Method for detecting flatness of local sprayed concrete of tunnel in real time

Abstract

The invention belongs to the technical field of tunnel construction, and particularly relates to a tunnel local sprayed concrete flatness real-time detection method, which comprises an industrial computer, a wireless communication module, a mobile bearing platform, and a data acquisition unit, a transposition mechanism, a telescopic mechanism and a rotating mechanism which are arranged on the mobile bearing platform, the data acquisition unit comprises a laser distance measuring sensor used for scanning the initial spraying surface of the tunnel. According to the tunnel local sprayed concrete flatness real-time detection method, real-time and non-contact three-dimensional scanning and accurate reconstruction of the surface morphology of tunnel initial sprayed concrete are realized through arrangement of a high-precision laser distance measuring sensor and a wireless communication module and data analysis, so that the quality control level of tunnel construction is greatly improved; and a solid technical foundation is laid for safe, efficient and sustainable development of tunnel engineering.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to a method for real-time detection of the flatness of local shotcrete in tunnels. Background Technology

[0002] Current concrete leveling methods still suffer from problems such as bulky equipment, lack of flexibility, and high failure rates. Furthermore, the subjectivity and uncertainty of manual operation make it difficult to consistently guarantee leveling quality, easily leading to defects such as insufficient flatness, pitting, honeycombing, exposed reinforcement, and cracks, affecting the durability and aesthetics of the concrete. These problems not only affect the overall quality of the tunnel but may also threaten its safety. The application of laser technology may be limited in complex geological and construction environments. For example, complex geological conditions and significant differences in surrounding rock properties may cause deviations in laser measurement data, affecting the accuracy of construction. Simultaneously, laser equipment is easily damaged or interfered with in harsh construction environments, affecting its normal operation. To further improve the quality and efficiency of tunnel construction, this application proposes a real-time detection method for the flatness of locally shotcrete in tunnels. Summary of the Invention

[0003] Based on the aforementioned technical problems, this invention proposes a method for real-time detection of the flatness of local shotcrete in tunnels.

[0004] The present invention proposes a method for real-time detection of local shotcrete flatness in tunnels, comprising an industrial computer, a wireless communication module, a mobile support platform, and a data acquisition unit, a telescopic mechanism, a transposition mechanism, and a rotation mechanism mounted on the mobile support platform.

[0005] The data acquisition unit includes a laser rangefinder for scanning the initial sprayed surface of the tunnel.

[0006] The telescopic mechanism includes a screw, and the data acquisition unit is raised and lowered by rotating the screw.

[0007] The shifting mechanism includes a turntable and a drive gear. A driven gear is fixedly sleeved on the outer surface of the turntable. The drive gear and the driven gear mesh, and the rotation of the turntable is achieved through the meshing of the drive gear and the driven gear.

[0008] The rotating mechanism includes a hinge seat mounted on the upper surface of the turntable. Two rotary motors are fixedly mounted on the two sides of the hinge seat via mounting plates. A first support rod and a second support rod are respectively sleeved on the inner wall of the hinge seat via two rotating shafts. One end of the output shaft of each of the two rotary motors is fixedly sleeved with one end of each of the two rotating shafts.

[0009] It also includes the following testing steps:

[0010] S1. In the safe area at the tunnel entrance, check whether the power and status of the mobile support platform, laser rangefinder, and wireless communication module are normal, and securely install the data acquisition unit on the mobile support platform.

[0011] S2. Turn on the power to the mobile carrier platform and the data acquisition unit, and turn on the detection system software of the industrial computer to establish a wireless communication link between the mobile carrier platform and the industrial computer, so that the system can perform self-test and calibration.

[0012] S3. Move the mobile support platform to the starting position of the tunnel inspection, and operate the mobile support platform to travel a short distance along the centerline of the tunnel at a constant, low speed each time.

[0013] S4. The telescopic mechanism is used to move the data acquisition unit closer to the tunnel surface, so that the data acquisition unit can start working. The rotating mechanism is used to move the laser rangefinder along the initial sprayed surface of the tunnel, so that the laser rangefinder can scan the initial sprayed surface of the tunnel.

[0014] S5, the laser rangefinder sensor transmits the detected data to the industrial computer in real time via a wireless communication module. Technicians can observe the surface flatness on the screen in real time. When an area with excessive flatness is found, the replacement mechanism is used to spray additional material.

[0015] Preferably, the telescopic mechanism further includes mounting seats symmetrically distributed on the upper surface of the mobile support platform, with a drive motor fixedly mounted on the upper surface of one of the mounting seats, both ends of the screw being mounted on the inner wall of one of the mounting seats via bearings, and a limit rod fixedly mounted on the inner wall of the other mounting seat, with one end of the output shaft of the drive motor being fixedly sleeved with one end of the screw.

[0016] The above technical solution utilizes the rotation of the output shaft of the drive motor to drive the screw connected to it to rotate.

[0017] Preferably, a movable block is threaded onto the surface of the screw, a support plate is fixedly connected to the side of the movable block away from the mounting base, a limit block is fixedly connected to the side of the support plate away from the movable block, the inner wall of the limit block is slidably engaged with the outer surface of the limit rod, the surfaces of the movable block and the limit block are respectively slidably engaged with the inner walls of the two mounting bases, and a limit switch is fixedly installed on the inner top wall of the mounting base.

[0018] Through the above technical solution, the rotation of the screw drives the moving block connected to it to move along the inner wall of the mounting base. The movement of the moving block drives the support plate connected to it to move. The movement of the support plate drives the limit plate to move along the surface of the limit rod and the inner wall of the mounting base respectively. When the limit block contacts the limit switch, the limit switch controls the drive motor to stop running.

[0019] Preferably, the shifting mechanism further includes a concave seat fixedly connected to one side of the support plate, the shaft of the drive gear is mounted on the inner wall of the concave seat via a bearing, a servo motor is fixedly mounted on the upper surface of the concave seat, one end of the output shaft of the servo motor is fixedly sleeved with the shaft of the drive gear, and the bottom of the turntable is mounted on the upper surface of the support plate via a bearing.

[0020] The above technical solution utilizes the rotation of the servo motor output shaft to drive the connected drive gear to rotate, the rotation of the drive gear to drive the meshing driven gear to rotate, and the rotation of the driven gear to drive the connected turntable to rotate.

[0021] Preferably, the rotating mechanism further includes adjusting motors that are fixedly installed on both sides of the hinge seat. One end of the output shaft of each of the two adjusting motors is fixedly sleeved with a bidirectional lead screw, and the two ends of the two bidirectional lead screws are respectively installed on the inner wall of the hinge seat through bearings.

[0022] The above technical solution utilizes the rotation of the motor output shaft to drive the bidirectional lead screw connected to it to rotate.

[0023] Preferably, two sliders are threaded onto the surfaces of the two bidirectional lead screws, and a connecting plate is magnetically connected to the opposite side surface of each of the four sliders via an electromagnet. A locking post is fixedly connected to one side surface of the connecting plate.

[0024] The above technical solution utilizes the rotation of a bidirectional lead screw to drive two sliders connected to it to move relative to each other along its surface. The movement of the sliders drives the movement of the connecting plate connected to them, and the movement of the connecting plate drives the movement of the locking pin.

[0025] Preferably, the surfaces of the first support rod and the second support rod and the inner wall of the hinge seat are provided with sliding grooves, and the surfaces of the slider and the connecting plate are slidably engaged with the inner wall of the sliding groove.

[0026] The above technical solution uses a sliding groove to limit the movement of the slider and the connecting plate.

[0027] Preferably, the surface of the rotating shaft has a slot, and the surface of the locking pin is slidably inserted into the inner wall of the slot.

[0028] The above technical solution utilizes the movement of the connecting plate to drive the locking pin to insert into the slot, thereby facilitating the connection of the first support rod or the second support rod with the rotating shaft.

[0029] Preferably, the laser rangefinder is mounted on the upper surface of the first support rod, and a nozzle is fixedly mounted on the upper surface of the second support rod.

[0030] The above technical solution utilizes the left and right deflection of the first support rod to drive the laser rangefinder to scan the tunnel surface, and the left and right deflection of the second support rod to drive the nozzle to spray uneven areas on the tunnel surface.

[0031] Preferably, the inner wall of the second support rod has a cavity, and the inner wall of the cavity is provided with a folded connecting tube. One end of the folded connecting tube is fixedly connected to the nozzle, and the other end of the folded connecting tube is connected to the stirring tank.

[0032] With the above technical solution, the concrete in the mixing tank enters the nozzle through the folded connecting pipe via the pump body, which facilitates the spraying of additional concrete.

[0033] The beneficial effects of this invention are as follows:

[0034] 1. By setting up high-precision laser ranging sensors, wireless communication modules, and data analysis, real-time, non-contact three-dimensional scanning and accurate reconstruction of the surface morphology of the initial shotcrete in tunnels can be achieved, thereby greatly improving the quality control level of tunnel construction and laying a solid technical foundation for the safety, efficiency, and sustainable development of tunnel engineering.

[0035] 2. By setting up a rotating mechanism, the adjusting motor drives the bidirectional lead screw to rotate, so that the locking pin can be inserted into the slot. This allows the first or second support rod to be connected to the rotating shaft as needed. Then, the rotating motor drives the rotating shaft to rotate, which in turn drives the first or second support rod connected to it to rotate. This facilitates the movement of the laser rangefinder or nozzle, thereby enabling real-time detection of the tunnel wall conditions.

[0036] 3. By setting up a switching mechanism, it is easy to interchange the positions of the laser rangefinder and the nozzle, so that the nozzle can accurately spray concrete according to the position. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a method for real-time detection of local shotcrete smoothness in tunnels, as proposed in this invention.

[0038] Figure 2 This is a three-dimensional view of the mobile support platform structure for a real-time detection method of local shotcrete flatness in tunnels proposed in this invention.

[0039] Figure 3 This is a three-dimensional view of the driven gear structure of a method for real-time detection of local shotcrete flatness in tunnels proposed in this invention.

[0040] Figure 4 This is a three-dimensional view of the screw structure of a method for real-time detection of local shotcrete flatness in tunnels proposed in this invention.

[0041] Figure 5 This is a three-dimensional view of the limiting rod structure of a method for real-time detection of local shotcrete flatness in tunnels proposed in this invention.

[0042] Figure 6 This is a three-dimensional view of the active gear structure of a method for real-time detection of local shotcrete flatness in tunnels proposed in this invention.

[0043] Figure 7 This is a three-dimensional view of the turntable structure of a method for real-time detection of local shotcrete flatness in tunnels proposed in this invention.

[0044] Figure 8 This is a three-dimensional view of the connecting plate structure of the real-time detection method for local shotcrete flatness in tunnels proposed in this invention.

[0045] Figure 9 This is a three-dimensional view of the slot structure of a method for real-time detection of local shotcrete flatness in tunnels proposed in this invention.

[0046] Figure 10 This is a three-dimensional view of the cavity structure of a method for real-time detection of local shotcrete flatness in tunnels proposed in this invention.

[0047] Figure 11 This is a system block diagram of a method for real-time detection of local shotcrete smoothness in tunnels, as proposed in this invention.

[0048] In the diagram: 1. Industrial computer; 2. Wireless communication module; 3. Mobile support platform; 4. Data acquisition unit; 41. Laser rangefinder sensor; 5. Screw; 51. Mounting base; 52. Drive motor; 53. Limit rod; 54. Moving block; 55. Support plate; 56. Limit block; 57. Limit switch; 6. Turntable; 61. Drive gear; 62. Driven gear; 63. Concave seat; 64. Servo motor; 7. Hinge seat; 71. Mounting plate; 72. Rotary motor; 73. Rotating shaft; 74. First support rod; 75. Second support rod; 76. Adjusting motor; 77. Bidirectional lead screw; 78. Slider; 79. Connecting plate; 710. Locking post; 711. Slide groove; 712. Slot; 8. Nozzle; 9. Cavity; 10. Folded connecting pipe; 11. Mixing tank. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0050] Reference Figures 1-11 A method for real-time detection of local shotcrete flatness in tunnels includes an industrial computer 1, a wireless communication module 2, a mobile support platform 3, and a data acquisition unit 4, a telescopic mechanism, a transposition mechanism, and a rotation mechanism installed on the mobile support platform 3.

[0051] The data acquisition unit 4 includes a laser rangefinder 41 for scanning the initial sprayed surface of the tunnel.

[0052] The telescopic mechanism includes a screw 5, which rotates to raise and lower the data acquisition unit 4.

[0053] In order to drive the screw 5 to rotate, the telescopic mechanism also includes mounting seats 51 symmetrically distributed on the upper surface of the mobile bearing platform 3. A drive motor 52 is fixedly mounted on the upper surface of one of the mounting seats 51. Both ends of the screw 5 are mounted on the inner wall of one of the mounting seats 51 through bearings. A limit rod 53 is fixedly mounted on the inner wall of the other mounting seat 51. One end of the output shaft of the drive motor 52 is fixedly sleeved with one end of the screw 5. The rotation of the output shaft of the drive motor 52 drives the screw 5 connected to it to rotate.

[0054] To bring the laser ranging sensor 41 closer to the tunnel surface, a movable block 54 is threaded onto the surface of the screw 5. A support plate 55 is fixedly connected to the side of the movable block 54 away from the mounting base 51. A limit block 56 is fixedly connected to the side of the support plate 55 away from the movable block 54. The inner wall of the limit block 56 is slidably engaged with the outer surface of the limit rod 53. The surfaces of the movable block 54 and the limit block 56 are slidably engaged with the inner walls of the two mounting bases 51, respectively. A limit switch 57 is fixedly installed on the inner top wall of the mounting base 51. The rotation of the screw 5 drives the movable block 54 connected to it to move along the inner wall of the mounting base 51. The movement of the movable block 54 drives the support plate 55 connected to it to move. The movement of the support plate 55 drives the limit plate to move along the surface of the limit rod 53 and the inner wall of the mounting base 51, respectively. When the limit block 56 contacts the limit switch 57, the limit switch 57 controls the drive motor 52 to stop running.

[0055] The shifting mechanism includes a turntable 6 and a drive gear 61. A driven gear 62 is fixedly sleeved on the outer surface of the turntable 6. The drive gear 61 and the driven gear 62 mesh, and the rotation of the turntable 6 is achieved through the meshing of the drive gear 61 and the driven gear 62.

[0056] To enable the rotation of the turntable 6, the shifting mechanism also includes a concave seat 63 fixedly connected to one side of the support plate 55. The shaft of the drive gear 61 is mounted on the inner wall of the concave seat 63 via a bearing. A servo motor 64 is fixedly mounted on the upper surface of the concave seat 63. One end of the output shaft of the servo motor 64 is fixedly sleeved with the shaft of the drive gear 61. The bottom of the turntable 6 is mounted on the upper surface of the support plate 55 via a bearing. The rotation of the output shaft of the servo motor 64 drives the drive gear 61 connected to it to rotate. The rotation of the drive gear 61 drives the driven gear 62 meshing with it to rotate. The rotation of the driven gear 62 drives the turntable 6 connected to it to rotate.

[0057] The rotating mechanism includes a hinge seat 7 mounted on the upper surface of the turntable 6. Two rotary motors 72 are fixedly mounted on the two sides of the hinge seat 7 via mounting plates 71. The inner wall of the hinge seat 7 is fitted with a first support rod 74 and a second support rod 75 via two rotating shafts 73. One end of the output shaft of the two rotary motors 72 is fixedly fitted to one end of the two rotating shafts 73 respectively.

[0058] To connect the first support rod 74 or the second support rod 75 to the rotating shaft 73, the rotating mechanism also includes adjusting motors 76 fixedly mounted on both sides of the hinge seat 7. One end of the output shaft of each adjusting motor 76 is fixedly fitted with a bidirectional lead screw 77. The two ends of the bidirectional lead screws 77 are respectively mounted on the inner wall of the hinge seat 7 via bearings. Two sliders 78 are threaded onto the surfaces of the two bidirectional lead screws 77. A connecting plate 79 is magnetically connected to the opposite side of each of the four sliders 78 via an electromagnet. A locking pin 71 is fixedly connected to one side of the connecting plate 79. 0. A slot 712 is provided on the surface of the rotating shaft 73. The surface of the locking pin 710 slides into the inner wall of the slot 712. By adjusting the rotation of the output shaft of the motor 76, the bidirectional lead screw 77 connected to it is driven to rotate. The rotation of the bidirectional lead screw 77 drives the two sliders 78 connected to it to move relative to each other along its surface. The movement of the sliders 78 drives the connecting plate 79 connected to it to move. The movement of the connecting plate 79 drives the locking pin 710 to move, so that the locking pin 710 is inserted into the slot 712, thereby facilitating the connection of the first support rod 74 or the second support rod 75 to the rotating shaft 73.

[0059] In order to limit the movement of slider 78 and connecting plate 79, grooves 711 are provided on the surfaces of the first support rod 74 and the second support rod 75 and the inner wall of the hinge seat 7. The surfaces of slider 78 and connecting plate 79 are slidably engaged with the inner wall of groove 711, and the movement of slider 78 and connecting plate 79 is limited by groove 711.

[0060] By setting up a rotating mechanism, the adjusting motor 76 drives the bidirectional lead screw 77 to rotate, so that the locking pin 710 is inserted into the slot 712. This facilitates the connection of the first support rod 74 or the second support rod 75 to the rotating shaft 73 as needed. Then, the rotating motor 72 drives the rotating shaft 73 to rotate, so that the rotation of the rotating shaft 73 drives the first support rod 74 or the second support rod 75 connected to it to rotate, which facilitates the movement of the laser range sensor 41 or the nozzle 8, thereby enabling real-time detection of the tunnel wall conditions.

[0061] To achieve the desired detection effect, a laser rangefinder 41 is mounted on the upper surface of the first support rod 74, and a nozzle 8 is fixedly mounted on the upper surface of the second support rod 75. The left and right deflection of the first support rod 74 drives the laser rangefinder 41 to scan the tunnel surface, and the left and right deflection of the second support rod 75 drives the nozzle 8 to spray the uneven areas of the tunnel surface.

[0062] To facilitate the application of additional concrete, a cavity 9 is provided on the inner wall of the second support rod 75. A folded connecting pipe 10 is provided on the inner wall of the cavity 9. One end of the folded connecting pipe 10 is fixedly connected to the nozzle 8, and the other end of the folded connecting pipe 10 is connected to the mixing tank 11. The concrete in the mixing tank 11 enters the nozzle 8 through the folded connecting pipe 10 via a pump body, which facilitates the application of additional concrete.

[0063] By setting up a switching mechanism, the positions of the laser rangefinder 41 and the nozzle 8 can be interchanged, enabling the nozzle 8 to accurately spray concrete according to its position.

[0064] A method for real-time detection of the flatness of local shotcrete in tunnels further includes the following detection steps:

[0065] S1. In the safe area at the tunnel entrance, check whether the power and status of the mobile support platform 3, laser rangefinder 41, and wireless communication module 2 are normal, and securely install the data acquisition unit 4 on the mobile support platform 3.

[0066] S2. Turn on the power to the mobile carrier platform 3 and the data acquisition unit 4, and turn on the detection system software of the industrial computer 1 to establish a wireless communication link between the mobile carrier platform 3 and the industrial computer 1, so that the system can perform self-test and calibration.

[0067] S3. Move the mobile carrier platform 3 to the starting position of the tunnel inspection, and operate the mobile carrier platform 3 to travel a short distance along the centerline of the tunnel at a constant, low speed each time.

[0068] S4. The telescopic mechanism is used to move the data acquisition unit 4 close to the tunnel surface, so that the data acquisition unit 4 starts to work. The rotating mechanism is used to move the laser range sensor 41 along the tunnel initial spraying surface, so that the laser range sensor 41 can scan the tunnel initial spraying surface.

[0069] S5, the laser rangefinder 41 transmits the detected data to the industrial computer 1 in real time through the wireless communication module 2. Technicians can observe the surface flatness on the screen in real time. When an area with excessive flatness is found, the replacement mechanism is used to spray additional material.

[0070] Working principle: When in use, first start the drive motor 52. The rotation of the output shaft of the drive motor 52 drives the screw 5 connected to it to rotate. The rotation of the screw 5 drives the moving block 54 connected to it to move upward along the inner wall of the mounting base 51. The upward movement of the moving block 54 drives the support plate 55 connected to it to move upward. The upward movement of the support plate 55 drives the limit plate to move upward along the surface of the limit rod 53 and the inner wall of the mounting base 51 respectively. When the limit block 56 contacts the limit switch 57, the limit switch 57 controls the drive motor 52 to stop running, so that the laser range sensor 41 on the first support rod 74 is close to the tunnel surface, which facilitates the laser range sensor 41 to scan the initial sprayed surface of the tunnel.

[0071] Simultaneously, the connecting plate 79 near the second support rod 75 and the slider 78 are magnetically connected together by an electromagnet, and the magnetic connection between the connecting plate 79 near the first support rod 74 and the slider 78 is disconnected. The adjusting motor 76 on the hinge seat 7 near the second support rod 75 is activated. The rotation of the output shaft of the adjusting motor 76 drives the bidirectional lead screw 77 connected to it to rotate. The rotation of the bidirectional lead screw 77 drives the two sliders 78 connected to it to move relative to each other along its surface. The movement of the sliders 78 drives the connecting plate 79 connected to it by an electromagnet to move along the inner wall of the slide groove 711. The movement of the connecting plate 79 drives the locking post 710 to move, so that the locking post 710 engages with the inner wall of the slot 712 in the second support rod 74. Then, the rotary motor 72 on the side near the first support rod 74 is activated. The rotation of the output shaft of the rotary motor 72 drives the rotating shaft 73 connected to it to rotate, so that the rotation of the rotating shaft 73 drives the first support rod 74 connected to it to rotate, so that the laser range sensor 41 on the first support rod 74 can perform a full scan of the tunnel initial spray surface.

[0072] The laser rangefinder 41 transmits the detected data to the industrial computer 1 in real time via the wireless communication module 2. Technicians can observe the surface flatness on the screen in real time. When an area with excessive flatness is found and respraying is required, the servo motor 64 is started. The rotation of the output shaft of the servo motor 64 drives the drive gear 61 connected to it to rotate. The rotation of the drive gear 61 drives the driven gear 62 meshing with it to rotate. The rotation of the driven gear 62 drives the turntable 6 connected to it to rotate, and the positions of the first support rod 74 and the second support rod 75 are swapped, so that the electromagnet of the connecting plate 79 near the second support rod 75 is disconnected from the electromagnet of the slider 78, and the connecting plate 79 near the first support rod 74 is connected to the slider 78 by the magnetic attraction of the electromagnet.

[0073] Using the adjusting motor 76 and the rotating motor 72 near the second support rod 75, the nozzle 8 is aligned with the detected part, so that the concrete in the mixing tank 11 enters the nozzle 8 through the folded connecting pipe 10 via the pump body for additional spraying.

[0074] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for real-time detection of the flatness of local shotcrete in tunnels, characterized in that: The utility model relates to a tunnel surface detection system, including industrial computer (1), wireless communication module (2), mobile bearing platform (3) and data acquisition unit (4) setting on the mobile bearing platform (3), telescopic mechanism, transposition mechanism and rotation mechanism, The data acquisition unit (4) includes a laser ranging sensor (41) for scanning the tunnel initial spraying surface; The telescopic mechanism includes a screw rod (5), and the rotation of the screw rod (5) realizes the lifting of the data acquisition unit (4); The transposition mechanism includes a rotating disc (6) and a driving gear (61), the outer surface of the rotating disc (6) is fixedly sleeved with a driven gear (62), the driving gear (61) is engaged with the driven gear (62), and the rotation of the rotating disc (6) is realized through the engagement of the driving gear (61) and the driven gear (62); The rotation mechanism includes a hinged seat (7) installed on the upper surface of the rotating disc (6), two rotating motors (72) are fixedly installed on the two side surfaces of the hinged seat (7) through mounting plates (71) respectively, and a first supporting rod (74) and a second supporting rod (75) are sleeved with two rotating shafts (73) on the inner wall of the hinged seat (7) respectively, one end of the output shaft of each of the two rotating motors (72) is fixedly sleeved with one end of each of the two rotating shafts (73); Further comprising the following detection steps: S1, in the tunnel entrance safety area, check whether the power and state of the mobile bearing platform (3), the laser ranging sensor (41) and the wireless communication module (2) are normal, and stably install the data acquisition unit (4) on the mobile bearing platform (3); S2, turn on the power supply of the mobile bearing platform (3) and the data acquisition unit (4), and turn on the detection system software of the industrial computer (1), establish the wireless communication link between the mobile bearing platform (3) and the industrial computer (1), and make the system self-check and calibrate; S3, drive the mobile bearing platform (3) to the tunnel detection starting position, and operate the mobile bearing platform (3) to travel a small distance along the tunnel center line at a constant and low speed each time; S4, use the telescopic mechanism to drive the data acquisition unit (4) to approach the tunnel surface, so that the data acquisition unit (4) starts to work, and use the rotation mechanism to drive the laser ranging sensor (41) to move along the tunnel initial spraying surface, so that the laser ranging sensor (41) scans the tunnel initial spraying surface; S5, the laser ranging sensor (41) transmits the detected data to the industrial computer (1) in real time through the wireless communication module (2), and the technical personnel can observe the surface flatness on the screen in real time, and when the flatness exceeds the limit area is found, the transposition mechanism is used for supplementary spraying.

2. The method according to claim 1, wherein the method is characterized by: The telescopic mechanism further comprises mounting seats (51) symmetrically arranged on the upper surface of the mobile bearing platform (3), the upper surface of one of the mounting seats (51) is fixedly provided with a driving motor (52), the two ends of the screw rod (5) are both fixedly provided with bearings on the inner wall of one of the mounting seats (51), the inner wall of the other mounting seat (51) is fixedly provided with a limiting rod (53), and one end of the output shaft of the driving motor (52) is fixedly sleeved with one end of the screw rod (5).

3. The method according to claim 2, wherein the method is characterized by: The surface of the screw rod (5) is threadedly sleeved with a moving block (54), one side surface of the moving block (54) away from the mounting seat (51) is fixedly connected with a supporting plate (55), one side surface of the supporting plate (55) away from the moving block (54) is fixedly connected with a limiting block (56), the inner wall of the limiting block (56) is slidably connected with the outer surface of the limiting rod (53), and the surfaces of the moving block (54) and the limiting block (56) are slidably connected with the inner walls of the two mounting seats (51), respectively.

4. The real-time detection method for the flatness of the sprayed concrete in the tunnel according to claim 3, characterized in that: The transposition mechanism further comprises a concave seat (63) fixedly connected to one side of the supporting plate (55), the shaft center of the driving gear (61) is arranged on the inner wall of the concave seat (63) through a bearing, the upper surface of the concave seat (63) is fixedly provided with a servo motor (64), one end of the output shaft of the servo motor (64) is fixedly sleeved with the shaft center of the driving gear (61), and the bottom of the rotating disc (6) is arranged on the upper surface of the supporting plate (55) through a bearing.

5. The method according to claim 4, wherein the method is characterized by: The rotating mechanism further comprises adjusting motors (76) fixedly arranged on the two side surfaces of the hinged seat (7), respectively, one end of the output shaft of each of the two adjusting motors (76) is fixedly sleeved with a bidirectional screw rod (77), and the two ends of the two bidirectional screw rods (77) are both arranged on the inner wall of the hinged seat (7) through bearings.

6. The method of claim 5, wherein the method further comprises: The surfaces of the two bidirectional screw rods (77) are both threadedly sleeved with sliding blocks (78), and the opposite side surfaces of the four sliding blocks (78) are both fixedly connected with connecting plates (79) through electromagnets, and one side surface of each connecting plate (79) is fixedly connected with a clamping column (710).

7. The method according to claim 6, wherein the method is characterized by: The surfaces of the first supporting rod (74), the second supporting rod (75) and the inner wall of the hinged seat (7) are all provided with sliding grooves (711), and the surfaces of the sliding blocks (78) and the connecting plates (79) are both slidably connected with the inner walls of the sliding grooves (711).

8. The method of claim 6, wherein the method further comprises: The surface of the rotating shaft (73) is provided with a slot (712), and the surface of the clamping column (710) is slidably connected with the inner wall of the slot (712).

9. The method of claim 1, wherein the method comprises: The laser ranging sensor (41) is arranged on the upper surface of the first supporting rod (74), and the upper surface of the second supporting rod (75) is fixedly provided with a nozzle (8).

10. The method of claim 9, wherein the method further comprises: The inner wall of the second supporting rod (75) is provided with a cavity (9), the inner wall of the cavity (9) is provided with a folding connecting pipe (10), one end of the folding connecting pipe (10) is fixedly communicated with the nozzle (8), and the other end of the folding connecting pipe (10) is communicated with a stirring tank body (11).

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