Autonomous detection and positioning device based on inner surface defects of water tunnel

Abstract

The invention relates to an autonomous detection positioning device based on water tunnel inner surface defects, the autonomous detection positioning device is ingenious in structure, the autonomous detection positioning device is provided with a mounting seat, a driving mechanism and a detection recording assembly, the detection recording assembly comprises an imaging device and a trigger switch, and the trigger switch is electrically connected with the imaging device; the device further comprises an abutting piece which is used for making contact with the inner wall of the tunnel and triggering the trigger switch, when the abutting piece enters the pit or the crack, the trigger switch is triggered to enable the imaging device to photograph and record the tunnel at the position, and the photographed picture is transmitted to a receiving end through wireless transmission. A detector does not need to enter water to detect the tunnel, and the condition in the tunnel can be known and analyzed, so that the labor intensity of the detector is reduced, the safety of the detector is ensured, and the use experience is enhanced; and popularization and application of the autonomous detection positioning device based on the inner surface defects of the water tunnel in the technical field of tunnel detection are facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel detection, in particular to an autonomous detection and positioning device based on inner surface defects of a water tunnel. Background Art

[0002] Tunnel engineering refers to the engineering activity of excavating a channel with a certain cross-sectional shape and size in media such as mountains, rock formations, and soil layers. Tunnel engineering has a wide range of applications in many fields such as water conservancy, transportation, and energy. In water conservancy projects, tunnels are often used for water diversion and water transmission. For example, the numerous water transmission tunnels in the South-to-North Water Diversion Project undertake the important task of allocating water resources. During the actual use of water tunnels, it is necessary to regularly inspect the inner surface of the tunnel. During the water flow stage, check whether there are pits or cracks on the inner surface of the tunnel to avoid erosion of the tunnel due to water flowing in the pits or cracks, which affects the subsequent tunnel strength.

[0003] Existing technologies for inspecting water-filled tunnels mostly rely on manual submersible inspections with inspection equipment. Because the environment inside water-filled tunnels is extremely complex, characterized by high humidity and dim lighting, and unstable water flow conditions, varying degrees of water flow velocity and pressure may exist. Furthermore, some areas experience large drop heights and rapid water flow, posing significant challenges to inspections. During manual inspections, inspectors also need to carry inspection tools and conduct inspections on foot or with the aid of simple transportation within the tunnel. This method is not only labor-intensive and inefficient, but also makes it difficult to guarantee the safety of inspectors in complex water flow and humid environments. Therefore, an autonomous detection and positioning device based on surface defects within water-filled tunnels is proposed to address the aforementioned issues. Summary of the Invention

[0004] In order to overcome the defects in the above-mentioned prior art, the purpose of the present invention is to provide an autonomous detection and positioning device based on the inner surface defects of water tunnels. The autonomous detection and positioning device has an ingenious structure and is easy to operate. It can realize autonomous detection of inner surface defects of water tunnels, reduce the labor intensity of detection personnel while ensuring the safety of detection personnel, enhance the user experience, and is conducive to the promotion and application of the above-mentioned autonomous detection and positioning device based on inner surface defects of water tunnels in the field of tunnel detection technology.

[0005] In order to achieve the above-mentioned purpose of the invention, the present invention adopts the following technical solutions: an autonomous detection and positioning device based on the inner surface defects of a water tunnel, comprising a mounting seat, a driving mechanism and a detection and recording component, wherein the driving mechanism comprises a driving member, a rotating shaft and a driving blade arranged on the surface of the rotating shaft, the mounting seat is a hollow and closed structure, the driving member is installed in the mounting seat and the output end is connected to the rotating shaft; the detection and recording component comprises an imaging device and a trigger switch, and the trigger switch is electrically connected to the imaging device; it also comprises a resistance member for contacting the inner wall of the tunnel and for triggering the trigger switch, when the resistance member enters a pit or crack, the trigger switch is triggered to enable the imaging device to take pictures and record the tunnel at this location, and the taken pictures are transmitted to the receiving end via wireless transmission.

[0006] As a preferred solution of the present invention, the autonomous detection and positioning device further includes an elastic support component that can adapt to different tunnel inner diameters, and the elastic support component is installed outside the mounting seat.

[0007] As a preferred solution of the present invention, the elastic support components are two groups, one of which is installed outside the mounting seat, and the other is installed outside the connecting seat, and the mounting seat and the connecting seat are connected through a steering connecting component.

[0008] As a preferred solution of the present invention, the steering connection assembly includes a connecting rod 1 fixedly connected to the mounting seat, a connecting rod 2 fixedly connected to the connecting seat, and two steering parts for connecting the connecting rod 1 and the connecting rod 2.

[0009] As a preferred solution of the present invention, the autonomous detection and positioning device also includes an elastic connection component for connecting the mounting seat and the connecting seat, the elastic connection component includes a connecting plate 1 and a connecting plate 2, the connecting plate 1 is used to connect with the connecting rod 1, and the connecting plate 2 is used to connect with the connecting rod 2, the connecting plate 1 and the connecting plate 2 both have a snap ring, and the snap ring on the connecting plate 1 and the snap ring on the connecting plate 2 are connected by an elastic connector.

[0010] As a preferred solution of the present invention, the elastic support assembly includes a fixed sleeve, a sliding block and a movable roller, one end of the fixed sleeve is fixedly connected to the mounting seat, a plurality of the fixed sleeves are arranged at intervals along the circumference of the mounting seat, the other end of the fixed sleeve is open and the interior is hollow, the sliding block can be slidably installed in the fixed sleeve, and the movable roller is installed on the sliding block; the elastic support assembly also includes a connecting sleeve arranged in an arc, two connecting sleeves arranged at intervals are provided between two adjacent sliding blocks, and an arc spring is provided in the connecting sleeve.

[0011] As a preferred scheme of the present application, the driving mechanism further comprises a deceleration rotating assembly, the deceleration rotating assembly comprises a central gear, a plurality of planetary gears and a gear mounting base, the central gear is mounted on the gear mounting base, the plurality of planetary gears are engaged with the central gear outside, the rotating shaft extends from outside of the gear mounting base into the mounting base and passes through the central gear, and the gear mounting base is mounted at the mounting base opening; the planetary gears outside are engaged with a tooth ring, the tooth ring is connected with a rotating sleeve, and a fixing frame assembly for mounting the detection recording assembly is fixedly connected on the rotating sleeve.

[0012] As a preferred scheme of the present application, the fixing frame assembly comprises a fixing frame and a sliding sleeve, the sliding sleeve can slide up and down along the vertical direction of the fixing frame, a spring stopper is arranged at the bottom of the sliding sleeve, a compression spring is arranged below the spring stopper, and the bottom of the compression spring is connected with the rotating sleeve; the abutting piece is arranged at the top of the sliding sleeve, when the tunnel has a pit or a crack, the compression spring instantaneously provides elastic force to push the abutting piece on the sliding sleeve into the pit or the crack, and the sliding sleeve shakes at the same time, and the detection recording assembly detects and records the tunnel by identifying the shaking signal.

[0013] As a preferred scheme of the present application, a tension spring is arranged inside the sliding sleeve, a hanging ball is connected to the bottom of the tension spring, and a trigger switch is mounted in the sliding sleeve and below the hanging ball.

[0014] As a preferred scheme of the present application, the detection recording assembly further comprises a detection frame body, the detection frame body is mounted on the fixing frame, a driving roller is further mounted on the detection frame body, a waterproof roll is mounted on the driving roller, and a sliding piece with a marking pen is fixedly connected to the spring stopper; a winding roller for winding the waterproof roll which has been marked is further arranged, a guide roller is arranged between the winding roller and the driving roller, and the guide roller is mounted on the detection frame body; a winding gear is arranged at the bottom of the winding roller, the winding gear is engaged with a gear ring, and the gear ring is used for fixing the mounting base.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: an autonomous detection and positioning device based on surface defects of a water-filled tunnel in the present invention has an ingenious structure. By setting a mounting seat, a driving mechanism and a detection and recording component, the detection and recording component includes an imaging device and a trigger switch, and the trigger switch is electrically connected to the imaging device; it also includes a resistance member for contacting the inner wall of the tunnel and for triggering the above-mentioned trigger switch. When the resistance member enters a pit or crack, the trigger switch is triggered to enable the imaging device to take pictures and record the tunnel there, and the taken pictures are transmitted to the receiving end via wireless transmission. There is no need for detection personnel to go into the water to detect the tunnel, and the situation in the tunnel can be understood and analyzed. The labor intensity of the detection personnel is reduced while the safety of the detection personnel is ensured, and the user experience is enhanced, which is conducive to the promotion and application of the above-mentioned autonomous detection and positioning device based on surface defects of a water-filled tunnel in the field of tunnel detection technology.

[0016] Furthermore, the present invention can support the mounting seat by providing an elastic support component, and can adapt to tunnels with different inner diameters, thereby improving the overall application rate of the equipment.

[0017] Furthermore, the present invention sets a waterproof roll material, i.e., waterproof roll paper and a marker pen. The autonomous detection and positioning device will drive the marker pen to draw lines on the waterproof roll paper during the movement. If shaking occurs, a "peak" will be formed on the waterproof roll paper. After the equipment is recovered, the inspection personnel can take out the waterproof roll paper, directly open it and lay it flat, and directly observe the line pattern on the waterproof roll paper. When the peak is found, the specific position of the crack in the tunnel can be directly judged according to the position of the peak on the roll paper. After that, maintenance personnel can be arranged to sneak directly into the position to inspect and maintain it, thereby improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 1 is a schematic structural diagram of an autonomous detection and positioning device based on inner surface defects of a water tunnel according to an embodiment; Figure 2 This is a partial structural diagram of an autonomous detection and positioning device based on inner surface defects of a water tunnel in an embodiment; Figure 3 is a partial structural diagram of the elastic connection assembly in an embodiment; Figure 4 This is a schematic diagram of the connection between the mounting base and the connecting base in the embodiment; Figure 5 1 is a schematic diagram of the installation of the detection and recording component in the embodiment; Figure 6 is a partial structural diagram of the detection and recording component in the embodiment; Figure 7 It is a partial structural diagram of the detection and recording component in the embodiment.

[0019] Figure 1: Mounting seat; 2: Driving mechanism; 2-1: Rotating shaft; 2-2: Driving blade; 2-3: Central gear; 2-4: Planetary gear; 2-5: Gear mounting seat; 2-6: Rotating sleeve; 2-7: Fixed frame assembly; 2-7-1: Fixed frame; 2-7-2: Sliding sleeve; 2-7-3: Spring stopper; 2-7-4: Extrusion spring; 2-7-5: Conflict member; 2-7-6: Tension spring; 2-7-7: Hanging ball; 2-7-8: Sliding sheet; 2-8: Gear ring; 3: Tunnel; 4: Elastic support assembly; 4-1: Fixed sleeve; 4-2: Sliding block; 4-3: Moving roller Wheel; 4-4, connecting sleeve; 4-5, arc spring; 5, connecting seat; 6, steering connection assembly; 6-1, connecting rod 1; 6-2, connecting rod 2; 6-3, steering member; 7, elastic connection assembly; 7-1, connecting disk 1, 7-2, connecting disk 2; 7-3, buckle ring; 7-4, elastic connection member; 8, detection and recording assembly; 8-1, imaging device; 8-2, trigger switch; 8-3, detection frame; 8-4, active roller; 8-5, waterproof membrane; 8-6, winding roller; 8-7, guide roller; 8-8, winding gear; 8-9, gear ring; 8-10, abutment plate; 9, tail vertebrae. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0021] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0022] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] Example: Figures 1 to 7As shown, an autonomous detection and positioning device for surface defects in a water-filled tunnel is mainly composed of a mounting base 1, a drive mechanism 2, and a detection and recording assembly 8. The mounting base 1 is a main structure, the main purpose of which is to facilitate the installation of the drive mechanism 2. The detection and recording assembly 8 is also mounted on the mounting base 1. The drive mechanism 2 drives the mounting base 1 and the detection and recording assembly 8 to move into the interior of the tunnel 3. Specifically, the drive mechanism 2 includes a driving member, a rotating shaft 2-1, and driving blades 2-2 arranged around the surface of the rotating shaft 2-1. The driving member 1 can be a highly stable driving motor. The driving motor drives the driving blades 2-2 on the rotating shaft 2-1 to rotate to provide the mounting base 1 with forward thrust underwater. The driving member, that is, the driving motor drives the driving blades 2-2 on the rotating shaft 2-1 to rotate. At this time, the entire device has a driving force in the water, and the device will autonomously follow the tunnel 3 underwater to achieve mobile detection. The mounting base 1 is a hollow and sealed structure. The driving member is installed in the mounting base 1 and the output end is connected to the rotating shaft 2-1. The tail end of the rotating shaft 2-1 is provided with a tail vertebra 9, which can increase the stability of the rotating shaft 2-1 and prevent the overall stability of the autonomous detection and positioning device from being affected by vibration or imbalance during use. The detection and recording component 8 includes an imaging device 8-1 and a trigger switch 8-2, and the trigger switch 8-2 ​​is electrically connected to the imaging device 8-1; it also includes a resistance member 2-7-5 for contacting the inner wall of the tunnel 3 and for triggering the trigger switch 8-2, which is used to perform rotational movement and resistance detection on the inner surface of the tunnel. When the resistance member 2-7-5 enters a pit or crack, the trigger switch 8-2 ​​is triggered to enable the imaging device 8-1 to take pictures of the tunnel 3 at this location and record them, and the pictures taken are transmitted to the receiving end via wireless transmission.

[0024] The autonomous detection and positioning device based on the inner surface defects of a water-filled tunnel in this embodiment can realize the overall defect detection of the tunnel during the water-saturated period through the detection and recording component 8 provided. The driving mechanism 2 can automatically push the equipment to realize autonomous detection in the tunnel. In addition, the detection and recording component 8 provided can directly detect the positions of defects such as pits, protrusions, and cracks and take photos, which is convenient for subsequent maintenance personnel to inspect and maintain the tunnel 3, avoiding the risks of manual inspection while improving the inspection efficiency of the tunnel 3.

[0025] In order to improve the utilization rate of the device, make it adapt to different inner diameters of the tunnel 3, and abut against the support of the tunnel 3 with different inner diameters, the autonomous detection positioning device in the embodiment is also provided with an elastic support assembly 4. The elastic support assembly 4 is installed outside the mounting seat 1, that is, the device is supported on the inner surface of the tunnel 3 through the elastic support assembly 4, which ensures the stability of the mounting seat 1 and the detection recording assembly 8 and the accuracy of the detection result, thereby reducing the probability of false detection. Specifically, the elastic support assembly 4 is two groups, one of which is installed outside the mounting seat 1, and the other is installed outside the connecting seat 5. The mounting seat 1 and the connecting seat 5 are connected by a connecting assembly 6. The driving mechanism 2 is used to drive the mounting seat 1 and the connecting seat 5 to move in the tunnel 3 after diversion. The two groups of elastic support assemblies 4 are respectively installed outside the mounting seat 1 and the connecting seat 5 to ensure the stability of the detection recording assembly 8 during the detection process and reduce the impact of water flow on the detection recording assembly 8. In the embodiment, the connecting seat 5 is provided, which has a similar structure to the mounting seat 1 and is also a cylindrical structure. The elastic support assembly 4 is provided outside the connecting seat 5, which can reduce the probability of tilting and overturning of the autonomous detection positioning device during operation. The two groups of elastic support assemblies 4 can make the autonomous detection positioning device parallelly supported in the tunnel 3. The turning connecting assembly 6 includes a connecting rod one 6-1 fixedly connected with the mounting seat 1, a connecting rod two 6-2 fixedly connected with the connecting seat 5, and two turning pieces 6-3 for connecting the connecting rod one 6-1 and the connecting rod two 6-2. The turning piece 6-3 is a universal joint, which can make the mounting seat 1 and the connecting seat 5 turn and bend in the tunnel 3. The autonomous detection positioning device in the embodiment can cope with different situations of the tunnel 3, including but not limited to curved roads, thereby improving its utilization rate.

[0026] In order to make the autonomous detection positioning device as a whole more stable during turning in the tunnel 3, especially at the curved road in the tunnel 3, an elastic connecting assembly 7 is provided in the embodiment for connecting the mounting seat 1 and the connecting seat 5. The elastic connecting assembly 7 includes a connecting disc one 7-1 and a connecting disc two 7-2. The connecting disc one 7-1 is used to connect with the connecting rod one 6-1, and the connecting disc two 7-2 is used to connect with the connecting rod two 6-2. Both the connecting disc one 7-1 and the connecting disc two 7-2 have a buckling ring 7-3. The buckling ring 7-3 on the connecting disc one 7-1 is connected with the buckling ring 7-3 on the connecting disc two 7-2 through an elastic connecting piece 7-4. The elastic connecting piece 7-4 can be a hook spring. The multiple hook springs can provide bending flexibility of the mounting seat 1 and the connecting seat 5, making the turning more stable, and can provide a certain pulling force, so that the mounting seat 1 and the connecting seat 5 can be automatically reset subsequently, maintaining the smoothness of the progress.

[0027] The elastic support assembly 4 in the embodiment mainly consists of a fixed sleeve 4-1, a sliding block 4-2 and a moving roller 4-3. One end of the fixed sleeve 4-1 is fixedly connected to the mounting seat 1, or the fixed sleeve 4-1 is integrally formed with the mounting seat 1, which reduces the manufacturing difficulty and avoids the gap between the two to affect the mounting seat 1, thereby ensuring the service life of the driving motor installed in the mounting seat 1. A plurality of fixed sleeves 4-1 are arranged at intervals along the circumference of the mounting seat 1, preferably equidistantly, to ensure that the support forces at each point are equal and reduce the probability of the device tilting or overturning. In order to enable the elastic support assembly 4 to adapt to tunnels 3 of different diameters, the other end of the fixed sleeve 4-1 is open and hollow, the sliding block 4-2 is slidably installed in the fixed sleeve 1, and the moving roller 4-3 is rotatably installed at the end of the sliding block 4-2. It also includes an arc-shaped connecting sleeve 4-4, two connecting sleeves 4-4 are arranged at intervals between adjacent two sliding blocks 4-2, and the connecting sleeve 4-4 has a circular arc spring 4-5 inside. After the device enters the tunnel, the moving rollers 4-3 on the four sliding blocks 4-2 will be directly supported on the inner wall of the tunnel 3, forming a fixed support for the mounting seat 1 and the connecting seat 5, and the circular arc spring 4-5 will provide outward supporting force. Four sliding blocks 4-2 will have outward supporting force, and finally be supported on the inner wall of the tunnel 3. This structure is suitable for tunnels 3 of different diameters.

[0028] The driving mechanism 2 further comprises a speed reduction rotating assembly, which comprises a central gear 2-3, a plurality of planetary gears 2-4 and a gear mounting base 2-5. The central gear 2-3 is mounted on the gear mounting base 2-5, the planetary gears 2-4 are engaged with the outside of the central gear 2-3, the rotating shaft 2-1 extends from the outside of the gear mounting base 2-5 into the mounting base 1 and passes through the central gear 2-3, and the gear mounting base 2-5 is mounted at the opening of the mounting base 1. The planetary gears 2-4 are externally engaged with a gear ring 2-5, the gear ring 2-5 is connected with a rotating sleeve 2-6, and the rotating sleeve 2-6 is fixedly connected with a fixing frame assembly 2-7 for mounting the detection recording assembly 8. The fixing frame assembly 2-7 comprises a fixing frame 2-7-1 and a sliding sleeve 2-7-2. The sliding sleeve 2-7-2 can slide up and down along the vertical direction of the fixing frame 2-7-1. The bottom of the sliding sleeve 2-7-2 is provided with a spring stopper 2-7-3, and a compression spring 2-7-4 is arranged below the spring stopper 2-7-3. The bottom of the compression spring 2-7-4 is connected with the rotating sleeve 2-6. The top of the sliding sleeve 2-7-2 is provided with a contact piece 2-7-5 for contacting the inner surface of the tunnel 3. When the tunnel 3 has a pit or a crack, the compression spring 2-7-4 will instantaneously provide an elastic force to push the contact piece 2-7-5 on the sliding sleeve 2-7-2 into the pit or the crack, and at the same time, the sliding sleeve 2-7-2 will vibrate. The detection recording assembly 8 can detect and record the tunnel 3 by identifying the vibration signal.

[0029] Since the tunnel 3 is usually circular, if only one contact piece 2-7-5 is used for vibration detection, some defects will be missed, which will affect the accuracy of the detection result. Therefore, four contact pieces 2-7-5 are arranged in the embodiment, and correspondingly, four sliding sleeves 2-7-2 and other components are arranged. The detection result is ensured by multi-point detection, and the installation positions of the four contact pieces 2-7-5 can also be rotated, so that the inner surface of the tunnel 3 can be detected in multiple groups of rotating mode. The rotating process is realized by rotating the rotating shaft 2-1 to drive the central gear 2-3 to rotate, and then the sliding sleeve 2-7-2 is rotated through gear transmission. The sliding sleeve 2-7-2 drives the contact piece 2-7-5 to rotate, that is, the contact piece 2-7-5 is driven to contact the walls at different positions in the tunnel 3, so that the blind area position can be detected in rotating mode, and the detection result is ensured.

[0030] In this embodiment, a tension spring 2-7-6 is provided within the sleeve 2-7-2. A hanging ball 2-7-7 is connected to the bottom of the tension spring 2-7-6. The imaging device 8-1 in the detection and recording assembly 8 is mounted on the fixed frame 2-7. The trigger switch 8-2 ​​is mounted within the sleeve 2-7-2 and below the hanging ball 2-7-7. The trigger switch 8-2 ​​is electrically connected to the imaging device 8-1. The resisting member 2-7-5 is a spherical structure. If a pit or crack appears in the tunnel 3, the extrusion spring 2-7-4 will instantly provide elastic force to push the resisting member 2-7-5 on the sleeve 2-7-2 into the pit or crack. At this time, the sleeve 2-7-2 will vibrate, and the vibration directly detects the presence of a defect at that location, i.e., a pit or crack. When shaking occurs, the hanging ball 2-7-7 will be pulled by the tension of the tension spring 2-7-6 and will not shake synchronously instantaneously, but there will be a spring buffering period. However, the trigger switch 8-2 ​​will shake synchronously with the sliding sleeve 2-7-2, and the trigger switch 8-2 ​​will make contact with the hanging ball 2-7-7. At this time, the imaging device 8-1, that is, the camera, will shoot in the direction of the shaking of the resistance member 2-7-5, and the captured pictures will be transmitted to the receiving end on the ground through remote wireless transmission. The inspection personnel on the ground will analyze the captured pictures to determine whether maintenance is needed.

[0031] The above-mentioned detection and recording component 8 also includes a detection frame 8-3, which is installed on the above-mentioned fixed frame 2-7-1. The above-mentioned detection frame 8-3 is also installed with an active roller 8-4, and the above-mentioned active roller 8-4 is installed with a waterproof roll 8-5. The above-mentioned spring block 2-7-3 is fixedly connected to the slide 2-7-8 installed with a marker pen; it also includes a winding roller 8-6 for winding up the marked waterproof roll 8-5, and a guide roller 8-7 is installed between the above-mentioned winding roller 8-6 and the above-mentioned active roller 8-4. The above-mentioned guide roller 8-7 is installed on the above-mentioned detection frame 8-3; the bottom of the above-mentioned winding roller 8-6 is provided with a winding gear 8-8, and the above-mentioned winding gear 8-8 is meshedly connected to the gear ring 8-9, and the above-mentioned gear ring 8-9 is used to be fixed on the above-mentioned mounting seat 1. The side of the detection frame 8-3 is also equipped with an abutment plate 8-10, which is set in the direction of the setting of the marker pen. The abutment plate 8-10 is set to prevent the waterproof roll paper from being broken when the marker pen moves up and down to mark, so that the marking force of the marker pen acts on the abutment plate 8-10, and the waterproof roll paper only passes between the two to ensure the smoothness of the marking process. In addition, the entire device is also equipped with a device that can record the location of the crack, that is, the waterproof roll paper on the frame. When the entire fixed frame 2-7-1 is performing rotation detection, it will drive the winding gear 8-8 at the bottom of the winding roller 8-6 to rotate on the gear ring 8-9, and the rotation of the winding roller 8-6 will rewind the waterproof roll paper, so the active roller 8-4 is unwinding and the winding roller 8-6 is rewinding. At this time, the marker pen on the slide 2-7-8 connected to the spring block 2-7-3 will draw a line on the waterproof roll paper. If there is shaking, the sliding sleeve 2-7-2 The shaking drives the spring baffle 2-7-3 to move up and down, and then the slide 2-7-8 will synchronously drive the marker pen to move up and down, so a "peak" will slide out on the waterproof paper roll. After the equipment is recovered, the inspection personnel can take out the waterproof paper roll on the reel 8-6, directly open it and lay it flat, and directly observe the line drawing on the waterproof paper roll. When the peak is found, the position of the peak on the paper roll can also directly determine the length of the crack in the tunnel. After that, maintenance personnel can be arranged to dive directly to the location to inspect and maintain it, thereby improving the inspection efficiency. The marker pen has a certain degree of waterproofness, so it can record and mark underwater, and the waterproof paper roll also has a certain degree of waterproofness to avoid dissolution underwater. Therefore, technical personnel in this field can adaptively select the material of the waterproof paper roll or the material of the marker pen to ensure that it will not dissolve underwater.

[0032] In this embodiment, the autonomous detection and positioning device for defects on the inner surface of a water tunnel has the following working principle: first, the device needs to be placed at the mouth of the tunnel 3, and then the driving member inside the mounting seat 1, that is, the driving motor, drives the driving blade 2-2 on the rotating shaft 2-1 to rotate. At this time, the entire device has a driving force in the water. After that, after the device enters the tunnel 3, the moving rollers 4-3 on the four sliding blocks 4-2 will be directly supported on the inner wall of the tunnel 3, forming a fixed support for the mounting seat 1 and the connecting seat 5, and the arc spring 4-5 will provide an outward supporting elastic force, so the four sliding blocks 4-2 will have an outward supporting force, and finally support the inner wall of the tunnel 3, and can be applicable to tunnels 3 with different inner diameters; secondly, the rotation of the driving blade 2-2 will provide a pushing force. Since it is in the saturated water stage, the entire tunnel 3 is in a water state, so when the driving blade 2-3 rotates, it will move by the surge of water and move slowly in the tunnel 3.

[0033] And the device in the process of moving, first, the sleeve 2-7-2 in the extrusion of spring 2-7-4 elastic push, will make the sleeve 2-7-2 on the resistance piece 2-7-5 abutment in the inner surface of the tunnel 3, when the device is moving slowly underwater, if the tunnel 3 appears pit or crack, at this time the extrusion spring 2-7-4 will provide elastic push sleeve 2-7-2 on the resistance piece 2-7-5 into the pit or crack, so the sleeve 2-7-2 will appear a process of jitter, and the resistance piece 2-7-5 is spherical structure, with certain smooth type, so even if the resistance piece 2-7-5 card in the pit crack, with the paddle push, still can move the resistance piece 2-7-5 out of the pit crack. By setting the stretch spring 2-7-6 in the inside of the sleeve 2-7-2, when the jitter occurs, the ball 2-7-7 is subjected to the tension of the stretch spring 2-7-6, will not be instantaneous synchronous jitter, but there is a spring buffer period, but the trigger switch 8-2 is will follow the sleeve 2-7-2 synchronous jitter, so the trigger switch 8-2 will produce contact action with the ball 2-7-7, so the camera will be towards the resistance piece 2-7-5 jitter direction of shooting, through the remote wireless transmission, will be the picture to the receiving end of the ground, the trigger switch 8-2 at this position can be understood as the shutter of the camera, when the sleeve 2-7-2 appears jitter, it means that the inner surface of the tunnel may appear pit and crack, so at this time directly trigger the "shutter", control the camera to shoot, of course, the camera can also be set to video camera, using the device to move, to the tunnel inside the photography detection, but this way need ground operation personnel always against the screen, may also appear visual fatigue and visual inspection omission.Because the tunnel is a circular structure, relying solely on the jitter detection of a sliding sleeve 2-7-2 will definitely miss something, so four groups are set up, and the four groups of sliding sleeves 2-7-2 can also rotate, so as to perform multiple groups of rotation-type defect detection on the inner surface of the tunnel. The rotation process relies on the rotation of the rotating shaft 2-1 to drive the rotation of the central gear 2-3, and the central gear 2-3 will drive the rotation of multiple planetary gears 2-4, and the rotation of the planetary gear 2-4 will drive the rotation of the gear ring 2-8, and the rotation of the gear ring 2-8 will drive the rotation of the rotating sleeve 2-6, and the fixed frame 2-7-1 is connected to the rotating sleeve 2-6, so at this time the sliding sleeve 2-7-2 will rotate with the rotation of the rotating sleeve 2-6. Because there are four groups set up, if the equipment is moved horizontally as a whole, every two The blind spot between the two sleeves 2-7-2 is detected. However, after the rotation of the sleeve 2-7-2, the rotation of the sleeve 2-7-2 will detect the position of the blind spot. Because the equipment moves laterally in the tunnel as a whole, if the detection accuracy is to be improved, multiple sleeves 2-7-2 need to be set to reduce the detection blind spot caused by the mobile rotation. Since the rotating shaft 2-1 rotates at high speed, providing driving force, and partially decelerating through the planetary gear 2-4, the device can actually achieve mobile rotation detection. If the deceleration process is not set, the sleeve 2-7-2 will follow the high-speed rotation of the rotating shaft 2-1, which will cause damage to the sleeve 2-7-2. Because the abutment 2-7-5 is in a pit or crack at this time, the axial force caused by the high-speed rotation can easily cause the sleeve 2-7-2 to break in the crack. Therefore, using slow movements can control the overall smoothness and stability of the equipment's operation detection.In addition, the entire device is also equipped with a device that can record the location of the crack, that is, the waterproof roll paper on the frame. In the initial stage, the operator needs to set the waterproof roll paper card on the active roller 8-4 and the other end on the winding roller 8-6, and the gear ring 8-9 is relatively fixed on the mounting base 1, so when the entire fixed frame 2-7-1 is performing rotation detection, it will drive the small gear 6055 at the bottom of the winding roller 8-6 to rotate on the gear ring 8-9, and the rotation of the winding roller 8-6 will rewind the waterproof roll paper, so the active roller 8-4 is unwinding and the winding roller 8-6 is rewinding, and at this time the marker on the slide 2-7-8 connected to the spring baffle 2-7-3 will draw a line on the waterproof roll paper. If there is shaking, the sliding sleeve 2-7-2 will shake and drive the spring baffle 2-7 -3 moves up and down, and then the slide 2-7-8 will synchronously drive the marker to move up and down, so a "peak" will slide out on the waterproof paper at this time, and if there is no depression in the tunnel and it is in a smooth stage, the marker will draw a straight line on the waterproof paper. Therefore, when the entire equipment is performing mobile rotation detection, it will also drive the waterproof paper to be reeled in and draw lines. After the entire tunnel inspection is completed and the equipment is recovered, the inspection personnel can take out the waterproof paper on the reeling roller 8-6, directly open it and lay it flat, and directly observe the line drawing on the waterproof paper. When a peak is found, according to the position of the peak on the paper, it is also possible to directly determine where the crack is in the tunnel, and then arrange maintenance personnel to directly sneak into the location to carry out inspection and maintenance, thereby improving inspection efficiency.

[0034] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is to be embodied in the widest possible manner consistent with the principles and novel features disclosed herein.

[0035] Although the present application is described more fully hereinafter with reference to the accompanying drawings, in which the terms: 1, mounting base; 2, driving mechanism; 2-1, rotating shaft; 2-2, driving paddle; 2-3, central gear; 2-4, planetary gear; 2-5, gear mounting base; 2-6, rotating sleeve; 2-7, fixed frame assembly; 2-7-1, fixed frame; 2-7-2, sliding sleeve; 2-7-3, spring stopper; 2-7-4, extrusion spring; 2-7-5, abutting member; 2-7-6, tension spring; 2-7-7, hanging ball; 2-7-8, sliding piece; 2-8, toothed ring; 3, tunnel; 4, elastic support assembly; 4-1, fixed sleeve; 4-2, sliding block; 4-3, moving roller; 4-4, connecting sheath; 4-5, circular arc spring; 5, connecting base; 6, turning connecting assembly; 6-1, connecting rod one; 6-2, connecting rod two; 6-3, turning member; 7, elastic connecting assembly; 7-1, connecting disc one; 7-2, connecting disc two; 7-3, buckling ring; 7-4, elastic connecting member; 8, detection recording assembly; 8-1, imaging device; 8-2, trigger switch; 8-3, detection frame body; 8-4, driving roller; 8-5, waterproof roll material; 8-6, winding roller; 8-7, guide roller; 8-8, winding gear; 8-9, gear ring; 8-10, abutting plate; 9, tail vertebrae, etc. are used, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the nature of the present application; any interpretation of them as any kind of additional limitation is contrary to the spirit of the present application.

Claims

1. An autonomous detection and positioning device for surface defects in water tunnels, characterized by: The invention comprises a mounting seat (1), a driving mechanism (2) and a detection and recording assembly (8), wherein the driving mechanism (2) comprises a driving member, a rotating shaft (2-1) and a driving blade (2-2) arranged around the surface of the rotating shaft (2-1), the mounting seat (1) is a hollow and closed structure, the driving member is mounted in the mounting seat (1) and the output end is connected to the rotating shaft (2-1); the detection and recording assembly (8) comprises an imaging device (8-1) and a trigger switch (8-2), the trigger switch (8-2) being electrically connected to the imaging device (8-1); and further comprises a resisting member (2-7-5) for contacting the inner wall of the tunnel (3) and for triggering the trigger switch (8-2), wherein when the resisting member (2-7-5) enters a pit or a crack, the trigger switch (8-2) is triggered to enable the imaging device (8-1) to take a picture of the tunnel (3) there and record it, and the taken picture is transmitted to a receiving end via wireless transmission.

2. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 1, characterized in that: The autonomous detection and positioning device further comprises an elastic support component (4) capable of adapting to different inner diameters of tunnels (3), wherein the elastic support component (4) is mounted outside the mounting seat (1).

3. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 2, characterized in that: The elastic support components (4) are two groups, one of which is installed outside the mounting seat (1), and the other is installed outside the connecting seat (5). The mounting seat (1) and the connecting seat (5) are connected via a steering connecting component (6).

4. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 3, characterized in that: The steering connection assembly (6) comprises a connecting rod 1 (6-1) fixedly connected to the mounting seat (1), a connecting rod 2 (6-2) fixedly connected to the connecting seat (5), and two steering members (6-3) for connecting the connecting rod 1 (6-1) and the connecting rod 2 (6-2).

5. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 4, characterized in that: The autonomous detection and positioning device also includes an elastic connection component (7) for connecting the mounting seat (1) and the connecting seat (5), the elastic connection component (7) includes a connection plate 1 (7-1) and a connection plate 2 (7-2), the connection plate 1 (7-1) is used to connect with the connection rod 1 (6-1), the connection plate 2 (7-2) is used to connect with the connection rod 2 (6-2), the connection plate 1 (7-1) and the connection plate 2 (7-2) both have a buckle ring (7-3), and the buckle ring (7-3) on the connection plate 1 (7-1) and the buckle ring (7-3) of the connection plate 2 (7-2) are connected via an elastic connector (7-4).

6. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 5, characterized in that: The elastic support assembly (4) comprises a fixed sleeve (4-1), a sliding block (4-2) and a movable roller (4-3); one end of the fixed sleeve (4-1) is fixedly connected to the mounting seat (1); a plurality of the fixed sleeves (4-1) are arranged at intervals along the circumference of the mounting seat (1); the other end of the fixed sleeve (4-1) is open and the interior is hollow; the sliding block (4-2) can be slidably installed in the fixed sleeve (4-1); and the movable roller (4-3) is installed on the sliding block (4-2); the elastic support assembly (4) also comprises a connecting sleeve (4-4) arranged in an arc; two connecting sleeves (4-4) arranged at intervals are provided between two adjacent sliding blocks (4-2); and a circular arc spring (4-5) is provided in the connecting sleeve (4-4).

7. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 6, characterized in that: The driving mechanism (2) further comprises a deceleration rotation component, the deceleration rotation component comprising a central gear (2-3), planetary gears (2-4) and a gear mounting seat (2-5), the central gear (2-3) being mounted on the gear mounting seat (2-5), a plurality of planetary gears (2-4) being meshed with the outside of the central gear (2-3), the rotating shaft (2-1) extending from the outside of the gear mounting seat (2-5) into the mounting seat (1) and passing through the central gear (2-3), the gear mounting seat (2-5) being mounted at an opening of the mounting seat (1); the planetary gears (2-4) being meshed with a gear ring (2-8) on the outside, the gear ring (2-8) being connected to a rotating sleeve (2-6), and the rotating sleeve (2-6) being fixedly connected with a fixing frame component (2-7) for mounting the detection and recording component (8).

8. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 7, characterized in that: The fixing frame assembly (2-7) comprises a fixing frame (2-7-1) and a sliding sleeve (2-7-2). The sliding sleeve (2-7-2) can slide up and down along the vertical direction of the fixing frame (2-7-1). A spring stopper (2-7-3) is provided at the bottom of the sliding sleeve (2-7-2). An extrusion spring (2-7-4) is provided below the spring stopper (2-7-3). The bottom of the extrusion spring (2-7-4) is connected to the rotating sleeve (2-7-1). 6); the resistance member (2-7-5) is arranged on the top of the sliding sleeve (2-7-2); when a pit or crack appears in the tunnel (3), the extrusion spring (2-7-4) instantly provides elastic force to push the resistance member (2-7-5) on the sliding sleeve (2-7-2) into the pit or crack, and at the same time, the sliding sleeve (2-7-2) vibrates, and the detection and recording component (8) detects and records the tunnel (3) by identifying the vibration signal.

9. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 8, characterized in that: A tension spring (2-7-6) is provided inside the sliding sleeve (2-7-2), a hanging ball (2-7-7) is connected to the bottom of the tension spring (2-7-6), and the trigger switch (8-2) is installed in the sliding sleeve (2-7-2) and is located below the hanging ball (2-7-7).

10. The autonomous detection and positioning device for inner surface defects of a water tunnel according to claim 9, characterized in that: The detection recording assembly (8) also includes a detection frame (8-3), the detection frame (8-3) is mounted on the fixed frame (2-7-1), the detection frame (8-3) is also mounted with an active roller (8-4), the active roller (8-4) is mounted with a waterproof coil (8-5), the spring baffle (2-7-3) is fixedly connected to a slide (2-7-8) mounted with a marker pen; it also includes a reeling roller (8-6) for reeling in the marked waterproof coil (8-5), a guide roller (8-7) is mounted between the reeling roller (8-6) and the active roller (8-4), the guide roller (8-7) is mounted on the detection frame (8-3); a reeling gear (8-8) is provided at the bottom of the reeling roller (8-6), the reeling gear (8-8) is meshedly connected with a gear ring (8-9), and the gear ring (8-9) is used to be fixed to the mounting seat (1).

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