the stress concentration phenomenon, which is the main cause of tunnel cracks. The use of the honeycomb bionic structure can achieve strength improvement with the least amount of material and can also greatly prevent the occurrence of structural cracks. It adopts aluminum composite material, is light in texture, and is extremely easy to manufacture. All honeycomb stiffening ribs 2 can be disassembled and reassembled, and are prefabricated structures. When a stiffening rib is damaged and cannot meet the strength requirements, it can be replaced in time to ensure that the strength always meets the requirements. In an embodiment of the present invention, the microbial capsule 3 is primarily responsible for repairing tunnel cracks immediately after they occur. Its interior consists of three main components: upper, middle, and lower layers, each with its own repair function. Microbial capsule 3 is positioned inside the tunnel's concrete lining, adjacent to a canopy-shaped aqueduct 4. This allows the microbial capsule 3 to be exposed to moisture when cracks occur or the aqueduct ruptures, thereby inducing microbial activity. A permeable layer 3-1 is affixed to the outside of the microbial capsule 3. This layer absorbs moisture released when the aqueduct ruptures, allowing it to penetrate the outer wall of the microbial capsule 3 and enter the inner space, activating the microorganisms. Furthermore, the outer permeable layer 3-1 also protects the microorganisms within the capsule to a certain extent, preventing damage to the capsule 3 due to surrounding rock disturbance or other structural factors, which could lead to microbial leakage. It should be further explained that the microbial capsules 3 are basically arranged on the inner side of the inner wall at the joint position of the water-rich tunnel lining, and are mainly used to repair cracks on the inner wall lining of the tunnel chamber; when cracks occur, due to the rupture of the crown-shaped water conduit 4 or excessive water seepage, the water flow will directly contact the microbial capsules 3. At this time, the microbial capsules 3 can immediately carry out crack repair work and fill the crack gaps in time as quickly as possible to prevent the cracks from further extending and expanding, avoiding more serious engineering accidents. However, the cracks repaired by the microbial capsules 3 are random and uneven, and they cannot achieve complete crack repair work. They can only stop the cracks from further expanding in time. Moreover, the surface flatness of the cracks repaired by the microbial capsules 3 is not high, and further repair and flattening treatment is required. The further repair and flattening of the cracks requires the subsequent intelligent robot trolley 8 to complete.

[0027] In an embodiment of the present invention, the urea-decomposing bacteria in the upper layer of the microbial capsule and the calcium-containing compound 3-2 are mainly urea-decomposing bacteria, such as Bacillus pasteurianus and the calcium-containing compound. When cracks occur, seepage water enters the inner wall of the capsule and activates the urea-decomposing bacteria. The activated urea-decomposing bacteria react with the calcium-containing compound, inducing the calcium-containing compound to form calcium carbonate precipitation. The generated calcium carbonate can fill the cracks, repair the cracks to a certain extent, and prevent them from further cracking. In an embodiment of the present invention, the middle layer 3-3 inside the microbial capsule is mainly a silicate repair agent. The middle layer 3-3 inside the capsule and the substances of the upper layer urea-decomposing bacteria and the calcium-containing compound 3-2 will start to react at the same time. When the seepage water enters the capsule, the alkalinity inside the capsule decreases. At this time, the middle layer 3-3 of the capsule will release the silicate repair agent. The silicate repair agent can effectively improve the concrete strength of the lower layer 3-4 of the capsule to meet the strength requirements of the overall lining structure when cracks occur. At the same time, silicate can also neutralize the pH value inside the capsule to a certain extent, preventing further aggravation of the acid-base corrosion effect; the silicate repair agent can also increase the strength of the calcium carbonate precipitate generated by the urea-decomposing bacteria and the calcium-containing compound 3-2, thereby improving the durability of the crack repair material and preventing the cracks from further expanding.

[0028] In an embodiment of the present invention, the lower layer of concrete 3-4 inside the microbial capsule is mainly concrete filler. In addition to fixing the position of the capsule 3, the concrete filled in 3-4 can also make up for the insufficient strength of the lining concrete due to the embedded crown-shaped water pipe 4 and the microbial capsule 3. In addition, when the crack develops to the lower part of the microbial capsule 3, due to the presence of a barrier layer between the microbial capsule 3 and the external lining, the stress concentration phenomenon will be prevented from occurring further, thereby hindering the further expansion of the crack; the filling concrete can also further improve the strength of the local position by reacting with the silicate repair agent released by the middle layer after the crack occurs.

[0029] In an embodiment of the present invention, the water diversion ball 5 and the water storage device 6 are mainly used to collect and utilize the seepage water inside the tunnel lining; the water diversion ball 5 is installed on the inner side of the inner wall lining of the tunnel chamber and is connected to the crown-shaped aqueduct 4; the water diversion ball 5 is mainly responsible for absorbing and draining the seepage water inside the crown-shaped aqueduct 4, and discharging it from the concrete structure and flowing directly to the bottom of the tunnel chamber; the bottom of the tunnel chamber adopts a micro-arch design, which can enable the water at the bottom to flow to the water storage device 6 through a small slope, avoiding water accumulation at the bottom; the presence of the water diversion ball 5 effectively avoids the accumulation of seepage water inside the crown-shaped aqueduct 4; the presence of the water diversion ball 5 can effectively drain the seepage water inside the lining, avoid the accumulation and waste of water resources, and effectively prevent the lining structure from being corroded and eroded by water flow.

[0030] In an embodiment of the present invention, the water storage device 6 is located at the bottom of the tunnel, and two conduits extend from both sides of the water storage device 6. The conduits extend to both sides of the tunnel bottom, and the water storage device 6 is responsible for storing the seepage water flowing down; a plurality of drainage ports 7 are opened at the bottom of the water storage device. Under normal circumstances, the drainage ports 7 are closed, and the seepage water is stored inside the water storage device 6. When a fire occurs in the tunnel or other special circumstances where water is urgently needed, the drainage ports at the bottom of the water storage device 6 can be opened to use the stored seepage water to fully utilize water resources; the water diversion ball 5 and the water storage device 6 not only effectively drain the seepage water, avoiding corrosion damage to the lining caused by the seepage water, but also do not waste these water resources. The stored water resources can be used in special circumstances.

[0031] In an embodiment of the present invention, the intelligent robotic trolley is primarily responsible for detecting, repairing, and smoothing cracks in the tunnel lining. The intelligent robotic trolley 8 is located within the tunnel chamber and is mounted on a slide rail 9 within the tunnel chamber. The trolley 8 moves on the slide rail 9 to detect and repair cracks in the lining at various locations on the tunnel chamber wall. Furthermore, the intelligent robotic trolley 8 is equipped with a telescopic device 8-10 to accommodate the imaging and repair requirements for cracks at different distances. The intelligent robotic trolley 8 primarily consists of three devices: a fluorescent spray device that stores and sprays fluorescent agent; an ultraviolet radiation device and imaging device, including a light source intensity sensor 8-3, an ultraviolet lamp 8-4, and an imaging device and camera 8-12, responsible for detecting crack depth, width, and location, and capturing, storing, and uploading images; and a crack repair device, including a robotic arm drive device 8-5, a guide wire 8-6, a robotic arm bending hinge 8-7, a repair agent injector 8-8, and a robotic arm 8-9, primarily responsible for repairing and smoothing cracks that were not fully treated by the microbial capsule.

[0032] In an embodiment of the present invention, the fluorescent spray device of the intelligent robot trolley is located at the top of the intelligent robot trolley, and is mainly composed of a fluorescent spray device and a fluorescent agent storage device; when the intelligent robot trolley 8 is started, the fluorescent spray device sprays fluorescent agent on each position of the inner wall lining of the tunnel chamber along the movement trajectory of the trolley 8 on the slide rail 9, and the fluorescent agent will adhere to the surface of the inner wall lining; the fluorescent agent is a colorless and odorless liquid, which can be detected by the ultraviolet lamp 8-4; the amount of fluorescent agent attached at the crack position and the non-crack position on the lining surface is different, and the light source intensity is also different, thereby conveniently observing the crack position, width and depth of the tunnel lining surface.

[0033] In an embodiment of the present invention, the intelligent robot trolley ultraviolet radiation detection and crack shooting device is located in the middle of the robot trolley 8. As the robot trolley 8 moves along the slide rail 9, it will first spray a high-density fluorescent agent on the lining surface. Then, by turning on the ultraviolet lamp 8-4 and irradiating the lining surface, the position, width and depth of the crack are found according to the different brightness of the fluorescent agent on the lining surface. When different light source intensities are found in the area irradiated by the ultraviolet lamp 8-4, it means that a crack has occurred there, which is identified by the light source intensity sensor 8-3, and then the shooting device and camera 8-12 are driven to shoot. , the photos of the cracks taken will be uploaded to the cloud. On the one hand, engineers can record the cracks at that location. On the other hand, after analysis in the cloud, the depth and width of the cracks can be identified. Subsequently, the repair and leveling device at the bottom of the intelligent robot trolley 8 can be controlled to further repair and level the cracks. It is worth mentioning that due to the presence of the microbial capsules 3, the cracks identified by the intelligent robot trolley 8 are generally cracks that have been repaired for the first time by the microbial capsules. However, there are still problems such as incomplete repair and uneven surface after repair. At this time, the robot trolley 8 is needed to perform further repair and leveling. In an embodiment of the present invention, the intelligent robot trolley repair device is mainly composed of a robotic arm drive device 8-5, a wire 8-6, a robotic arm bending hub 8-7, a robotic arm, a repair agent injector 8-8, and a robotic arm 8-9. When the repair device receives a repair decision from the cloud, it will repair the crack at that location. First, the repair device will control the robotic arm to extend to the corresponding position of the crack. This position information can be obtained through the light intensity sensor 8-3. When the robotic arm approaches the position, it will first spray the repair agent through the repair agent injector 8-8, and then the robotic arm 8-9 will evenly apply the repair agent to the crack position and perform a flattening process. At this point, the repair and flattening of a crack is basically completed; In an embodiment of the present invention, the intelligent robot trolley 8 works according to a certain cycle. For example, it will inspect and repair the lining cracks at the joint position every 15 days or 1 month. The process of each inspection and repair work is the same. Basically, the fluorescent agent is sprayed first, and then the ultraviolet lamp 8-4 is used to detect the intensity of the lining light source, and the specific parameters of the crack are identified by the light source intensity sensing device 8-3, and then the repair device is driven to repair the crack; it is worth mentioning that the intelligent robot trolley 8 can make up for the incompleteness of the crack repair by the microbial capsule 3, and can record each crack in time; the periodic startup rule can also fully ensure that each crack is repaired most completely. When a crack is completely repaired, in the next cycle of detection, the fluorescent agent dose it receives is consistent with that of the other positions, that is, the light source intensity is consistent with that of the other positions. At this time, it can be said that the crack has been completely repaired.

[0034] In an embodiment of the present invention, a system for visually monitoring, intelligently preventing, and repairing cracks at lining joints of a water-rich tunnel has the following specific workflow for preventing, detecting, and repairing lining cracks: S1. Preliminary prevention of lining cracks is achieved through honeycomb stiffeners 2 and crown-shaped aqueducts 4. Crown-shaped aqueducts 4 and water-guiding balls 5 can discharge seepage water from inside the lining concrete structure to avoid corrosive damage to the structure caused by seepage water. The outer honeycomb aluminum composite layer stiffeners 2 effectively disperse the stress concentration effect to avoid the occurrence of cracks. S2. When a crack occurs, the crown-shaped aqueduct 4 is torn due to the occurrence of the crack, and the water inside it is The microorganisms will overflow and contact the microbial capsules 3, inducing the microbial capsules 3 to work and perform preliminary repairs on the crack positions; S3, the intelligent robot trolley 8 performs periodic inspections on the tunnel lining, and determines whether there are cracks and the specific position, width and depth of the cracks by the intensity of the light source generated by the sprayed fluorescent agent, and then repairs and smoothes the cracks by driving the repair device; S4, during the next periodic inspection process, if the light source intensity at this position is the same as that at other positions, it proves that the cracks at this position have been completely repaired; the above process can ensure that all lining cracks are completely repaired without leaving any safety hazards.

Claims

1. A visual monitoring and prevention and repair system for cracks in water-rich tunnel lining joints, characterized by The crack visualization monitoring and prevention and repair system at the joint of the water-rich tunnel lining comprises a honeycomb stiffening rib (2), a microbial capsule (3), a crown-shaped water conduit (4), a water diversion ball (5), a water storage device (6), a robot trolley (8) and a slide rail (9), wherein the honeycomb stiffening rib (2) is laid along the outer surface of the tunnel lining, a plurality of crown-shaped water conduits (4) are buried in the tunnel lining, a plurality of water diversion balls (5) are connected to the crown-shaped water conduits (4), a plurality of microbial capsules (3) are pre-buried in the tunnel lining, the microbial capsules (3) are arranged adjacent to the crown-shaped water conduits (4), the microbial capsules (3) comprise a water-permeable shell (3-1), urea-decomposing bacteria and calcium-containing compounds (3-2), a silicate repair agent (3-3) and a concrete filler (3-4), and the urea-decomposing bacteria and calcium-containing compounds (3-2), the silicate repair agent (3-3) and the concrete filler (3-4) are layered in the water-permeable shell (3-1); A water storage device (6) is provided inside the foundation (1) of the tunnel lining, and the seepage water in the water diversion ball (5) flows into the water storage device (6) in the foundation (1) through the diversion groove on the bottom surface of the tunnel lining; A slide rail (9) is provided below the tunnel lining along the span direction, and a robot trolley (8) is provided on the slide rail (9). The robot trolley (8) comprises a fluorescent spray device, an ultraviolet lamp (8-4), a manipulator (8-9), a repair agent sprayer (8-8), and a photographing device (8-12). The fluorescent spray device and the manipulator (8-9) are respectively provided on the frame arms on both sides of the robot trolley (8), the manipulator (8-9) is provided with a repair agent sprayer (8-8), and the frame of the robot trolley (8) is also provided with an ultraviolet lamp (8-4) and a photographing device (8-12).

2. The system for visually monitoring and preventing cracks at lining joints in water-rich tunnels according to claim 1 is characterized in that The water diversion balls (5) are all located on the inner wall of the tunnel lining.

3. The system for visual monitoring, prevention and repair of cracks at lining joints in water-rich tunnels according to claim 1 is characterized in that The calcium-containing compound in the urea-decomposing bacteria and the calcium-containing compound (3-2) is calcium lactate or calcium acetate.

4. The system for visually monitoring, preventing and repairing cracks at lining joints of a water-rich tunnel according to claim 1 is characterized in that A plurality of drainage openings (7) are provided at the bottom of the water storage device (6).

5. The system for visually monitoring, preventing and repairing cracks at lining joints of a water-rich tunnel according to claim 1 is characterized in that The fluorescent spraying device in the robot trolley (8) comprises a spray nozzle (8-1) and a fluorescent agent storage device (8-2), and the fluorescent agent storage device (8-2) is connected to the spray nozzle (8-1) via a pressurizing device.

6. The system for visually monitoring, preventing and repairing cracks at lining joints of a water-rich tunnel according to claim 1 is characterized in that The repair agent contained in the repair agent injector (8-8) is a potassium silicate solution or a sodium silicate solution.

7. The system for visually monitoring, preventing and repairing cracks at lining joints of a water-rich tunnel according to claim 1 is characterized in that A light source intensity sensor (8-3) is also provided on the robot trolley (8).

8. The system for visually monitoring, preventing and repairing cracks at lining joints of a water-rich tunnel according to claim 1 is characterized in that The microbial capsule (3) is an elliptical sphere, and the diameter of the microbial capsule (3) is 0.1 to 0.3 mm.

9. The system for visually monitoring, preventing and repairing cracks at lining joints of a water-rich tunnel according to claim 1 is characterized in that The crown-shaped water conduit (4) is a main conduit connected to a plurality of branch conduits. The main conduit has an outer diameter of 18 to 22 mm and a wall thickness of 1.5 to 2.0 mm, and the branch conduits have an outer diameter of 3 to 5 mm.

10. The system for visually monitoring, preventing and repairing cracks at lining joints of a water-rich tunnel according to claim 1 is characterized in that A telescopic device (8-10) is provided between the robot trolley (8) and the slide rail (9).

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