A water-rich tunnel disease diagnosis and treatment device and method

Abstract

The application discloses a water-rich tunnel disease diagnosis and treatment device and method, which comprises a machine body, a main supporting arm and a plurality of auxiliary supporting arms are arranged on the machine body, the main supporting arm is arranged at the middle part of the machine body and is arranged vertically, the plurality of auxiliary supporting arms are divided into two groups and are hingedly connected to the front and back sides of the main supporting arm, each group of auxiliary supporting arms is synchronously unfolded or folded to different sides to form a symmetrical fan-shaped array structure, and an image acquisition system is arranged at the upper end of the main supporting arm and the auxiliary supporting arms and is used for collecting all-around image information of the tunnel and sensing environmental information in front of the tunnel, the device is extremely contracted through the fan-shaped opening and closing folding structure, is small in size, is convenient to transport and store, can be self-adaptively adjusted according to the size of the tunnel section to adjust the fan-shaped detection width and the collection height, realizes all-region dead-angle-free disease collection and diagnosis and treatment of the tunnel, and is compatible with the precision and reliability of equipment transfer portability, working condition adaptability and water-rich tunnel disease detection and diagnosis.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, specifically to a device and method for diagnosing and treating defects in water-rich tunnels. Background Technology

[0002] The surrounding rock of the Fushui Tunnel has a high water content and complex hydrological conditions. During long-term operation, it is prone to many quality defects such as water seepage and leakage, lining cracking, surface spalling, lining hollowing, and joint defects. If timely and comprehensive detection and treatment are not carried out, it can easily lead to safety hazards such as tunnel structure settlement, surrounding rock instability, and seepage expansion, which seriously affect the tunnel's traffic safety and service life.

[0003] Currently, most tunnel defect detection equipment has a fixed frame structure with fixed overall dimensions. The machine is bulky and occupies a lot of space, making it difficult to pass through narrow tunnel entrances and exits and narrow sections inside the tunnel. The equipment is extremely inconvenient to transport, move, and store, which seriously affects the efficiency of operation. At the same time, the detection area of ​​traditional equipment is not adjustable, and it is impossible to adaptively match the working size according to the width and narrowness of the tunnel cross section. Summary of the Invention

[0004] The purpose of this invention is to provide a device and method for diagnosing and treating defects in water-rich tunnels, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a device for diagnosing and treating defects in water-rich tunnels, characterized in that: it includes a body, on which a main support arm and several auxiliary support arms are provided; the main support arm is located in the middle of the body and is arranged vertically; the several auxiliary support arms are divided into two groups and are respectively hinged to the front and rear sides of the main support arm; each group of auxiliary support arms expands or contracts synchronously to different sides, forming a symmetrical fan-shaped array structure; A hinge rod is provided at the top of the body. The bottom end of the main support arm is fixedly connected to the hinge rod. The bottom end of the auxiliary support arm is rotatably mounted on the hinge rod. Power components are provided on both the front and rear sides of the body. The power components are connected to the first section of the auxiliary support arm on both sides and drive it to rotate. The front and rear end faces of the auxiliary support arm are respectively provided with matching limit strips and limit plates. When the first section of the auxiliary support arm rotates, the limit strips and limit plates abut against each other and drive the remaining auxiliary support arms to swing synchronously in sequence. Both the main support arm and the secondary support arm are equipped with extension adjustment components at their upper ends. The extension adjustment components include a base, a slide block that slides along the base, and an extension frame connected to the slide block. A one-way locking component is provided between the slide block and the base. Each slide block is equipped with a locking mechanism that can cooperate and lock together. When all the secondary support arms are retracted to the position of the main support arm and vertically aligned, the adjacent slide blocks are spliced ​​together by the locking mechanism, and the telescopic cylinder built into the main support arm synchronously drives all the slide blocks to move in linkage. Each extension frame is equipped with an image acquisition system at its upper end, which is used to collect all-round image information of the tunnel and perceive environmental information in front of the tunnel. The body is equipped with a control system, which is electrically connected to the power component and used to acquire the image acquisition system. The two auxiliary support arms are fan-shaped to expand the horizontal monitoring range of the equipment, so as to realize large-scale full-area synchronous image acquisition and environmental detection of the tunnel.

[0006] Furthermore, the limiting strip is elongated, the limiting plate is triangular, and the apex angle of the limiting plate is set according to the actual unfolding range; the front and rear ends of the main support arm are provided with limiting plates, the end face of the secondary support arm near the main support arm is provided with a limiting strip, and the end face away from the main support arm is provided with a limiting plate; the power assembly includes a power motor, which is mounted on the machine body, and a gear is sleeved on its output shaft; the lower part of the first section of the secondary support arm on both sides is embedded with a gear ring, and the gear meshes with the gear ring for transmission.

[0007] Furthermore, the base is fixed to the top of the corresponding main support arm or auxiliary support arm, and the extension frame is slidably assembled on the upper end of the base through several guide rods. A through-strip opening is provided in the middle of the base, and the slide block is slidably assembled in the through-strip opening. The one-way locking component is provided between the slide block and the through-strip opening. A push rod is provided at the upper end of the slide block, and the other end of the push rod passes through the base and extends to connect with the extension frame.

[0008] Furthermore, the piston rod of the telescopic cylinder extends through to connect with the bottom end of the slide block, thereby driving the extension frame to extend and retract along the guide rod. When all the auxiliary support arms are retracted to a retracted state that is parallel and close to the main support arm, the adjacent slide blocks are locked together by a locking mechanism, so that all the slide blocks are connected as a whole. Then, they can be uniformly driven by the telescopic cylinder inside the main support arm, and all the slide blocks can be moved in linkage in a synchronous manner.

[0009] Furthermore, the engaging mechanism includes a C-shaped engaging block and an engaging post, the engaging post being matched with the interior of the C-shaped engaging block; wherein, engaging blocks are provided at both the front and rear ends of the slide on the main support arm; an engaging post is provided at one end of the slide on the secondary support arm near the main support arm, and an engaging block is provided at the other end; when the secondary support arm is retracted and brought closer together, the engaging post engages with the interior of the C-shaped engaging block to complete the docking and locking.

[0010] Furthermore, the one-way locking assembly includes ratchet racks installed at both ends of the through-bar opening. Pads are provided at both ends of the slide block, with the middle of each pawl hinged to the slide block. One end of the pawl engages with the ratchet rack and is locked in place, while the other end is a ramp-shaped control end. A spring connects the control end to the slide block. A through-hole is provided in the middle of the slide block, within which a linkage rod is slidably mounted. The bottom end of the linkage rod is connected to the piston rod of the telescopic cylinder, and the top end of the linkage rod has a truncated cone located between the pawl control ends on both sides. When the cone descends, it presses against the control ends on both sides through the ramp, causing the pawl to rotate and disengage from the ratchet rack. The through-hole extends to both the front and rear sides of the slide block. The locking block and locking post are connected to the linkage rod through the through-hole, thus connecting all linkage rods into a single unit in the locked state.

[0011] Furthermore, a limit block is provided at the top of the truncated cone, and a limit ring is provided at the corresponding position of the through-hole to limit the descent distance of the linkage rod.

[0012] Furthermore, the top left and right sides of the extension frame are provided with storage openings, and an L-shaped extension frame is provided in the storage opening. The middle part of the extension frame is hinged to the storage opening and a torsion spring is connected at the hinge. An elastic pull rope is connected to the inner end of the extension frame. The other end of the elastic pull rope is connected to the top of the corresponding main support arm or secondary support arm. An auxiliary image acquisition system is installed on the outer end of the extension frame.

[0013] The present invention also provides a method for diagnosing and treating defects in water-rich tunnels, applied to a water-rich tunnel defect diagnosis and treatment device as described above, comprising the following steps: S1. Place the machine body stably in the tunnel working area and move it along the length of the tunnel using the traveling mechanism at the bottom of the machine body; S2. The control system adjusts the extension adjustment component according to the tunnel working conditions, adjusts the working height of the image acquisition system and locks it in place, and then drives the power component to drive the auxiliary support arms on both sides to extend in a coordinated manner to form a symmetrical fan-shaped array structure. S3. Activate the image acquisition system to collect images and detect environmental information of the tunnel from all angles, transmit and store data in real time, and identify tunnel defects.

[0014] S4. After the operation is completed, turn off the equipment function and control the secondary support arm to reset and retract, so that the entire secondary support arm and the main support arm are arranged vertically.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This device employs a central main support arm coupled with a fan-shaped linkage structure of multiple secondary support arms on both sides. Through the step-by-step force transmission via limiting strips and triangular limiting plates, it achieves the synchronous and orderly expansion and retraction of multiple sets of secondary support arms. It can adaptively expand the lateral monitoring range according to different tunnel cross-section dimensions. In the non-working state, multiple sets of secondary support arms can synchronously retract towards the center to fit against the main support arm. At the same time, with the help of the extension adjustment component, they can be completely retracted and reset. The lateral and vertical dimensions of the whole machine are compressed to the minimum limit. The overall structure is highly integrated, orderly and compact. Compared with traditional fixed detection equipment, it completely solves the problems of bulky whole machine, large space occupation and difficult transportation, greatly reducing storage and transportation space. It can easily adapt to narrow tunnel entrances and exits, vehicle transfer and site storage, greatly improving portability and practicality.

[0016] This device adopts a unidirectional locking structure of pawl and ratchet. After the extension frame is raised and adjusted, it can automatically engage and lock, effectively resisting the influence of equipment vibration and its own weight, avoiding height drop and deviation, and ensuring stable acquisition posture. Through the linkage rod, cone and limit cooperation structure, it realizes the hierarchical linkage logic of first unlocking and then sliding under load when descending and resetting, which solves the technical problem that the unidirectional ratchet structure cannot actively descend. The adjustment action is smooth, the positioning is accurate and the reliability is high.

[0017] In addition, an extension frame and auxiliary image acquisition system are set up to adapt to the height. When the equipment is in a low position, it is automatically stored. The structure is compact and does not affect transportation and passage. When the extension frame is raised and the fan-shaped detection area is expanded, the pull rope is automatically tightened to drive the extension frame to extend outward, which compensates for the blind spots between adjacent acquisition units and solves the problem of excessive gaps and missed defects in large-span detection. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the unfolded state of the device for diagnosing and treating defects in water-rich tunnels according to the present invention; Figure 2 for Figure 1 Enlarged view of a portion of point A in the middle; Figure 3 This is a schematic diagram of the retracted state of the diagnostic and treatment device; Figure 4 This is a schematic diagram of the front structure of the auxiliary support arm; Figure 5 This is a schematic diagram of the rear structure of the secondary support arm; Figure 6 A partial side view of the diagnostic and treatment device in its retracted state; Figure 7 A sectional view of the main support arm; Figure 8 for Figure 7 Enlarged view of section B in the middle.

[0019] In the diagram, the components are: fuselage-1, main support arm-2, secondary support arm-3, image acquisition system-4, hinge rod-5, limit bar-6, limit plate-7, power motor-8, gear ring-9, extension adjustment assembly-10, base-11, extension frame-12, guide rod-13, through bar port-14, slide block-15, push rod-16, telescopic cylinder-17, locking block-18, locking column-19, ratchet rack-20, pawl-21, spring-22, linkage rod-23, cone-24, limit block-25, limit ring-26, storage port-27, extension frame-28, elastic pull rope-29, and auxiliary image acquisition system-30. 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. Example 1

[0021] like Figures 1 to 8 As shown, a device for diagnosing and treating defects in water-rich tunnels includes a body 1, on which a main support arm 2 and several auxiliary support arms 3 are provided. The main support arm 2 is located in the middle of the body 1 and is arranged vertically. The several auxiliary support arms 3 are divided into two groups and are respectively hinged to the front and rear sides of the main support arm 2. Each group of auxiliary support arms 3 expands or retracts synchronously to different sides to form a symmetrical fan-shaped array structure. Both the main support arm 2 and the auxiliary support arm 3 are equipped with an image acquisition system 4 at their upper ends, which is used to collect all-round image information of the tunnel and perceive environmental information in front of the tunnel. The top of the body 1 is provided with a hinge rod 5. The bottom end of the main support arm 2 is fixedly connected to the hinge rod 5. The bottom end of the auxiliary support arm 3 is rotatably mounted on the hinge rod 5. The front and rear sides of the body 1 are provided with power components. The power components are connected to the first section of the auxiliary support arm 3 on both sides and drive it to rotate. The front and rear end faces of the auxiliary support arm 3 are respectively provided with matching limit strips 6 and limit plates 7. When the first section of the auxiliary support arm 3 rotates, the limit strips 6 and limit plates 7 abut against each other and link together, thereby driving the remaining auxiliary support arms 3 to swing synchronously in sequence. The control system is installed inside the body 1. It is electrically connected to the power component and used to acquire the image acquisition system 4. The auxiliary support arms 3 on both sides are fan-shaped to expand the horizontal monitoring range of the equipment, so as to realize large-scale full-area synchronous image acquisition and environmental detection in the tunnel.

[0022] In this embodiment, the limiting strip 6 is a long strip structure, the limiting plate 7 is a triangular block structure, and the apex angle of the limiting plate 7 is set according to the actual unfolding range; the front and rear ends of the main support arm 2 are provided with limiting plates 7, the end face of the auxiliary support arm 3 near the main support arm 2 is provided with limiting strip 6, and the end face away from the main support arm 2 is provided with limiting plate 7; the power component includes a power motor 8, which is mounted on the body 1, and a gear is sleeved on its output shaft; the lower part of the first section of the auxiliary support arm 3 on both sides is embedded with a gear ring 9, and the gear meshes with the gear ring 9 for transmission.

[0023] During operation, the power motor 8 rotates in both directions, driving the gear to rotate. This rotation, via the gear ring 9, drives the first auxiliary support arm 3 to rotate smoothly around the hinge rod 5. As the first auxiliary support arm 3 rotates, the limiting strip 6 and the triangular limiting plate 7 between adjacent support arms abut against each other, transmitting force and limiting positioning. This sequentially drives the remaining auxiliary support arms 3 on the same side to swing synchronously and smoothly in the same direction, ultimately causing the front and rear sets of auxiliary support arms 3 to unfold towards the corresponding sides of the machine body 1, forming a regular and symmetrical fan-shaped array structure. During the retraction operation, the power motor 8 rotates in the opposite direction, driving the first auxiliary support arm 3 to reset via the gear ring 9. This, combined with the limiting linkage structure, enables all auxiliary support arms 3 to synchronously close and retract, fitting tightly against the front and rear sides of the main support arm 2, greatly reducing the overall space occupied by the equipment and facilitating transportation.

[0024] Ultimately, through the fan-shaped unfolding action of the secondary support arm 3, combined with the image acquisition system 4 mounted on it, the lateral monitoring coverage of the equipment can be significantly expanded, eliminating blind spots in the monitoring of tunnel sidewalls, arches, and corners, and realizing large-scale, blind-spot-free synchronous image acquisition and environmental defect detection in water-rich tunnels. In this embodiment, the upper ends of the main support arm 2 and the auxiliary support arm 3 are both equipped with extension adjustment components 10. The extension adjustment components 10 include a base 11 and an extension frame 12. The base 11 is fixed to the top end of the corresponding main support arm 2 or auxiliary support arm 3. The extension frame 12 is slidably mounted on the upper end of the base 11 through several guide rods 13, and the image capturing system 4 is mounted on the top end of the extension frame 12. A through-hole 14 is opened in the middle of the base 11. A slide block 15 is slidably mounted in the through-hole 14, and a one-way locking component is provided between the slide block 15 and the through-hole 14. A push rod 16 is provided at the upper end of the slide block 15. The other end of the push rod 16 passes through the base 11 and extends to connect with the extension frame 12. A power mechanism is also provided to drive the push rod 16 to move.

[0025] The slide block 15 is driven to slide by the power mechanism, and the extension frame 12 can be extended and retracted as a whole by the push rod 16. After the slide block 15 is adjusted into place, it is automatically rigidly locked and fixed by the one-way locking component.

[0026] The extension adjustment component 10 is an adaptive adjustment mechanism for the overall height and fan-shaped acquisition range of the equipment. It has two functions: firstly, the equipment can be retracted and stored when it is not in operation, which greatly reduces the overall height and volume of the machine and facilitates the movement and transportation of the equipment; secondly, when the equipment is in operation, the deployment height and outward working radius of all image acquisition systems 4 can be uniformly adjusted to adapt to different tunnel cross-section dimensions.

[0027] In this embodiment, the power mechanism includes a telescopic cylinder 17 installed inside the main support arm 2. The piston rod of the telescopic cylinder 17 extends through and connects to the bottom end of the slide block 15, thereby driving the extension frame 12 to extend and retract along the guide rod 13. The slide block 15 is provided with a locking mechanism. When the secondary support arm 3 is retracted into place, adjacent slide blocks 15 are locked together by the locking mechanism, so that all slide blocks 15 are connected as a whole. Then, they can be uniformly driven by the telescopic cylinder 17 inside the main support arm 2, and all slide blocks can be driven synchronously. The seat 15 moves in linkage; the locking mechanism includes a C-shaped locking block 18 and a locking post 19, with the locking post 19 matching the interior of the C-shaped locking block 18; the sliding seat 15 on the main support arm 2 is provided with locking blocks 18 at both ends; the sliding seat 15 on the secondary support arm 3 is provided with a locking post 19 at one end near the main support arm 2 and a locking block 18 at the other end; when the secondary support arm 3 is retracted and closes, the locking post 19 engages with the interior of the C-shaped locking block 18 to complete the docking and locking.

[0028] The locking mechanism adopts a docking structure with a C-shaped locking block 18 having a side opening and a locking column 19 having a side-entry engagement. The fan-shaped swinging opening and closing motion trajectory of the auxiliary support arm 3 achieves automatic locking action. When the auxiliary support arm 3 retracts inward to reset, the multiple auxiliary support arms 3 on the same side swing towards the center synchronously, so that the locking column 19 is laterally engaged from the side opening of the adjacent C-shaped locking block 18, thereby achieving automatic alignment and locking of adjacent slides 15. When the auxiliary support arm 3 is fully retracted, all slides 15 are connected in series to form an integral structure. When the equipment enters the tunnel operation mode, the overall detection specifications can be adjusted according to the actual cross-sectional size of the tunnel: when the auxiliary support arm 3 is in the retracted linkage state, the slides 15 of the main support arm 2 are driven to rise through the telescopic cylinder 17, which will synchronously drive all slides 15 to extend synchronously, uniformly raising the deployment height of each group of image acquisition systems 4, thereby adjusting the outer extension range of the entire fan-shaped detection surface. When the secondary support arm 3 unfolds outward in a fan shape, the support arm swings outward and separates, and the locking column 19 slides laterally out along the side opening of the C-shaped locking block 18, automatically and quickly disengaging, and the linkage constraint of each level of slide seat 15 is released.

[0029] In this embodiment, the one-way locking assembly includes ratchet racks 20 installed at both ends of the through-hole 14, and pawls 21 provided at both ends of the slide block 15. The middle part of the pawl 21 is hinged to the slide block 15. One end of the pawl 21 is engaged with the ratchet rack 20 and locked in place, while the other end is a beveled control end. A spring 22 is connected between the control end and the slide block 15. A through-hole is provided in the middle of the slide block 15, and a linkage rod 23 is slidably disposed in the through-hole. The bottom end of the linkage rod 23 is connected to the piston rod of the telescopic cylinder 17. A cone 24 is provided at the top of the device, which is located between the control ends of the pawls 21 on both sides. When the cone 24 descends, it squeezes the control ends on both sides through the inclined surface, causing the pawls 21 to rotate and disengage from the ratchet rack 20. A limit block 25 is provided at the top of the cone 24, and a limit ring 26 is provided at the corresponding position of the through-hole to limit the descent distance of the linkage rod 23. The through-hole extends to the front and rear sides of the slide block 15. The locking block 18 and the locking post 19 are connected to the linkage rod 23 through the through-hole, so that all the linkage rods are connected as one in the locking state.

[0030] Under normal conditions, the return spring 22 continuously pushes the pawl 21, keeping the pawl 21 always tending to engage with the ratchet rack 20. When the telescopic cylinder 17 drives the slide 15 and the extension frame 12 to rise and adjust the height, the pawl 21 can smoothly slide along the tooth shape of the ratchet rack 20. After the height is adjusted to the correct position, the spring 22 immediately pushes the pawl 21 to engage and lock with the ratchet rack 20, realizing the automatic locking and positioning of the slide 15 and the extension frame 12, and preventing the extension frame 12 from falling due to its own weight or movement vibration.

[0031] After the equipment finishes working and the auxiliary support arm 3 has been fully retracted, it needs to be lowered and reset. The piston rod of the telescopic cylinder 17 begins to descend, which drives the linkage rod 23 to descend. The cone 24 then presses down on the inclined control end of the pawls 21 on both sides, overcoming the elastic force of the spring 22 and driving the pawls 21 to rotate and disengage from the ratchet rack 20, thus completing the locking and unlocking. Then the linkage rod 23 continues to descend until the top limit block 25 abuts against the limit ring 26 of the through-hole. At this time, the linkage rod 23 reaches the maximum unlocking stroke and completely releases the locking constraint. At the same time, through the locking block and locking post connected to it, all the linkage rods 23 are driven to descend synchronously, thereby unlocking all the slides 15.

[0032] After the limit block 25 and the limit ring 26 are in contact and limited, the telescopic cylinder 17 continues to drive the descent. At this time, the slide block 15 will be driven to descend synchronously through the linkage rod 23, so as to realize the smooth descent and reset of the extension frame 12.

[0033] In this embodiment, storage openings 27 are provided on both the left and right sides of the top of the extension frame 12. An L-shaped extension frame 28 is provided in the storage opening 27. The middle part of the extension frame 28 is hinged to the storage opening 27 and a torsion spring is connected at the hinge. An elastic pull rope 29 is connected to the inner end of the extension frame 28. The other end of the elastic pull rope 29 is connected to the top of the corresponding main support arm 2 or secondary support arm 3. An auxiliary image acquisition system 30 is installed on the outer end of the extension frame 28.

[0034] The top left and right sides of the extension frame 12 are provided with storage openings 27 for storing the folded L-shaped extension frame 28, so as to realize the adaptive unfolding compensation of the auxiliary image acquisition system 30 as the height changes. It is specifically used to solve the problem of the increased spacing between adjacent image acquisition systems 4 and the generation of detection blind spots after the extension frame 12 is raised. In the normal operating state and when the extension frame 12 is in its low-position storage state, the elastic pull rope 29 is in a slack state with no tension output, and the extension frame 28 is naturally stored and fitted inside the storage opening 27. When the telescopic cylinder 17 drives the extension frame 12 to rise and adjust its height, the extension frame 12 moves upward relative to the support arm, causing the elastic pull rope 29 to gradually change from a slack state to a taut state. As the extension frame 12 continues to rise, the tension of the elastic pull rope 29 continues to increase, thereby pulling the extension frame 28 to automatically flip and unfold outward around the hinge point, so that the auxiliary image acquisition system 30 mounted on the outer end extends out and hovers in the gap area between two adjacent sets of extension frames 12. Thus, the auxiliary image acquisition system 30 fills the detection gaps and blind spots caused by the increase in height and the expansion of the fan-shaped extension, ensuring that there are no blind spots in the full-area image acquisition.

[0035] This embodiment also discloses a method for diagnosing and treating defects in water-rich tunnels, including the following steps: S1. Depending on the tunnel operation scenario, the equipment is transported to the operation area by installing an autonomous walking structure on the machine body 1 or by mounting the machine body 1 on a vehicle. The equipment is initially in a compact storage state that is fully retracted and folded, which facilitates passage and positioning. S2. Based on the dimensions and specifications of the tunnel cross-section, with the auxiliary support arm 3 in a retracted and linked state, the overall working height and detection range are uniformly adjusted by the extension adjustment component 10 to adapt to the current tunnel size. After adjustment, the machine is locked and positioned.

[0036] S3, driven by the power component, the auxiliary support arms 3 on both sides unfold in a fan shape step by step to form a symmetrical full-area monitoring layout.

[0037] S4. Simultaneously, during the lifting process of the extension frame 12, the extension frame 28 is driven to expand adaptively to compensate for the blind spots in the field of view caused by the large interval between adjacent image acquisition systems 4. Then, the equipment moves along the tunnel length direction, and the main and auxiliary image acquisition systems 30 can complete the acquisition of tunnel defects and environmental detection.

[0038] The S5 control system sends the collected high-definition images and environmental data to the back-end platform for analysis and processing, identifying various defects such as tunnel seepage, cracking, surface peeling, and hollowing, accurately locating the defect location, and statistically analyzing the defect size and distribution range.

[0039] S6. After the operation is completed, each structure will automatically reset in sequence, the extension frame 28 will retract and return to its original position, the extension adjustment component 10 will retract and return to zero, the auxiliary support arm 3 will be fully retracted and fitted, the slide 15 will re-lock and engage, and the equipment will return to a compact storage state, at which point the equipment can be removed from the work site. Example 2

[0040] The difference from Embodiment 1 is that each secondary support arm 3 in this embodiment is equipped with an independent telescopic cylinder, and the design of the locking mechanism is removed; the overall linkage drive is no longer based on the single telescopic cylinder of the main support arm 2; each secondary support arm 3 can independently drive the corresponding slide 15 and extension frame 12 to complete the telescopic lifting action through its own configured independent telescopic cylinder.

[0041] Each set of auxiliary support arms 3 has an extension adjustment component 10 that can be adjusted independently and without interference. This allows for separate and precise height alignment data collection for areas with local unevenness, irregular cross-sections, or concentrated defects on one side of the tunnel. This further enhances the equipment's adaptability to complex tunnel cross-sections and improves the precision of local defect detection.

[0042] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for diagnosing and treating defects in water-rich tunnels, characterized in that: The device includes a fuselage, on which a main support arm and several secondary support arms are provided. The main support arm is located in the middle of the fuselage and is arranged vertically. The several secondary support arms are divided into two groups and are respectively hinged to the front and rear sides of the main support arm. Each group of secondary support arms expands or retracts synchronously to different sides to form a symmetrical fan-shaped array structure. A hinge rod is provided at the top of the body. The bottom end of the main support arm is fixedly connected to the hinge rod. The bottom end of the auxiliary support arm is rotatably mounted on the hinge rod. Power components are provided on both the front and rear sides of the body. The power components are connected to the first section of the auxiliary support arm on both sides and drive it to rotate. The front and rear end faces of the auxiliary support arm are respectively provided with matching limit strips and limit plates. When the first section of the auxiliary support arm rotates, the limit strips and limit plates abut against each other and drive the remaining auxiliary support arms to swing synchronously in sequence. Both the main support arm and the secondary support arm are equipped with extension adjustment components at their upper ends. The extension adjustment components include a base, a slide block that slides along the base, and an extension frame connected to the slide block. A one-way locking component is provided between the slide block and the base. Each slide block is equipped with a locking mechanism that can cooperate and lock together. When all the secondary support arms are retracted to the position of the main support arm and vertically aligned, the adjacent slide blocks are spliced ​​together by the locking mechanism, and the telescopic cylinder built into the main support arm synchronously drives all the slide blocks to move in linkage. Each extension frame is equipped with an image acquisition system at its upper end, which is used to collect all-round image information of the tunnel and perceive environmental information in front of the tunnel. The body is equipped with a control system, which is electrically connected to the power component and used to acquire the image acquisition system. The two auxiliary support arms are fan-shaped to expand the horizontal monitoring range of the equipment, so as to realize large-scale full-area synchronous image acquisition and environmental detection of the tunnel.

2. The device for diagnosing and treating defects in water-rich tunnels according to claim 1, characterized in that: The limiting strip is elongated, and the limiting plate is triangular. The apex angle of the limiting plate is set according to the actual unfolding range. Limiting plates are provided at both the front and rear ends of the main support arm. The end face of the secondary support arm near the main support arm is provided with a limiting strip, while the end face away from the main support arm is provided with a limiting plate. The power assembly includes a power motor, which is mounted on the machine body, and a gear is sleeved on its output shaft. The lower part of the first section of the secondary support arm on both sides is embedded with a gear ring, which meshes with the gear ring for transmission.

3. The device for diagnosing and treating defects in water-rich tunnels according to claim 1, characterized in that: The base is fixed to the top of the corresponding main support arm or auxiliary support arm. The extension frame is slidably assembled on the upper end of the base through several guide rods. A through-strip opening is provided in the middle of the base. The slide block is slidably assembled in the through-strip opening, and the one-way locking component is provided between the slide block and the through-strip opening. A push rod is provided at the upper end of the slide block. The other end of the push rod passes through the base and extends to connect with the extension frame.

4. The device for diagnosing and treating defects in water-rich tunnels according to claim 3, characterized in that: The piston rod of the telescopic cylinder extends through and connects to the bottom of the slide block, thereby driving the extension frame to extend and retract along the guide rod. When all the auxiliary support arms are retracted to a retracted state that is parallel and close to the main support arm, the adjacent slide blocks are locked together by the locking mechanism, so that all the slide blocks are connected as a whole. Then, they can be uniformly driven by the telescopic cylinder inside the main support arm, and all the slide blocks can be moved in linkage.

5. The device for diagnosing and treating defects in water-rich tunnels according to claim 1, characterized in that: The locking mechanism includes a C-shaped locking block and a locking post, with the locking post matching the interior of the C-shaped locking block. Locking blocks are located at both ends of the slide on the main support arm. A locking post is located at one end of the slide on the secondary support arm near the main support arm, and a locking block is located at the other end. When the secondary support arm retracts, the locking post engages with the C-shaped locking block to complete the locking process.

6. The device for diagnosing and treating defects in water-rich tunnels according to claim 5, characterized in that: The one-way locking assembly includes ratchet racks installed at both ends of the through-bar opening. Pads are provided at both ends of the slide block, with the middle of each pawl hinged to the slide block. One end of the pawl engages with the ratchet rack and is locked in place, while the other end is a ramp-shaped control end. A spring connects the control end to the slide block. A through-hole is provided in the middle of the slide block, within which a linkage rod is slidably mounted. The bottom end of the linkage rod is connected to the piston rod of the telescopic cylinder, and the top end of the linkage rod has a truncated cone located between the pawl control ends on both sides. When the cone descends, it presses against the control ends on both sides through the ramp, causing the pawl to rotate and disengage from the ratchet rack. The through-hole extends to both the front and rear sides of the slide block. The locking block and locking post are connected to the linkage rod through the through-hole, thus connecting all linkage rods into a single unit in the locked state.

7. The device for diagnosing and treating defects in water-rich tunnels according to claim 6, characterized in that: A limit block is provided at the top of the truncated cone, and a limit ring is provided at the corresponding position of the through-hole to limit the descent distance of the linkage rod.

8. The device for diagnosing and treating defects in water-rich tunnels according to claim 3, characterized in that: The extension frame has storage openings on both the left and right sides at the top. An L-shaped extension frame is installed in the storage opening. The middle part of the extension frame is hinged to the storage opening and a torsion spring is connected at the hinge. An elastic pull rope is connected to the inner end of the extension frame. The other end of the elastic pull rope is connected to the top of the corresponding main support arm or secondary support arm. An auxiliary image acquisition system is installed on the outer end of the extension frame.

9. A method for diagnosing and treating defects in water-rich tunnels, applied to the water-rich tunnel defect diagnosis and treatment device as described in claim 1, characterized in that, Includes the following steps: S1. Place the machine body stably in the tunnel working area and move it along the length of the tunnel using the traveling mechanism at the bottom of the machine body; S2. The power component is driven by the control system to drive the auxiliary support arms on both sides to unfold in a coordinated manner, forming a symmetrical fan-shaped array structure; S3. Activate the image acquisition system to collect images of the tunnel from all directions and detect environmental information. The data is transmitted and stored in real time and tunnel defects are identified. S4. After the operation is completed, turn off the equipment function and control the secondary support arm to reset and retract, so that the entire secondary support arm and the main support arm are arranged vertically.

10. The method for diagnosing and treating defects in water-rich tunnels according to claim 9, characterized in that: In step S2, before the power component is started, the extension adjustment component is adjusted according to the tunnel working conditions to adjust the working height of the image acquisition system and lock it in place.

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