Railway tunnel wall surface detection equipment and method

Abstract

The invention discloses railway tunnel wall surface detection equipment and method, and belongs to the technical field of railway tunnel maintenance and detection. The equipment comprises a movable chassis, a boom system, a pose self-adaptive platform, a precise telescopic device, an integrated detection system and a control system. The invention also discloses a detection method of the equipment. Through cooperation of the mobile chassis, the cantilever crane system, the pose self-adaptive platform, the precise telescopic device, the integrated detection system and the control system, whole-course mechanization and automation operation of railway tunnel wall surface detection is achieved, and the three core problems of low efficiency, poor precision and high safety risk existing in traditional manual detection are thoroughly solved.

Description

Technical Field

[0001] This invention relates to the field of railway tunnel maintenance and inspection technology, specifically to a railway tunnel wall inspection equipment and method. Background Technology

[0002] During construction and long-term operation, railway tunnels are affected by multiple factors, including geology, climate, construction quality, and changes in surrounding rock pressure. This can lead to defects in the tunnel wall structure, such as cracks, spalling, and leakage, directly impacting structural safety. Therefore, regular inspection of the tunnel wall is crucial.

[0003] Currently, common methods for tunnel wall inspection rely on manual labor. Operators need to linearly arrange and fix the inspection devices on the tunnel wall, usually using materials such as plaster for bonding. This method has significant drawbacks: First, manual installation is extremely inefficient, labor-intensive, and costly; second, due to the setting characteristics of plaster and human error, it is difficult to ensure that the installation position of the inspection devices is in a straight line, and the spacing cannot be precisely controlled, resulting in non-standard and incomparable inspection data; finally, the entire installation process is time-consuming, making it difficult to complete efficient and standardized inspection operations within the limited railway operation "window". Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a railway tunnel wall inspection equipment and method to achieve automation, standardization and high precision in the inspection process, significantly improve inspection efficiency and data quality, and reduce labor costs and labor intensity.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A railway tunnel wall inspection equipment includes a mobile chassis; a boom system mounted on the mobile chassis; a posture adaptive platform connected to the end of the boom system for adjusting the attitude of the end working face; a precision telescopic device mounted on the end working face of the posture adaptive platform; an integrated inspection system mounted on the end of the precision telescopic device; and a control system that connects to and controls the posture adaptive platform, the precision telescopic device, and the integrated inspection system to coordinate the operation of each mechanism.

[0006] Furthermore, the boom system includes an excavator boom hinged at its lower end to the mobile chassis; two boom cylinders hinged between the mobile chassis and the excavator boom for driving the lifting and lowering of the excavator boom; an excavator stick hinged to the top of the excavator boom; and a stick cylinder connected between the excavator boom and the excavator stick for driving the swing of the excavator stick.

[0007] Furthermore, the posture adaptive platform includes an L-shaped support plate; a vertical mounting plate hinged to the end of the excavator's stick; two symmetrically distributed rotary cylinders, with the piston rod end hinged to the excavator's stick and the cylinder body end hinged to one side of the vertical mounting plate via a joint; a hydraulic rotary motor, with its housing fixed to the other side of the vertical mounting plate and its output shaft fixedly connected to the center of the vertical plane of the L-shaped support plate; and a bearing base located at the top of the horizontal plane of the L-shaped support plate for mounting a precision telescopic device.

[0008] Furthermore, the precision telescopic device includes a telescopic base plate mounted in a bearing base via bearings; a telescopic main plate connected to the telescopic base plate via a first drive mechanism and performing a first-stage linear motion relative to the telescopic base plate under the action of the first drive mechanism; and an excitation telescopic plate and a detection telescopic plate connected to the telescopic main plate via a second drive mechanism and performing a second-stage linear motion relative to the telescopic main plate under the action of the second drive mechanism; wherein the extension directions of the second-stage linear motion of the excitation telescopic plate and the detection telescopic plate are opposite and parallel to the direction of the first-stage linear motion of the telescopic main plate.

[0009] Furthermore, the first drive mechanism is a ball screw mechanism driven by an electric motor; the second drive mechanism is a gear and rack mechanism driven by two sets of hydraulic motors, one set driving the excitation telescopic plate and the other set driving the detection telescopic plate. The side of the retractable base plate or telescopic main plate facing the tunnel wall is equipped with a calibration line; the side of the telescopic main plate facing the tunnel wall is equipped with a calibration point.

[0010] Furthermore, the telescopic base plate is equipped with a buffer and distance measuring mechanism; the buffer and distance measuring mechanism includes at least three spring supports arranged in a triangle, and each spring support is equipped with a displacement sensor.

[0011] Furthermore, the integrated detection system includes an excitation device installed at the end of the excitation telescopic plate to generate wall detection signals and a signal receiving and processing device installed on the detection telescopic plate to receive and process the wall detection signals.

[0012] Furthermore, the excitation device is a spring-loaded hammer or an electromagnetic exciter; the signal receiving and processing device also integrates a surface treatment module with one or more functions such as grinding, blowing, spraying couplant, and clamping.

[0013] A method for inspecting the walls of a railway tunnel includes the following steps: S1. Project the preset detection baseline and detection reference points onto the tunnel wall using a laser line projector; S2. Move the mobile chassis to the detection area, and move the integrated detection system to the vicinity of the reference area covered by one or more continuous detection reference lines via the boom system, so that the buffer and distance measuring mechanism on the precision telescopic device contacts and compresses the tunnel wall; S3. Deploy the precision telescopic device, and based on the projection of the detection baseline and / or the compression feedback of the buffer and ranging mechanism, adjust the posture of the posture adaptive platform so that the working surface of the posture adaptive platform is parallel to the tunnel wall; then drive the precision telescopic device to position the integrated detection system to the detection reference point. S4. At the detection reference point, perform wall pretreatment, excitation and vibration signal acquisition in sequence; S5. By moving the precision telescopic device, execute S4 sequentially on multiple detection points until the pose of the pose adaptive platform needs to be readjusted.

[0014] S6. After the inspection is completed, retract the precision telescopic device and boom system, move to the next inspection area via the mobile chassis, and repeat S1~S5.

[0015] Further, S3 includes: S31, plane leveling sub-step: the control system identifies the detection reference line projected on the back of the precision telescopic device, and adjusts the pose of the posture adaptive platform to align the detection calibration line set on the precision telescopic device with the detection reference line; at the same time, the pose of the posture adaptive platform is adjusted to keep the compression amounts of the buffer and ranging mechanisms consistent; S32, point positioning sub-step: the control system identifies the detection reference point projected on the back of the precision telescopic device, and drives the first drive mechanism to make the detection calibration point set on the precision telescopic device coincide with the detection reference point.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention achieves fully mechanized and automated operation of railway tunnel wall inspection through the coordinated operation of a mobile chassis, boom system, posture-adaptive platform, precision telescopic device, integrated detection system, and control system. It completely solves the three core problems of low efficiency, poor accuracy, and high safety risks inherent in traditional manual inspection. Specifically, the control system coordinates the actions of each mechanical component, the posture-adaptive platform ensures the inspection working surface maintains the optimal inspection posture with the tunnel wall, the precision telescopic device achieves precise positioning of the inspection points, and the integrated detection system completes the integrated operation from surface treatment to data acquisition, significantly improving inspection efficiency, data quality, and operational safety. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the mobile chassis and boom system.

[0019] Figure 3 This is a schematic diagram of the pose-adaptive platform.

[0020] Figure 4This is a schematic diagram of the precision telescopic device.

[0021] Figure 5 This is a schematic diagram of the layout of the integrated detection system.

[0022] The names corresponding to the reference numerals in the attached figures are as follows: 1-Mobile chassis, 2-Boom system, 3-Position adaptive platform, 4-Precision telescopic device, 5-Integrated detection system, 21-Excavator boom, 22-Boom cylinder, 23-Excavator stick, 24-Stick cylinder, 31-L-type support plate, 32-Vertical mounting plate, 33-Rolling cylinder, 34-Bearing base, 35-Hydraulic rotary motor, 41-Telescopic base plate, 42-First drive mechanism, 43-Telescopic main plate, 44-Second drive mechanism, 45-Excitation telescopic plate, 46-Detection telescopic plate, 47-Spring strut, 51-Vibration excitation device, 52-Signal receiving and processing device. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; of course, they can also refer to a mechanical connection or an electrical connection; furthermore, they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] like Figure 1-5As shown, this invention provides a railway tunnel wall inspection equipment, comprising a mobile chassis 1; a boom system 2 mounted on the mobile chassis 1; a posture-adaptive platform 3 connected to the end of the boom system 2 for adjusting the attitude of the end working face; a precision telescopic device 4 mounted on the end working face of the posture-adaptive platform 3; an integrated inspection system 5 mounted on the end of the precision telescopic device 4; and a control system for coordinating the operation of the posture-adaptive platform, the precision telescopic device, and the integrated inspection system. This invention integrates all processes such as movement, positioning, leveling, inspection, and transfer, achieving a fundamental shift from manual to equipment-driven operation. Operators only need to drive and monitor, greatly reducing labor intensity.

[0027] The mobile chassis 1 of this invention uses an existing road-rail dual-purpose excavator chassis as its basic platform. Its structure includes: a frame, a road travel system, a rail travel system, a power system, and a slewing platform for mounting working devices and enabling 360° rotation. To address the specific requirements of tunnel inspection operations, this invention adapts the road-rail dual-purpose excavator chassis. The specific modifications are as follows: the bucket is removed from the road-rail dual-purpose excavator chassis, and the single bucket cylinder controlling the bucket tipping is replaced with two parallel cylinders, namely two symmetrically distributed rolling cylinders 33 in the posture adaptive platform 3. These are installed at the original bucket position, i.e., at the end of the excavator boom 23. The pitch of the posture adaptive platform 3 is achieved by controlling the synchronous extension and retraction of the two rolling cylinders 33; the deflection of the posture adaptive platform 3 is achieved by controlling the differential extension and retraction of the two rolling cylinders 33.

[0028] This invention retains the inherent mobility advantages of the dual-purpose road-rail excavator chassis while being specifically optimized for tunnel inspection operations, providing a stable and reliable mobile platform for the entire inspection system. The chassis's excellent passability and multiple travel modes enable it to adapt to the complex working environment within tunnels, ensuring smooth inspection operations.

[0029] The boom system 2 of this invention provides a reliable motion platform for large-scale tunnel wall inspection. Its load-bearing capacity, range of motion, and reliability provide important guarantees for the stable operation of the entire inspection system. Based on its multi-degree-of-freedom characteristics, the system can effectively adapt to the complex spatial environment inside the tunnel, creating favorable conditions for the smooth implementation of inspection operations.

[0030] In one embodiment, the boom system 2 consists of an excavator boom 21, a boom cylinder 22, an excavator stick 23, and a stick cylinder 24. The lower end of the excavator boom 21 is hinged to the slewing platform of the dual-purpose road-rail excavator chassis via a pin, allowing for 360° rotation in the horizontal plane. The cylinder body of the boom cylinder 22 is hinged to the mobile chassis 1, and the piston rod is hinged to the middle of the excavator boom 21. By controlling the extension and retraction of the boom cylinder 22, the excavator boom 21 can be driven to move up and down relative to the mobile chassis 1. One end of the excavator stick 23 is hinged to the top of the excavator boom 21 via a pin. The cylinder body of the stick cylinder 24 is hinged to the excavator boom 21, and the piston rod is hinged to the excavator stick 23. By controlling the extension and retraction of the stick cylinder 24, the excavator stick 23 can be driven to swing relative to the excavator boom 21. The boom system 2 of the present invention achieves a wide range of adjustments to the spatial position of the end equipment in the tunnel through the coordinated action of the boom cylinder 22 and the stick cylinder 24, thus meeting the requirements for stable operation in the complex environment of the tunnel.

[0031] The posture adaptive platform 3 of this invention is the core posture adjustment mechanism connecting the boom system 2 and the precision telescopic device 4, realizing precise coordinated control of the detection device in three rotational degrees of freedom, and providing a complete posture adjustment capability for automated detection of tunnel walls.

[0032] In one embodiment, the posture-adaptive platform 3 includes an L-shaped support plate 31; a vertical mounting plate 32 hinged to the end of the excavator's boom 23; two symmetrically distributed rolling cylinders 33, with their piston rods hinged to the boom 23 and their cylinder bodies hinged to one side of the vertical mounting plate 32 via joints; a hydraulic rotary motor 35, with its housing fixed to the other side of the vertical mounting plate 32 and its output shaft fixedly connected to the center of the vertical plane of the L-shaped support plate 31; and a bearing base 34 located at the top of the horizontal plane of the L-shaped support plate 31 for mounting the precision telescopic device 4. By controlling the synchronous and equal extension and retraction of the two rolling cylinders 33, the vertical mounting plate 32 is driven to pitch around its hinge point with the boom. When the two cylinders extend synchronously, the platform tilts forward; when they retract synchronously, the platform tilts backward. By controlling the differential extension and retraction of the two rolling cylinders 33, the platform is driven to yaw. When the extension of the left cylinder is greater than that of the right cylinder, the platform yaws to the right; conversely, it yaws to the left. By controlling the rotation of the hydraulic rotary motor 35, the L-shaped support plate 31 is driven to rotate around the axis of the rotary motor relative to the vertical mounting plate 32, further realizing the rolling motion of the precision telescopic device 4 mounted on the bearing base 34. The pitch and yaw motions are achieved through the coordinated control of two rolling cylinders, while the rolling motion is achieved through an independent hydraulic rotary motor. The control of the three degrees of freedom is both independent and can work in concert.

[0033] Preferably, the hydraulic rotary motor 35 is a low-speed, high-torque hydraulic motor equipped with a high-precision encoder, achieving an angle detection accuracy of ±0.1°; the rolling cylinder 33 is a high-precision hydraulic cylinder; the bearing base 34 is a heavy-duty steel structure welded component, and the contact surface with the L-shaped support plate 31 is precision milled. The power system of the dual-purpose road-rail excavator chassis also includes a hydraulic control subsystem, which provides power to the two rolling cylinders 33 and the hydraulic rotary motor 35.

[0034] The precision telescopic device 4 of this invention is the core actuator for realizing automated and high-precision detection of railway tunnel wall inspection equipment. Through the precise coordination of three-stage motion, it achieves accurate positioning and reliable support of the inspection terminal on the tunnel wall. Its unique symmetrical unfolding structure effectively improves work efficiency and provides key motion execution capabilities for automated detection.

[0035] In one embodiment, the telescopic base plate 41 is installed within the bearing base 34 of the posture adaptive platform 3. The telescopic base plate 41 and the bearing base 34 are connected by a crossed roller bearing to ensure stable movement of the device under off-center load. The telescopic main plate 43 is connected to the telescopic base plate 41 via a first drive mechanism 42. The first drive mechanism 42 is a ball screw mechanism driven by a servo motor, wherein the servo motor is fixed to the telescopic base plate 41, and the nut of the ball screw is fixedly connected to the bottom of the telescopic main plate 43. When the servo motor receives a control command, it drives the telescopic main plate 43 to perform high-precision linear motion relative to the telescopic base plate 41 through ball screw transmission, with a positioning accuracy of ±0.1mm. This stage of motion is mainly responsible for the macroscopic position adjustment of the detection device on the reference plane. The excitation telescopic plate 45 and the detection telescopic plate 46 are connected to the telescopic main plate 43 via a second drive mechanism 44. The second drive mechanism 44 consists of two independent gear and rack transmission mechanisms, each driven by a hydraulic motor. One set is installed at the bottom of the detection telescopic plate 46, and the other set is installed at the top of the excitation telescopic plate 45. The excitation telescopic main plate 45 is welded from two H-beams and multiple connecting plates. The excitation telescopic plate 45 extends horizontally from the left side of the telescopic main plate 43, and the detection telescopic plate 46 extends horizontally from the right side of the telescopic main plate 43. The two move in opposite directions and do not interfere with each other. This stage of movement is responsible for delivering the detection terminal to the designated working position.

[0036] Preferably, each stage of the motion is equipped with a high-precision displacement sensor: the first stage uses a grating ruler, and the second stage uses an absolute encoder to achieve full closed-loop control. Four sets of linear guide rail pairs are set between the telescopic main plate 43 and the telescopic base plate 41 to ensure the directional accuracy of the first-stage motion. The excitation telescopic plate 45 and the detection telescopic plate 46 are each equipped with an independent guiding mechanism, using hard aluminum alloy guide rails in conjunction with high-polymer wear-resistant bushings. More preferably, the standardized interface at the end of the excitation telescopic plate 45 is used to install the excitation device 51; the end of the detection telescopic plate 46 integrates a multi-functional interface, which can simultaneously install detection sensors and surface treatment tools; the precision telescopic device 4 has a complete power and signal transmission channel reserved inside.

[0037] The precision telescopic device 4 of the present invention is equipped with a visual calibration system, which is used to cooperate with the control system to achieve precise positioning.

[0038] In one embodiment, a high-contrast detection calibration line is provided on the outer surface of the telescopic base plate 41 or the telescopic main plate 43 facing the tunnel wall. Preferably, the detection calibration line is drawn with a wear-resistant and oxidation-resistant special coating, or a permanent mark is formed by laser etching. The position and orientation of the detection calibration line are precisely calibrated during assembly and serve as a reference for the machine vision of the control system. A detection calibration point is provided at the center of the outer surface of the telescopic main plate 43 facing the tunnel wall. Preferably, the detection calibration point is typically a crosshair or concentric circle pattern, which facilitates accurate identification of its center position by the image recognition algorithm. The positional accuracy of the calibration point is controlled within ±0.2 mm.

[0039] The telescopic base plate 41 of the present invention is equipped with a buffer and distance measuring mechanism, which realizes real-time monitoring and precise control of the contact state between the device and the tunnel wall, providing important safety and accuracy guarantees for automated detection operations.

[0040] In one embodiment, the buffer and ranging mechanism includes at least three spring supports 47 arranged in a triangle, each containing a displacement sensor. The three spring supports 47 form a stable three-point support. Each spring support consists of an external helical compression spring and an internal guide sleeve, and the preload can be adjusted according to the detection requirements. Each spring support 47 integrates a high-precision magnetostrictive displacement sensor to monitor the spring compression in real time. The sensor has a measurement accuracy of ±0.01mm and a sampling frequency of not less than 1000Hz, accurately reflecting the contact state and distance changes between the device and the tunnel wall. When the precision telescopic device approaches the wall, the spring supports 47 first contact the wall and begin to compress. The three displacement sensors provide real-time feedback on the compression at each point, and the control system calculates the relative attitude of the device to the wall accordingly. When the compression of the three supports is consistent, it indicates that the device has made parallel contact with the wall; if there is a difference, it indicates that the attitude of the posture adaptive platform needs to be adjusted.

[0041] The integrated detection system 5 of the present invention is used to achieve rapid and accurate detection of the structural condition of tunnel walls, providing a reliable technical means for assessing the health status of tunnels.

[0042] In one embodiment, the integrated detection system 5 includes a vibration excitation device 51 installed at the end of the excitation telescopic plate 45 to generate wall detection signals, and a signal receiving and processing device 52 installed on the detection telescopic plate 46 to receive and process the wall detection signals. The vibration excitation device is responsible for inputting mechanical vibration signals of a specific frequency to the tunnel wall, while the signal receiving and processing device is responsible for receiving reflected signals and completing data acquisition and analysis.

[0043] Preferably, the excitation device 51 adopts a modular design and can be selected from spring-loaded hammers or electromagnetic exciters.

[0044] Preferably, the signal receiving and processing device 52 includes a signal receiving unit for receiving vibration signals generated by the excitation device 51 and propagating through the stratum, and converting them into electrical signals; a signal conditioning unit for performing amplification and filtering processing on the converted electrical signals; a data acquisition unit for converting the processed electrical signals into digital signals; and an embedded processor for processing the digital signals, preferably an STM32H743VIT6. The signal receiving and processing device 52 also integrates a surface treatment module with one or more functions including grinding, blowing, spraying coupling agent, and clamping. More preferably, the surface treatment module includes three sub-units: grinding, blowing, and spraying, each driven by a brushless motor to drive a grinding head, a high-pressure pulse air circuit, and a precision metering pump, respectively. This is used for automated pretreatment of the wall surface before detection, ensuring ideal coupling between the sensor and the wall surface.

[0045] The control system of this invention is responsible for coordinating the automated operation and collaborative work of the entire detection equipment. Specifically, the control system includes a main controller, a sensing and feedback module, and a drive and execution module. Preferably, the main controller internally stores a preset tunnel detection path plan and adopts an ARM architecture microprocessor, more preferably an STM32H743VIT6. Preferably, the sensing and feedback module includes a positioning and attitude determination unit, a vision sensor, and a distance sensor. More preferably, the positioning and attitude determination unit integrates a GNSS receiver for initial positioning at the tunnel entrance, an inertial measurement unit for positioning within the tunnel, and an encoder for measuring the displacement and rotation speed of various cylinders, motors, etc. More preferably, the vision sensor is an industrial camera for identifying the reference line and reference point projected by the laser onto the back of the telescopic device. More preferably, the distance sensor is a laser rangefinder mounted on the posture adaptive platform 3 for measuring the distance to the wall. Preferably, the drive and execution module includes a motion controller for precisely controlling the ball screw motor, hydraulic motor, and hydraulic rotary motor. More preferably, the motion controller is a multi-axis motion control card or a servo driver. The control system has a built-in posture adaptive algorithm and a precise path tracking algorithm. The pose adaptation algorithm calculates the wall normal vector in real time based on feedback from distance and vision sensors, and dynamically drives the cylinders and hydraulic rotary motors of the pose adaptation platform through closed-loop control (such as PID control) until its working surface is parallel to the wall. The precision path tracking algorithm converts the coordinates of the reference points projected by the laser into the target pulse number of the ball screw motor, driving the detection terminal to accurately reach each detection point.

[0046] The present invention also provides a method for detecting the wall surface of a railway tunnel, comprising the following steps: S1. Project the preset detection baseline and detection reference points onto the tunnel wall using a laser line projector; S2. Move the mobile chassis to the detection area, and move the integrated detection system to the vicinity of the reference area covered by one or more continuous detection reference lines via the boom system, so that the buffer and distance measuring mechanism on the precision telescopic device contacts and compresses the tunnel wall; S3. Deploy the precision telescopic device, and based on the projection of the detection baseline and / or the compression feedback of the buffer and ranging mechanism, adjust the posture of the posture adaptive platform so that the working surface of the posture adaptive platform is parallel to the tunnel wall; then drive the precision telescopic device to position the integrated detection system to the detection reference point. S4. At the detection reference point, perform wall pretreatment, excitation and vibration signal acquisition in sequence; S5. By moving the precision telescopic device, execute S4 sequentially on multiple detection points until the pose of the pose adaptive platform needs to be readjusted.

[0047] S6. After the inspection is completed, retract the precision telescopic device and boom system, move to the next inspection area via the mobile chassis, and repeat S1~S5.

[0048] In one real-time example, S3 includes: S31, plane leveling sub-step: the control system identifies the detection baseline projected on the back of the precision telescopic device using an industrial camera, and adjusts the pose of the pose adaptive platform using a pose adaptive algorithm to align the detection calibration line set on the precision telescopic device with the detection baseline, while keeping the compression amounts of the buffer and ranging mechanisms consistent; S32, point positioning sub-step: the control system identifies the detection reference point projected on the back of the precision telescopic device using an industrial camera, and drives the first drive mechanism using a precision path tracking algorithm to make the detection calibration point set on the precision telescopic device coincide with the detection reference point.

[0049] In practical implementation, each hinge point of this invention is equipped with a spherical bearing to accommodate minor off-center loads during operation. Each hydraulic cylinder is equipped with a displacement sensor to detect the extension and retraction of the cylinder in real time.

[0050] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention used to illustrate the technical solutions of the present invention, and are not intended to limit the invention, nor are they intended to limit the patent scope of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. That is to say, any changes or refinements made to the main design concept and spirit of the present invention that are not of substantial significance, but whose technical problems are still consistent with the present invention, should be included within the protection scope of the present invention. In addition, the direct or indirect application of the technical solutions of the present invention to other related technical fields are similarly included within the patent protection scope of the present invention.

Claims

1. A railway tunnel wall inspection equipment, characterized in that, It includes a mobile chassis (1); a boom system (2) mounted on the mobile chassis (1); a posture adaptive platform (3) connected to the end of the boom system (2) for adjusting the posture of the end working surface; a precision telescopic device (4) mounted on the end working surface of the posture adaptive platform (3); an integrated detection system (5) mounted on the end of the precision telescopic device (4); and a control system that connects to and controls the collaborative operation of the various mechanisms, including the posture adaptive platform, the precision telescopic device and the integrated detection system.

2. The railway tunnel wall inspection equipment according to claim 1, characterized in that, The boom system (2) includes an excavator boom (21) with its lower end hinged to the mobile chassis (1); two boom cylinders (22) hinged between the mobile chassis (1) and the excavator boom (21) for driving the excavator boom (21) to rise and fall; an excavator stick (23) hinged to the top of the excavator boom (21); and a stick cylinder (24) connected between the excavator boom (21) and the excavator stick (23) for driving the excavator stick (23) to swing.

3. The railway tunnel wall inspection equipment according to claim 2, characterized in that, The posture adaptive platform (3) includes an L-shaped support plate (31); a vertical mounting plate (32) hinged to the end of the excavator stick (23); two symmetrically distributed rolling cylinders (33), with the piston rod end hinged to the excavator stick (23) and the cylinder body end hinged to one side of the vertical mounting plate (32) through a joint; a hydraulic rotary motor (35), with the housing fixed to the other side of the vertical mounting plate (32) and the output shaft fixedly connected to the center of the vertical plane of the L-shaped support plate (31); and a bearing base (34) located at the top of the horizontal plane of the L-shaped support plate (31) for mounting the precision telescopic device (4).

4. The railway tunnel wall inspection equipment according to claim 3, characterized in that, The precision telescopic device (4) includes a telescopic base plate (41) mounted in a bearing base (34) via a bearing; a telescopic main plate (43) connected to the telescopic base plate (41) via a first drive mechanism (42) and performing a first-stage linear motion relative to the telescopic base plate (41) under the action of the first drive mechanism (42); an excitation telescopic plate (45) and a detection telescopic plate (46) connected to the telescopic main plate (43) via a second drive mechanism (44) and performing a second-stage linear motion relative to the telescopic main plate (43) under the action of the second drive mechanism (44); wherein the extension directions of the second-stage linear motion of the excitation telescopic plate (45) and the detection telescopic plate (46) are opposite and parallel to the first-stage linear motion direction of the telescopic main plate (43).

5. The railway tunnel wall inspection equipment according to claim 4, characterized in that, The first drive mechanism (42) is a ball screw mechanism driven by a motor; the second drive mechanism (44) is a gear and rack mechanism driven by two sets of hydraulic motors, one set of which drives the excitation telescopic plate (45) and the other set drives the detection telescopic plate (46). The side of the retractable base plate (41) or telescopic main plate (43) facing the tunnel wall is provided with a detection calibration line; the side of the telescopic main plate (43) facing the tunnel wall is provided with a detection calibration point.

6. The railway tunnel wall inspection equipment according to claim 4, characterized in that, The telescopic base plate (41) is provided with a buffer and distance measuring mechanism; the buffer and distance measuring mechanism includes at least three spring supports (47) arranged in a triangle, and each spring support (47) is provided with a displacement sensor.

7. The railway tunnel wall inspection equipment according to claim 4, characterized in that, The integrated detection system (5) includes an excitation device (51) installed at the end of the excitation telescopic plate (45) for generating wall detection signals and a signal receiving and processing device (52) installed on the detection telescopic plate (46) for receiving and processing wall detection signals.

8. The railway tunnel wall inspection equipment according to claim 7, characterized in that, The excitation device (51) is a spring-excited hammer or an electromagnetic exciter; the signal receiving and processing device (52) also integrates a surface treatment module with one or more functions such as grinding, blowing, spraying couplant and clamping.

9. A method for inspecting the wall surface of a railway tunnel, characterized in that, Includes the following steps: S1. Project the preset detection baseline and detection reference points onto the tunnel wall using a laser line projector; S2. Move the mobile chassis to the detection area, and move the integrated detection system to the vicinity of the reference area covered by one or more continuous detection reference lines via the boom system, so that the buffer and distance measuring mechanism on the precision telescopic device contacts and compresses the tunnel wall. S3. Deploy the precision telescopic device, and based on the projection of the detection baseline and / or the compression feedback of the buffer and ranging mechanism, adjust the posture of the posture adaptive platform so that the working surface of the posture adaptive platform is parallel to the tunnel wall; then drive the precision telescopic device to position the integrated detection system to the detection reference point. S4. At the detection reference point, perform wall pretreatment, excitation and vibration signal acquisition in sequence; S5. By moving the precision telescopic device, execute S4 sequentially on multiple detection points until the pose of the pose adaptive platform needs to be readjusted. S6. After the inspection is completed, retract the precision telescopic device and boom system, move to the next inspection area via the mobile chassis, and repeat S1~S5.

10. A method for detecting the wall surface of a railway tunnel according to claim 9, characterized in that, S3 The process includes: S31, Plane Leveling Sub-step: The control system identifies the detection baseline projected on the back of the precision telescopic device and adjusts the posture of the posture adaptive platform to align the detection calibration line set on the precision telescopic device with the detection baseline; simultaneously, the posture of the posture adaptive platform is adjusted to ensure that the compression amounts of the buffer and ranging mechanisms remain consistent; S32, Point Positioning Sub-step: The control system identifies the detection reference point projected on the back of the precision telescopic device and drives the first drive mechanism to make the detection calibration point set on the precision telescopic device coincide with the detection reference point.

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