Tunnel inspection vehicle for detecting damage of inner wall structure of railway tunnel

Abstract

The invention discloses a tunnel inspection vehicle for railway tunnel inner wall structure disease detection, and relates to the field of tunnel detection, the tunnel inspection vehicle comprises a mobile module, a holder module, a lighting module, an unmanned aerial vehicle lifting platform, a vehicle body, a gas quality sensor, a temperature and humidity sensor and a rear protection device; the moving module is installed below the vehicle body and designed according to the railway industry requirements, and it is guaranteed that the inspection vehicle stably runs on a railway track. The lighting module is installed at the front end of the vehicle body and provides light for the vehicle during night operation. The holder module is arranged at the front end in the vehicle body, the unmanned aerial vehicle lifting platform is arranged at the rear end in the vehicle body, the gas quality sensor and the temperature and humidity sensor are installed above the vehicle body, and the three parts cooperatively detect the inner wall and the interior of a tunnel. According to the invention, the problems of low manual detection efficiency and poor precision in the existing tunnel inspection mode are solved; the current situation that existing detection equipment is limited in detection range and is difficult to adapt to detection requirements of different tunnels is improved.

Description

Technical Field

[0001] The present invention relates to the field of tunnel detection, and in particular to a tunnel inspection vehicle for detecting structural defects on the inner wall of a railway tunnel. Background Art

[0002] With the rapid development of my country's railway network, the number of railway tunnels in China has reached 18,997 by 2024, ranking first in the world. However, due to technical standards, railway tunnels built before 2000 are prone to structural problems such as water leakage, lining cracks, and lining corrosion after long-term operation. Currently, tunnel health monitoring still relies mainly on manual inspections and specialized testing with portable testing equipment. Traditional methods have the following technical drawbacks: 1. Whether it is tunnel deformation or cracks, for a tunnel that is several kilometers long, the number of deformations and cracks it contains is extremely large, which is beyond the scope of what can be accomplished by human beings.

[0003] 2. The current tunnel design has many layers, including flues, ventilation and pipe galleries, and there are many narrow spaces inside, which are difficult for personnel to enter and difficult for inspection operations.

[0004] In existing technologies, although some railway tunnels have adopted patrol vehicles to assist in inspection, the following technical bottlenecks still exist: 1. Currently, most inspection vehicles still require manual operation. For large tunnels, it is necessary to manually build an elevated platform to conduct inspections above the tunnel, which poses a safety hazard.

[0005] 2. The inspection scope is limited, making it difficult to apply to a variety of railway tunnels. This lack of adaptability requires customized inspection plans for each type of tunnel, which not only increases equipment R&D costs but also causes fragmentation in the operation and maintenance system.

[0006] Therefore, a tunnel inspection vehicle for detecting structural defects on the inner wall of railway tunnels is proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a tunnel inspection vehicle for detecting structural defects on the inner wall of railway tunnels. Its purpose is to solve the problems of low efficiency and lack of precision of existing manual detection methods, limited detection range of existing detection equipment, and difficulty in adapting to the detection needs of different railway tunnels.

[0008] In order to achieve the above object, the present application provides the following technical scheme: a tunnel inspection vehicle for railway tunnel inner wall structure disease detection is provided, which comprises a moving module, a holder module, an illumination module, an unmanned aerial vehicle lifting platform, a vehicle body, a gas quality sensor, a temperature and humidity sensor, a rear protection device, the moving module is installed below the vehicle body, the illumination module is installed at the front end of the vehicle body, the holder module is arranged at the front end of the inside of the vehicle body, the unmanned aerial vehicle lifting platform is arranged at the rear end of the inside of the vehicle body, the gas quality sensor and the temperature and humidity sensor are installed above the vehicle body, and the rear protection device is installed below the rear end of the vehicle body.

[0009] As a further description of the above technical scheme, the moving module comprises wheels, axles, servo motors, gearboxes, shock absorber frames, shock absorber springs and chassis, wherein two wheels are coaxially connected through axles to form a set of wheel pairs, and two sets of wheel pairs are the main components of the moving module, the shock absorber springs are vertically nested on the guide shafts on the two sides of the shock absorber frame, and the upper end of the shock absorber frame is fixedly installed on the chassis of the inspection vehicle and is installed on the two sides of the wheel pairs, the shock absorber springs make linear compression movement on the guide shafts of the shock absorber frame, the servo motors are connected with the gearboxes through keys and are fixed on the axles, the servo motors are fixedly installed on the chassis through bolts, the axles are driven to rotate, and then the wheels are driven to travel along the track, and the chassis is rigidly connected with the vehicle body.

[0010] As a further description of the above technical scheme, the holder module comprises a rudder one, a rudder two, a small rudder plate, a rudder frame, a rudder stand, a large rudder plate, a deep groove ball bearing, a bearing positioning block, a rudder fixing plate and support columns, wherein the rudder one is fixed on the rudder frame through bolts, the small rudder plate is connected with the output shaft of the rudder one and is fixed on the rudder stand through bolts, the holder is swung up and down, at the same time, the deep groove ball bearing is installed in the bearing positioning block and is nested on the large rudder plate, the large rudder plate is fixed below the rudder stand through bolts, at the same time, the rudder two is fixed on the rudder fixing plate through bolts and the output shaft is connected with the large rudder plate through a key shaft, the bearing positioning block is fixedly installed on the rudder fixing plate through four support columns, and the holder is rotated.

[0011] As a further description of the above technical scheme, the unmanned aerial vehicle lifting platform comprises connecting rods one, two and three, a base, supports, an optical shaft, a hydraulic cylinder and a top plate, the four supports are evenly distributed on the four corners of the base, the four supports are also evenly distributed on the four corners of the top plate, one end of the connecting rod one is rotationally connected with one support on the top plate, the connecting rod two is rotationally connected with one support on the base, and the other ends of the connecting rod one and the connecting rod two are connected through an optical shaft, one end of each of the two connecting rod threes is also connected with the connecting rod one and the connecting rod two through the optical shaft, and the other ends of the two connecting rod threes are connected with the middle part of the connecting rod one, one end of the hydraulic cylinder is fixedly connected with one support fixed in the middle of the base through bolts, and the other end is hingedly connected with the optical shaft, and the hydraulic cylinder controls the rising and falling of the unmanned aerial vehicle lifting platform.

[0012] As a further description of the above technical solution, the lighting module is composed of a searchlight base, a searchlight and a fence, the searchlight and the fence are fixed on the searchlight base, and are installed at the front end of the vehicle body to provide detection lighting for the inner wall of the tunnel.

[0013] The beneficial effects of the present application are: 1. In the present application, the tunnel inspection vehicle is an automatic device that does not need to re-enter the tunnel for detection, and can realize autonomous driving and operation function, it can autonomously drive in the railway tunnel and perform detection function, and can realize all-weather continuous operation without manual intervention, reducing the labor intensity of detection personnel.

[0014] 2. In the present application, by setting the gimbal module and the unmanned aerial vehicle lifting platform, the combined operation is realized, and the problem that the detection range of the existing detection device is limited and difficult to adapt to different railway tunnel detection requirements is solved.

[0015] 3. In the present application, a group of wheel pairs composed of wheel shafts and wheels are set, and two groups of wheel pairs constitute the main part of the moving module of the inspection vehicle, which ensures that the inspection vehicle can stably drive on the railway track and will not occur dangerous conditions such as rollover and derailment. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A structural schematic diagram of a tunnel inspection vehicle for detecting the structure disease of the inner wall of a railway tunnel is provided for the present application; Figure 2 A side view of the overall structure of the tunnel inspection vehicle of the present application; Figure 3 A structural schematic diagram of the moving module of the tunnel inspection vehicle of the present application; Figure 4 An exploded structural schematic diagram of the gimbal module of the tunnel inspection vehicle of the present application; Figure 5 A front view of the unmanned aerial vehicle lifting platform structure of the tunnel inspection vehicle of the present application; Figure 6 A side view of the unmanned aerial vehicle lifting platform structure of the tunnel inspection vehicle of the present application; In the figure: 1 - moving module; 2 - holder module; 3 - lighting module; 4 - unmanned aerial vehicle lifting platform; 5 - vehicle body; 6 - gas quality sensor; 7 - temperature and humidity sensor; 8 - rear protection device; 11 - wheel; 12 - axle; 13 - servo motor; 14 - gear box; 15 - shock absorbing frame; 16 - shock absorbing spring; 17 - chassis; 21 - steering engine; 22 - small steering wheel; 23 - steering engine frame; 24 - steering engine frame; 25 - large steering wheel; 26 - deep groove ball bearing; 27 - bearing positioning block; 28 - steering engine fixing plate; 29 - support column; 411 - connecting rod one; 412 - connecting rod two; 413 - connecting rod three; 42 - base; 43 - support; 44 - optical axis; 45 - hydraulic cylinder; 46 - top plate; 31 - searchlight base; 32 - searchlight; 33 - fence. DETAILED DESCRIPTION

[0017] A tunnel inspection vehicle for detecting structural diseases of the inner wall of a railway tunnel, comprising 1 - moving module, 2 - holder module, 3 - lighting module, 4 - unmanned aerial vehicle lifting platform, 5 - vehicle body, 6 - gas quality sensor, 7 - temperature and humidity sensor, 8 - rear protection device, characterized in that: the moving module 1 is installed below the vehicle body 5, the lighting module 3 is installed at the front end of the vehicle body 5, the holder module 2 is arranged at the front end inside the vehicle body 5, the unmanned aerial vehicle lifting platform 4 is arranged at the rear end inside the vehicle body 5, the gas quality sensor 6 and the temperature and humidity sensor 7 are installed above the vehicle body 5, and the rear protection device 8 is installed below the rear end of the vehicle body 5.

[0018] Further, the moving module 1 comprises: wheels 11, axles 12, servo motors 13, gear boxes 14, shock absorbing frames 15, shock absorbing springs 16, and chassis 17, wherein two wheels 11 are coaxially connected through axles 12 to form a set of wheel pairs, and two sets of wheel pairs are the main components of the moving module 1, the shock absorbing springs 16 are vertically nested on the guide shafts on both sides of the shock absorbing frame 15, and the upper end of the shock absorbing frame 15 is fixedly installed on the chassis 17 of the inspection vehicle and is installed on both sides of the wheel pairs, the shock absorbing springs make linear compression motion on the guide shafts of the shock absorbing frame, the servo motor 13 is connected with the gear box 14 through a key and is fixed on the axle 12, the servo motor 13 is fixedly installed on the chassis 17 to drive the axle 12 to rotate, thereby driving the wheels 11 to travel along the track, and the chassis 17 is rigidly connected with the vehicle body 5.

[0019] Further, the gimbal module 2 comprises: steering engine 1 211, steering engine 2 212, small steering wheel 22, steering engine frame 23, steering engine frame 24, large steering wheel 25, deep groove ball bearing 26, bearing positioning block 27, steering engine fixing plate 28, support column 29, wherein the steering engine 1 211 is fixed on the steering engine frame 23 by bolts, the small steering wheel 22 is connected with the output shaft of the steering engine 1 211 and is fixed on the steering engine frame 24 by bolts, realizing the up-down swing of the gimbal, at the same time, the deep groove ball bearing 26 is installed in the bearing positioning block 27 and is nested on the large steering wheel 25, the large steering wheel is fixed below the steering engine frame 24 by bolts, at the same time, the steering engine 2 212 is fixed on the steering engine fixing plate 28 by bolts and the output shaft is connected with the large steering wheel 25 by key shaft, the bearing positioning block 27 is fixed and installed on the steering engine fixing plate 28 by four support columns 29, realizing the rotary motion of the gimbal.

[0020] Further, the unmanned aerial vehicle lifting platform 4 comprises: connecting rod 1 411, connecting rod 2 412, connecting rod 3 413, base 42, support 43, optical axis 44, hydraulic cylinder 45, top plate 46, four supports 43 are evenly distributed on the four corners of the base 42, four supports 43 are also evenly distributed on the four corners of the top plate 46, one end of the connecting rod 1 411 is rotatably connected with one support 43 on the top plate 46, the connecting rod 2 412 is rotatably connected with one support 43 on the base 42, and the other end of the connecting rod 1 411 and the connecting rod 2 412 is connected by an optical axis 44, one end of two connecting rod 3 413 is also connected by the optical axis 44 on the connecting rod 1 411 and the connecting rod 2 412, the other end of two connecting rod 3 413 is connected with the middle part of the connecting rod 1 411, one end of the hydraulic cylinder 45 is fixed with one support 43 fixed in the middle of the base 42 by bolts, the other end is hinged with the optical axis 44, the rising and falling of the unmanned aerial vehicle lifting platform 54 is controlled by the hydraulic cylinder 5.

[0021] Further, the lighting module 3 comprises: searchlight base 31, searchlight 32, fence 33, the searchlight 32 and the fence 33 are fixed on the searchlight base 31, installed on the front end of the vehicle body 5, providing detection lighting for the inner wall of the tunnel.

[0022] Working principle: when working, the tunnel inspection vehicle starts from the base station at the railway entrance, the gear box is driven to rotate by the servo motor on the chassis, then the wheel shaft is rotated, and the whole inspection vehicle is driven to run on the railway track, in the process of running, the gas mass sensor and the temperature and humidity sensor above the vehicle body detect and record the gas and temperature and humidity in the railway tunnel, and the data such as air quality and toxic gas content on the spot are transmitted back to the data center.

[0023] After entering the railway tunnel, the gimbal module adjusts the pitch angle and horizontal rotation angle through the steering engine 1 and the steering engine 2, so that the carried laser scanner covers the inner wall of the tunnel, but due to the different heights of different tunnels, there will be a gimbal blind spot, at this time the controller will control the unmanned aerial vehicle lifting platform to rise, when the platform extends out of the vehicle body, the unmanned aerial vehicle on it takes off to detect the gimbal blind area, and then realizes the detection of the whole tunnel interior.

Claims

1. A tunnel inspection vehicle for detecting structural defects on the inner wall of a railway tunnel, comprising a mobile module (1), a pan / tilt module (2), a lighting module (3), a drone lifting platform (4), a vehicle body (5), a gas quality sensor (6), a temperature and humidity sensor (7), and a rear protection device (8), characterized in that: The mobile module (1) is installed below the vehicle body (5), the lighting module (3) is installed at the front end of the vehicle body (5), the pan / tilt module (2) is located at the front end inside the vehicle body (5), the drone lifting platform (4) is located at the rear end inside the vehicle body (5), the gas quality sensor (6) and the temperature and humidity sensor (7) are installed above the vehicle body (5), and the rear protection device (8) is installed below the rear end of the vehicle body (5).

2. A tunnel inspection vehicle for detecting structural defects on the inner wall of a railway tunnel according to claim 1, characterized in that: The mobile module (1) comprises: a wheel (11), an axle (12), a servo motor (13), a gear box (14), a shock absorber frame (15), a shock absorber spring (16), and a chassis (17), wherein the two wheels (11) are coaxially connected through the axle (12) to form a set of wheel pairs, and the two sets of wheel pairs serve as the main components of the mobile module (1). The shock absorber springs (16) are vertically nested on the guide shafts on both sides of the shock absorber frame (15) in a set of two. At the same time, the upper end of the shock absorber frame (15) is fixedly mounted on the inspection vehicle chassis (17) by bolts and is installed on both sides of the wheel pairs. The servo motor (13) is connected to the gear box (14) by a key and fixed to the axle (12). The servo motor (13) is fixedly mounted on the chassis (17) by bolts, driving the axle (12) to rotate, thereby driving the wheel (11) to move along the track. The chassis (17) is rigidly connected to the vehicle body (5).

3. The tunnel inspection vehicle for detecting structural defects on the inner wall of a railway tunnel according to claim 1, characterized in that: The pan / tilt module (2) comprises: a servo 1 (211), a servo 2 (212), a small steering disc (22), a servo frame (23), a servo frame (24), a large steering disc (25), a deep groove ball bearing (26), a bearing positioning block (27), a servo fixing plate (28), and a support column (29), wherein the servo 1 (211) is fixed to the servo frame (23) by bolts, and the small steering disc (22) is connected to the output shaft of the servo 1 (211) and fixed to the servo frame (24) by bolts. The gimbal is swung up and down; at the same time, the deep groove ball bearing (26) is installed in the bearing positioning block (27) and is nested on the large steering plate (25), and the large steering plate (25) is fixed to the bottom of the steering gear frame (24) by bolts. At the same time, the second steering gear (212) is fixed to the steering gear fixing plate (28) by bolts and the output shaft is axially connected to the large steering gear (25) by a key. The bearing positioning block (27) is fixed to the steering gear fixing plate (28) through four support columns (29), thereby realizing the rotation of the gimbal.

4. The tunnel inspection vehicle for detecting structural defects on the inner wall of a railway tunnel according to claim 1, characterized in that: The UAV lifting platform (4) includes: a connecting rod (411), a connecting rod (412), a connecting rod (413), a base (42), a bracket (43), an optical axis (44), a hydraulic cylinder (45), and a top plate (46), wherein four brackets (43) are evenly distributed on the four corners of the base (42), and four brackets (43) are also evenly distributed on the four corners of the top plate (46). One end of the connecting rod (411) is rotatably connected to a bracket (43) on the top plate (46), and the connecting rod (412) is rotatably connected to a bracket (43) on the base (42), and The other ends of the connecting rod 1 (411) and the connecting rod 2 (412) are connected through an optical axis (44), and one ends of the two connecting rods 3 (413) are also connected to the connecting rod 1 (411) and the connecting rod 2 (412) through the optical axis (44). The other ends of the two connecting rods 3 (413) are connected to the middle of the connecting rod 1 (411). One end of the hydraulic cylinder (45) is fixed to a bracket (43) fixed in the middle of the base (42) by bolts, and the other end is hinged to the optical axis (44). The rise and fall of the UAV lifting platform (4) is controlled by the hydraulic cylinder (45).

5. The tunnel inspection vehicle for detecting structural defects on the inner wall of a railway tunnel according to claim 1, characterized in that: The lighting module (3) comprises a searchlight base (31), a searchlight (32), and a fence (33). The searchlight (32) and the fence (33) are fixed to the searchlight base (31) and installed at the front end of the vehicle body (5) to provide tunnel inner wall detection lighting.

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