A high-precision three-dimensional detection device and method for a tunnel shield segment

Abstract

The application belongs to the technical field of three-dimensional measurement, and particularly relates to a high-precision three-dimensional detection device and method for a tunnel shield segment, which comprises a walking mechanism, a loading ring and a detection module; the detection module is arranged in a group and is disposed on the surface of the loading ring; the detection module is aligned with each joint of the tunnel segment respectively and is used for three-dimensional scanning of the segment at the joint; the detection module comprises a protective cover and a three-dimensional scanner; the protective cover is internally provided with a mounting groove; the three-dimensional scanner is fixedly connected in the mounting groove; through the walking mechanism, multiple three-dimensional scanners are integrated to realize a continuous automatic operation of walking and scanning, improve the data acquisition efficiency of a long-distance tunnel, and ensure the integrity and redundancy of data through multi-view synchronous acquisition; through subsequent algorithm analysis based on complete point cloud, model comparison and the like, local interference can be effectively eliminated, and high-precision and objective quantitative evaluation of joint width and faulted block quantity can be realized.

Description

Technical Field

[0001] This invention belongs to the field of three-dimensional measurement technology, specifically a high-precision three-dimensional inspection device and method for tunnel shield segments. Background Technology

[0002] In tunnel construction, shield tunnel segments serve as the main load-bearing structure of the tunnel, and their installation quality directly affects the overall stability and service life of the tunnel. Among these, the joint width and misalignment at the segment joints are key indicators for measuring the installation accuracy. Currently, traditional methods for inspecting segment joints mostly rely on manual measurement using tools such as calipers and straightedges. This is not only inefficient and labor-intensive, but also susceptible to human factors, making it difficult to guarantee accuracy. This limitation is even more pronounced under conditions such as dim lighting, confined space, and complex environments (e.g., dust and humidity) inside the tunnel, making it difficult to achieve comprehensive, rapid, and high-precision inspection of segment joints.

[0003] Chinese patent application CN114370828B discloses a method for detecting diameter convergence and radial misalignment in shield tunnels based on laser scanning. The key technical points are: S1, acquiring three-dimensional point cloud data of the shield tunnel using a self-moving laser scanning system; S2, mapping the three-dimensional point cloud data into a two-dimensional grayscale image and enhancing the grayscale image; S3, performing feature detection on the enhanced grayscale image to separate segment gaps exhibiting line segment characteristics; joint extraction; S4, ellipse fitting based on iterative optimization; S5, block-based circular fitting; S6, calculating the horizontal convergence diameter based on the fitting radius, the ellipse center, and the transverse joint position; and completing radial misalignment detection based on the block-based circular fitting method.

[0004] However, the aforementioned technology has the following drawbacks: its single-point scanning is essentially a discrete sampling method. The sensor can only scan the seam momentarily during movement, making it difficult to achieve continuous and stable tracking coverage of narrow seams. Even slight fluctuations in the coordination between the vehicle's speed and scanning frequency can lead to sparse or missing seam data, compromising the continuity of data acquisition. Furthermore, the mechanical structure at the bottom of the tunnel causes significant differences in the observation distance between the scanner and seams at different locations, resulting in severely uneven point cloud accuracy across different areas of the same tunnel segment. The incident angle deviation caused by oblique scanning further weakens the ability to reconstruct the internal morphology of the seam. In short, while this hardware solution can achieve rapid acquisition of macroscopic contours, the drastic changes in observation geometry at the microscopic scale inherently compromise the original data from the acquisition stage. Subsequent algorithms must then incur significant costs to compensate for the accuracy degradation and data incompleteness caused by hardware layout defects.

[0005] Therefore, the present invention provides a high-precision three-dimensional inspection device and method for tunnel shield segments. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a high-precision three-dimensional detection device for tunnel shield segments, comprising a walking mechanism, a loading ring and a detection module;

[0008] The traveling mechanism is fixedly connected to the bottom of the loading ring; the traveling mechanism is used to drive the loading ring to move along the axial direction inside the tunnel;

[0009] The detection module is set up and deployed on the surface of the loading ring; the detection module is aligned with each joint of the tunnel segment and used to perform three-dimensional scanning of the segment at the joint;

[0010] The detection module includes a protective cover and a 3D scanner; the protective cover has a mounting slot inside; the 3D scanner is fixedly connected inside the mounting slot; the 3D scanner is used to acquire 3D point cloud data characterizing the morphology of the joint.

[0011] Preferably, a locking ring is fixedly connected to the surface of the loading ring; a connecting block is fixedly connected to the bottom of the protective cover, and the connecting block slides with the locking ring; a pair of ear plates are fixedly connected to the bottom of the protective cover at both sides of the loading ring; and a clamping member is threaded inside the ear plates.

[0012] Preferably, the surface of the walking mechanism is provided with an air source device; the air source device is connected to a flexible hose; the flexible hose extends to each detection module; an annular groove is provided inside the protective cover at the outer position of the mounting groove; the annular groove is connected to the flexible hose through a pipeline; a set of air holes are evenly distributed between the annular groove and the mounting groove.

[0013] Preferably, the vent at the bottom is designed to be horizontal, and the vent at the top is designed to be downwardly inclined.

[0014] Preferably, a pair of sliding grooves are provided inside the protective cover at both sides of the mounting groove; a movable part and an electromagnet are provided inside the sliding grooves; a magnetic control block is fixedly connected to the bottom of the movable part; a spring is fixedly connected between the magnetic control block and the electromagnet; an adsorption element is fixedly connected to the top of the movable part; the adsorption element is made of water-absorbing material and is filled with dye.

[0015] Preferably, a storage chamber is provided inside the protective cover at the position below the slide groove; liquid dye is added inside the storage chamber; an elastic bellows is fixedly connected between the magnetron and the electromagnet; a first conduit connects the bottom of the elastic bellows to the storage chamber, and a second conduit connects the top of the elastic bellows to the adsorption element; a one-way valve is provided inside both the first and second conduits.

[0016] Preferably, a pair of sealing plates are hinged to the top of the chute via a pin, and a torsion spring is provided at the pin.

[0017] Preferably, a set of elastic bent pieces are evenly distributed on the side of the sealing piece near the inside of the groove.

[0018] The present invention discloses a high-precision three-dimensional inspection method for tunnel shield segments. This method employs the aforementioned high-precision three-dimensional inspection device for tunnel shield segments and includes the following steps:

[0019] S100: The loading ring is driven by the walking mechanism to move slowly and steadily along the axial direction inside the tunnel. Multiple detection modules distributed in the circumference align with the joints of the inner wall of the shield tunnel segment during the movement.

[0020] S200: The joint area is continuously scanned by a 3D scanner, and the geometric structure of the segment surface is converted into digital signals to generate a dense 3D point cloud that characterizes the joint morphology.

[0021] S300. Identify the joint location based on the three-dimensional point cloud data, calculate the joint width and misalignment, and analyze whether the joint width and misalignment meet the standards.

[0022] S400 When the width or misalignment of the segment joint is detected to be too large, the traveling mechanism stops moving.

[0023] S500: By controlling the on / off state of the electromagnet, a magnetic force is generated on the magnetocontrol block, which works in conjunction with the spring to cause the moving part to move upward and extend out of the slide.

[0024] S600: The adsorption element at the top of the moving part contacts the inner wall of the tube segment, and applies the dye in the adsorption element to the surface of the tube segment, leaving a mark at the abnormal position of the tube segment joint.

[0025] The beneficial effects of this invention are as follows:

[0026] 1. The high-precision three-dimensional inspection device and method for tunnel shield segments described in this invention adopts a walking mechanism integrating multiple three-dimensional scanners in a synchronous working mode, realizing continuous automated operation of scanning while walking, improving the data acquisition efficiency of long-distance tunnels. The non-contact three-dimensional scanning avoids human error, and the multi-view synchronous acquisition ensures the integrity and redundancy of the data. Through subsequent analysis using algorithms such as surface fitting and model comparison based on complete point clouds, local interference can be effectively eliminated, achieving high-precision and objective quantitative evaluation of joint width and misalignment. Furthermore, this moving scanning mode can acquire continuous three-dimensional morphological data of the tunnel inner wall, providing a rich data foundation not only for preset joints but also for the analysis of ellipticity, convergence deformation, and defects of the entire segment surface, providing a powerful digital tool for tunnel construction quality control and operational health monitoring.

[0027] 2. The high-precision three-dimensional inspection device and method for tunnel shield segments described in this invention delivers clean compressed air to each inspection module via a hose during operation. The compressed air then enters the annular groove and is continuously blown towards the side of the three-dimensional scanner within the mounting groove through evenly distributed air holes. This provides heat dissipation, improves the scanner's continuous operating performance, and because the top air holes are inclined, the airflow can be directed towards the lens surface of the three-dimensional scanner, effectively removing dust, water mist, and other contaminants adhering to the lens and sensing area of ​​the inspection module. This avoids measurement errors or equipment malfunctions caused by surface contamination. Simultaneously, the airflow forms an air curtain barrier inside the protective cover, preventing impurities from the external environment from entering the mounting groove, providing continuous cleaning protection for the inspection module and ensuring stable inspection accuracy and operational reliability even in the complex dusty environment inside the tunnel.

[0028] 3. The high-precision three-dimensional inspection device and method for tunnel shield segments described in this invention, when an excessively wide joint or misalignment is detected in the segment joint, the traveling mechanism stops moving. By controlling the on / off state of the electromagnet, a magnetic force is generated on the magnetic control block, which cooperates with the spring to cause the movable part to move upward and extend out of the slide groove. Then, the adsorption element at the top of the movable part contacts the inner wall of the segment, and the dye in the adsorption element is applied to the surface of the segment, thus leaving a clear and visible mark at the abnormal position of the segment joint. The area between the marks formed by a pair of adsorption elements is the abnormal part. This mark can provide clear guidance for subsequent manual review, and provides an intuitive and reliable physical basis for the repair and quality traceability of the segment, helping maintenance personnel to quickly locate the problem area and avoid missed detection or misjudgment. Attached Figure Description

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] Figure 1This is a schematic diagram of the loading ring structure in this invention;

[0031] Figure 2 This is a distribution diagram of the detection modules in this invention;

[0032] Figure 3 This is a schematic diagram of the detection module in this invention;

[0033] Figure 4 This is a disassembly diagram of the detection module in this invention;

[0034] Figure 5 This is a cross-sectional view of the detection module in this invention;

[0035] Figure 6 yes Figure 5 Enlarged view of a portion of point A in the middle;

[0036] Figure 7 yes Figure 6 Enlarged view of a section at point B in the middle;

[0037] Figure 8 This is a schematic diagram of the method flow of the present invention.

[0038] In the diagram: 1. Walking mechanism; 2. Loading ring; 3. Protective cover; 4. 3D scanner; 5. Mounting groove; 6. Locking ring; 7. Connecting block; 8. Ear plate; 9. Clamping component; 10. Air source equipment; 11. Hose; 12. Annular groove; 13. Air hole; 14. Slide groove; 15. Moving part; 16. Electromagnet; 17. Magnetically controlled block; 18. Spring; 19. Adsorption component; 20. Storage chamber; 21. Elastic corrugated pipe; 22. Conduit one; 23. Conduit two; 24. Sealing plate; 25. Elastic bend. Detailed Implementation

[0039] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0040] like Figures 1 to 7 As shown, the high-precision three-dimensional inspection device for tunnel shield segments of the present invention includes a walking mechanism 1, a loading ring 2, and an inspection module;

[0041] The walking mechanism 1 is fixedly connected to the bottom of the loading ring 2; the walking mechanism 1 is used to drive the loading ring 2 to move along the axial direction inside the tunnel;

[0042] The detection module is set up and deployed on the surface of the loading ring 2; the detection module is aligned with each joint of the tunnel segment and used to perform three-dimensional scanning of the segment at the joint;

[0043] The detection module includes a protective cover 3 and a 3D scanner 4; the protective cover 3 has an installation groove 5 inside; the 3D scanner 4 is fixedly connected inside the installation groove 5; the 3D scanner 4 is used to acquire 3D point cloud data characterizing the morphology of the joint, and the 3D scanner 4 is preferably a laser scanning device.

[0044] This invention uses a walking mechanism 1 to drive a loading ring 2 to move slowly and smoothly along the axis inside the tunnel. Multiple detection modules distributed circumferentially work synchronously during the movement. A 3D scanner 4 continuously scans the joint area of ​​the inner wall of the shield tunnel segment, converting the geometric structure of the object surface into digital signals and generating a dense 3D point cloud representing the morphology of the object surface. The collected multi-source point cloud data can be unified into the same coordinate system through time synchronization and system calibration, forming a complete 3D model of the tunnel lining. Based on this 3D point cloud data, an intelligent algorithm is executed to automatically identify the joint position. By calculating the distance between point clouds in specific areas on both sides of the joint or the relative displacement between fitted planes, the width and misalignment of the joint are accurately quantified, completing a complete closed loop from 3D data acquisition to geometric parameter extraction.

[0045] Specifically, the purpose of this invention is to detect the joint width and misalignment at the segment joints. This part of the technology is a conventional method, including the following details:

[0046] Regarding seam width: The seam edges are identified on the grayscale or depth map generated from the point cloud using an algorithm, and their spacing is calculated;

[0047] For misalignment: Analyze the difference in radial (height) point clouds on both sides of the joint, and calculate the difference by fitting a plane or cross section.

[0048] This invention employs a walking mechanism 1 integrating multiple 3D scanners 4 in a synchronous working mode, enabling continuous automated operation of scanning while moving, thus improving the data acquisition efficiency of long-distance tunnels. The non-contact 3D scanning method avoids human error, and multi-view synchronous acquisition ensures data integrity and redundancy. Subsequent analysis using algorithms such as surface fitting and model comparison based on complete point clouds effectively eliminates local interference, achieving high-precision and objective quantitative assessment of joint width and misalignment. Furthermore, this mobile scanning mode can acquire continuous 3D morphological data of the tunnel inner wall, providing a rich data foundation not only for pre-defined joints but also for the analysis of ellipticity, convergence deformation, and defects on the entire segment surface. This provides a powerful digital tool for tunnel construction quality control and operational health monitoring.

[0049] In one embodiment of the present invention, a locking ring 6 is fixedly connected to the surface of the loading ring 2; a connecting block 7 is fixedly connected to the bottom of the protective cover 3, and the connecting block 7 slides with the locking ring 6; a pair of ear plates 8 are fixedly connected to the bottom of the protective cover 3 at both sides of the loading ring 2; a clamping member 9 is threadedly connected inside the ear plate 8, and the clamping member 9 is specifically a clamping bolt.

[0050] Different tunnel designs may have shield segments of different specifications. For example, differences in the number of segments and curvature will lead to different joint positions. In this case, it is necessary to adjust the position of the detection module according to the actual situation. By controlling the connecting block 7 to slide on the surface of the locking ring 6, the distribution position of the protective cover 3 can be changed. Then, by rotating the clamping part 9, its end can be pressed against the side of the loading ring 2, thereby firmly clamping the protective cover 3 on the surface of the loading ring 2, realizing the rapid fixation of the detection module and the loading ring 2 to cope with different tunnel structures.

[0051] In one embodiment of the present invention, an air source device 10 is provided on the surface of the walking mechanism 1; the air source device 10 is connected to a hose 11; the hose 11 extends to each detection module; an annular groove 12 is provided inside the protective cover 3 at the position outside the mounting groove 5; the annular groove 12 is connected to the hose 11 through a pipeline; a set of air holes 13 are evenly distributed between the annular groove 12 and the mounting groove 5.

[0052] The bottom vent 13 is designed to be horizontal, and the top vent 13 is designed to be inclined downward.

[0053] When the air source device 10 is working, clean compressed air is delivered to each detection module through the hose 11. Then, the compressed air enters the annular groove 12 and is continuously blown towards the side of the 3D scanner 4 in the mounting groove 5 through the evenly distributed air holes 13. This provides heat dissipation and improves the continuous working performance of the 3D scanner 4. Since the air holes 13 at the top are tilted, the airflow can be tilted towards the lens surface of the 3D scanner 4, effectively removing dust, water mist and other contaminants attached to the lens and sensing area of ​​the detection module. This avoids measurement errors or equipment failures caused by surface dirt. At the same time, the airflow forms an air curtain barrier inside the protective cover 3, which can prevent impurities in the external environment from entering the mounting groove 5. This provides continuous cleaning protection for the detection module and ensures that it can maintain stable detection accuracy and working reliability in the complex dusty environment inside the tunnel.

[0054] In one embodiment of the present invention, a pair of sliding grooves 14 are provided inside the protective cover 3 at both sides of the mounting groove 5; a movable part 15 and an electromagnet 16 are provided inside the sliding groove 14, and the electromagnet 16 is fixedly connected to the bottom of the sliding groove 14; a magnetic control block 17 is fixedly connected to the bottom of the movable part 15; a spring 18 is fixedly connected between the magnetic control block 17 and the electromagnet 16; an adsorption part 19 is fixedly connected to the top of the movable part 15; the adsorption part 19 is made of water-absorbing material and is filled with dye.

[0055] When an excessively wide joint or misalignment is detected in the segment joint, the traveling mechanism 1 stops moving. By controlling the on / off state of the electromagnet 16, a magnetic force is generated on the magnetic control block 17, which cooperates with the spring 18 to cause the movable part 15 to move upward and extend out of the slide groove 14. Then, the adsorption element 19 on the top of the movable part 15 contacts the inner wall of the segment, and the dye in the adsorption element 19 is applied to the surface of the segment, thus leaving a clear and visible mark at the abnormal location of the segment joint. The area between the marks formed by a pair of adsorption elements 19 is the abnormal area. This mark can provide clear guidance for subsequent manual review, and provides an intuitive and reliable physical basis for the repair and quality traceability of the segment, helping maintenance personnel to quickly locate the problem area and avoid missed detection or misjudgment.

[0056] The connection between the electromagnet 16 and the spring 18 can be in the following two forms:

[0057] In the initial state, the electromagnet 16 is de-energized and the spring 18 is at its natural length. When the electromagnet 16 is energized, it generates a repulsive force on the magnetron 17, pushing the movable part 15 to move upward and stretching the spring 18. Subsequently, the electromagnet 16 is de-energized, the repulsive force disappears, and the spring 18 pulls the movable part 15 downward to return to the inside of the slide groove 14.

[0058] In the initial state, the electromagnet 16 is energized, which attracts the magnetic block 17, causing the movable part 15 to be located inside the slide groove 14, and the spring 18 is in a compressed state. When the electromagnet 16 is de-energized, the attraction disappears, and the spring 18 pushes the movable part 15 to move upward. Then the electromagnet 16 is energized again, and the attraction pulls the movable part 15 back into the slide groove 14.

[0059] A storage chamber 20 is provided inside the protective cover 3 below the slide groove 14; liquid dye is added inside the storage chamber 20; an elastic bellows 21 is fixedly connected between the magnetron 17 and the electromagnet 16; a conduit 22 connects the bottom of the elastic bellows 21 to the storage chamber 20, and a conduit 23 connects the top of the elastic bellows 21 to the adsorption component 19; a one-way valve is provided inside both the first conduit 22 and the second conduit 23.

[0060] When the movable part 15 and the magnetron 17 move upward, they stretch the elastic bellows 21, increasing its internal space and decreasing its pressure. At this time, the one-way valve in the first conduit 22 opens, and the liquid dye in the storage chamber 20 is drawn into the elastic bellows 21 for storage under the action of external atmospheric pressure. When the movable part 15 returns to its original position, the magnetron 17 descends and squeezes the elastic bellows 21, reducing its internal space and increasing its pressure. At this time, the one-way valve in the second conduit 23 opens, and the dye stored in the elastic bellows 21 is pressed to the adsorption element 19 through the second conduit 23. This ensures that the adsorption element 19 has sufficient dye for marking when it contacts the inner wall of the tube, realizing automatic replenishment and precise release of dye without the need for frequent manual addition of dye, thus improving the automation and continuity of the marking process.

[0061] It is worth noting that the dyes inside the storage chamber 20 and the adsorption unit 19 are all erasable dyes, which can be removed after maintenance to prevent the marks from causing incorrect guidance in subsequent work.

[0062] In one embodiment of the present invention, a pair of sealing plates 24 are hinged to the top of the slide 14 by a pin, and a torsion spring is provided at the pin.

[0063] When the movable part 15 moves upward, it can push open a pair of sealing plates 24, causing the sealing plates 24 to deflect outward. The torsion spring stores force, so that the movable part 15 can extend upward smoothly and achieve marking. When the movable part 15 returns to its original position inside the slide groove 14, the pair of sealing plates 24 rotate downward again under the action of the torsion spring and seal the slide groove 14, preventing a large amount of external dust and other impurities from entering the slide groove 14 and causing pollution. Furthermore, after the slide groove 14 is closed, the dye inside the adsorbent 19 can be reduced from escaping outward. Even if no abnormal seam is detected for a long time, the problem of reduced coating effect or unclear marking caused by dye volatilization can be avoided, further ensuring the stability and reliability of the marking operation.

[0064] A set of elastic bent pieces 25 are evenly distributed on one side of the sealing piece 24 near the inside of the slide groove 14.

[0065] After the adsorbent 19 comes into contact with the inner wall of the tube, dust, mud and other impurities on the surface of the tube are easily left on the surface of the adsorbent 19. At this time, when the movable part 15 moves upward to open the sealing plate 24, the elastic bent plate 25 comes into contact with the surface of the adsorbent 19 and undergoes elastic deformation. During the upward movement of the movable part 15, the elastic bent plate 25 can scrape and clean the impurities attached to the surface of the adsorbent 19, keep the surface of the adsorbent 19 clean, and ensure that the dye can be smoothly transferred from the surface of the adsorbent 19 to the inner wall of the tube.

[0066] like Figure 8As shown, the present invention provides a high-precision three-dimensional inspection method for tunnel shield segments. This method employs the aforementioned high-precision three-dimensional inspection device for tunnel shield segments and includes the following steps:

[0067] S100. The loading ring 2 is driven by the walking mechanism 1 to move slowly and steadily along the axial direction inside the tunnel. Multiple detection modules distributed in the circumferential direction are aligned with the joints of the inner wall of the shield tunnel segment during the movement.

[0068] S200: The joint area is continuously scanned by the 3D scanner 4, and the geometric structure of the segment surface is converted into digital signals to generate a dense 3D point cloud that characterizes the joint morphology.

[0069] S300. Identify the joint location based on the three-dimensional point cloud data, calculate the joint width and misalignment, and analyze whether the joint width and misalignment meet the standards.

[0070] S400. When the joint width or misalignment of the segment joint is detected to be too large, the traveling mechanism 1 stops moving.

[0071] S500: By controlling the on and off state of the electromagnet 16, a magnetic force is generated on the magnetocontrol block 17, which cooperates with the spring 18 to cause the movable part 15 to move upward and extend out of the slide groove 14.

[0072] S600, the adsorption element 19 on the top of the movable part 15 contacts the inner wall of the tube segment, and the dye in the adsorption element 19 is applied to the surface of the tube segment, leaving a mark at the abnormal position of the tube segment joint.

[0073] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0074] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 limiting the scope of protection of this invention.

[0075] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision three-dimensional inspection device for tunnel shield segments, characterized in that: It includes a walking mechanism (1), a loading ring (2), and a detection module; The walking mechanism (1) is fixedly connected to the bottom of the loading ring (2); the walking mechanism (1) is used to drive the loading ring (2) to move along the axial direction inside the tunnel; The detection module is set up and deployed on the surface of the loading ring (2); the detection module is aligned with each joint of the tunnel segment and used to perform three-dimensional scanning of the segment at the joint; The detection module includes a protective cover (3) and a three-dimensional scanner (4); the protective cover (3) has an installation slot (5) inside; the three-dimensional scanner (4) is fixedly connected inside the installation slot (5); the three-dimensional scanner (4) is used to acquire three-dimensional point cloud data characterizing the morphology of the joint.

2. The high-precision three-dimensional inspection device for tunnel shield segments according to claim 1, characterized in that: A locking ring (6) is fixedly connected to the surface of the loading ring (2); a connecting block (7) is fixedly connected to the bottom of the protective cover (3), and the connecting block (7) slides with the locking ring (6); a pair of ear plates (8) are fixedly connected to the bottom of the protective cover (3) at both sides of the loading ring (2); a clamping member (9) is provided through the ear plate (8).

3. The high-precision three-dimensional inspection device for tunnel shield segments according to claim 1, characterized in that: The walking mechanism (1) is provided with an air source device (10) on its surface; the air source device (10) is connected to a hose (11); the hose (11) extends to each detection module; the protective cover (3) is provided with an annular groove (12) at the position outside the mounting groove (5); the annular groove (12) is connected to the hose (11) through a pipeline; a set of air holes (13) are evenly distributed between the annular groove (12) and the mounting groove (5).

4. The high-precision three-dimensional inspection device for tunnel shield segments according to claim 3, characterized in that: The bottom vent (13) is designed to be horizontal, and the top vent (13) is designed to be inclined downward.

5. A high-precision three-dimensional inspection device for tunnel shield segments according to claim 1, characterized in that: The protective cover (3) has a pair of sliding grooves (14) located on both sides of the mounting groove (5); the sliding grooves (14) are equipped with a movable part (15) and an electromagnet (16); a magnetic control block (17) is fixedly connected to the bottom of the movable part (15); a spring (18) is fixedly connected between the magnetic control block (17) and the electromagnet (16); an adsorption part (19) is fixedly connected to the top of the movable part (15); the adsorption part (19) is made of water-absorbing material and is filled with dye.

6. A high-precision three-dimensional inspection device for tunnel shield segments according to claim 5, characterized in that: The protective cover (3) has a storage chamber (20) located below the slide groove (14); liquid dye is added inside the storage chamber (20); an elastic bellows (21) is fixedly connected between the magnetron (17) and the electromagnet (16); a conduit (22) connects the bottom of the elastic bellows (21) to the storage chamber (20), and a conduit (23) connects the top of the elastic bellows (21) to the adsorption element (19); a one-way valve is provided inside both the conduit (22) and the conduit (23).

7. A high-precision three-dimensional inspection device for tunnel shield segments according to claim 5, characterized in that: The top of the chute (14) is hinged with a pair of sealing plates (24) by a pin, and a torsion spring is provided at the pin.

8. A high-precision three-dimensional inspection device for tunnel shield segments according to claim 7, characterized in that: The sealing piece (24) has a set of elastic bent pieces (25) evenly distributed on one side near the inside of the groove (14).

9. A high-precision three-dimensional inspection method for tunnel shield segments, the method employing the high-precision three-dimensional inspection device for tunnel shield segments as described in any one of claims 1-8, characterized in that: Includes the following steps: S100, The loading ring (2) is driven by the walking mechanism (1) to move slowly and steadily along the axial direction inside the tunnel. Multiple detection modules distributed in the circumferential direction are aligned with the joints of the inner wall of the shield tunnel segment during the movement. S200. The joint area is continuously scanned by a three-dimensional scanner (4) to convert the geometric structure of the pipe segment surface into digital signals and generate a dense three-dimensional point cloud that characterizes the joint morphology. S300. Identify the joint location based on the three-dimensional point cloud data, calculate the joint width and misalignment, and analyze whether the joint width and misalignment meet the standards.

10. A high-precision three-dimensional inspection method for tunnel shield segments according to claim 9, characterized in that: It also includes the following steps: S400 When the width of the segment joint or the misalignment is detected to be too large, the traveling mechanism (1) stops moving; S500: By controlling the on and off state of the electromagnet (16), a magnetic force is generated on the magnetocontrol block (17), and it cooperates with the spring (18) to cause the movable part (15) to move upward and extend out of the slide (14); S600, the adsorption part (19) on the top of the movable part (15) contacts the inner wall of the tube segment, and the dye in the adsorption part (19) is applied to the surface of the tube segment, leaving a mark at the abnormal position of the tube segment joint.

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