Detection vehicle for tunnel deformation detection

Abstract

The invention relates to the technical field of detection vehicles, in particular to a detection vehicle for tunnel deformation detection, which comprises a detection vehicle body, self-adaptive moving mechanisms are arranged on two sides of the detection vehicle body, a multi-attitude scanning mechanism is arranged at the upper end of the detection vehicle body, and a charging mechanism is arranged in one side of the detection vehicle body. The multi-attitude scanning mechanism comprises a hydraulic lifting column, the hydraulic lifting column is fixedly installed at the upper end of the detection vehicle body, and a bearing platform is fixedly installed at the upper end of the hydraulic lifting column. By arranging the multi-attitude scanning mechanism, a composite multi-degree-of-freedom mechanical structure is formed by the hydraulic lifting column, the rotating base, the pitching adjusting motor and the side telescopic arm, it is guaranteed that the scanning sensing assembly can flexibly and accurately adjust the pose in the three-dimensional space, dead-corner-free scanning of the vault, the side wall, the side wall and the wall corner of the tunnel is achieved, and the scanning precision is improved. The problems of multiple blind areas, low efficiency, poor consistency and the like existing in a traditional fixed or manual handheld scanning mode can be effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of inspection vehicle technology, and in particular to an inspection vehicle for detecting tunnel deformation. Background Technology

[0002] During construction and use, tunnels are prone to defects such as surrounding rock deformation, lining cracking, spalling, and water leakage due to complex geological conditions, construction disturbances, and long-term environmental influences, which seriously threaten the safety of the project. Therefore, timely, accurate, and comprehensive deformation and defect detection of tunnels is crucial. In addition, in order to improve the efficiency and accuracy of tunnel detection as much as possible, three-dimensional laser scanning technology is usually used to detect tunnels.

[0003] However, the scanning mechanism of the inspection vehicle equipped with laser scanning equipment in the existing technology has limited degrees of freedom, making it difficult to flexibly adjust its posture to eliminate scanning blind spots in areas such as tunnel arches and sidewalls. This will affect the integrity and accuracy of the inspection results. Moreover, when the equipment is operating automatically in narrow and complex tunnel environments, it lacks an effective anti-collision protection mechanism, and the expensive sensing equipment is easily damaged due to misoperation or sudden environmental changes. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a detection vehicle for tunnel deformation detection, which solves the technical problems of limited degrees of freedom in the scanning mechanism of existing detection vehicles and the lack of an effective anti-collision protection mechanism. It has the advantages of high degrees of freedom and the ability to flexibly and accurately adjust the scanning pose in three-dimensional space.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a detection vehicle for tunnel deformation detection, comprising a detection vehicle body, adaptive moving mechanisms on both sides of the detection vehicle body, a multi-pose scanning mechanism on the upper end of the detection vehicle body, and a charging mechanism inside one side of the detection vehicle body. The adaptive moving mechanisms are used to ensure that the detection vehicle body can move normally on various road surfaces. The multi-pose scanning mechanism is used to perform all-round, high-precision scanning of the tunnel arch, sidewalls, and edge walls. The multi-pose scanning mechanism includes a hydraulic lifting column, which is fixedly installed on the upper end of the detection vehicle body. A bearing platform is fixedly installed on the upper end of the hydraulic lifting column. A rotating base is movably installed on the bearing platform. A U-shaped plate is hinged to the rotating base. An adjusting motor for driving the U-shaped plate is fixedly installed on the outer side of the rotating base. A mounting plate is fixedly connected to the U-shaped plate. A scanning sensor component is detachably installed on the mounting plate. The hydraulic lifting column adopts a three-stage sleeve type, and each stage of the lifting column has a built-in high-precision magnetic scale for real-time feedback of absolute height.

[0006] Preferably, the mounting plate is provided with side telescopic arms on both sides. One end of the side telescopic arm is located inside the mounting plate, and the other end of the side telescopic arm is fixedly mounted with an end plate. A laser rangefinder and a high-definition camera are fixedly mounted on the end plate. When the side telescopic arm extends toward the inner wall of the tunnel, the laser rangefinder will measure the precise distance from the end of the side telescopic arm to the tunnel wall in real time, thereby avoiding collision between the high-definition camera and the inner wall of the tunnel.

[0007] Preferably, a flexible buffer strip is fixedly installed on the end plate. The flexible buffer strip integrates a pressure sensor. When the detection vehicle body passes through a narrow environment and the flexible buffer strip comes into contact with the wall, the pressure sensor will immediately send a signal to the controller, thereby stopping the movement of the detection vehicle body.

[0008] Preferably, the mounting plate has a drive gear movably mounted inside, and when the drive gear rotates, it causes the two side telescopic arms to extend or retract simultaneously.

[0009] Preferably, the adaptive movement mechanism includes main track assemblies symmetrically arranged on both sides of the inspection vehicle body. Several load-bearing support wheels are arranged on the inner side of the main track assembly. Rear swing arm assemblies and front swing arm assemblies are symmetrically arranged at both ends of the main track assembly. The rear swing arm assemblies and front swing arm assemblies are connected to the inspection vehicle body through their respective pivots and can passively and independently swing up and down around the axis. When encountering raised obstacles or depressions and potholes, the rear swing arm assemblies and front swing arm assemblies can adapt to the terrain undulations and swing, thereby ensuring that the track plates of the main track assembly can make maximum contact with the ground, thereby providing uniform and powerful ground pressure and traction, which can effectively prevent slippage or getting stuck.

[0010] Preferably, the lower end of the inspection vehicle body is provided with an installation groove, and a hydraulic cylinder is installed inside the installation groove. A telescopic wheel is installed at the lower end of the hydraulic cylinder. A lidar is fixedly installed at the upper end of the inspection vehicle body. The lidar is used to monitor the road conditions ahead of the tunnel. When the road conditions are flat, the telescopic wheel will extend out of the installation groove under the drive of the hydraulic cylinder. At this time, it is in the high-efficiency movement mode. When the road conditions are muddy or uneven, the telescopic wheel will retract into the installation groove. At this time, it is in the tracked mode.

[0011] Preferably, the charging mechanism includes a charging cavity inside the inspection vehicle body. A dustproof sliding plate is movably installed at the opening of the charging cavity, and a charging connector is provided inside the charging cavity. Initially, the dustproof sliding plate will close the charging cavity to prevent dust and gravel in the tunnel from entering the charging cavity. When the inspection vehicle body moves to the charging area in the tunnel, the dustproof sliding plate will be moved open by the action of the electric telescopic rod, thereby opening the charging cavity.

[0012] Preferably, a rubber alignment cylinder is fixedly installed on the outer periphery of the charging connector. The other end of the rubber alignment cylinder is fixedly connected to the inner wall of the charging cavity. The rubber alignment cylinder is horn-shaped, with the section near the charging connector being smaller. When the rubber alignment cylinder deforms, it will make a slight adjustment to the position of the charging connector. Thus, when the charging rod on the charging pile extends into the rubber alignment cylinder, even if there is a certain deviation between the position of the charging rod and the charging connector, it can still ensure that the charging rod is in contact with the charging connector.

[0013] By employing the above technical solution, the present invention provides a detection vehicle for tunnel deformation detection, which has at least the following beneficial effects: 1. This invention, by setting up a multi-posture scanning mechanism, consists of a hydraulic lifting column, a rotating base, a pitch adjustment motor, and a side telescopic arm, forming a composite multi-degree-of-freedom mechanical structure. This ensures that the scanning sensing components can flexibly and accurately adjust their posture in three-dimensional space, achieving blind-spot-free scanning of the tunnel arch, side walls, side walls, and corners. It can effectively avoid the problems of numerous blind spots, low efficiency, and poor consistency that exist in traditional fixed or manual handheld scanning methods.

[0014] 2. By setting up a multi-posture scanning mechanism and utilizing the cooperation between the flexible buffer strip and the pressure sensor, this invention forms a dual safety guarantee mechanism of ranging warning and contact emergency stop. When the equipment is operating in a narrow tunnel with sudden deformation, it can effectively avoid collision damage between the expensive scanning sensor components and the tunnel wall, greatly improving the environmental adaptability of the equipment.

[0015] 3. By setting up an adaptive movement mechanism, the present invention utilizes the cooperation between the main track assembly, the rear swing arm assembly, and the front swing arm assembly to ensure that the inspection vehicle body can maintain maximum contact with the ground when traveling on unstructured roads such as mud and gravel, thereby providing continuous traction for the inspection vehicle body and greatly enhancing the passability of the inspection vehicle body in the harsh environment of unfinished tunnels.

[0016] 4. By setting an adaptive movement mechanism, when the road surface ahead is perceived to be flat, the hydraulic cylinder will drive the telescopic wheels to extend, so that the inspection vehicle body switches to a low-resistance, low-noise, wheeled high-efficiency mode. When the road conditions are perceived to deteriorate, the inspection vehicle body will automatically revert to a fully tracked high-passability mode, which can effectively improve work efficiency and equipment adaptability.

[0017] 5. By setting up a charging mechanism, the present invention utilizes the cooperation between the dustproof sliding plate and the rubber correction cylinder to achieve intelligent protection and high fault tolerance of the charging connector. During charging, the dustproof sliding plate will automatically open, and the rubber correction cylinder will make fine adjustments to the position of the charging connector through elastic deformation, which can effectively improve the success rate of docking and significantly improve the reliability of automatic charging in harsh tunnel environments. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a perspective view of the overall structure of the present invention; Figure 2 This is a schematic diagram of the adaptive movement mechanism in this invention; Figure 3 This is a schematic diagram of the structure for installing the circular groove in this invention; Figure 4 This is a schematic diagram of the telescopic wheel in this invention; Figure 5 This is a schematic diagram of the multi-pose scanning mechanism in this invention; Figure 6 This is a schematic diagram of the side telescopic arm in this invention; Figure 7 This is a schematic diagram of the charging mechanism in this invention.

[0019] In the diagram: 1. Inspection vehicle body; 2. Adaptive movement mechanism; 201. Main track assembly; 202. Load-bearing support wheel; 203. Rear swing arm assembly; 204. Front swing arm assembly; 205. Mounting groove; 206. Hydraulic cylinder; 207. Telescopic wheel; 208. LiDAR; 3. Multi-pose scanning mechanism; 301. Hydraulic lifting column; 302. Load-bearing platform; 303. Rotating base; 304. U-shaped plate; 305. Adjustment motor; 306. Mounting plate; 307. Scanning sensor assembly; 308. Side telescopic arm; 309. End plate; 310. Laser rangefinder; 311. Flexible buffer strip; 312. Drive gear; 4. Charging mechanism; 401. Charging cavity; 402. Dustproof sliding plate; 403. Charging connector; 404. Rubber correction cylinder. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1 Existing technologies using inspection vehicles equipped with laser scanning devices have limited degrees of freedom in their scanning mechanisms, making it difficult to flexibly adjust their posture to eliminate blind spots in areas such as tunnel arches and sidewalls. This affects the completeness and accuracy of the inspection results. Furthermore, when operating automatically in narrow and complex tunnel environments, the equipment lacks effective collision protection mechanisms, and expensive sensing devices are easily damaged due to misoperation or sudden environmental changes. To address these technical shortcomings in existing technologies, such as... Figure 1 , Figure 2 , Figure 5 as well as Figure 6 As shown, this embodiment proposes a detection vehicle for tunnel deformation detection, which can flexibly and accurately adjust its posture in three-dimensional space to achieve a blind-spot-free scan of the tunnel arch, sidewalls, edge walls, and corners. The detection vehicle includes a detection vehicle body 1, with adaptive movement mechanisms 2 on both sides of the detection vehicle body 1, a multi-pose scanning mechanism 3 on the upper end of the detection vehicle body 1, and a charging mechanism 4 inside one side of the detection vehicle body 1. The adaptive movement mechanisms 2 are used to ensure that the detection vehicle body 1 can move normally on various road surfaces, and the multi-pose scanning mechanism 3 is used to perform all-round, high-precision scanning of the tunnel arch, sidewalls, and edge walls.

[0022] Specifically, the multi-pose scanning mechanism 3 includes a hydraulic lifting column 301, which is fixedly installed on the upper end of the inspection vehicle body 1. A support platform 302 is fixedly installed on the upper end of the hydraulic lifting column 301. A rotating base 303 is movably installed on the support platform 302. A U-shaped plate 304 is hinged to the rotating base 303. An adjustment motor 305 for driving the U-shaped plate 304 is fixedly installed on the outer side of the rotating base 303. A mounting plate 306 is fixedly connected to the U-shaped plate 304. A scanning sensor component 307 is detachably installed on the mounting plate 306. The hydraulic lifting column 301 adopts a three-stage sleeve type, with each stage of the lifting column having a built-in high-precision magnetic scale for real-time feedback of absolute height. Side telescopic arms 308 are respectively provided on both sides of the mounting plate 306. One end of the side telescopic arm 308 is located inside the mounting plate 306. The other end of the telescopic arm 308 is fixedly installed with an end plate 309. A laser rangefinder 310 and a high-definition camera are fixedly installed on the end plate 309. When the side telescopic arm 308 extends toward the inner wall of the tunnel, the laser rangefinder 310 will measure the precise distance from the end of the side telescopic arm 308 to the tunnel wall in real time, thereby avoiding collision between the high-definition camera and the inner wall of the tunnel. A flexible buffer strip 311 is fixedly installed on the end plate 309. The flexible buffer strip 311 integrates a pressure sensor. When the detection vehicle body 1 passes through a narrow environment and the flexible buffer strip 311 comes into contact with the wall, the pressure sensor will immediately send a signal to the controller, thereby stopping the movement of the detection vehicle body 1. A drive gear 312 is movably installed inside the mounting plate 306. When the drive gear 312 rotates, it will cause the two side telescopic arms 308 to extend or retract simultaneously.

[0023] As can be seen from the above, when the detection vehicle 1 enters the tunnel and moves along the predetermined route, the hydraulic lifting column 301 will extend upward a certain distance under the action of the controller, so that the scanning sensor component 307 is at the optimal scanning height.

[0024] After the height positioning is completed, the rotating base 303 will be driven by the bottom servo motor to drive the U-shaped plate 304, the mounting plate 306 and the scanning sensor component 307 to rotate continuously or in increments of 360 degrees, thereby ensuring that the main scanning sensor inside the scanning sensor component 307 can collect point cloud data of the entire circumference of the tunnel section.

[0025] Furthermore, in order to vertically cover areas with different inclination angles, such as the tunnel arch, arch line, side walls, and corners, the controller will start the adjustment motor 305. Subsequently, the adjustment motor 305 will drive the U-shaped plate 304 to pitch and swing relative to the rotating base 303, so that the mounting plate 306 and the scanning sensor component 307 on it can point at the tunnel wall at different pitch angles.

[0026] When it is necessary to focus on scanning the sidewall or to observe defects at close range, the controller will instruct the drive gear 312 to rotate while rotating to the side. Subsequently, the side telescopic arm 308 will extend horizontally towards the tunnel sidewall. During this process, the laser rangefinder 310 fixed on the end plate 309 will work continuously to measure the distance from the end of the arm to the tunnel wall in real time, ensuring that the high-definition camera maintains the optimal working distance, so as to obtain high-resolution images and avoid mechanical collisions.

[0027] In addition, during the entire scanning process, the pressure sensor integrated inside the flexible buffer strip 311 will act as the last physical line of defense. If the end plate 309 and its components are too close to the tunnel wall due to local deformation of the tunnel or deviation in path planning, the flexible buffer strip 311 will deform first. At this time, the pressure sensor will immediately send an emergency stop signal to the main controller of the detection vehicle body 1.

[0028] Subsequently, the controller will immediately stop the rotation of the rotating base 303, adjust the operation of the motor 305, and extend and retract the side telescopic arm 308, thereby preventing damage to the equipment.

[0029] This embodiment features a multi-pose scanning mechanism 3, which comprises a hydraulic lifting column 301, a rotating base 303, a pitch adjustment motor 305, and a side telescopic arm 308, forming a composite multi-degree-of-freedom mechanical structure. This ensures that the scanning sensor component 307 can flexibly and accurately adjust its posture in three-dimensional space, achieving a blind-spot-free scan of the tunnel arch, sidewalls, edge walls, and corners. This effectively avoids the problems of numerous blind spots, low efficiency, and poor consistency associated with traditional fixed or manual handheld scanning methods. Furthermore, by setting up the multi-pose scanning mechanism 3, this embodiment utilizes the interaction between the flexible buffer strip 311 and the pressure sensor to form a dual safety guarantee mechanism of ranging warning and emergency stop upon contact. When the equipment operates in narrow tunnels with sudden deformation, it can effectively prevent the expensive scanning sensor component 307 from colliding and being damaged by the tunnel wall, greatly improving the environmental adaptability of the equipment.

[0030] Example 2 To enhance the passability of the inspection vehicle 1 in the harsh environment of unfinished tunnels and improve operational efficiency and equipment adaptability, based on Example 1, as follows: Figures 1-4 As shown, this embodiment includes an adaptive movement mechanism 2. Specifically, the adaptive movement mechanism 2 includes main track assemblies 201 symmetrically arranged on both sides of the detection vehicle body 1. Several load-bearing support wheels 202 are arranged on the inner side of the main track assembly 201. A rear swing arm assembly 203 and a front swing arm assembly 204 are symmetrically arranged at both ends of the main track assembly 201. The rear swing arm assembly 203 and the front swing arm assembly 204 are connected to the detection vehicle body 1 via their respective pivots and can passively and independently swing up and down around their axes. When encountering raised obstacles or depressions, the rear swing arm assembly 203 and the front swing arm assembly 204 can adaptively swing to the terrain undulations, thereby ensuring that the track plates of the main track assembly 201 can reach the maximum... To maximize contact with the ground and provide uniform and powerful ground pressure and traction, effectively preventing slippage or getting stuck, the lower end of the detection vehicle body 1 is provided with a mounting groove 205. A hydraulic cylinder 206 is installed inside the mounting groove 205, and a telescopic wheel 207 is installed at the lower end of the hydraulic cylinder 206. A lidar 208 is fixedly installed at the upper end of the detection vehicle body 1. The lidar 208 is used to monitor the road conditions ahead of the tunnel. When the road conditions are flat, the telescopic wheel 207 will extend out of the mounting groove 205 under the drive of the hydraulic cylinder 206, which is in the high-efficiency movement mode. When the road conditions are muddy or uneven, the telescopic wheel 207 will retract into the mounting groove 205, which is in the tracked mode.

[0031] As can be seen from the above, when the inspection vehicle 1 moves in the tunnel, the lidar 208 will monitor the road conditions ahead in real time. When the inspection vehicle 1 passes through gravel, mud, or uneven road surfaces in the tunnel, the entire weight of the vehicle is borne by the main track assembly 201, as well as the rear swing arm assembly 203 and the front swing arm assembly 204 at both ends, which can swing independently. At this time, the rear swing arm assembly 203 and the front swing arm assembly 204 located at the front and rear ends of the main track assembly 201 will swing up and down independently and passively according to the undulation of the road surface, thereby providing strong ground pressure and continuous traction for the inspection vehicle 1, which can effectively prevent slippage or overall sinking caused by single-point suspension.

[0032] When the lidar 208 detects a completed, flat concrete road surface ahead, the controller will issue a command to drive the hydraulic cylinder 206 to extend downwards, thereby lowering the telescopic wheel 207 to the ground and bearing the main load. At this time, the inspection vehicle body 1 will transform into a low-resistance, low-wear wheeled movement state, which can realize fast, quiet and energy-saving long-distance transfer or inspection.

[0033] This embodiment, by setting up an adaptive movement mechanism 2, utilizes the cooperation between the main track assembly 201, the rear swing arm assembly 203, and the front swing arm assembly 204 to ensure that the inspection vehicle body 1 can maintain maximum ground contact when traveling on unstructured surfaces such as mud and gravel, thereby providing continuous traction for the inspection vehicle body 1 and greatly enhancing its passability in the harsh environment of unfinished tunnels. Moreover, by setting up the adaptive movement mechanism 2, when the road surface ahead is perceived to be flat, the hydraulic cylinder 206 will drive the telescopic wheel 207 to extend, causing the inspection vehicle body 1 to switch to a low-resistance, low-noise, high-efficiency wheeled mode. When the road conditions are perceived to deteriorate, the inspection vehicle body 1 will automatically revert to a full-track high-passability mode, which can effectively improve work efficiency and equipment adaptability.

[0034] Example 3 To maximize the duration and length of a single tunnel inspection, based on the above embodiments, such as... Figure 2 , Figure 3 as well as Figure 7As shown, this embodiment includes a charging mechanism 4. Specifically, the charging mechanism 4 includes a charging cavity 401 inside the inspection vehicle body 1. A dustproof sliding plate 402 is movably installed at the opening of the charging cavity 401. A charging connector 403 is provided inside the charging cavity 401. Initially, the dustproof sliding plate 402 closes the charging cavity 401 to prevent dust and gravel from entering the charging cavity 401. When the inspection vehicle body 1 moves to the charging area inside the tunnel, the dustproof sliding plate 402 is moved open by the electric telescopic rod, thereby opening the charging cavity. When 401 is opened, a rubber alignment cylinder 404 is fixedly installed on the outer periphery of the charging connector 403. The other end of the rubber alignment cylinder 404 is fixedly connected to the inner wall of the charging cavity 401. The rubber alignment cylinder 404 is horn-shaped, with a smaller section near the charging connector 403. When the rubber alignment cylinder 404 deforms, it will make a slight adjustment to the position of the charging connector 403. Thus, when the charging rod on the charging pile extends into the rubber alignment cylinder 404, even if there is a certain deviation between the position of the charging rod and the charging connector 403, it can still ensure that the charging rod contacts the charging connector 403.

[0035] As can be seen from the above, when the detection vehicle body 1 is moving or operating in a non-charging state, the dustproof sliding plate 402 will seal the opening of the charging cavity 401, forming a physical barrier, which can effectively isolate the high concentration of dust, water vapor and possible flying gravel in the tunnel, preventing them from intruding and contaminating or damaging the internal charging connector 403.

[0036] Once the inspection vehicle 1 moves to the pre-set fixed charging station area inside the tunnel and stops precisely, the staff will control the electric telescopic rod to automatically slide open the dustproof sliding plate 402, thereby exposing the charging cavity 401 and the internal charging connector 403, preparing for docking.

[0037] Subsequently, the test vehicle body 1 will gradually approach the charging pile, so that the charging rod on the charging pile enters the rubber alignment cylinder 404 and gradually approaches the charging connector 403. During this process, the horn-shaped rubber alignment cylinder 404 will guide the charging rod. Under the continuous insertion force of the charging rod, the elastic rubber alignment cylinder 404 will undergo controllable elastic deformation, using its side wall to generate a lateral guiding force on the charging rod, while driving the charging connector 403 at its end to produce a slight floating displacement, thereby dynamically correcting the relative position of the two. Finally, the charging rod will precisely dock with the charging connector 403.

[0038] This embodiment, by setting up a charging mechanism 4, utilizes the cooperation between the dustproof sliding plate 402 and the rubber correction cylinder 404 to achieve intelligent protection and high fault-tolerant docking of the charging connector 403. During charging, the dustproof sliding plate 402 will automatically open, and the rubber correction cylinder 404 will finely adjust the position of the charging connector 403 through elastic deformation, which can effectively improve the success rate of docking and significantly improve the reliability of automatic charging in harsh tunnel environments.

[0039] The control method of this invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the art. Furthermore, since this invention is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail here.

[0040] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A detection vehicle for tunnel deformation detection, comprising a detection vehicle body (1), characterized in that: The both sides of the detection vehicle body (1) are provided with adaptive moving mechanisms (2), the upper end of the detection vehicle body (1) is provided with a multi-pose scanning mechanism (3), and the inside of one side of the detection vehicle body (1) is provided with a charging mechanism (4). The multi-pose scanning mechanism (3) comprises a hydraulic lifting column (301) fixedly installed at the upper end of the detection vehicle body (1), a bearing platform (302) fixedly installed at the upper end of the hydraulic lifting column (301), a rotating base (303) movably installed on the bearing platform (302), a U-shaped plate body (304) hingedly connected to the rotating base (303), an adjusting motor (305) fixedly installed on the outer side of the rotating base (303) and used for driving the U-shaped plate body (304), and an installation flat plate (306) fixedly connected to the U-shaped plate body (304), wherein a scanning sensor assembly (307) is detachably installed on the installation flat plate (306).

2. The detection vehicle for tunnel deformation detection according to claim 1, characterized in that: The both sides of the installation flat plate (306) are respectively provided with side telescopic arms (308), one end of each side telescopic arm (308) is located in the inside of the installation flat plate (306), the other end of each side telescopic arm (308) is fixedly installed with an end straight plate (309), and a laser range finder (310) and a high-definition camera are fixedly installed on the end straight plate (309).

3. The detection vehicle for tunnel deformation detection according to claim 2, characterized in that: The end straight plate (309) is fixedly installed with a flexible buffer strip (311), and the inside of the flexible buffer strip (311) is integrated with a pressure sensor.

4. The detection vehicle for tunnel deformation detection according to claim 1, characterized in that: The inside of the installation flat plate (306) is movably installed with a driving gear (312).

5. The detection vehicle for tunnel deformation detection according to claim 1, characterized in that: The adaptive moving mechanism (2) comprises main track assemblies (201) symmetrically arranged at the both sides of the detection vehicle body (1), a plurality of load-bearing support wheels (202) arranged on the inner side of each main track assembly (201), and rear swing arm assemblies (203) and front swing arm assemblies (204) symmetrically arranged at the both ends of each main track assembly (201).

6. The detection vehicle for tunnel deformation detection according to claim 5, characterized in that: The lower end of the detection vehicle body (1) is provided with a mounting circular groove (205), the inside of the mounting circular groove (205) is provided with a hydraulic cylinder (206), the lower end of the hydraulic cylinder (206) is provided with a telescopic wheel (207), and the upper end of the detection vehicle body (1) is fixedly installed with a laser radar (208).

7. The detection vehicle for tunnel deformation detection according to claim 1, characterized in that: The charging mechanism (4) comprises a charging cavity (401) formed in the inside of the detection vehicle body (1), a dustproof sliding plate (402) movably installed at the opening of the charging cavity (401), and a charging connector (403) arranged in the inside of the charging cavity (401).

8. The detection vehicle for tunnel deformation detection according to claim 7, characterized in that: The outer periphery of the charging connector (403) is fixedly installed with a rubber deviation correction cylinder (404), and the other end of the rubber deviation correction cylinder (404) is fixedly connected with the inner wall of the charging cavity (401).

Images