Tunnel over-break and under-break detection device and detection method

Abstract

The invention relates to the technical field of tunnel detection, in particular to a tunnel back break detection device and method.The detection device comprises a moving trolley, a supporting plate is arranged on the moving trolley, a laser range finder and a three-dimensional laser scanner are arranged on the supporting plate, a first laser lens is arranged on the laser range finder, and a second laser lens is arranged on the three-dimensional laser scanner; a high-definition camera and a second laser lens are arranged on the three-dimensional laser scanner; a wheel shaft, a pneumatic cleaning mechanism and a scraping and brushing cleaning mechanism are arranged on the moving trolley; the scraping brush cleaning mechanism comprises a first cleaning assembly and a second cleaning assembly, the first cleaning assembly is arranged on the laser range finder, the second cleaning assembly is arranged on the three-dimensional laser scanner, and the first cleaning assembly and the second cleaning assembly are both in transmission connection with the wheel shaft; the problems that an existing laser lofting device lacks self-cleaning capacity and is affected by pollutants such as dust and water mist in a tunnel, so that the quality of light beams is reduced, and the measuring distance and precision are affected are solved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel detection, and in particular to a tunnel over-break and under-break detection device and a detection method. Background Art

[0002] In tunnel construction, most rock tunnels are excavated using the drill-and-blast method. Excavation is performed according to pre-prepared design drawings, creating a baseline tunnel cross-sectional outline. During excavation, if the tunnel's inner wall falls outside this baseline, it's considered over-excavation; if it falls within this baseline, it's considered under-excavation. During tunnel excavation, over-excavation and under-excavation detection are essential.

[0003] Tunnel over- and under-excavation detection technology is a key link in controlling tunnel construction quality, optimizing costs, and ensuring safety. Its core goal is to accurately obtain the spatial relationship between the actual excavation contour and the designed excavation contour, thereby quantifying the value, location, and distribution of over- and under-excavation. Traditional detection methods use contact measurement methods, such as using a profiler or total station, combined with manual operation to calculate the coordinate contour. This is not only inefficient and has limited accuracy, but also requires surveyors to work in dangerous areas, which is high-risk. The current mainstream detection technology is non-contact laser measurement methods, including laser profilers, 3D laser scanners, and mobile scanning systems. Taking the mobile scanning system method as an example, its principle is to integrate a 3D laser scanner, an inertial navigation system, an odometer, etc. on a mobile platform. During the platform's movement, laser point cloud data and the platform's own position and posture change data are synchronously collected. Through post-processing and fusion, a continuous three-dimensional point cloud model of the tunnel is obtained. The detection efficiency is extremely high, and the data is continuous without cross-sectional gaps.

[0004] However, no matter which of the above-mentioned non-contact laser measurement methods is used, there are still some defects in the actual measurement process. Since tunnel laser scanners are usually used in tunnel excavation, there is a lot of dust and water vapor after the face blasting. At the same time, some special tunnels (such as gas tunnels) have strict control over ventilation, resulting in dust, water mist, etc. always existing in the tunnel for a long time. In the surveying process, dust, water mist and other pollutants will accumulate on the surface of the instrument lens. If not cleaned, it will cause the beam quality to deteriorate, affect the measurement distance and accuracy, and even make it impossible to work. Dust, water mist and other pollutants will adhere to the surface of optical components such as lenses and reflectors in the optical path. These pollutants will absorb, scatter or reflect laser energy, resulting in increased energy loss of the laser beam during transmission. Energy loss will not only reduce the output power of the laser, but also affect the focusing effect and processing accuracy of the laser beam. However, the existing laser surveying device lacks a self-cleaning mechanism, and after use, the surveyor needs to clean it, which greatly reduces the convenience of the device and its principles, advantages and disadvantages and application scenarios.

[0005] Therefore, in view of this, the inventors propose a tunnel over-break and under-break detection device and method. Summary of the Invention

[0006] One of the purposes of the present invention is to provide a tunnel over-break and under-break detection device to solve the problem that the existing laser layout device lacks self-cleaning ability and is affected by pollutants such as dust and water mist in the tunnel, resulting in a decrease in beam quality, affecting the measurement distance and accuracy, and even making it unable to work; the second purpose is to provide a detection method.

[0007] On the one hand, in order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: A tunnel over-excavation and under-excavation detection device includes a mobile trolley, a support plate is provided on the support plate, a laser rangefinder and a three-dimensional laser scanner are provided on the support plate, the laser rangefinder is provided with a first laser lens, and the three-dimensional laser scanner is provided with a high-definition camera and a second laser lens; the mobile trolley is provided with an axle, a pneumatic cleaning mechanism and a scraping and brushing cleaning mechanism, the pneumatic cleaning mechanism includes an air compressor, a plurality of air pipelines and a plurality of air flow channels, the pneumatic cleaning mechanism is used to blow air to clean the first laser lens, the high-definition camera and the second laser lens; the scraping and brushing cleaning mechanism includes a first cleaning component and a second cleaning component, the first cleaning component is provided on the laser rangefinder, and the second cleaning component is provided on the three-dimensional laser scanner, and the first cleaning component and the second cleaning component are both connected to the wheel axle in a transmission manner; when the wheel axle rotates, the wheel axle causes the first cleaning component to scrape and clean the first laser lens, and the wheel axle causes the second cleaning component to scrape and clean the high-definition camera and the second laser lens.

[0008] Furthermore, the laser rangefinder is installed at the front end of the support plate, the three-dimensional laser scanner includes a base, side panels are provided on two opposite sides of the top of the base, a central unit is provided between the side panels, the high-definition cameras are multiple and evenly distributed on one side of the central unit, and the second laser lens is located on the other side of the central unit; a mounting box is fixedly provided on the support plate, the three-dimensional laser scanner is rotatably mounted on the mounting box, a cavity is provided inside the mounting box, a first sleeve is fixedly provided at the bottom of the base, the first sleeve is rotatably passed through the top wall of the mounting box, and a driving component for driving the first sleeve to rotate is provided in the mounting box.

[0009] Furthermore, a first inner cavity is provided in the base, a second inner cavity is provided in the movable trolley, a connecting rod is rotatably installed on the movable trolley, the top end of the connecting rod passes through the support plate, the bottom wall of the installation box, the first sleeve and the bottom wall of the first inner cavity in sequence, and extends into the first inner cavity, the bottom end of the connecting rod passes through the top wall of the second inner cavity and extends into the second inner cavity, and a first air flow channel is opened axially through the connecting rod; a connecting disk is provided between one end of the central unit and the side plate, a second air flow channel is opened on one side of the inner cavity in the base, a third air flow channel is opened in the side plate, and the connecting disk A fourth air flow channel is opened, a fifth air flow channel is opened in the central unit, and the second air flow channel, the third air flow channel, the fourth air flow channel and the fifth air flow channel are connected in sequence; a sixth air flow channel is opened on one side of the second inner cavity in the mobile cart, the second air flow channel is connected with the first inner cavity, and the sixth air flow channel is connected with the second inner cavity, and the top and bottom ends of the connecting rod are respectively provided with rotating joints, and the two ends of the connecting rod are respectively rotated with the base and the mobile cart through rotating joints, so that the sixth air flow channel, the first air flow channel and the second air flow channel are connected in sequence.

[0010] Furthermore, the connecting plate is provided with a plurality of first air holes facing the high-definition camera on one side of each high-definition camera, and all of the first air holes are connected to the fourth air flow channel. The central unit is provided with a plurality of second air holes facing the second laser lens on one side of the second laser lens, and all of the second air holes are connected to the fifth air flow channel.

[0011] Furthermore, the mobile cart is provided with an air filter, the air compressor and the air filter are connected through a first air pipeline, the air outlet end of the air filter is provided with a tee, one air outlet end of the tee is connected to the laser rangefinder through a second air pipeline, and the other air outlet end is connected to the three-dimensional laser scanner through a third air pipeline; the laser rangefinder is provided with an arc plate on one side of the first laser lens, and the laser rangefinder is provided with a seventh air flow channel connected to the second air pipeline, the inner side of the arc plate faces the first laser lens, and the inner side of the arc plate is provided with a plurality of third air holes facing the first laser lens, and all of the third air holes are connected to the seventh air flow channel.

[0012] Furthermore, the first cleaning assembly includes a first scraper and a first rotating rod, the middle of the first scraper is rotatably mounted on the laser rangefinder, a plurality of mounting plates are fixedly provided at the bottom of the support plate, the first rotating rod is rotatably mounted on the mounting plate, one end of the first rotating rod is fixedly provided with a first connecting rod, a second connecting rod is provided between the first connecting rod and the first scraper, one end of the second connecting rod is hinged to the free end of the first connecting rod, and the other end is hinged to one end of the first scraper, and the other end of the first scraper is used to scrape the first laser lens; a first transmission mechanism is provided between the first rotating rod and the wheel axle, the first transmission mechanism includes a second rotating rod and a third rotating rod, the second rotating rod is horizontally arranged and rotatably mounted on the mounting plate, the second rotating rod is arranged parallel to the first rotating rod, the third rotating rod is vertically arranged and rotatably passed through the mobile trolley, a first bevel gear is fixedly provided on the wheel axle, a second bevel gear is fixedly provided at the bottom end of the third rotating rod and is meshed with the first bevel gear for transmission, a third bevel gear is fixedly provided at the top, a fourth bevel gear is fixedly provided at one end of the second rotating rod and is meshed with the third bevel gear for transmission, and a transmission control mechanism is provided between the other end and the first rotating rod.

[0013] Furthermore, the mounting plate is provided with a first gear between the second rotating rod and the third rotating rod, and a mounting cylinder is fixedly connected to one side of the first gear, and the mounting cylinder is rotatably mounted on the mounting plate at one end away from the first gear, and the first gear is axially provided with a connecting hole that penetrates the mounting cylinder and the mounting plate, and the side wall of the connecting hole is evenly provided with a plurality of clamping blocks along the circumferential direction, and the space between two adjacent clamping blocks forms a clamping groove; the transmission control mechanism includes a toggle rod, which is movably provided on the mounting plate and is located in the connecting hole, and the toggle rod is radially penetrated to provide a mounting hole, and a spherical lock pin assembly is provided in the mounting hole, and the spherical lock pin assembly The cam is secured to the cam face and is adapted to engage with the first gear when the cam is engaged with the first gear, and the cam is secured to the cam face and is adapted to engage with the first gear when the cam is engaged with the first gear.

[0014] The top end of the second end of the gear train is fixedly provided with a gear train, and the top end of the second end of the gear train is fixedly provided with a gear train that meshes with the worm gear. The top end of the second end of the gear train is fixedly provided with a gear train that meshes with the worm gear. The top end of the second end of the gear train is fixedly provided with a gear train that meshes with the worm gear. The top end of the second end of the gear train is fixedly provided with a gear train that meshes with the worm gear.

[0015] Furthermore, a first arc-shaped rack is provided at the bottom of the transmission ring, and the side plate is rotatably installed with a second rotating shaft below the first arc-shaped rack. A second arc-shaped rack and a sixth gear are fixedly sleeved on the second rotating shaft along the axial direction, and the second arc-shaped rack and the first arc-shaped rack are engaged for transmission. The second transmission mechanism includes a seventh gear, and the seventh gear is fixedly sleeved on the first rotating shaft, and the seventh gear is engaged for transmission with the sixth gear. A second scraper is provided on one side of the transmission ring corresponding to each high-definition camera, and a third scraper is provided on one side of the transmission ring corresponding to the second laser lens. When the transmission ring rotates, the second scraper can scrape the corresponding high-definition camera, and the third scraper can scrape the second laser lens.

[0016] On the other hand, the present application also proposes a detection method, comprising: a: Preset several inspection stations in the tunnel, turn on the laser rangefinder and air compressor, control the mobile cart to move to the first inspection station, the laser rangefinder measures the distance between the mobile cart and the tunnel face, and turn on the 3D laser scanner to obtain the tunnel point cloud model; b: After the inspection of the previous inspection station is completed, the 3D laser scanner stops scanning and the mobile cart moves to the next inspection station. During the movement of the mobile cart, the first hanging brush assembly cleans the first laser lens, and the second hanging brush assembly scrapes and cleans the high-definition camera and the second laser lens. When the mobile cart stops, the two scraping brush assemblies stop moving, and this process is repeated until all inspection stations have been inspected.

[0017] Beneficial effects of the present invention: The present invention sets up air flow channels around the three scanning units, namely the first laser lens, the high-definition camera and the second laser lens, and ensures continuous air supply through an air compressor. High-pressure air is ejected from the air flow channels to form an air curtain barrier that wraps the scanning units. The air curtain preferentially blows away the suspended dust in front of the lens, while preventing new dust and water mist from approaching and adhering to the lens, inhibiting the condensation of water mist, forming a local low-dust / water mist area, and improving the penetration environment of the laser beam.

[0018] The scraping brush cleaning mechanism of the present invention starts working when the mobile carriage arrives at a predetermined station and stops, and the three-dimensional laser scanner starts working, and the pneumatic cleaning mechanism blows air to clean the scanning unit. When the detection is completed and moves to the next scanning station, the wheel axle rotates to drive the scraping brush mechanism to scrape and clean the scanning unit, regularly removing dust and water droplets on the surface of the scanning unit to further enhance the cleaning effect. At the same time, the scraping brush unit is located outside the scanning unit before the three-dimensional laser scanner starts scanning, and the scraping brush pops out after the three-dimensional laser scanner finishes scanning to avoid scraping and blocking the scene during scanning.

[0019] This invention uses a 3D laser scanner to emit laser pulses or continuous waves, calculates distance by measuring the time or phase difference between laser emission and return, and simultaneously records horizontal and vertical angles. Combined with the instrument's position and posture, this technology generates massive amounts of 3D point cloud data in the instrument's coordinate system. By setting up multiple scanning points within the tunnel and stitching them together, a complete, high-precision 3D spatial model of the entire tunnel section (including the tunnel face, sidewalls, and vault) is obtained, providing a complete, dense point cloud model of the entire tunnel interior surface with high accuracy and efficiency. A laser rangefinder can also be used to determine the distance from the mobile cart to the tunnel face, controlling the cart's parking position.

[0020] Other advantages, objectives and features of the present application will be described to some extent in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present application. The objectives and other advantages of the present application can be achieved and obtained through the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The structure diagram of the tunnel over-excavation and under-excavation detection device of the present invention is shown in FIG. Figure 1 ; Figure 2 The structure diagram of the tunnel over-excavation and under-excavation detection device of the present invention is shown in FIG. Figure 2 ; Figure 3 The structure diagram of the tunnel over-excavation and under-excavation detection device of the present invention is shown in FIG. Figure 3 ; Figure 4 for Figure 3 Schematic diagram of the enlarged structure at A in the middle; Figure 5 The structure diagram of the tunnel over-excavation and under-excavation detection device of the present invention is shown in FIG. Figure 4 ; Figure 6 This is a partial structural diagram of a tunnel over-break and under-break detection device according to the present invention; Figure 7 for Figure 6 Schematic diagram of the enlarged structure at B in the middle; Figure 8 for Figure 6 Schematic diagram of the enlarged structure at C in the middle; Figure 9 for Figure 6 Schematic diagram of the enlarged structure at D in the middle; Figure 10 for Figure 9 Schematic diagram of the enlarged structure at E in the middle; Figure 11 Schematic diagram of the structure of the transmission control mechanism of the present invention; Figure 12 Schematic diagram of the structure of the toggle lever in the present invention; Figure 13 Schematic diagram of the structure of the three-dimensional laser scanner in the present invention; Figure 14 Schematic diagram of the structure of the second transmission mechanism in the present invention; Figure 15 for Figure 14 Schematic diagram of the enlarged structure at F in the middle; Figure 16 Schematic diagram of the cross-sectional structure of the installation box in the present invention; Figure 17 for Figure 16 Schematic diagram of the enlarged structure at G in the middle.

[0022] Among them, the mobile trolley 1, the wheel axle 2, the first bevel gear 3, the second bevel gear 4, the third rotating rod 5, the third bevel gear 6, the second rotating rod 7, the worm 8, the mounting plate 9, the second gear 10, the first gear 11, the mounting cylinder 12, the connecting hole 13, the clamping block 14, the clamping groove 15, the toggle rod 16, the toggle part 17, the U-shaped plate 18, the first elastic member 19, the clamping ball 20, the fourth rotating rod 21, the transmission gear 22, the fourth gear 23, the first rotating rod 24, the first connecting rod 25, the second connecting rod 26, the first scraper 27, the correction plate 28, the pressure sensor 29, the arc plate 30, the third air hole 31, the laser rangefinder 32, the first laser lens 33, the second gas pipeline 34, the tee pipe 35, the third gas pipeline 36, the air filter 37, the first gas pipeline 38, the air compressor 39, the support column 40, the support plate 41, the fixing ring 42, the installation Box 43, 3D laser scanner 44, base 45, side panel 46, central unit 47, high-definition camera 48, second laser lens 49, connecting disk 50, transmission ring 51, second scraper 52, third scraper 53, first arc-shaped rack 54, second arc-shaped rack 55, second rotating shaft 56, sixth gear 57, seventh gear 58, first rotating shaft 59, fifth gear 60, tooth groove 61, second sleeve 62, connecting rod 63, rotary joint 64, first inner cavity 65, second elastic member 66, annular mounting groove 67, mounting ring 68, cam 69, bracket 70, transmission member 71, protrusion 72, worm gear 73, first air flow channel 74, first air hole 75, second air hole 76, motor 77, driving gear 78, driven gear 79, first sleeve 80, fourth bevel gear 81, third gear 82, limiting ring 83, second air flow channel 84. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0024] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0025] This embodiment proposes a tunnel over-break and under-break detection device and detection method, such as Figures 1 to 17As shown, the mobile cart 1 is fixedly mounted with a support plate 41 via a support column 40. The support plate 41 is positioned above the mobile cart 1 and is arranged horizontally. A laser rangefinder 32 and a three-dimensional laser scanner 44 are provided on the support plate 41. The laser rangefinder 32 is fixedly mounted on the front end of the support plate 41. A first laser lens 33 is provided on the front end of the laser rangefinder 32 for detecting the distance from the mobile cart 1 to the tunnel face, ensuring that the mobile cart 1 accurately reaches the inspection station. The three-dimensional laser scanner 44 is equipped with a high-definition camera 48 and a second laser lens 49. The high-definition camera 48 can provide visible light image information, which can be aligned and fused with the laser point cloud. The image from the high-definition camera 48 can assist in identifying features, filling in missing areas in the point cloud, or verifying the quality of the point cloud. If the tunnel vision is poor, the mobile cart 1 can be equipped with a high-intensity light.

[0026] In this embodiment, the mobile cart 1 can be remotely controlled and flexibly moved. This is prior art and will not be described in detail here. A wheel axle 2 is provided between the two rear wheels of the mobile cart 1. The two ends of the wheel axle 2 are fixedly connected to the two rear wheels. The mobile cart 1 is provided with a pneumatic cleaning mechanism and a scraping cleaning mechanism. The pneumatic cleaning mechanism includes an air compressor 39, a plurality of air pipelines, and a plurality of air flow channels. The pneumatic cleaning mechanism is used to blow air to clean the first laser lens 33, the high-definition camera 48, and the second laser lens 49. The scraping cleaning mechanism includes a first cleaning component and a second cleaning component. The first cleaning component is provided on the laser rangefinder 32, and the second cleaning component is provided on the three-dimensional laser scanner 44. The first cleaning component and the second cleaning component are both connected to the wheel axle 2 in a transmission manner. When the wheel axle 2 rotates (i.e., when the mobile cart 1 moves), the wheel axle 2 causes the first cleaning component to scrape and clean the first laser lens 33, and the wheel axle 2 causes the second cleaning component to scrape and clean the high-definition camera 48 and the second laser lens 49.

[0027] The 3D laser scanner 44 includes a base 45 with side panels 46 located on opposite sides of the top. A central unit 47 is located between the two side panels 46. The central unit 47 is cylindrical with a horizontal axis. Multiple high-definition cameras 48 are evenly spaced on one side of the central unit 47, and a second laser lens 49 is located on the other side of the central unit 47. In this embodiment, there are three high-definition cameras 48. A mounting box 43 is fixedly mounted in the middle of the top of the support plate 41. The 3D laser scanner 44 is rotatably mounted on the mounting box 43. The mounting box 43 has a cavity inside. A first sleeve 80 is fixedly mounted on the bottom of the base 45. The first sleeve 80 is rotatably mounted on the top wall of the mounting box 43 via a bearing. A drive assembly for rotating the first sleeve 80 is located within the mounting box 43. In this embodiment, the drive assembly includes a motor 77 and a driving gear 78. A driven gear 79 is fixedly mounted on the surface of the first sleeve 80 located within the mounting box 43. The motor 77 is fixedly mounted on the mounting box 43, and the output end of the motor 77 is fixedly connected to the driving gear 78. The driving gear 78 and the driven gear 79 mesh and transmit power. Rotation of the motor 77 drives the driving gear 78, the driven gear 79, the first sleeve 80, and the 3D laser scanner 44. During inspection, the 3D laser scanner 44 typically rotates one full revolution. Scanned by the three high-definition cameras 48 and the second laser lens 49, a complete and dense point cloud model of the entire tunnel interior surface is acquired.

[0028] A first inner cavity 65 is defined within the base 45, and a second inner cavity is defined within the mobile trolley 1. A connecting rod 63 is rotatably mounted on the mobile trolley 1. In this embodiment, a fixing ring 42 is fixedly mounted on the mobile trolley 1, and the connecting rod 63 is rotatably mounted on the fixing ring 42 via a bearing. The top end of the connecting rod 63 sequentially passes through the support plate 41, the bottom wall of the mounting box 43, the first sleeve 80, and the bottom wall of the first inner cavity 65, extending into the first inner cavity 65. The bottom end of the connecting rod 63 passes through the top wall of the second inner cavity and extends into the second inner cavity. A first airflow channel 74 is defined axially through the connecting rod 63. A connecting plate 50 is fixed between one end of the central unit 47 and the side panel 46. A second airflow channel 84 is defined within the base 45 on one side of the inner cavity. A third airflow channel is defined within the side panel 46. A fourth airflow channel is defined on the connecting plate 50. A fifth airflow channel is defined within the central unit 47. The second airflow channel 84, the third airflow channel, the fourth airflow channel, and the fifth airflow channel are sequentially connected. In this embodiment, a gap exists between adjacent components. An air delivery pipe can be added at the connection between the two components to prevent premature leakage of compressed air.

[0029] A sixth air flow channel is opened on one side of the second inner cavity in the mobile cart 1, the second air flow channel 84 is connected to the first inner cavity 65, and the sixth air flow channel is connected to the second inner cavity. The top and bottom ends of the connecting rod 63 are respectively provided with a rotary joint 64, and the two ends of the connecting rod 63 are respectively rotated with the base 45 and the mobile cart 1 through the rotary joint 64, so that the sixth air flow channel, the first air flow channel 74 and the second air flow channel 84 are connected in sequence. In this embodiment, the rotary joint 64 is a prior art and will not be described in detail here.

[0030] The connecting disk 50 is provided with a plurality of first air holes 75 facing the high-definition camera 48 on one side of each high-definition camera 48, and all the first air holes 75 are connected to the fourth air flow channel. The central unit 47 is provided with a plurality of second air holes 76 facing the second laser lens 49 on one side of the second laser lens 49, and all the second air holes 76 are connected to the fifth air flow channel.

[0031] The mobile cart 1 is equipped with an air filter 37. An air compressor 39 is connected to the air filter 37 via a first air pipeline 38. A tee 35 is provided at the air outlet of the air filter 37. One outlet of the tee 35 is connected to the laser rangefinder 32 via a second air pipeline 34, and the other outlet is connected to the three-dimensional laser scanner 44 via a third air pipeline 36. The laser rangefinder 32 is provided with a curved plate 30 on one side of the first laser lens 33. A seventh airflow channel is defined on the laser rangefinder 32, which is connected to the second air pipeline 34. The inner side of the curved plate 30 faces the first laser lens 33. Several third air holes 31 are evenly distributed on the inner side of the curved plate 30, facing the first laser lens 33. All third air holes 31 are connected to the seventh airflow channel.

[0032] In the above embodiment, a nozzle can be installed at each air hole. The air compressor 39 directs compressed air into the air filter 37. The filtered compressed air is divided into two parts through the tee pipe 35. One part flows through the second air pipeline 34 to the laser rangefinder 32, and finally is ejected from the third air hole 31 through the seventh air flow channel to clean the first laser lens 33. Similarly, the other part of the compressed air enters the sixth air flow channel through the third air pipeline 36, then enters the first air flow channel 74 through the rotary joint 64, and then flows through the second air flow channel 84, the third air flow channel, the fourth air flow channel, and the fifth air flow channel in sequence, and finally is ejected through the first air hole 75 and the second air hole 76 to clean the second laser lens 49 and the high-definition camera 48.

[0033] The first cleaning assembly includes a first scraper 27 and a first rotating rod 24. The middle portion of the first scraper 27 is rotatably mounted on the laser rangefinder 32 via a pin. The pin is located on the side of the first laser lens 33 away from the curved plate 30, i.e., at the lower right corner of the laser rangefinder 32 in this application. A plurality of mounting plates 9 are fixedly mounted at the bottom of the support plate 41. The first rotating rod 24 is rotatably mounted on the mounting plate 9. A first connecting rod 25 is fixedly mounted at one end of the first rotating rod 24. A second connecting rod 26 is disposed between the first connecting rod 25 and the first scraper 27. One end of the second connecting rod 26 is hinged to the free end of the first connecting rod 25, and the other end is hinged to one end of the first scraper 27. The hinge axis between the second connecting rod 26 and the first scraper 27, the hinge axis between the second connecting rod 26 and the first connecting rod 25, and the axis of the first rotating rod 24 are all parallel to the length direction of the movable carriage 1. The other end of the first scraper 27 is used to scrape the first laser lens 33.

[0034] A first transmission mechanism is provided between the first rotating rod 24 and the wheel axle 2. The first transmission mechanism includes a second rotating rod 7 and a third rotating rod 5. The second rotating rod 7 is horizontally arranged and rotatably mounted on the mounting plate 9. The second rotating rod 7 is arranged parallel to the first rotating rod 24 and is located at the same horizontal height. The third rotating rod 5 is vertically arranged and rotatably penetrates the movable carriage 1 through a bearing. A first bevel gear 3 is fixedly sleeved on the wheel axle 2. A second bevel gear 4 is fixedly sleeved at the bottom end of the third rotating rod 5, meshing with the first bevel gear 3 for transmission. A third bevel gear 6 is fixedly sleeved at the top end. A fourth bevel gear 81 is fixedly sleeved at one end of the second rotating rod 7, meshing with the third bevel gear 6 for transmission. A transmission control mechanism is provided between the other end and the first rotating rod 24. In this embodiment, when the movable carriage 1 moves and the wheel axle 2 rotates, the meshing of the first bevel gear 3 and the second bevel gear 4 causes the third rotating rod 5 to rotate. The meshing of the third bevel gear 6 and the fourth bevel gear 81 drives the second rotating rod 7 to rotate.

[0035] In this embodiment, two correction plates 28 are provided on the laser rangefinder 32. The two correction plates 28 are located on both sides of the first laser lens 33. The first scraper 27 is located between the two correction plates 28. Pressure sensors 29 are respectively provided on the two correction plates 28. When the first scraper 27 rotates to the maximum or minimum angle, the first scraper 27 just touches the pressure sensor 29, so that the staff can remotely sense whether the position of the first scraper 27 is in place, thereby avoiding the first scraper 27 being located in the detection range of the first laser lens 33 when the mobile car 1 stops, affecting the detection of the laser rangefinder 32.

[0036] A first gear 11 is mounted on the mounting plate 9 between the second rotating rod 7 and the third rotating rod 5. A mounting tube 12 is fixedly connected to one side of the first gear 11. The end of the mounting tube 12, remote from the first gear 11, is rotatably mounted on the mounting plate 9 via a bearing. A connecting hole 13 is axially defined in the first gear 11, extending through the mounting tube 12 and the mounting plate 9. The sidewalls of the connecting hole 13 of the first gear 11 are uniformly circumferentially provided with a plurality of engaging blocks 14. The space between adjacent engaging blocks 14 forms an engaging groove 15. The transmission control mechanism includes a toggle lever 16, which is movably mounted on the mounting plate 9 and extends through the connecting hole 13. The toggle lever 16 radially extends through the mounting hole, within which a spherical locking pin assembly is disposed. The spherical locking pin assembly comprises a first spring and engaging balls 20 disposed at each end of the first spring. When the toggle lever 16 moves axially, the engaging balls 20 mate with and engage within the engaging groove 15, or disengage from the engaging groove 15. A second gear 10 is fixedly sleeved on the second rotating rod 7 and meshes with the first gear 11 for transmission. A third gear 82 is fixedly sleeved on the toggle rod 16. An axial distance is reserved between the third gear 82 and the first gear 11. A fourth gear 23 is fixedly sleeved on the first rotating rod 24. When the engaging ball 20 is engaged in the engaging groove 15, the fourth gear 23 engages with the third gear 82 for transmission. A first elastic member 19 is provided between the toggle rod 16 and the mounting plate 9. The first elastic member 19 makes the third gear 82 tend to move away from the first gear 11. The first elastic member 19 is a spring. A U-shaped plate 18 is fixed on the mounting plate 9. The toggle rod 16 is movably passed through the U-shaped plate 18. The toggle rod 16 is fixedly provided with a limiting ring 83 at an internal position of the U-shaped plate 18. The first elastic member 19 is sleeved on the toggle rod 16. One end of the first elastic member 19 is fixedly connected to the limiting ring 83, and the other end is fixedly connected to the mounting plate 9. When the snap-in ball 20 is snapped into the snap-in groove 15, the elastic force of the first elastic member 19 is not enough to make the snap-in ball 20 disengage from the snap-in groove 15. One end of the toggle rod 16 extends out of the U-shaped plate 18 and is fixedly provided with a toggle portion 17, which is convenient for staff to operate. Several rotating rods can be set between the toggle rod 16 and the first rotating rod 24. Gears meshing with the fourth gear 23 are sequentially provided on the rotating rods to change the transmission ratio and thus control the rotation speed of the first rotating rod 24. In this embodiment, a fourth rotating rod 21 is provided, and a transmission gear 22 meshing with the fourth gear 23 is fixedly sleeved on the fourth rotating rod 21. When the engaging ball 20 is engaged in the engaging groove 15, the third gear 82 engages with the transmission gear 22 for transmission, thereby driving the fourth gear 23 and the first rotating rod 24 to rotate.

[0037] In this embodiment, when inspecting in a tunnel with a relatively good working environment, the toggle lever 16 can be pressed to cause axial movement, disengaging the engaging ball 20 from the engaging groove 15. At this point, the third gear 82 and the transmission gear 22 are disengaged and no transmission occurs, meaning that the moving carriage 1 does not move the first scraper assembly. When it is necessary to scrape and clean the first laser lens 33, the toggle lever 16 is pulled back, causing the engaging ball 20 to engage in the engaging groove 15. At this point, the third gear 82 engages the transmission gear 22, and the moving carriage 1 then moves, driving the first scraper 27 to periodically scrape and clean the first laser lens 33.

[0038] A worm 8 is fixedly mounted on the middle portion of the second rotating rod 7. A worm gear 73 is fixedly mounted on the connecting rod 63, meshing with the worm 8. A second sleeve 62 is mounted on the top of the connecting rod 63 and connected to the connecting rod 63 by a sliding key. The second sleeve 62 is movably mounted on the mounting box 43 and the support plate 41. A cam 69 is fixedly mounted on the bottom of the support plate 41 via a bracket 70. Two continuous protrusions 72 are symmetrically arranged on the upper surface of the cam 69 along the circumference. The cam 69 movably fits over the connecting rod 63. The bottom end of the second sleeve 62 extends out from the bottom of the support plate 41 and is fixedly mounted with a transmission member 71. Two transmission members 71 are provided, corresponding to the two protrusions 72. The bottom of the transmission member 71 is in rolling contact with the surface of the cam 69. In this embodiment, when the second sleeve 62 rotates, the two transmission members 71 and the cam 69 act to cause the second sleeve 62 to reciprocate vertically while rotating. A second elastic member 66 is provided between the second sleeve 62 and the support plate 41. The second elastic member 66 makes the transmission member 71 tend to approach the cam 69, that is, the transmission member 71 always tends to maintain contact with the cam 69, so that the second sleeve 62 reciprocates more smoothly in the vertical direction. In this embodiment, the second elastic member 66 is a spring, and an annular mounting groove 67 is provided inside the support plate 41 on the outside of the second sleeve 62. A mounting ring 68 is fixedly mounted on the second sleeve 62. The second elastic member 66 is mounted on the second sleeve 62 and is located in the annular mounting groove 67. The top of the second elastic member 66 is fixedly connected to the bottom of the mounting ring 68, and the bottom end is fixedly connected to the bottom wall of the annular mounting groove 67. A certain distance is reserved between the mounting ring 68 and the top wall of the annular mounting groove 67 to facilitate the mounting ring 68 to slide up and down in the annular mounting groove 67.

[0039] The top end of the second sleeve 62 is located within the first inner cavity 65. A plurality of annular tooth grooves 61 are axially and evenly spaced at the top end of the second sleeve 62, forming an annular rack structure. A first rotating shaft 59 is rotatably mounted between the side walls of the first inner cavity 65. The first rotating shaft 59 is disposed horizontally, and a fifth gear 60 is fixedly mounted on the first rotating shaft 59. The fifth gear 60 is adapted to the tooth grooves 61. With this structural design, when the second sleeve 62 moves axially, the second sleeve 62 can mesh with the fifth gear 60, driving the fifth gear 60 and the first rotating shaft 59 to rotate. At the same time, the special annular rack design on the second sleeve 62 allows the second sleeve 62 to rotate while moving axially. Alternatively, when the second sleeve 62 is stationary, the fifth gear 60 revolves around the second sleeve 62. A transmission ring 51 is rotatably mounted on the connecting disk 50, and a second transmission mechanism is provided between the transmission ring 51 and the fifth gear 60.

[0040] A first curved rack 54 is provided at the bottom of the transmission ring 51. A second rotating shaft 56 is rotatably mounted on the side plate 46 below the first curved rack 54. The axis of the second rotating shaft 56 is parallel to the axis of the first rotating shaft 59. A second curved rack 55 and a sixth gear 57 are fixedly mounted axially on the second rotating shaft 56. The second curved rack 55 and the first curved rack 54 mesh together for transmission. The second transmission mechanism includes a seventh gear 58, which is fixedly mounted on the first rotating shaft 59 and meshes with the sixth gear 57 for transmission. A second scraper 52 affixed to the central unit 47 is provided on one side of the transmission ring 51, corresponding to each high-definition camera 48. A third scraper 53 affixed to the central unit 47 is provided on one side of the transmission ring 51, corresponding to the second laser lens 49. When the transmission ring 51 rotates, the second scraper 52 scrapes the corresponding high-definition camera 48, and the third scraper 53 scrapes the second laser lens 49.

[0041] In the above embodiment, when the mobile cart 1 is stationary, the connecting rod 63 and the second sleeve 62 are stationary, and the driving assembly drives the first sleeve 80, the base 45, the side plate 46, the central unit 47, the second laser lens 49, and the high-definition camera 48 to rotate around the connecting rod 63. At this time, the connecting disk 50, the transmission ring 51, the first arc-shaped rack 54, the second arc-shaped rack 55, the sixth gear 57, the first rotating shaft 59, the fifth gear 60, and the seventh gear 58 also rotate around the connecting rod 63 / the second sleeve 62, and the three-dimensional laser scanner 44 rotates one circle to complete the detection. When the mobile carriage 1 moves, the three-dimensional laser scanner 44 stops scanning, and the driving assembly no longer drives the three-dimensional laser scanner 44 to rotate horizontally. The second rotating rod 7 drives the worm gear 73 and the connecting rod 63 to rotate through the worm 8, and the connecting rod 63 drives the second sleeve 62 to rotate synchronously. During the rotation process, the second sleeve 62 simultaneously performs up and down reciprocating motion under the action of the cam 69. Under the meshing transmission of the annular rack and the fifth gear 60, the fifth gear 60, the first rotating shaft 59, and the seventh gear 58 are driven to rotate back and forth, thereby driving the sixth gear 57, the second rotating shaft 56, and the second arc-shaped rack 55 to rotate back and forth, and finally driving the first arc-shaped rack 54 and the transmission ring 51 to rotate back and forth around the connecting disk 50, so that the second scraper 52 performs reciprocating scraping and brushing cleaning on the high-definition camera 48, and the third scraper 53 performs reciprocating scraping and brushing cleaning on the second laser lens 49. Similarly, to prevent the second and third scrapers 52, 53 from being within the scanning range of the high-definition camera 48 and the second laser lens 49 when the mobile carriage 1 is stopped, a support plate can be provided on the connecting plate 50, and a pressure sensor 29 can be installed on the support plate. The principle and effect of this are similar to those of the pressure sensor 29 provided on the calibration plate 28, and will not be described here. It is sufficient to ensure that when the first scraper 27 contacts the pressure sensor 29, the second and third scrapers 52, 53 are both outside the scanning range of the scanning unit.

[0042] A detection method for a tunnel overbreak and underbreak detection device, the method comprising: a: Several inspection stations are pre-set within the tunnel. The laser rangefinder 32 and air compressor 39 are activated, and the mobile carriage 1 is controlled to move to the first inspection station. The position of the mobile carriage 1 is fine-tuned so that all three scrapers are outside the scanning range of the scanning unit. The laser rangefinder 32 measures the distance between the mobile carriage 1 and the tunnel face. The 3D laser scanner 44 is activated, and the motor 77 rotates, driving the driving gear 78, the driven gear 79, and the first sleeve 80 to rotate one revolution, thereby driving the 3D laser scanner 44 to rotate horizontally one revolution. The three high-definition cameras 48 and the second laser lens 49 acquire a large amount of 3D point cloud data in the coordinate system of the mobile carriage 1, thereby obtaining a tunnel point cloud model. In this embodiment, when the mobile carriage 1 is stationary, the connecting rod 63 and the second sleeve 62 are also stationary. At this time, the 3D laser scanner 44 rotates horizontally around the connecting rod 63, and the fifth gear 60 rotates horizontally around the connecting rod 63 without rotating. In other words, the second scraper 52 and the third scraper 53 do not move.

[0043] b: When the inspection of the previous inspection station is completed, the 3D laser scanner 44 stops scanning and no longer rotates, and the mobile carriage 1 moves to the next inspection station. During the movement of the mobile carriage 1, the first hanging brush assembly cleans the first laser lens 33, and the second hanging brush assembly scrapes and cleans the high-definition camera 48 and the second laser lens 49. When the mobile carriage 1 stops, the two scraping brush assemblies stop moving, and this cycle repeats until all inspection stations have been inspected. In this embodiment, when the mobile carriage 1 moves, the wheel axle 2 drives the second rotating rod 7 to rotate. The second rotating rod 7 drives the first scraping brush assembly to move via the first transmission mechanism, and the first scraper 27 reciprocates to scrape and clean the first laser lens 33. At the same time, the second rotating rod 7 drives the connecting rod 63 and the second sleeve 62 to rotate, and drives the second scraper 52 to reciprocate to scrape and clean the high-definition camera 48, and the third scraper 53 to reciprocate to scrape and clean the second laser lens 49 via the second transmission mechanism.

[0044] In the above embodiment, during the entire detection process, the air compressor 39 always keeps working, that is, the pneumatic cleaning mechanism always blows air to clean the three scanning units.

[0045] In the above embodiment, a shell can be installed on the mobile cart 1 or the support plate 41. The shell is detachable, such as a snap connection. When the device is not in use, the shell can protect the detection device.

[0046] In the above embodiment, a data processor and a wireless receiving controller can be set on the mobile vehicle 1 to receive signals and control the operation of electrical components. The existing technology has fully disclosed the wireless control module and will not be described in detail here. The wireless receiving controller is used to execute the above steps a to b.

[0047] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A tunnel overbreak and underbreak detection device, comprising a mobile trolley, characterized in that: The mobile trolley is provided with a support plate, on which a laser rangefinder and a three-dimensional laser scanner are provided. The laser rangefinder is provided with a first laser lens, and the three-dimensional laser scanner is provided with a high-definition camera and a second laser lens. The mobile trolley is provided with a wheel axle, a pneumatic cleaning mechanism and a scraping cleaning mechanism. The pneumatic cleaning mechanism includes an air compressor, a plurality of air pipelines and a plurality of air flow channels. The pneumatic cleaning mechanism is used to blow air to clean the first laser lens, the high-definition camera and the second laser lens. The scraping and cleaning mechanism includes a first cleaning component and a second cleaning component. The first cleaning component is arranged on the laser rangefinder, and the second cleaning component is arranged on the three-dimensional laser scanner. The first cleaning component and the second cleaning component are both connected to the wheel axle for transmission. When the wheel axle rotates, the wheel axle enables the first cleaning component to scrape and clean the first laser lens, and the wheel axle enables the second cleaning component to scrape and clean the high-definition camera and the second laser lens.

2. The tunnel overbreak and underbreak detection device according to claim 1, characterized in that: The laser rangefinder is mounted on the front end of the support plate. The three-dimensional laser scanner includes a base, and side panels are provided on opposite sides of the top of the base. A central unit is provided between the side panels. The high-definition cameras are provided in multiple locations and are evenly spaced on one side of the central unit. The second laser lens is located on the other side of the central unit. A mounting box is fixedly provided on the support plate, the three-dimensional laser scanner is rotatably mounted on the mounting box, a cavity is provided inside the mounting box, a first sleeve is fixedly provided at the bottom of the base, the first sleeve is rotatably passed through the top wall of the mounting box, and a driving assembly for driving the first sleeve to rotate is provided in the mounting box.

3. The tunnel overbreak and underbreak detection device according to claim 2, characterized in that: A first inner cavity is provided in the base, a second inner cavity is provided in the movable trolley, a connecting rod is rotatably mounted on the movable trolley, the top end of the connecting rod passes through the support plate, the bottom wall of the mounting box, the first sleeve and the bottom wall of the first inner cavity in sequence, and extends into the first inner cavity, the bottom end of the connecting rod passes through the top wall of the second inner cavity and extends into the second inner cavity, and a first air flow channel is opened along the axial direction of the connecting rod; A connecting plate is provided between one end of the central unit and the side plate, a second air flow channel is provided in the base on one side of the inner cavity, a third air flow channel is provided in one of the side plates, a fourth air flow channel is provided on the connecting plate, and a fifth air flow channel is provided in the central unit, wherein the second air flow channel, the third air flow channel, the fourth air flow channel and the fifth air flow channel are connected in sequence; A sixth air flow channel is provided on one side of the second inner cavity in the mobile cart, the second air flow channel is connected to the first inner cavity, and the sixth air flow channel is connected to the second inner cavity. Rotary joints are provided at the top and bottom ends of the connecting rod respectively, and the two ends of the connecting rod are respectively rotated with the base and the mobile cart through the rotary joints, so that the sixth air flow channel, the first air flow channel and the second air flow channel are connected in sequence.

4. The tunnel overbreak and underbreak detection device according to claim 3, characterized in that: The connecting plate is provided with a plurality of first air holes facing the high-definition camera on one side of each high-definition camera, and all of the first air holes are connected to the fourth air flow channel. The central unit is provided with a plurality of second air holes facing the second laser lens on one side of the second laser lens, and all of the second air holes are connected to the fifth air flow channel.

5. The tunnel overbreak and underbreak detection device according to claim 3, characterized in that: The mobile cart is provided with an air filter, the air compressor and the air filter are connected via a first air pipeline, a tee is provided at the air outlet of the air filter, one air outlet end of the tee is connected to the laser rangefinder via a second air pipeline, and the other air outlet end is connected to the three-dimensional laser scanner via a third air pipeline; The laser rangefinder is provided with an arc-shaped plate on one side of the first laser lens. The laser rangefinder is provided with a seventh air flow channel connected to the second air pipeline. The inner side of the arc-shaped plate faces the first laser lens. The inner side of the arc-shaped plate is provided with a plurality of third air holes facing the first laser lens. All of the third air holes are connected to the seventh air flow channel.

6. The tunnel overbreak and underbreak detection device according to claim 3, characterized in that: The first cleaning assembly includes a first scraper and a first rotating rod. The middle portion of the first scraper is rotatably mounted on the laser rangefinder. A plurality of mounting plates are fixedly provided at the bottom of the support plate. The first rotating rod is rotatably mounted on the mounting plate. A first connecting rod is fixedly provided at one end of the first rotating rod. A second connecting rod is provided between the first connecting rod and the first scraper. One end of the second connecting rod is hinged to the free end of the first connecting rod, and the other end is hinged to one end of the first scraper. The other end of the first scraper is used to scrape the first laser lens. A first transmission mechanism is provided between the first rotating rod and the wheel axle, and the first transmission mechanism includes a second rotating rod and a third rotating rod. The second rotating rod is horizontally arranged and rotatably mounted on the mounting plate, the second rotating rod is arranged parallel to the first rotating rod, and the third rotating rod is vertically arranged and rotatably passed through the moving trolley. A fixed sleeve on the wheel axle is provided with a first bevel gear, a fixed sleeve at the bottom end of the third rotating rod is provided with a second bevel gear meshing with the first bevel gear for transmission, and a fixed sleeve at the top is provided with a third bevel gear, a fixed sleeve at one end of the second rotating rod is provided with a fourth bevel gear meshing with the third bevel gear for transmission, and a transmission control mechanism is provided between the other end and the first rotating rod.

7. The tunnel overbreak and underbreak detection device according to claim 6, characterized in that: The mounting plate is provided with a first gear between the second rotating rod and the third rotating rod, and a mounting cylinder is fixedly connected to one side of the first gear. The mounting cylinder is rotatably mounted on the mounting plate at one end away from the first gear. The first gear is provided with a connecting hole that passes through the mounting cylinder and the mounting plate along the axial direction, and a plurality of clamping blocks are evenly arranged on the side wall of the connecting hole along the circumference, and the space between two adjacent clamping blocks forms a clamping groove; The transmission control mechanism includes a toggle rod, which is movably installed on the mounting plate and located in the connecting hole. The toggle rod is radially penetrated by a mounting hole. A spherical lock pin assembly is provided in the mounting hole. The spherical lock pin assembly includes a first spring and a clamping ball provided at both ends of the first spring. When the toggle rod moves axially, the clamping ball matches the clamping groove and can be clamped in the clamping groove, or the clamping ball is separated from the clamping groove. The second rotating rod is provided with a fixed sleeve with a second gear meshing with the first gear for transmission, the toggle rod is provided with a fixed sleeve with a third gear, and the first rotating rod is provided with a fixed sleeve with a fourth gear. When the clamping ball is clamped in the clamping groove, the fourth gear is meshing with the third gear for transmission; A first elastic member is provided between the toggle lever and the mounting plate, and the first elastic member causes the third gear to tend to move away from the first gear.

8. The tunnel overbreak and underbreak detection device according to claim 6, characterized in that: A worm is fixedly sleeved on the middle part of the second rotating rod, a worm wheel is fixedly sleeved on the upper part of the connecting rod and meshed with the worm, a second sleeve is sleeved on the top of the connecting rod, the second sleeve is connected to the connecting rod sliding key, and the second sleeve is movably inserted into the mounting box and the support plate; A cam is fixedly provided on the support plate, and the cam is movably sleeved on the connecting rod. The bottom end of the second sleeve extends out of the bottom of the support plate and is fixed with a transmission member, and the bottom of the transmission member is in rolling contact with the cam surface; a second elastic member is provided between the second sleeve and the support plate, and the second elastic member makes the transmission member tend to approach the cam; the top end of the second sleeve is located in the first inner cavity, and a plurality of annular tooth grooves are provided at equal intervals along the axial direction on the top end of the second sleeve, a first rotating shaft is rotatably installed between the side walls of the first inner cavity, a fifth gear is fixedly sleeved on the first rotating shaft, and the fifth gear is adapted to the tooth groove, a transmission ring is rotatably sleeved on the connecting disk, and a second transmission mechanism is provided between the transmission ring and the fifth gear.

9. The tunnel overbreak and underbreak detection device according to claim 8, characterized in that: A first arc-shaped rack is provided at the bottom of the transmission ring, and a second rotating shaft is rotatably installed on the side plate below the first arc-shaped rack. A second arc-shaped rack and a sixth gear are fixedly sleeved on the second rotating shaft along the axial direction, and the second arc-shaped rack and the first arc-shaped rack are engaged for transmission. The second transmission mechanism includes a seventh gear, and the seventh gear is fixedly sleeved on the first rotating shaft, and the seventh gear is engaged for transmission with the sixth gear. A second scraper is provided on one side of the transmission ring corresponding to each high-definition camera, and a third scraper is provided on one side of the transmission ring corresponding to the second laser lens. When the transmission ring rotates, the second scraper can scrape the corresponding high-definition camera, and the third scraper can scrape the second laser lens.

10. A detection method based on the tunnel overbreak and underbreak detection device according to any one of claims 1 to 9, characterized in that: The method includes the following steps: a) presetting several inspection stations in the tunnel, turning on a laser rangefinder and an air compressor, controlling a mobile trolley to move to the first inspection station, measuring the distance between the mobile trolley and the tunnel face with the laser rangefinder, and turning on a three-dimensional laser scanner to obtain a tunnel point cloud model; b) after the inspection of the previous inspection station is completed, the three-dimensional laser scanner stops scanning, and the mobile trolley moves to the next inspection station. During the movement of the mobile trolley, a first hanging brush assembly cleans the first laser lens, and a second hanging brush assembly scrapes and cleans the high-definition camera and the second laser lens. When the mobile trolley stops, the two scraping brush assemblies stop moving, and this process is repeated until all inspection stations have been inspected.

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