A wall-climbing robot and a tunnel lining detection method for tunnel lining detection

Abstract

The application discloses a wall-climbing robot for tunnel lining detection and a tunnel lining detection method, and relates to the technical field of tunnel detection.The wall-climbing robot comprises a body, a geological radar, an image acquisition device, steering wheels and walking wheels.Crawling wall assemblies are arranged on the transverse sides of the body.The crawling wall assemblies comprise first sliding members, second sliding members, fixing members, first telescopic rods, second telescopic rods and third telescopic rods.The first telescopic rods extend towards the front side of the body, the second telescopic rods extend towards the back side of the body, and the third telescopic rods extend towards the outer side of the body.The end portions of the first telescopic rods, the second telescopic rods and the third telescopic rods are connected with fourth telescopic rods, and vacuum suction cups are connected to the fourth telescopic rods.The wall-climbing robot is used to solve the problems of poor crawling stability, high falling risk and weak load capacity of the wall-climbing robot for tunnel lining detection in the prior art, and achieves the purpose of improving the stability and safety of the wall-climbing robot for tunnel lining detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel detection, in particular to a wall-climbing robot for tunnel lining detection and a tunnel lining detection method. BACKGROUND

[0002] The tunnel lining is affected by factors such as construction quality, environmental erosion, and ground stress release, and internal diseases such as cracks, cavities, and voids are prone to occur, which seriously threatens the safety of the tunnel structure and driving safety. In particular for newly built tunnels, after the completion of secondary lining construction, a field detection of the quality of the secondary lining is required to quickly repair the areas where the construction quality is lacking. In the detection process of the tunnel lining, ground penetrating radar is a commonly used device that can scan the entire tunnel or key sections to quickly and comprehensively find internal defects such as insufficient thickness, voids, and steel problems, and then comprehensively and accurately assess the construction quality of the secondary lining of the tunnel.

[0003] In the traditional operation mode, the quality detection of the tunnel lining is generally completed by manually lifting the ground penetrating radar along the survey line or by using a trolley operation mode, which has the problems of low efficiency, difficulty in transporting and using large equipment, and is not conducive to tunnel construction in mountainous and remote areas. Based on this, some existing technologies propose a technical idea of completing the detection operation by a wall-climbing robot carrying a ground penetrating radar. In such existing technologies, the wall-climbing robots used are mostly suction cup type wall-climbing robots that move alternately by a mechanical arm to realize the wall-climbing function. However, the tunnel lining is not a very smooth wall surface such as metal, glass, or ceramic tile, and even after the secondary lining is constructed, it is impossible to form a completely smooth surface, so the adsorption stability is relatively weak when using the existing suction cup type wall-climbing robot for detection. Moreover, the wall-climbing robot needs to rely on the pushing and pulling action of the mechanical arm to realize the walking of the robot during the climbing process, and the quality of the robot and the equipment carried by it will be applied to the suction cup in the adsorption state during this process, which undoubtedly brings more severe working conditions to the suction cup which is already weak in stability, resulting in the defects of poor climbing stability, high risk of falling, and weak load capacity when the wall-climbing robot is used for tunnel lining detection. SUMMARY

[0004] The present application provides a wall-climbing robot for tunnel lining detection and a tunnel lining detection method to solve the problems of poor climbing stability, high risk of falling, and weak load capacity when the wall-climbing robot is used for tunnel lining detection in the prior art, and to achieve the purpose of improving the stability and safety of the wall-climbing robot for tunnel lining detection.

[0005] The present application is achieved by the following technical solutions:

[0006] A wall-climbing robot for tunnel lining detection, comprising a body, a geological radar located at the top of the body, an image acquisition device and a steering wheel arranged at the front end of the body, and walking wheels arranged at the rear end of the body; a wall-climbing assembly is arranged on the lateral sides of the body.

[0007] The wall-climbing assembly comprises a first sliding member, a second sliding member slidingly connected to the side wall of the body, and a fixed member fixedly connected to the body, the fixed member being located at the middle part of the body, the first sliding member being located in the front side direction of the fixed member, and the second sliding member being located in the rear side direction of the fixed member; a first telescopic rod, a second telescopic rod and a third telescopic rod are arranged on the first sliding member, the second sliding member and the fixed member respectively, the first telescopic rod extending towards the front side of the body, the second telescopic rod extending towards the rear side of the body, and the third telescopic rod extending towards the outside of the body; the end of each of the first telescopic rod, the second telescopic rod and the third telescopic rod is connected with a fourth telescopic rod through an electric joint, and a vacuum suction cup is connected to the fourth telescopic rod.

[0008] In view of the problems of poor climbing stability, high falling risk and weak load capacity of the wall-climbing robot of the prior art for tunnel lining detection, the present application first proposes a wall-climbing robot for tunnel lining detection, wherein the geological radar, the image acquisition device, the steering wheel and the walking wheels can all use the prior art. The image acquisition device is used to acquire the survey line of the lining surface in the tunnel construction process, and then the direction of the survey line is used to control the orientation of the steering wheel, so as to control the overall moving direction of the body. The steering wheel and the walking wheels can be realized based on the existing control and power technology, which does not have difficulty for those skilled in the art. In the present application, the front and the rear are the front and the rear in the normal forward direction of the body in the tunnel, and the rear is the direction of the face; for the unconnected tunnel in construction, the front is the direction of the face and the rear is the direction of the opening. The lateral sides of the body in the present application refer to the left and right sides of the body in the front and rear direction.

[0009] In the present application, the wall-climbing assemblies on the two sides of the machine body are consistent in structure and keep synchronous movement. For a single wall-climbing assembly, the first sliding member and the second sliding member slide on the two sides of the fixed member respectively, and the sliding directions of the first sliding member and the second sliding member are both along the line connecting the front and back directions of the machine body, and the sliding stroke of each sliding member can be adaptively set according to specific working conditions. The first telescopic rod, the second telescopic rod and the third telescopic rod are respectively arranged on the first sliding member, the second sliding member and the fixed member, and the extension directions of the first telescopic rod, the second telescopic rod and the third telescopic rod are clearly defined. The fourth telescopic rod extending upward is connected to the end of the first telescopic rod, the second telescopic rod and the third telescopic rod through an electric joint, and the vacuum suction cup is connected to the top of each fourth telescopic rod, so as to ensure that the vacuum suction cup is attached to the inner wall of the tunnel lining through the electric joint and the fourth telescopic rod, thereby adapting to the detection of tunnels of different sizes and radii. The electric joint used in the present application can be obtained by using existing mature technology, and can be used to adjust the orientation of each fourth telescopic rod so that it is perpendicular to the radial direction of the tunnel lining.

[0010] The tunnel lining detection method based on the wall-climbing robot in the present application comprises:

[0011] S1, all the vacuum suction cups are adsorbed on the inner wall of the tunnel lining through negative pressure; the first sliding member and the second sliding member are respectively abutted on the front side wall and the rear side wall of the fixed member;

[0012] S2, the survey line in front of the machine body is identified through the image acquisition device; the steering wheel is rotated to make the forward movement direction of the machine body face the survey line;

[0013] S3, the corresponding vacuum suction cup on the first telescopic rod is released from adsorption; the corresponding fourth telescopic rod on the first telescopic rod is retracted so that the vacuum suction cup thereon is not in contact with the inner wall of the tunnel lining; the first telescopic rod is elongated forward; the corresponding fourth telescopic rod on the first telescopic rod is elongated so that the vacuum suction cup thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining again through negative pressure;

[0014] S4, the first telescopic rod is retracted so that the first sliding member slides forward;

[0015] S5, the corresponding vacuum suction cup on the third telescopic rod is released from adsorption; the corresponding fourth telescopic rod on the third telescopic rod is retracted so that the vacuum suction cup thereon is not in contact with the inner wall of the tunnel lining;

[0016] The walking wheel is started to move the machine body forward until the front side wall of the fixed member abuts against the first sliding member; during the forward movement of the machine body, the geological radar is started to detect;

[0017] The corresponding fourth telescopic rod on the third telescopic rod is elongated so that the vacuum suction cup thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining again through negative pressure;

[0018] S6, the second telescopic rod is elongated, so that the second sliding member slides forward until the second sliding member abuts against the rear side wall of the fixing member;

[0019] S7, the corresponding vacuum chuck on the second telescopic rod is released from adsorption; the corresponding fourth telescopic rod on the second telescopic rod is retracted, so that the vacuum chuck thereon is not in contact with the inner wall of the tunnel lining;

[0020] The second telescopic rod is retracted;

[0021] The corresponding fourth telescopic rod on the second telescopic rod is elongated, so that the vacuum chuck thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining again through negative pressure;

[0022] S8, steps S2-S7 are repeated until the image acquisition device cannot identify the survey line.

[0023] It can be seen that the wall-climbing robot of the present application always has at least four vacuum chucks adsorbed on the inner wall of the tunnel lining in the front-rear direction of the machine body during the working process, which can effectively share the stress and reduce the working load of the single vacuum chuck, thereby improving the climbing stability. More importantly, the walking movement of the present application is realized by the rolling of the walking wheels on the inner wall of the tunnel lining. During the movement, each vacuum chuck plays a role in positioning the machine body and avoiding the machine body from falling, and does not need to provide a pushing force or a pulling force for the movement of the machine body through the telescopic rod connected with the vacuum chuck. Therefore, compared with the wall-climbing robot in the prior art, the present application significantly reduces the adsorption difficulty of the vacuum chuck during the working process, improves the working condition of the vacuum chuck, reduces the risk of instability of the vacuum chuck caused by a larger pushing force or pulling force acting on the vacuum chuck, significantly improves the climbing stability and safety during the tunnel lining detection process, and at the same time improves the load-carrying capacity of the wall-climbing robot in the tunnel lining detection working condition, thereby facilitating the widening of the functionality of the wall-climbing robot in the tunnel lining detection.

[0024] Further, the first sliding member and the second sliding member are both in a C-shaped structure, the top end of the C-shaped structure is buckled on the top of the machine body, and the bottom end of the C-shaped structure is buckled on the bottom of the machine body; the machine body side wall is provided with a first sliding rail and a second sliding rail for sliding of the first sliding member and the second sliding member, respectively.

[0025] In the present scheme, the first sliding member and the second sliding member are buckled on both sides of the machine body through the C-shaped structure, and are self-positioned and limited by the top end and the bottom end of the C-shaped structure, so as to ensure that the first sliding member and the second sliding member can only slide in the front-rear direction of the machine body. In addition, the first sliding rail and the second sliding rail provide stable and safe sliding tracks for the first sliding member and the second sliding member, respectively.

[0026] Further, the ground penetrating radar is longitudinally slidingly fitted in the machine body, and the bottom of the ground penetrating radar is connected with the machine body through the lifting device; the front side wall and the rear side wall of the ground penetrating radar are provided with pressure sensing devices, and the top of the pressure sensing device is flush with the top of the ground penetrating radar.

[0027] The ground penetrating radar is best detected when it is attached to the tunnel lining during work. Therefore, the ground penetrating radar is arranged to be slidable along the machine body, and the height of the ground penetrating radar protruding from the top of the machine body is controlled by the lifting device, so that the probe of the ground penetrating radar is attached to the inner wall of the lining as much as possible, the air coupling is reduced, and the detection accuracy is improved. In addition, the front side wall and the rear side wall of the ground penetrating radar are provided with pressure sensing devices, and the top of the pressure sensing device is always flush with the top of the ground penetrating radar. When the front and rear pressure sensing devices cannot simultaneously sense the pressure, it can be judged that the ground penetrating radar is not fully attached to the tunnel lining, thereby providing a reasonable basis for controlling the lifting device.

[0028] Further, the first sliding rail and the second sliding rail respectively extend to both sides of the fixing member, and the both sides of the fixing member are respectively provided with first sensing devices and second sensing devices for sensing the first sliding member and the second sliding member. The first sensing devices and the second sensing devices are used to respectively sense whether the first sliding member and the second sliding member abut against the fixing member, thereby providing signal feedback and facilitating automatic control when the wall climbing robot of the present application works. The first sensing devices and the second sensing devices can be realized by touch sensors, pressure sensors, distance measuring sensors, etc., which are not limited here.

[0029] Further, it further includes a lining repair assembly arranged on the machine body; the lining repair assembly includes a through hole opened from the top of the machine body, a drill inserted in the through hole, a power mechanism for driving the drill to drill outward, a grouting channel located in the drill, and a grouting port opened from the surface of the drill and communicating with the grouting channel.

[0030] The prior art has a serious lag when a wall-climbing robot is used to detect tunnel lining, and additional grouting by manual or mechanical means is required after detection, which is complicated and tedious. However, due to the weak load-carrying capacity of the existing wall-climbing robot used for tunnel lining detection, there is no better solution in the prior art. In the present application, the wall-climbing robot has significantly increased load-carrying capacity because each vacuum suction cup does not need to bear the thrust or tension force for moving the robot body, so that the robot body can carry a lining repair assembly to achieve in-situ repair during detection, thereby enabling the wall-climbing robot to not only detect tunnel lining but also have the function of rapid repair, significantly improving the efficiency and convenience of tunnel construction.

[0031] The drill bit in the lining repair assembly is in a reset station in a normal state, and the top of the drill bit is received in the through hole, which does not interfere with the movement of the wall-climbing robot or the operation of the ground penetrating radar. When the wall-climbing robot automatically identifies a significant void area or the background staff determines in real time that the current detection area is significantly void, the wall-climbing robot can be controlled to remain in place, the drill bit is driven to start by the power mechanism, a hole is drilled in the tunnel lining to the void area, and the void area is supplemented with concrete slurry through the grouting channel and the grouting port. Of course, the grouting channel in the present application can be provided with concrete slurry by any mature method, such as pumping from outside the hole.

[0032] Further, the outer wall of the drill bit is provided with external threads; the power mechanism includes a transmission ring rotatably connected to the bottom of the robot body, a first gear fixedly sleeved on the outside of the transmission ring, a second gear engaged with the first gear, and a power device for driving the second gear to rotate; and the inner wall of the transmission ring is provided with internal threads matched with the external threads.

[0033] In the present application, the transmission ring is sleeved on the outside of the drill bit and connected with the drill bit through threads. The power device drives the second gear to rotate, which drives the first gear to rotate, and then the transmission ring rotates. Since the transmission ring can only rotate at the bottom of the robot body, the drill bit connected with the transmission ring through threads rotates along the axial direction, thereby effectively driving the drill bit. In addition, the direction of the output end of the power device can be adjusted to adjust whether the drill bit extends outside the through hole or is withdrawn into the through hole.

[0034] Further, the drill bit is hollow inside, a grouting pipe is fixedly connected inside the drill bit, the grouting pipe forms the grouting channel inside, a first sealing member is arranged between the grouting pipe and the inner wall of the drill bit, overflow holes are formed in the side wall of the grouting pipe, and the overflow holes and the grouting port are located above the first sealing member.

[0035] Further comprising a drainage channel opened in the interior of the body, one end of the drainage channel being communicated to the through hole and the other end being communicated to the bottom of the body; a second sealing member is arranged outside the end of the drainage channel communicated to the through hole;

[0036] Under the control of the power mechanism, the drill bit has a reset station in the through hole; when the drill bit is located at the reset station, the grout feeding port is communicated to the drainage channel.

[0037] In the scheme, the grout feeding pipe is fixedly arranged in the interior of the drill bit, an annular gap is formed between the grout feeding pipe and the drill bit, and the annular gap is sealed by the first sealing member; the grout feeding pipe moves synchronously with the drill bit. In a normal state, the drill bit is accommodated in the through hole, at this time, the drill bit is located at the reset station, and the grout feeding port is communicated to the drainage channel.

[0038] When it is necessary to repair the tunnel lining, a hole is drilled on the surface of the lining by the drill bit, then the concrete grout is input into the grout feeding pipe, the concrete grout flows through the grout feeding channel, the flow hole and the annular gap above the first sealing member in sequence, and finally flows out from the grout feeding port into the tunnel lining to be repaired, so that the concrete grout is injected. After the injection operation is completed, the drill bit returns to the reset station, at this time, clean water can be input into the grout feeding pipe for flushing, the clean water flows through the grout feeding channel, the flow hole and the annular gap above the first sealing member in sequence, and finally flows out from the drainage channel.

[0039] The scheme integrates the function of injecting the concrete grout into the drill bit by arranging the grout feeding pipe in the interior of the drill bit, so that it is not necessary to additionally arrange a grouting head, which is conducive to reducing the self-weight of the wall-climbing robot to improve the wall-climbing stability. In addition, the scheme avoids the tedious operation of drilling a hole by multiple times of alignment during the repair of the tunnel lining, and realizes the integrated and rapid operation of drilling and grouting. Meanwhile, the application further provides a cleaning channel for the grouting pipe by ingenious structure design, so that the concrete grout is prevented from being solidified and blocked in the interior of the grouting pipe, the flow hole and the grout feeding port.

[0040] Further, the ground following device comprises a vehicle body, a walking mechanism for driving the vehicle body to walk, and a negative pressure generating device, a power supply, a water storage tank and a grout storage tank arranged on the vehicle body;

[0041] The negative pressure generating device is connected with each vacuum suction cup through a first hose;

[0042] The power supply supplies power to the body through a flexible lead wire;

[0043] The water storage tank is internally provided with a submersible pump, an output end of the submersible pump is connected with a first pipeline extending upward, the first pipeline is connected with the grout supplementing pipe through a second hose; a first three-way control valve is further installed on the first pipeline, the first three-way control valve is connected with a second pipeline, the second pipeline extends into the grout storage tank;

[0044] A slurry pump is arranged on the top of the grout storage tank, an input end of the slurry pump extends to the bottom end inside the grout storage tank through a third pipeline, an output end of the slurry pump is connected with the grout supplementing pipe through a third hose; a stirring device arranged inside the grout storage tank, a material supplementing opening arranged on the side wall of the grout storage tank, and a material discharging opening are further arranged.

[0045] For the wall-climbing robot with the functions of drilling and grout supplementing in the application, the load is large, which is not conducive to the stability of wall climbing. Therefore, the ground following device is further arranged, the ground following device is arranged below the body of the wall-climbing robot through a vehicle body, the vehicle body realizes walking on the bottom surface of the tunnel through a walking mechanism, and the walking mechanism can adopt any existing tunnel vehicle walking mode to realize walking.

[0046] The negative pressure generating device, the power supply, the water storage tank, the grout storage tank and other devices are all installed on the ground following device, and are flexibly connected through respective corresponding hoses or flexible wires. The negative pressure generating device is used to provide negative pressure suction force for each vacuum cup, the power supply is used to supply power to all electrical equipment on the body, the water storage tank is used to provide clean water for cleaning the grouting pipe, and the grout storage tank is used to temporarily store concrete slurry for repairing the tunnel lining.

[0047] In addition, the first three-way control valve on the first pipeline is used to switch the pumping direction of the clean water pump, so that after the operation is completed, the clean water can be pumped into the grout storage tank through the second pipeline, the inside of the grout storage tank is cleaned, and the cleaning is discharged through the material discharging opening. In the operation process, the concrete slurry stored in the grout storage tank is continuously stirred by the stirring device to avoid solidification; when the slurry in the grout storage tank is insufficient, the material supplementing opening can be used for supplementing, and the material supplementing opening can also be connected to the tank car and other devices outside the tunnel through the hose.

[0048] As can be seen, the ground following device significantly reduces the load of the wall-climbing robot, fully guarantees the stability and safety of wall climbing on the tunnel lining, and provides sufficient support for the functional expansion of the application. In addition, the ground following device and the wall-climbing robot are connected through a plurality of hoses and flexible wires, so that they do not need to move completely synchronously, and the control precision requirement is reduced. Compared with using a large trolley for construction, the present application uses two small devices (the wall-climbing robot and the ground following device) to realize the operation, which overcomes the defects that the transportation cost of using a large trolley is extremely high, it is difficult to be applied to remote areas, mountainous areas and other operation conditions.

[0049] Further, in the process of starting the geological radar for detection, the detection signal of the geological radar is transmitted to the management background in real time; the management background judges in real time whether in-situ repair needs to be carried out; if yes, drilling is carried out through the drill carried by the machine body, and grout is supplemented into the tunnel lining through the grout supplement channel.

[0050] Compared with the prior art, the present application has at least the following advantages and beneficial effects:

[0051] 1、The tunnel lining detection crawling robot and the tunnel lining detection method, the walking movement is realized by the rolling of the walking wheels on the inner wall of the tunnel lining, and in the movement process, the vacuum suction cups play the role of positioning the machine body and avoiding the falling of the machine body, and the pushing force or the pulling force for moving the machine body is not provided through the telescopic rod connected with the vacuum suction cups, so that compared with the prior art, the adsorption difficulty of the vacuum suction cup in the working process is obviously reduced, the working condition of the vacuum suction cup is improved, the risk of instability of the suction cup caused by the larger pushing force or pulling force acting on the suction cup is reduced, the crawling stability and safety in the tunnel lining detection process are significantly improved, and the load capacity of the crawling robot in the tunnel lining detection working condition is improved, thereby facilitating the widening of the functionality of the crawling robot in the tunnel lining detection.

[0052] 2、The tunnel lining detection crawling robot and the tunnel lining detection method, at least four vacuum suction cups are always adsorbed on the inner wall of the tunnel lining, can effectively share the stress and reduce the working load of a single vacuum suction cup, and thereby improve the crawling stability.

[0053] 3、The tunnel lining detection crawling robot and the tunnel lining detection method can make the probe of the geological radar as much as possible to be attached to the inner wall of the lining, reduce air coupling, and improve detection accuracy.

[0054] 4、The tunnel lining detection crawling robot and the tunnel lining detection method, the lining repair assembly is carried on the machine body, so that in-situ repair is realized in the detection process, and thereby the crawling robot not only can be used for the detection of the tunnel lining, but also has the function of rapid repair, and the efficiency and operation convenience of the tunnel construction are significantly improved.

[0055] 5、The tunnel lining detection crawling robot and the tunnel lining detection method, the grout supplement pipe is arranged in the drill, so that the drill integrates the function of supplementing the concrete grout, and the grouting head does not need to be additionally arranged, which is conducive to reducing the self-weight of the crawling robot to improve the crawling stability; and the crawling robot avoids the cumbersome operation of repeatedly aligning and drilling holes in the process of repairing the tunnel lining, and realizes the integrated rapid operation of drilling and grouting.

[0056] 6, The wall-climbing robot for tunnel lining detection and the tunnel lining detection method, through ingenious structural design, provide a cleaning channel for the grouting pipe, avoid the solidification and blockage of the concrete slurry in the grouting pipe, overflow hole, grouting port and other areas after grouting is completed.

[0057] 7, The wall-climbing robot for tunnel lining detection and the tunnel lining detection method, through the ground following device, realize the miniaturization and lightweight design of the wall-climbing robot, significantly reduce the load of the wall-climbing robot, fully guarantee the wall-climbing stability and safety of the wall-climbing robot on the tunnel lining, and provide sufficient support for the functional expansion of the application. BRIEF DESCRIPTION OF DRAWINGS

[0058] The drawings described herein are used to provide further understanding of the embodiments of the application, constitute a part of the application, and do not constitute a limitation on the embodiments of the application. In the drawings:

[0059] Figure 1 is a structural schematic view of the specific embodiment of the application;

[0060] Figure 2 is a sectional view of the lining repair assembly in the specific embodiment of the application;

[0061] Figure 3 is a partial connection sectional view of the ground penetrating radar in the specific embodiment of the application;

[0062] Figure 4 is a sectional view of the ground following device in the specific embodiment of the application;

[0063] Figure 5 is a working process schematic view of the wall-climbing robot in the specific embodiment of the application.

[0064] Markings in the drawings and corresponding part names:

[0065] 1-body, 2-ground penetrating radar, 3-image acquisition device, 4-steering wheel, 5-traveling wheel, 6-first sliding member, 7-second sliding member, 8-fixing member, 9-first telescopic rod, 10-second telescopic rod, 11-third telescopic rod, 12-electric joint, 13-fourth telescopic rod, 14-transmission ring, 15-vacuum chuck, 16-first sliding rail, 17-second sliding rail, 18-lifting device, 19-pressure sensing device, 20-feeding port, 21-discharging port, 22-through hole, 23-drill bit, 24-grouting channel, 25-grouting port, 26-first gear, 27-second gear, 28-power device, 29-grouting pipe, 30-first sealing member, 31-flow hole, 32-liquid discharge channel, 33-second sealing member, 34-vehicle body, 35-traveling mechanism, 36-negative pressure generating device, 37-power supply, 38-water storage tank, 39-grouting tank, 40-first hose, 41-flexible wire, 42-submersible pump, 43-first pipeline, 44-second hose, 45-first three-way control valve, 46-second pipeline, 47-slurry pump, 48-third pipeline, 49-third hose, 50-agitating device. DETAILED DESCRIPTION

[0066] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with embodiments and drawings, the illustrative embodiments and the description thereof are only used to explain the present application, and are not regarded as limitation to the present application. In the description of the present application, it should be understood that the orientation or position relationship indicated by terms such as "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", "outer" and the like are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limitation to the scope of protection of the present application.

[0067] Example 1

[0068] As Figure 1 and Figure 2 shown in a wall-climbing robot for tunnel lining detection, comprising a body 1, a ground penetrating radar 2 located at the top of the body 1, an image acquisition device 3 and a steering wheel 4 arranged at the front end of the body 1, and traveling wheels 5 arranged at the rear end of the body 1; the body 1 is provided with a wall-climbing assembly on both sides in the transverse direction. The steering wheel 4 and the traveling wheel 5 are each provided with a motor for driving rotation. The image acquisition device 3 adopts a camera.

[0069] The wall-climbing assembly comprises a first sliding member 6, a second sliding member 7 and a fixing member 8 which are slidably connected to the side wall of the machine body 1. The fixing member 8 is located at the middle of the machine body 1 in the front-rear direction of the machine body 1; the first sliding member 6 is located at the front side of the fixing member 8, and the second sliding member 7 is located at the rear side of the fixing member 8; a first telescopic rod 9, a second telescopic rod 10 and a third telescopic rod 11 are arranged on the first sliding member 6, the second sliding member 7 and the fixing member 8 respectively, the first telescopic rod 9 extends towards the front side of the machine body 1, the second telescopic rod 10 extends towards the rear side of the machine body 1, and the third telescopic rod 11 extends towards the outer side of the machine body 1; the end of each of the first telescopic rod 9, the second telescopic rod 10 and the third telescopic rod 11 is connected with a fourth telescopic rod 13 through an electric joint 12, and a vacuum chuck 15 is connected to the fourth telescopic rod 13.

[0070] The first sliding member 6 and the second sliding member 7 are both in a C-shaped structure, the top end of the C-shaped structure is buckled to the top of the machine body 1, and the bottom end of the C-shaped structure is buckled to the bottom of the machine body 1; the side wall of the machine body 1 is provided with a first sliding rail 16 and a second sliding rail 17 for sliding of the first sliding member 6 and the second sliding member 7 respectively.

[0071] The first sliding rail 16 and the second sliding rail 17 extend to the two sides of the fixing member 8 respectively, and the two sides of the fixing member 8 are provided with a first sensing device and a second sensing device for sensing the first sliding member 6 and the second sliding member 7 respectively.

[0072] Preferably, the machine body 1 adopts a hollow or frame structure to facilitate reduction of self-weight; the machine body 1 can also be provided in an arch-shaped structure matching the tunnel to be detected; each telescopic rod adopts an electric push rod; in addition, the first sliding rail 16 and the second sliding rail 17 are both anti-derailing rails, and the first sliding member 6 and the second sliding member 7 are stably slid through matched anti-derailing blocks.

[0073] The embodiment further comprises a lining repair assembly arranged on the machine body 1.

[0074] The lining repair assembly, as shown in Figure 2 the drawings, comprises a through hole 22 formed at the top of the machine body 1, a drill bit 23 inserted into the through hole 22, a power mechanism for driving the drill bit 23 to drill outward, a grout supplement channel 24 located in the drill bit 23, and a grout supplement port 25 formed on the surface of the drill bit 23 and in communication with the grout supplement channel 24.

[0075] The outer wall of the drill bit 23 is provided with external threads; the power mechanism comprises a transmission ring 14 rotatably connected to the bottom of the machine body 1, a first gear 26 fixedly sleeved on the outside of the transmission ring 14, a second gear 27 engaged with the first gear 26, and a power device 28 for driving the second gear 27 to rotate; the inner wall of the transmission ring 14 is provided with internal threads matched with the external threads.

[0076] The drill bit 23 is internally hollow, and a grout supplementing pipe 29 is fixedly connected inside the drill bit 23, and the grout supplementing pipe 29 forms the grout supplementing channel 24 inside; a first sealing element 30 is arranged between the grout supplementing pipe 29 and the inner wall of the drill bit 23, and overflow holes 31 are formed in the side wall of the grout supplementing pipe 29, and the overflow holes 31 and the grout supplementing port 25 are both located above the first sealing element 30.

[0077] Further comprising a liquid discharge channel 32 formed in the machine body 1, one end of the liquid discharge channel 32 being communicated to the through hole 22 and the other end being communicated to the bottom of the machine body 1; a second sealing element 33 is arranged outside the end of the liquid discharge channel 32 communicated to the through hole 22. Preferably, the second sealing element 33 can be realized by sealing threads matched with the external threads of the outer wall of the drill bit 23.

[0078] Under the control of the power mechanism, the drill bit 23 has a reset station in the through hole 22; when the drill bit 23 is located at the reset station, the grout supplementing port 25 is communicated to the liquid discharge channel 32.

[0079] In a more preferred embodiment, a recess is formed in the bottom of the machine body 1 for accommodating the transmission ring 14, the first gear 26, the second gear 27 and the power device 28; a cover plate can be provided for the recess, and the cover plate allows the drill bit 23 to pass through. The transmission ring 14 and the machine body 1 can be rotatably connected by any existing mode, on the premise that the transmission ring 14 can only make rotational movement.

[0080] In a more preferred embodiment, the bottom end of the liquid discharge channel 32 is connected to a liquid discharge hose, which facilitates the collection of discharged cleaning liquid or waste liquid.

[0081] In a more preferred embodiment, when the drill bit 23 is located at the reset station, the top of the drill bit 23 is received into the through hole 22, and the bottom of the drill bit 23 can be extended below the machine body 1. This mode not only facilitates the setting of a longer drill bit and provides deeper drilling capability, but also facilitates the connection of the corresponding pipeline of the grout supplementing pipe 29 from the bottom end.

[0082] Example 2:

[0083] A wall-climbing robot for tunnel lining detection, based on example 1, like Figure 1 and Figure 3As shown, the geological radar 2 is longitudinally slidingly fitted in the body 1, and the bottom of the geological radar 2 is connected with the body 1 through the lifting device 18; the front side wall and the rear side wall of the geological radar 2 are both provided with the pressure sensing device 19, and the top of the pressure sensing device 19 is flush with the top of the geological radar 2. The lifting device 18 can be realized by using any existing electric control lifting technology.

[0084] In the embodiment, the top of the steering wheel 4 is equal in height to the top of the walking wheel 5, so that the two can be in contact with the inner wall of the tunnel lining at the same time. The top of the steering wheel 4 is equal in height to the top of the walking wheel 5, and both are higher than the top of the first sliding member 6, the second sliding member 7 and the fixing member 8, so as to avoid the interference of the first sliding member 6, the second sliding member 7 and the fixing member 8 with the normal walking of the application.

[0085] In a more preferred embodiment, during the walking of the wall-climbing robot, the lifting device 18 is used to keep the probe of the geological radar 2 at the same height as the top of the steering wheel 4 and the walking wheel 5, and the pressure sensing device 19 can be turned off during this process. When point detection is needed, the pressure sensing device 19 is started again to determine whether it is closely attached.

[0086] Embodiment 3:

[0087] A wall-climbing robot for tunnel lining detection, based on the embodiments 1 or 2, further comprises a ground following device. The ground following device is as shown in Figure 4 As shown, it comprises a vehicle body 34, a walking mechanism 35 for driving the vehicle body 34 to walk, and a negative pressure generating device 36, a power supply 37, a water storage tank 38 and a slurry storage tank 39 on the vehicle body 34;

[0088] The negative pressure generating device 36 is connected with each vacuum suction cup 15 through a first hose 40;

[0089] The power supply 37 supplies power to the body 1 through a flexible wire 41;

[0090] The water storage tank 38 is internally provided with a submersible pump 42, the output end of the submersible pump 42 is connected with a first pipeline 43 extending upward, the first pipeline 43 is connected with the slurry supplementing pipe 29 through a second hose 44; a first three-way control valve 45 is also installed on the first pipeline 43, the first three-way control valve 45 is connected with a second pipeline 46, and the second pipeline 46 extends into the slurry storage tank 39;

[0091] The top of the slurry tank 39 is provided with a slurry pump 47, the input end of the slurry pump 47 extends to the bottom end inside the slurry tank 39 through a third pipeline 48, and the output end of the slurry pump 47 is connected with the slurry supplementing pipe 29 through a third hose 49; further comprising a stirring device 50 located inside the slurry tank 39, a material supplementing port 20 located on the side wall of the slurry tank 39, and a material discharging port 21.

[0092] In the embodiment, the walking mechanism 35 has an independent power source, and the walking mechanism 35 and the walking wheel 5 are controlled by the same controller; after the walking wheel 5 drives the machine body 1 to walk for a certain distance, the vehicle body 34 is driven by the walking mechanism 35 to walk for the same distance in the same direction.

[0093] The negative pressure generating device 36 in the embodiment can adopt a vacuum pump, and the power supply 37 can adopt a storage battery.

[0094] In a more preferred embodiment, a second three-way control valve is further included, three joints of the second three-way control valve are respectively connected with the bottom end of the slurry supplementing pipe 29, the second hose 44 and the third hose 49. When grouting is needed, the third hose 49 is connected with the slurry supplementing pipe 29 through the second three-way control valve; when cleaning is needed, the second hose 44 is connected with the slurry supplementing pipe 29 through the second three-way control valve.

[0095] In a more preferred embodiment, the bottom end of the slurry supplementing pipe 29 is connected with a rotary joint, and the rotary joint is rotationally connected with one joint of the second three-way control valve. The rotary joint can adopt a n-joint.

[0096] Embodiment 4:

[0097] A tunnel lining detection method based on Figures 1 to 4 The working process of the wall-climbing robot is as shown in the figure during the execution of the method. Figure 5 It should be noted that, in Figure 5 , the left side direction is the front, and the right side direction is the back. Specifically, the tunnel lining detection method comprises the following steps:

[0098] S1, all the vacuum cups 15 are adsorbed on the inner wall of the tunnel lining by negative pressure; the first sliding member 6 and the second sliding member 7 abut on the front side wall and the rear side wall of the fixing member 8 respectively; at this time, the probe of the geological radar 2 also contacts the tunnel lining;

[0099] S2, the survey line in front of the machine body 1 is identified by the image acquisition device 3; the steering wheel 4 is rotated to make the advancing direction of the machine body 1 face the survey line;

[0100] S3, the corresponding vacuum chuck 15 on the first telescopic rod 9 is released from adsorption; the corresponding fourth telescopic rod 13 on the first telescopic rod 9 is retracted, so that the vacuum chuck 15 thereon is not in contact with the inner wall of the tunnel lining; the first telescopic rod 9 is elongated forward; the corresponding fourth telescopic rod 13 on the first telescopic rod 9 is elongated, so that the vacuum chuck 15 thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining again through negative pressure;

[0101] S4, the first telescopic rod 9 is retracted, so that the first sliding piece 6 slides forward; in this process, the corresponding vacuum chuck on the first telescopic rod 9 only bears the force generated by the sliding of the first sliding piece 6, rather than the force generated by the movement of the whole machine body 1;

[0102] S5, the corresponding vacuum chuck 15 on the third telescopic rod 11 is released from adsorption; the corresponding fourth telescopic rod 13 on the third telescopic rod 11 is retracted, so that the vacuum chuck 15 thereon is not in contact with the inner wall of the tunnel lining;

[0103] The walking wheel 5 is started, so that the machine body 1 moves forward, and the fixed piece 8 moves synchronously with the machine body 1 until the front side wall of the fixed piece 8 abuts against the first sliding piece 6; in the process of forward movement of the machine body 1, the geological radar 2 is deployed to detect work;

[0104] The corresponding fourth telescopic rod 13 on the third telescopic rod 11 is elongated, so that the vacuum chuck 15 thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining again through negative pressure;

[0105] S6, the second telescopic rod 10 is elongated, so that the second sliding piece 7 slides forward until the second sliding piece 7 abuts against the rear side wall of the fixed piece 8;

[0106] S7, the corresponding vacuum chuck 15 on the second telescopic rod 10 is released from adsorption; the corresponding fourth telescopic rod 13 on the second telescopic rod 10 is retracted, so that the vacuum chuck 15 thereon is not in contact with the inner wall of the tunnel lining;

[0107] The second telescopic rod 10 is retracted;

[0108] The corresponding fourth telescopic rod 13 on the second telescopic rod 10 is elongated, so that the vacuum chuck 15 thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining again through negative pressure;

[0109] S8, steps S2 to S7 are repeated until the image acquisition device 3 cannot identify the survey line.

[0110] In a more preferred embodiment, the detection signal of the geological radar 2 is also processed in real time to determine whether there is an obvious empty area. The real-time processing can be manually judged by a management background or automatically completed by arranging a lightweight machine learning model on the wall climbing robot or the ground following device.

[0111] If it is judged that the current detection position has a significant void area, the staff can be prompted to decide whether to expand the on-site repair; if so, the lining repair assembly is expanded to carry out on-site repair work.

[0112] The method for expanding the on-site repair work by the lining repair assembly includes:

[0113] All vacuum cups 15 on the body 1 are adsorbed on the inner wall of the tunnel lining, and the body 1 is positioned.

[0114] Drilling operation: the second gear 27 is driven to rotate by the power device 28, which drives the first gear 26 and the transmission ring 14 to rotate, and drives the drill bit 23 to move along the thread, the drill bit 23 rotates and gradually extends out of the through hole 22 to drill in the inner wall of the tunnel lining to the specified depth;

[0115] Grouting operation: start the slurry pump 47 to extract the concrete slurry from the slurry storage box 39, and pump it into the grouting channel 24 in the grouting pipe 29 through the third hose 49, and then enter the void area through the flow hole 31 and the grouting port 25; until the grouting pressure reaches the preset value, the pressure is stabilized for a set time, and the grouting operation is completed;

[0116] Cleaning operation: the drill bit 23 is driven to move in the opposite direction along the thread by the power device 28, so that the drill bit 23 returns to the reset station; start the submersible pump 42 to pump the clean water in the water storage tank 38, which flows through the first pipeline 43, the second hose 44, and then enters the grouting channel 24 in the grouting pipe 29, and then flows through the flow hole 31 and the grouting port 25 to enter the drainage channel 32; continue for a set time to complete the cleaning operation.

[0117] After the detection operation is completed, the first three-way control valve 45 is switched to connect the output end of the submersible pump 42 with the second pipeline 46; start the submersible pump 42 to pump the clean water in the water storage tank 38 into the slurry storage box 39, clean the slurry storage box 39 and discharge the waste liquid from the discharge port 21.

[0118] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

[0119] It is to be noted that, as used in this text, the terms "comprises", "comprising", or other variations such as "comprises", "comprising", or "including" merely specify the presence of stated features, integers, steps, or components, but do not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof. Furthermore, as used in this text, the term "coupled" means either a direct connection between components that are directly in contact with each other, or an indirect connection through other components where the coupling of intervention of other components is not explicitly shown.

Claims

1. A wall-climbing robot for tunnel lining inspection, comprising a body (1), a ground penetrating radar (2) located at the top of the body (1), characterized in that, The front end of the machine body (1) is provided with an image acquisition device (3) and a steering wheel (4), and the rear end of the machine body (1) is provided with a walking wheel (5); both sides of the machine body (1) are provided with a wall climbing assembly; The wall climbing assembly comprises a first sliding member (6), a second sliding member (7) and a fixed member (8), the first sliding member (6) and the second sliding member (7) are slidingly connected to the side wall of the machine body (1), and the fixed member (8) is fixedly connected to the machine body (1); the fixed member (8) is located at the middle part of the machine body (1), the first sliding member (6) is located at the front side of the fixed member (8), and the second sliding member (7) is located at the rear side of the fixed member (8); a first telescopic rod (9), a second telescopic rod (10) and a third telescopic rod (11) are arranged on the first sliding member (6), the second sliding member (7) and the fixed member (8) respectively, the first telescopic rod (9) extends towards the front side of the machine body (1), the second telescopic rod (10) extends towards the rear side of the machine body (1), and the third telescopic rod (11) extends towards the outside of the machine body (1); the end of each of the first telescopic rod (9), the second telescopic rod (10) and the third telescopic rod (11) is connected with a fourth telescopic rod (13) through an electric joint (12), and a vacuum suction cup (15) is connected to the fourth telescopic rod (13); The lining repair assembly comprises a through hole (22) formed in the top of the machine body (1), a drill bit (23) inserted into the through hole (22), a power mechanism for driving the drill bit (23) to drill outward, a grout supplement channel (24) located in the drill bit (23), and a grout supplement opening (25) formed in the surface of the drill bit (23) and communicating with the grout supplement channel (24); The drill bit (23) is hollow, a grout supplement pipe (29) is fixedly connected to the inside of the drill bit (23), and the grout supplement channel (24) is formed in the inside of the grout supplement pipe (29); a first sealing member (30) is arranged between the grout supplement pipe (29) and the inner wall of the drill bit (23), overflow holes (31) are formed in the side wall of the grout supplement pipe (29), and the overflow holes (31) and the grout supplement opening (25) are both located above the first sealing member (30); A drainage channel (32) is further formed in the inside of the machine body (1), one end of the drainage channel (32) communicates with the through hole (22), and the other end of the drainage channel (32) communicates with the bottom of the machine body (1); a second sealing member (33) is arranged outside the end of the drainage channel (32) communicating with the through hole (22); Under the control of the power mechanism, the drill bit (23) has a reset station in the through hole (22); when the drill bit (23) is located at the reset station, the grout supplement opening (25) communicates with the drainage channel (32).

2. The wall-climbing robot for tunnel lining inspection according to claim 1, characterized in that, The first sliding member (6) and the second sliding member (7) are both in C-shaped structure, the top end of the C-shaped structure is buckled on the top of the machine body (1), and the bottom end of the C-shaped structure is buckled on the bottom of the machine body (1); the side wall of the machine body (1) is provided with a first sliding rail (16) and a second sliding rail (17) for sliding of the first sliding member (6) and the second sliding member (7) respectively.

3. The wall-climbing robot for tunnel lining inspection according to claim 2, characterized in that, The geological radar (2) is longitudinally slidably connected in the machine body (1), and the bottom of the geological radar (2) is connected with the machine body (1) through the lifting device (18); the front side wall and the rear side wall of the geological radar (2) are both provided with a pressure sensing device (19), and the top of the pressure sensing device (19) is flush with the top of the geological radar (2).

4. The wall-climbing robot for tunnel lining inspection according to claim 2, characterized in that, The first sliding rail (16) and the second sliding rail (17) extend to the two sides of the fixing member (8) respectively, and the two sides of the fixing member (8) are respectively provided with a first sensing device and a second sensing device for sensing the first sliding member (6) and the second sliding member (7).

5. The wall-climbing robot for tunnel lining inspection according to claim 1, characterized in that, The drill bit (23) is provided with external threads on the outer wall; the power mechanism comprises a transmission ring (14) rotatably connected to the bottom of the machine body (1), a first gear (26) fixedly sleeved on the outside of the transmission ring (14), a second gear (27) engaged with the first gear (26), and a power device (28) for driving the second gear (27) to rotate; the inner wall of the transmission ring (14) is provided with internal threads matched with the external threads.

6. The wall-climbing robot for tunnel lining inspection according to claim 1, characterized in that, Further comprising a ground following device; the ground following device comprises a vehicle body (34), a walking mechanism (35) for driving the vehicle body (34) to walk, and a negative pressure generating device (36), a power supply (37), a water storage tank (38), and a slurry storage tank (39) located on the vehicle body (34); The negative pressure generating device (36) is connected with each vacuum suction cup (15) through a first hose (40); The power supply (37) supplies power to the machine body (1) through a flexible lead (41); The water storage tank (38) is internally provided with a submersible pump (42), an output end of the submersible pump (42) is connected with a first pipeline (43) extending upward, the first pipeline (43) is connected with the slurry supplementing pipe (29) through a second hose (44); a first three-way control valve (45) is further installed on the first pipeline (43), the first three-way control valve (45) is connected with a second pipeline (46) extending into the slurry storage tank (39); A slurry pump (47) is arranged on the top of the slurry storage tank (39), an input end of the slurry pump (47) extends to the bottom end inside the slurry storage tank (39) through a third pipeline (48), and an output end of the slurry pump (47) is connected with the slurry supplementing pipe (29) through a third hose (49); further comprising a stirring device (50) located inside the slurry storage tank (39), a material supplementing opening (20) and a material discharging opening (21) located on the side wall of the slurry storage tank (39).

7. A method of tunnel lining inspection, characterized in that, The wall climbing robot based on any one of claims 1-6, the tunnel lining detection method comprises the following steps: S1, all vacuum cups (15) are adsorbed on the inner wall of the tunnel lining by negative pressure; the first sliding piece (6) and the second sliding piece (7) abut against the front side wall and the rear side wall of the fixed piece (8) respectively; S2, the survey line in front of the machine body (1) is recognized by the image acquisition device (3); the steering wheel (4) is rotated to make the forward direction of the machine body (1) face the survey line; S3, the corresponding vacuum cup (15) on the first telescopic rod (9) is released from adsorption; the corresponding fourth telescopic rod (13) on the first telescopic rod (9) is retracted, so that the vacuum cup (15) thereon is not in contact with the inner wall of the tunnel lining; the first telescopic rod (9) is elongated forward; the corresponding fourth telescopic rod (13) on the first telescopic rod (9) is elongated, so that the vacuum cup (15) thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining by negative pressure again; S4, the first telescopic rod (9) is retracted, so that the first sliding piece (6) slides forward; S5, the corresponding vacuum cup (15) on the third telescopic rod (11) is released from adsorption; the corresponding fourth telescopic rod (13) on the third telescopic rod (11) is retracted, so that the vacuum cup (15) thereon is not in contact with the inner wall of the tunnel lining; The walking wheel (5) is started to make the machine body (1) move forward until the front side wall of the fixed piece (8) abuts against the first sliding piece (6); in the process of forward movement of the machine body (1), the geological radar (2) is started to detect; The corresponding fourth telescopic rod (13) on the third telescopic rod (11) is elongated, so that the vacuum cup (15) thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining by negative pressure again; S6, the second telescopic rod (10) is elongated to make the second sliding piece (7) slide forward until the second sliding piece (7) abuts against the rear side wall of the fixed piece (8); S7, the corresponding vacuum cup (15) on the second telescopic rod (10) is released from adsorption; the corresponding fourth telescopic rod (13) on the second telescopic rod (10) is retracted, so that the vacuum cup (15) thereon is not in contact with the inner wall of the tunnel lining; The second telescopic rod (10) is retracted; The corresponding fourth telescopic rod (13) on the second telescopic rod (10) is elongated, so that the vacuum cup (15) thereon is in contact with the inner wall of the tunnel lining again and is adsorbed on the inner wall of the tunnel lining by negative pressure again; S8, steps S2-S7 are repeated until the image acquisition device (3) cannot recognize the survey line.

8. A method of tunnel lining inspection according to claim 7, characterised in that, In the process of detecting by the geological radar (2), the detection signal of the geological radar (2) is transmitted to the management background in real time; The management background judges in real time whether it is necessary to expand the on-site repair; if yes, drilling is carried out by the drill bit (23) carried by the machine body (1), and grouting is carried out to the inside of the tunnel lining through the grouting channel (24).

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