An autonomous detection and positioning device based on the defects of the inner surface of a water tunnel

Abstract

The application relates to an autonomous detection positioning device based on water tunnel inner surface defects, which is ingenious in structure and comprises a mounting seat, a driving mechanism and a detection recording assembly. The detection recording assembly comprises an imaging device and a trigger switch, the trigger switch is electrically connected with the imaging device, further comprises a contact piece for contacting with the tunnel inner wall and triggering the trigger switch. When the contact piece enters a pit or a crack, the imaging device takes a picture of the tunnel at the position and records the picture, and the picture is transmitted to a receiving end through wireless transmission. The device can realize understanding and analysis of the tunnel condition without detection personnel going into the water to detect the tunnel, reduces the labor intensity of the detection personnel, ensures the safety of the detection personnel, enhances the use experience, and is favorable to popularization and application of the autonomous detection positioning device based on water tunnel inner surface defects in the tunnel detection technical field.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, specifically an autonomous detection and positioning device based on surface defects in water-filled tunnels. Background Technology

[0002] Tunnel engineering refers to the engineering activity of excavating channels with specific cross-sectional shapes and dimensions through media such as mountains, rock strata, and soil layers. Tunnel engineering has wide applications in many fields, including water conservancy, transportation, and energy. In water conservancy projects, tunnels are often used for water diversion and transportation; for example, the numerous water conveyance tunnels in the South-to-North Water Diversion Project play a crucial role in allocating water resources. During actual use, tunnels with water require regular inspection of their inner surfaces. During the water-carrying phase, it is essential to check for pits or cracks on the inner surface to prevent water from flowing through these pits or cracks and eroding the tunnel, thus affecting its subsequent strength.

[0003] Current technologies for inspecting water-bearing tunnels mostly rely on manual underwater inspections using equipment carried by personnel. However, the environment inside water-bearing tunnels is extremely complex, characterized by high humidity, low light, and unstable water flow with varying speeds and pressures. Furthermore, some areas experience significant elevation differences and rapid water flow, posing considerable challenges to the inspection work. Manual inspection requires personnel to carry inspection tools and conduct inspections on foot or using simple transportation within the tunnel. This method is not only labor-intensive and inefficient, but also poses safety risks due to the complex water flow and humid environment. Therefore, this paper proposes an autonomous detection and positioning device for surface defects inside water-bearing tunnels to address these problems. Summary of the Invention

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

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: an autonomous detection and positioning device based on defects on the inner surface of a water-filled tunnel, comprising a mounting base, a driving mechanism, and a detection and recording assembly. The driving mechanism includes a driving component, a rotating shaft, and driving blades arranged around the surface of the rotating shaft. The mounting base is a hollow, sealed structure. The driving component is installed inside the mounting base and its output end is connected to the rotating shaft. The detection and recording assembly includes an imaging device and a trigger switch, the trigger switch being electrically connected to the imaging device. It also includes an abutment for contacting the inner wall of the tunnel and for triggering the trigger switch. When the abutment enters a pit or crack, it triggers the trigger switch, causing the imaging device to take a picture of the tunnel at that location and record it. The captured image is then transmitted wirelessly to a receiving end.

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

[0007] As a preferred embodiment of the present invention, the elastic support assembly consists of two sets, one of which is installed outside the mounting base and the other is installed outside the connecting base. The mounting base and the connecting base are connected by a steering connection assembly.

[0008] As a preferred embodiment of the present invention, the steering connection assembly includes a first connecting rod fixedly connected to the mounting base, a second connecting rod fixedly connected to the connecting base, and two steering components for connecting the first connecting rod and the second connecting rod.

[0009] As a preferred embodiment of the present invention, the autonomous detection and positioning device further includes an elastic connecting component for connecting the mounting base and the connecting base. The elastic connecting component includes a connecting plate one and a connecting plate two. The connecting plate one is used to connect to the connecting rod one, and the connecting plate two is used to connect to the connecting rod two. Both the connecting plate one and the connecting plate two have a fastening ring. The fastening ring on the connecting plate one and the fastening ring on the connecting plate two are connected by an elastic connector.

[0010] In a preferred embodiment 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 base, and a plurality of fixed sleeves are spaced apart along the circumference of the mounting base. The other end of the fixed sleeve is open and hollow inside. The sliding block is slidably installed inside the fixed sleeve, and the movable roller is installed on the sliding block. The elastic support assembly also includes an arc-shaped connecting sleeve, and two spaced connecting sleeves are provided between two adjacent sliding blocks. The connecting sleeve contains an arc spring.

[0011] As a preferred embodiment of the present invention, the drive mechanism further includes a speed reduction and rotation assembly, which includes a central gear, planetary gears, and a gear mounting base. The central gear is mounted on the gear mounting base, and a plurality of planetary gears mesh with the outside of the central gear. The rotating shaft extends from the outside of the gear mounting base into the mounting base and passes through the central gear. The gear mounting base is mounted at the opening of the mounting base. The planetary gears are externally meshed with a toothed ring, which is connected to a rotating sleeve. A fixing bracket assembly for mounting the detection and recording assembly is fixedly connected to the rotating sleeve.

[0012] In a preferred embodiment of the present invention, the fixing frame assembly includes a fixing frame and a sliding sleeve. The sliding sleeve is capable of sliding up and down along the vertical direction of the fixing frame. A spring baffle is provided at the bottom of the sliding sleeve, and a compression spring is provided below the spring baffle. The bottom of the compression spring is connected to the rotating sleeve. The abutment is provided at the top of the sliding sleeve. When a pit or crack appears in the tunnel, the compression spring instantly provides elastic force to push the abutment on the sliding sleeve into the pit or crack. At the same time, the sliding sleeve vibrates. The detection and recording component detects and records the tunnel by identifying the vibration signal.

[0013] As a preferred embodiment of the present invention, a tension spring is provided inside the sliding sleeve, and a hanging ball is connected to the bottom of the tension spring. The trigger switch is installed inside the sliding sleeve and located below the hanging ball.

[0014] In a preferred embodiment of the present invention, the detection recording assembly further includes a detection frame mounted on the fixed frame, an active roller mounted on the detection frame, a waterproof membrane mounted on the active roller, and a spring baffle fixedly connected to a slider on which a marker pen is mounted; it also includes a take-up roller for winding the marked waterproof membrane, a guide roller mounted between the take-up roller and the active roller, and the guide roller mounted on the detection frame; a take-up gear is provided at the bottom of the take-up roller, the take-up gear meshing with a gear ring, and the gear ring is used to fix it to the mounting base.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The autonomous detection and positioning device based on the inner surface defects of water-filled tunnels has an ingenious structure. It includes a mounting base, a driving mechanism, and a detection and recording component. The detection and recording component includes an imaging device and a trigger switch, with the trigger switch electrically connected to the imaging device. It also includes a contact element for contacting the inner wall of the tunnel and triggering the trigger switch. When the contact element enters a pit or crack, it triggers the imaging device to photograph and record the tunnel at that location. The captured image is then wirelessly transmitted to a receiving end. This allows for understanding and analysis of the tunnel's internal conditions without requiring inspection personnel to enter the water, reducing the workload of inspection personnel while ensuring their safety and enhancing the user experience. This facilitates the promotion and application of the autonomous detection and positioning device based on the inner surface defects of water-filled tunnels in the field of tunnel inspection technology.

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

[0017] Furthermore, this invention incorporates a waterproof roll material (i.e., waterproof paper roll) and a marker pen. During its operation, the autonomous detection and positioning device moves, drawing lines on the waterproof paper roll with the marker pen. If vibration occurs, a "wave peak" is formed on the waterproof paper roll. After the equipment is retrieved, the inspection personnel can remove the waterproof paper roll, unfold it, and directly observe the lines on it. When a wave peak is found, its position on the roll allows for direct determination of the specific location of the crack within the tunnel. Maintenance personnel can then be dispatched to directly enter the location for inspection and maintenance, improving maintenance efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an autonomous detection and positioning device based on defects on the inner surface of a water-filled tunnel in one embodiment. Figure 2 This is a partial structural schematic diagram of an autonomous detection and positioning device based on defects on the inner surface of a water-filled tunnel, as described in this embodiment. Figure 3 This is a partial structural schematic diagram of the elastic connection component in the embodiment; Figure 4 This is a schematic diagram of the connection between the mounting base and the connecting base in the embodiment; Figure 5 This is a schematic diagram of the installation of the detection and recording component in the embodiment; Figure 6 This is a partial structural diagram of the detection and recording component in the embodiment; Figure 7 This is a partial structural diagram of the detection and recording component in the embodiment.

[0019] Reference numerals: 1. Mounting base; 2. Drive mechanism; 2-1. Rotating shaft; 2-2. Drive blade; 2-3. Central gear; 2-4. Planetary gear; 2-5. Gear mounting base; 2-6. Rotating sleeve; 2-7. Fixing frame assembly; 2-7-1. Fixing frame; 2-7-2. Sliding sleeve; 2-7-3. Spring baffle; 2-7-4. Compression spring; 2-7-5. Abutting element; 2-7-6. Tension spring; 2-7-7. Hanging ball; 2-7-8. Sliding plate; 2-8. Gear ring; 3. Tunnel; 4. Elastic support assembly; 4-1. Fixing sleeve; 4-2. Sliding block; 4-3. Moving roller 4-4. Wheel; 4-5. Connecting sleeve; 5. Arc spring; 6. Connecting seat; 7. Steering connection assembly; 6-1. Connecting rod one; 6-2. Connecting rod two; 6-3. Steering component; 7. Elastic connection assembly; 7-1. Connecting disc one; 7-2. Connecting disc two; 7-3. Fastening ring; 7-4. Elastic connector; 8. Detection and recording assembly; 8-1. Imaging equipment; 8-2. Trigger switch; 8-3. Detection frame; 8-4. Drive roller; 8-5. Waterproof membrane; 8-6. Take-up roller; 8-7. Guide roller; 8-8. Take-up gear; 8-9. Gear ring; 8-10. Abutment plate; 9. Tail cone. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0021] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0023] Example: Figures 1 to 7As shown, an autonomous detection and positioning device for defects on the inner surface of a water-filled tunnel mainly consists of a mounting base 1, a drive mechanism 2, and a detection and recording component 8. The mounting base 1 forms the main structure and its primary purpose is to facilitate the installation of the drive mechanism 2. The detection and recording component 8 is also mounted on the mounting base 1. Driven by the drive mechanism 2, the mounting base 1 and the detection and recording component 8 can move into the tunnel 3. Specifically, the drive mechanism 2 includes a drive component, a rotating shaft 2-1, and drive blades 2-2 arranged around the surface of the rotating shaft 2-1. The drive component 1 can be a highly stable drive motor, which drives the drive blades 2-2 of the rotating shaft 2-1 to rotate, providing forward thrust for the mounting base 1 underwater. The drive component, i.e., the drive motor, drives the drive blades 2-2 on the rotating shaft 2-1 to rotate, thus providing propulsion for the entire device in the water. The device then autonomously follows the tunnel 3 underwater, achieving mobile detection. The mounting base 1 is a hollow, sealed structure. The drive component is installed inside the mounting base 1, and its output end is connected to the rotating shaft 2-1. The aforementioned rotating shaft 2-1 has a tail cone 9 at its tail end. The tail cone 9 increases the stability of the rotating shaft 2-1, preventing vibration or imbalance from affecting the overall stability of the autonomous detection and positioning device during use. The aforementioned detection and recording component 8 includes an imaging device 8-1 and a trigger switch 8-2, which is electrically connected to the imaging device 8-1. It also includes an abutment 2-7-5 for contacting the inner wall of the tunnel 3 and triggering the trigger switch 8-2, used for rotating and moving abutment-type detection of the inner surface of the tunnel. When the abutment 2-7-5 enters a pit or crack, it triggers the trigger switch 8-2, causing the imaging device 8-1 to take a picture of the tunnel 3 at that location and record it, then wirelessly transmits the image to the receiving end.

[0024] The autonomous detection and positioning device based on surface defects in a water-filled tunnel in this embodiment can achieve overall defect detection during tunnel saturation through the detection and recording component 8. The drive mechanism 2 can automatically propel the device to achieve autonomous detection inside the tunnel. Furthermore, the detection and recording component 8 can directly detect and photograph the location of defects such as pits, protrusions, and cracks, which facilitates subsequent inspection and maintenance of the tunnel 3 by maintenance personnel. This avoids the risks associated with manual inspection and improves the inspection efficiency of the tunnel 3.

[0025] To improve equipment utilization and enable it to adapt to tunnels 3 with different inner diameters, and to provide abutment support for tunnels 3 with different inner diameters, the autonomous detection and positioning device in this embodiment is also equipped with an elastic support component 4. This elastic support component 4 is installed outside the mounting base 1, meaning that the entire device is supported on the inner surface of the tunnel 3 by the elastic support component 4, ensuring the stability of the mounting base 1 and the detection and recording component 8 while ensuring the accuracy of the detection results, thereby reducing the probability of false detections. Specifically, there are two sets of elastic support components 4: one set is installed outside the mounting base 1, and the other set is installed outside the connecting base 5. The mounting base 1 and the connecting base 5 are connected by a connecting component 6. The driving mechanism 2 is used to drive the mounting base 1 and the connecting base 5 to move within the tunnel 3 after water diversion. The two sets of elastic support components 4 are respectively installed outside the mounting base 1 and the connecting base 5 to ensure the stability of the detection and recording component 8 during the detection process and reduce the impact of water flow on the detection and recording component 8. In this embodiment, a connecting seat 5 is provided, which has a similar structure to the mounting seat 1, both being columnar structures. By providing elastic support components 4 outside the connecting seat 5, the probability of tilting or overturning during the operation of the autonomous detection and positioning device can be reduced. Furthermore, the two sets of elastic support components 4 allow the autonomous detection and positioning device to be parallelly supported within the tunnel 3. The aforementioned steering connection component 6 includes a connecting rod 6-1 fixedly connected to the mounting seat 1, a connecting rod 6-2 fixedly connected to the connecting seat 5, and two steering components 6-3 for connecting the connecting rod 6-1 and the connecting rod 6-2. The steering components 6-3 are universal joints, which allow the mounting seat 1 and the connecting seat 5 to rotate and turn within the tunnel 3, enabling the autonomous detection and positioning device in this embodiment to handle different conditions within the tunnel 3, including but not limited to curves, thereby improving its utilization rate.

[0026] To ensure smoother turning of the autonomous detection and positioning device within tunnel 3, especially at bends, this embodiment also includes an elastic connecting component 7 for connecting the mounting base 1 and the connecting base 5. The elastic connecting component 7 includes a first connecting plate 7-1 and a second connecting plate 7-2. The first connecting plate 7-1 connects to the first connecting rod 6-1, and the second connecting plate 7-2 connects to the second connecting rod 6-2. Both the first connecting plate 7-1 and the second connecting plate 7-2 have a fastening ring 7-3. The fastening ring 7-3 on the first connecting plate 7-1 and the fastening ring 7-3 on the second connecting plate 7-2 are connected by an elastic connector 7-4. The elastic connector 7-4 can be a hook spring. Multiple hook springs provide bending flexibility to the mounting base 1 and the connecting base 5, making turning smoother and providing a certain pulling force so that the mounting base 1 and the connecting base 5 can subsequently reset autonomously, maintaining smooth movement.

[0027] The elastic support component 4 in this 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 base 1, or in other words, the fixed sleeve 4-1 and the mounting base 1 are integrally formed, which reduces the manufacturing difficulty and avoids gaps between them affecting the mounting base 1, thereby ensuring the service life of the drive motor installed in the mounting base 1. Multiple fixed sleeves 4-1 are arranged at intervals along the circumference of the mounting base 1, preferably at equal intervals, to ensure equal support force at each point and reduce the probability of the device tilting or tipping over. To enable the elastic support assembly 4 to adapt to tunnels 3 with different inner diameters, the fixed sleeve 4-1 is open at one end and hollow inside. The sliding block 4-2 is slidably installed inside the fixed sleeve 1, and the movable 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, with two spaced connecting sleeves 4-4 between adjacent sliding blocks 4-2. Each connecting sleeve 4-4 contains a circular arc spring 4-5. After the equipment enters the tunnel, the movable rollers 4-3 on the four sliding blocks 4-2 will directly support the inner wall of the tunnel 3, providing fixed support for the mounting base 1 and the connecting base 5. The circular arc spring 4-5 will provide outward supporting elasticity, resulting in outward supporting force on the four sliding blocks 4-2, ultimately supporting them against the inner wall of the tunnel 3. This structure is suitable for tunnels 3 with different inner diameters.

[0028] The aforementioned drive mechanism 2 further includes a reduction rotation assembly, which includes a central gear 2-3, 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, and a plurality of planetary gears 2-4 mesh with the central gear 2-3. The rotating shaft 2-1 extends from the gear mounting base 2-5 into the mounting base 1 and passes through the central gear 2-3. The gear mounting base 2-5 is mounted at the opening of the mounting base 1. A gear ring 2-5 is externally meshed with the planetary gears 2-4. The gear ring 2-5 is connected to a rotating sleeve 2-6, and a fixing bracket assembly 2-7 for mounting the aforementioned detection and recording assembly 8 is fixedly connected to the rotating sleeve 2-6. The aforementioned fixing frame assembly 2-7 includes 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 baffle 2-7-3, and a compression spring 2-7-4 is provided below the spring baffle 2-7-3. The bottom of the compression spring 2-7-4 is connected to the rotating sleeve 2-6. The top of the sliding sleeve 2-7-2 is provided with an abutment 2-7-5 for contacting the inner surface of the tunnel 3. When the tunnel 3 has a pit or crack, the compression spring 2-7-4 will instantly provide elastic force to push the abutment 2-7-5 on the sliding sleeve 2-7-2 into the pit or crack. At the same time, the sliding sleeve 2-7-2 will vibrate. The aforementioned detection and recording assembly 8 detects and records the tunnel 3 by identifying the vibration signal.

[0029] Since tunnel 3 is typically circular, relying solely on the vibration detection of a single contact element 2-7-5 would inevitably lead to omissions, affecting the accuracy of the inspection results. Therefore, this embodiment employs four contact elements 2-7-5, along with four sliding sleeves 2-7-2 and other components. This multi-point detection method ensures accurate results. Furthermore, the installation positions of the four contact elements 2-7-5 can be rotated, enabling multiple rotational defect detections on the inner surface of tunnel 3. The rotation is achieved by rotating the rotating shaft 2-1, which in turn drives the central gear 2-3. This gear transmission rotates the sliding sleeve 2-7-2, which in turn rotates the contact elements 2-7-5. Consequently, the contact elements 2-7-5 come into contact with the walls at different locations within tunnel 3, thus enabling rotational detection of blind spots and ensuring accurate inspection results.

[0030] In this embodiment, 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. The imaging device 8-1 in the detection and recording assembly 8 is installed on the fixed frame 2-7. The trigger switch 8-2 ​​is installed inside the sliding 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 abutment 2-7-5 is a spherical structure. If a pit or crack appears in the tunnel 3, the compression spring 2-7-4 will instantly provide elastic force to push the abutment 2-7-5 on the sliding sleeve 2-7-2 into the pit or crack. At this time, the sliding sleeve 2-7-2 will experience a shaking process, and the shaking directly detects the defect at that location, namely the pit or crack. When vibration occurs, the hanging ball 2-7-7, under the tension of the tension spring 2-7-6, will not vibrate instantaneously, but rather there will be a spring buffer period. However, the trigger switch 8-2 ​​will vibrate 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, i.e., the camera, will take a picture in the direction of the vibration of the contact part 2-7-5. The picture will be transmitted to the receiving end on the ground through remote wireless transmission. The ground inspection personnel will then analyze the picture to determine whether maintenance is required.

[0031] The aforementioned detection and recording assembly 8 also includes a detection frame 8-3, which is mounted on the aforementioned fixed frame 2-7-1. An active roller 8-4 is also mounted on the detection frame 8-3, and a waterproof membrane 8-5 is mounted on the active roller 8-4. A spring baffle 2-7-3 is fixedly connected to a slider 2-7-8 on which a marker pen is mounted. The assembly also includes a take-up roller 8-6 for winding up the marked waterproof membrane 8-5. A guide roller 8-7 is installed between the take-up roller 8-6 and the active roller 8-4, and the guide roller 8-7 is mounted on the detection frame 8-3. A take-up gear 8-8 is provided at the bottom of the take-up roller 8-6, and the take-up gear 8-8 meshes with a gear ring 8-9, which is used to fix the assembly to the aforementioned mounting base 1. The aforementioned testing frame 8-3 is also equipped with a stop plate 8-10 on its side. The stop plate 8-10 is positioned directly opposite the direction the marker is set. The stop plate 8-10 is designed to prevent the waterproof roll from tearing during the marker's up-and-down marking motion. The marking force of the marker acts on the stop plate 8-10, while the waterproof roll simply passes between them, ensuring a smooth marking process. The entire device also includes a mechanism to record the location of any cracks, specifically the location of the waterproof roll on the frame. When the entire fixed frame 2-7-1 is rotating for testing, it drives the winding gear 8-8 at the bottom of the winding roller 8-6 to rotate on the gear ring 8-9. The rotation of the winding roller 8-6 then winds up the waterproof roll. Therefore, the drive roller 8-4 is unwinding, and the winding roller 8-6 is winding. At this time, the marker on the slider 2-7-8, connected to the spring stop 2-7-3, will draw a line on the waterproof roll. If vibration occurs, the slider 2-7-2... The shaking motion causes the spring baffle 2-7-3 to move up and down, which in turn causes the slider 2-7-8 to move the marker up and down synchronously. This creates a "wave crest" on the waterproof roll. After the equipment is retrieved, inspectors can remove the waterproof roll from the take-up roller 8-6, unfold it, and observe the lines on it. When a wave crest is found, its position on the roll allows for direct determination of the crack's location within the tunnel. Maintenance personnel can then dive to that location for inspection and maintenance, improving efficiency. The marker has a degree of water resistance, allowing for underwater marking, and the waterproof roll also possesses a degree of water resistance, preventing dissolution underwater. Therefore, those skilled in the art can appropriately select the material for either the waterproof roll or the marker to ensure it does not dissolve underwater.

[0032] The autonomous detection and positioning device for defects on the inner surface of a water-filled tunnel in this embodiment works as follows: First, the device needs to be placed at the entrance of tunnel 3. Then, the drive motor inside the mounting base 1 drives the drive blade 2-2 on the rotating shaft 2-1 to rotate. At this time, the entire device has a propulsive force in the water. After the device enters tunnel 3, the moving rollers 4-3 on the four sliding blocks 4-2 will directly support the inner wall of tunnel 3, forming a fixed support for the mounting base 1 and the connecting base 5. The circular arc spring 4-5 will provide outward support elasticity, so the four sliding blocks 4-2 will have an outward support force, ultimately supporting the inner wall of tunnel 3. This method can be applied to tunnels 3 with different inner diameters. Second, the rotation of the drive blade 2-2 will provide a pushing force. Since it is in the water-saturated stage, the entire tunnel 3 is in a water state. Therefore, when the drive blade 2-3 rotates, it will move by the surging water flow and move slowly inside tunnel 3.

[0033] During the movement of the equipment, firstly, when the sliding sleeve 2-7-2 is pushed by the elastic force of the compression spring 2-7-4, the abutment 2-7-5 on the sliding sleeve 2-7-2 will abut against the inner surface of the tunnel 3. When the equipment moves slowly underwater, if a pit or crack appears in the tunnel 3, the compression spring 2-7-4 will instantly provide elastic force to push the abutment 2-7-5 on the sliding sleeve 2-7-2 into the pit or crack. Therefore, the sliding sleeve 2-7-2 will experience a shaking process. The abutment 2-7-5 is a spherical structure with a certain degree of smoothness. So even if the abutment 2-7-5 is stuck in the pit or crack, it can still be moved out of the pit or crack by the push of the propeller. By using the tension spring 2-7-6 installed inside the sliding sleeve 2-7-2, when vibration occurs, the hanging ball 2-7-7 will not vibrate instantaneously, but rather there will be a spring buffer period. However, the trigger switch 8-2 ​​will vibrate synchronously with the sliding sleeve 2-7-2, so the trigger switch 8-2 ​​will make contact with the hanging ball 2-7-7. At this time, the camera will take a picture in the direction of the vibration of the contact part 2-7-5, and transmit the picture to the receiving end on the ground through remote wireless transmission. The trigger switch 8-2 ​​at this position can be understood as the camera shutter. When the sliding sleeve 2-7-2 vibrates, it means that there may be pits and cracks on the inner surface of the tunnel. So at this time, the "shutter" is directly triggered to control the camera to take a picture. Of course, the camera can also be set as a video camera, and the equipment can be moved to take pictures of the inside of the tunnel. However, this method requires the ground operator to keep looking at the screen, which may lead to visual fatigue and missed visual inspections.Because the tunnel has a circular structure, relying solely on the vibration detection of a single sliding sleeve 2-7-2 would inevitably miss some areas. Therefore, four sets of sliding sleeves 2-7-2 were installed, and these four sets can rotate to perform multi-stage rotational defect detection on the inner surface of the tunnel. The rotation process is achieved by rotating the rotating shaft 2-1, which drives the central gear 2-3. The central gear 2-3 then drives multiple planetary gears 2-4, which in turn drive the gear ring 2-8. The rotation of the gear ring 2-8, in turn, drives the rotating sleeve 2-6. The fixed frame 2-7-1 is connected to the rotating sleeve 2-6, so the sliding sleeves 2-7-2 rotate along with the rotating sleeve 2-6. Because four sets are installed, if the equipment moves laterally as a whole, every two... The sliding sleeves 2-7-2 are in a detection blind zone. However, after rotation, the sliding sleeves 2-7-2 will perform rotational detection on the blind zone. Because the equipment moves laterally within the tunnel, to improve detection accuracy, multiple sliding sleeves 2-7-2 are needed to reduce the detection blind zone generated during movement and rotation. Since the rotating shaft 2-1 rotates at high speed, providing propulsion, and the planetary gear 2-4 partially reduces speed, it can already achieve rotating detection while moving. Without this deceleration process, the high-speed rotation of the sliding sleeves 2-7-2 following the rotating shaft 2-1 would damage them. This is because if the contact part 2-7-5 is in a pit or crack, the axial force from the high-speed rotation could easily cause the sliding sleeve 2-7-2 to break in the crack. Therefore, using slow movements allows for smooth and stable operation of the equipment.Furthermore, the entire device is equipped with a mechanism to record the location of cracks, specifically the waterproof roll paper on the frame. Initially, the operator needs to secure the waterproof roll paper to the drive roller 8-4 at one end and the take-up roller 8-6 at the other. The gear ring 8-9 is relatively fixed to the mounting base 1. Therefore, when the entire fixed frame 2-7-1 is rotating for detection, it will drive the small gear 6055 at the bottom of the take-up roller 8-6 to rotate on the gear ring 8-9. The rotation of the take-up roller 8-6 will then rewind the waterproof roll paper. Thus, the drive roller 8-4 is unwinding, and the take-up roller 8-6 is rewinding. At this time, the marker on the slider 2-7-8 connected to the spring stop 2-7-3 will draw lines on the waterproof roll paper. If vibration occurs, the slider 2-7-2 will vibrate, causing the spring stop 2-7-8 to vibrate. -3 moves up and down, and then the slider 2-7-8 will simultaneously drive the marker to move up and down, so a "wave peak" will slide out on the waterproof paper. 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 moves and rotates for testing, it will also drive the waterproof paper to be rolled up and draw lines. After the entire tunnel test is completed and the equipment is retrieved, the testing personnel can take out the waterproof paper on the take-up roller 8-6, open it and lay it flat to observe the line diagram on the waterproof paper. When a wave peak is found, the position of the wave peak on the paper can be used to directly determine the length of the crack in the tunnel. Then, maintenance personnel can be arranged to go directly into the location to carry out inspection and maintenance, improving the efficiency of inspection.

[0034] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention; therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0035] Although this article makes extensive use of the figure references: 1. Mounting base; 2. Drive mechanism; 2-1. Rotating shaft; 2-2. Drive blade; 2-3. Central gear; 2-4. Planetary gear; 2-5. Gear mounting base; 2-6. Rotating sleeve; 2-7. Fixing frame assembly; 2-7-1. Fixing frame; 2-7-2. Sliding sleeve; 2-7-3. Spring baffle; 2-7-4. Compression spring; 2-7-5. Abutting element; 2-7-6. Tension spring; 2-7-7. Hanging ball; 2-7-8. Sliding plate; 2-8. Gear ring; 3. Tunnel; 4. Elastic support assembly; 4-1. Fixing sleeve; 4-2. Sliding block; 4-3. Moving roller; 4- 4. Connecting sleeve; 4-5. Circular arc spring; 5. Connecting seat; 6. Steering connection assembly; 6-1. Connecting rod one; 6-2. Connecting rod two; 6-3. Steering component; 7. Elastic connection assembly; 7-1. Connecting disc one; 7-2. Connecting disc two; 7-3. Fastening ring; 7-4. Elastic connector; 8. Detection and recording assembly; 8-1. Imaging equipment; 8-2. Trigger switch; 8-3. Detection frame; 8-4. Drive roller; 8-5. Waterproof membrane; 8-6. Take-up roller; 8-7. Guide roller; 8-8. Take-up gear; 8-9. Gear ring; 8-10. Abutment plate; 9. Tail cone, etc. These terms are used only for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would be contrary to the spirit of the invention.

Claims

1. An autonomous detection and positioning device based on surface defects inside a water-filled tunnel, characterized in that: The system includes a mounting base (1), a drive mechanism (2), and a detection and recording assembly (8). The drive mechanism (2) includes a drive component, a rotating shaft (2-1), drive blades (2-2) arranged around the surface of the rotating shaft (2-1), and a fixing frame assembly (2-7). The mounting base (1) is a hollow, sealed structure. The drive component is installed inside the mounting base (1) and its output end is connected to the rotating shaft (2-1). The fixing frame assembly (2-7) includes 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 fixed frame (2-7-1). The bottom of the sliding sleeve (2-7-2) is provided with a spring stop (2-7-3), and a compression spring (2-7-4) is provided below the spring stop (2-7-3). The bottom of the compression spring (2-7-4) is connected to the rotating sleeve (2-6). The top of the sliding sleeve (2-7-2) is provided with an abutment (2-7-5), and the inside of the sliding sleeve (2-7-2) is provided with a pull. A tension spring (2-7-6) is provided, with a hanging ball (2-7-7) connected to its bottom; the detection and recording assembly (8) includes an imaging device (8-1) and a trigger switch (8-2), the trigger switch (8-2) being installed inside the sliding sleeve (2-7-2) and located below the hanging ball (2-7-7), and the trigger switch (8-2) being electrically connected to the imaging device (8-1); the contact member (2-7-5) is used to contact the inner wall of the tunnel (3). And it is used to trigger the trigger switch (8-2). When a pit or crack appears in the tunnel (3), the compression spring (2-7-4) instantly provides elastic force to push the abutment (2-7-5) on the sliding sleeve (2-7-2) into the pit or crack. At the same time, the sliding sleeve (2-7-2) vibrates. By touching the trigger switch (8-2), the imaging device (8-1) takes a picture of the tunnel (3) at this location and records it. The picture is then transmitted to the receiving end wirelessly.

2. The autonomous detection and positioning device based on surface defects in water-filled tunnels according to claim 1, characterized in that: The autonomous detection and positioning device also includes an elastic support component (4) that can adapt to different tunnel (3) inner diameters, and the elastic support component (4) is installed outside the mounting base (1).

3. The autonomous detection and positioning device based on surface defects in water-filled tunnels according to claim 2, characterized in that: The elastic support component (4) consists of two sets. One elastic support component (4) is installed outside the mounting base (1), and the other elastic support component (4) is installed outside the connecting base (5). The mounting base (1) and the connecting base (5) are connected by a steering connection component (6).

4. The autonomous detection and positioning device based on surface defects in water-filled tunnels according to claim 3, characterized in that: The steering connection assembly (6) includes a first connecting rod (6-1) fixedly connected to the mounting base (1), a second connecting rod (6-2) fixedly connected to the connecting base (5), and two steering components (6-3) for connecting the first connecting rod (6-1) and the second connecting rod (6-2).

5. The autonomous detection and positioning device based on surface defects in water-filled tunnels according to claim 4, characterized in that: The autonomous detection and positioning device also includes an elastic connection component (7) for connecting the mounting base (1) and the connecting base (5). The elastic connection component (7) includes a first connecting plate (7-1) and a second connecting plate (7-2). The first connecting plate (7-1) is used to connect to the first connecting rod (6-1), and the second connecting plate (7-2) is used to connect to the second connecting rod (6-2). Both the first connecting plate (7-1) and the second connecting plate (7-2) have a fastening ring (7-3). The fastening ring (7-3) on the first connecting plate (7-1) and the fastening ring (7-3) on the second connecting plate (7-2) are connected by an elastic connector (7-4).

6. The autonomous detection and positioning device based on surface defects in water-filled tunnels according to claim 5, characterized in that: The elastic support assembly (4) includes 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 fixed to the mounting base (1). Multiple fixed sleeves (4-1) are arranged at intervals along the circumference of the mounting base (1). The other end of the fixed sleeve (4-1) is open and hollow inside. The sliding block (4-2) is slidably installed inside the fixed sleeve (4-1). The movable roller (4-3) is installed on the sliding block (4-2). The elastic support assembly (4) also includes a connecting sleeve (4-4) arranged in an arc. Two connecting sleeves (4-4) are arranged at intervals between two adjacent sliding blocks (4-2). The connecting sleeve (4-4) has an arc spring (4-5) inside.

7. The autonomous detection and positioning device based on surface defects inside a water-filled tunnel according to claim 6, characterized in that: The drive mechanism (2) further includes a deceleration rotation assembly, which includes a central gear (2-3), 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), and multiple planetary gears (2-4) mesh 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). The gear mounting base (2-5) is mounted at the opening of the mounting base (1). The planetary gears (2-4) are externally meshed with a toothed ring (2-8), which is connected to a rotating sleeve (2-6). A fixing frame assembly (2-7) for mounting the detection and recording assembly (8) is fixedly connected to the rotating sleeve (2-6).

8. The autonomous detection and positioning device based on surface defects in water-filled tunnels according to claim 1, characterized in that: The detection recording assembly (8) further includes a detection frame (8-3), which is mounted on the fixed frame (2-7-1). An active roller (8-4) is also mounted on the detection frame (8-3), and a waterproof membrane (8-5) is mounted on the active roller (8-4). A spring baffle (2-7-3) is fixedly connected to a slider (2-7-8) on which a marker pen is mounted. The assembly also includes a take-up roller (8-6) for taking up the marked waterproof membrane (8-5). A guide roller (8-7) is installed between the take-up roller (8-6) and the active roller (8-4), and the guide roller (8-7) is mounted on the detection frame (8-3). A take-up gear (8-8) is provided at the bottom of the take-up roller (8-6), and the take-up gear (8-8) meshes with a gear ring (8-9). The gear ring (8-9) is used to fix the assembly to the mounting base (1).

Images