A detection device and method suitable for tunnel secondary lining circumferential detection

Abstract

The application discloses a kind of detection equipment and method suitable for tunnel secondary lining circumferential detection, the scheme is based on unmanned detection vehicle and intelligent radar system to carry out circumferential detection to tunnel secondary lining, first, the detection area and object are planned moving path and along the detection path of tunnel circumferential;Then, according to the moving path planned, the unmanned detection vehicle moves to the corresponding detection station in turn;Then, in each detection station, the detection radar is driven by unmanned detection vehicle and closely attached to the surface of tunnel secondary lining, and the intelligent radar system is controlled along the tunnel circumferential movement according to the planned detection path;Finally, the intelligent radar system faces the surface of tunnel secondary lining and generates high-frequency electromagnetic pulse for detection and generates detection data, analyzes and processes the data detected to determine the whole plate quality of the tunnel secondary lining detected.The scheme can form automatic detection for tunnel secondary lining pouring quality, ensure detection efficiency and safety, and can also carry out circumferential detection, detection area has no dead angle, realize the whole plate quality self-checking of tunnel secondary lining, ensure detection quality.

Description

Technical Field

[0001] This invention relates to tunnel secondary lining pouring quality inspection technology, specifically a circumferential inspection technology. Background Technology

[0002] Tunnel secondary lining refers to a tunnel support system that uses cast-in-place concrete secondary support after the initial support has been implemented.

[0003] Due to inadequate surveying and design, complex geological environments, and improper construction, defects such as voids are common in tunnel linings. Research indicates that voids and incomplete compaction account for over 80% of the defects in the linings of high-speed railway tunnels under construction, seriously threatening the safety of trains traveling within the tunnels and affecting traffic operations. Cavities alter the contact state between the surrounding rock and the lining structure, making these voids weak points in the lining structure, easily inducing cracking, and subsequently causing water leakage, collapse, and a series of other hazards, severely impacting the normal operation and structural safety of the tunnel.

[0004] Currently, the commonly used non-destructive testing (NDT) techniques for detecting voids in tunnel linings include core drilling, ground-penetrating radar (GPR), and elastic wave impact testing. Core drilling is an accurate, intuitive, and highly reliable method for detecting localized damage; however, it causes irreversible damage to the lining structure. GPR requires a fixed distance between the object being tested and the radar antenna, and testing can only be performed along a fixed survey line, resulting in low efficiency, less intuitive data, and reliance on human experience for judgment. Elastic wave impact testing is less widely used and accepted by the industry than GPR, and it cannot detect steel reinforcement parameters.

[0005] Therefore, the current tunnel secondary lining pouring quality inspection methods generally have the following problems: (1) The testing personnel work at heights, which results in low work efficiency and high safety risks; (2) Detection can only be carried out along fixed survey lines, while the area outside the survey lines is a blind spot for detection; (3) The level of intelligence in detection is low, and the detection data relies on manual analysis. Summary of the Invention

[0006] To address the shortcomings of existing tunnel secondary lining pouring quality inspection schemes in terms of inspection efficiency and accuracy, the present invention aims to provide an inspection scheme suitable for circumferential inspection of tunnel secondary lining. This scheme enables automatic inspection of tunnel secondary lining pouring quality, ensuring inspection efficiency and safety. Furthermore, it allows for circumferential inspection with no blind spots, achieving self-inspection of the entire tunnel secondary lining slab quality and guaranteeing inspection quality.

[0007] To achieve the above objectives, the present invention provides a detection device suitable for circumferential detection of tunnel secondary lining, the detection device comprising an unmanned detection vehicle and an intelligent radar system; The unmanned inspection vehicle includes a movable chassis and a retractable robotic arm assembly mounted on the movable chassis. The movable chassis is configured to drive automatically at the construction site. The retractable robotic arm assembly is mounted on the movable chassis and is used to carry the detection radar in the intelligent radar system. The retractable robotic arm assembly is configured to swing and / or extend relative to the movable chassis, and can drive the detection radar to closely adhere to the surface of the tunnel lining and move circumferentially along the surface of the tunnel lining. The intelligent radar system includes a detection radar and a control terminal. The detection radar is configured to generate high-frequency electromagnetic pulses to detect and generate detection data on the surface of the tunnel lining. The control terminal is configured to interact with the detection radar, acquire the detection data generated by the detection radar, and perform analysis and processing to determine the overall quality of the detected tunnel lining.

[0008] Furthermore, the movable chassis is configured to enable intelligent path planning and intelligent obstacle avoidance.

[0009] Furthermore, the movable chassis is configured to automatically use a robotic arm device to draw lines on-site and locate the detected area based on radar detection results.

[0010] Furthermore, the detection radar comprises an antenna unit, an embedded main control and acquisition unit, a power supply and peripheral unit, a stepping and pulse forming unit, and a battery unit. The power supply and peripheral unit is configured to connect to the battery unit, the antenna unit, the embedded main control and acquisition unit, and the stepping and pulse forming unit, respectively. The embedded main control and acquisition unit is configured to connect the power supply, the stepping and pulse forming unit, the peripheral unit, and the antenna unit. The stepping and pulse forming unit is configured to connect to the antenna unit.

[0011] To achieve the above objectives, the present invention provides a detection method suitable for circumferential inspection of tunnel secondary lining. This method, based on an unmanned inspection vehicle and an intelligent radar system, performs circumferential inspection of the tunnel secondary lining, including: Plan the movement path for the detection area and the object, as well as the detection path along the tunnel circumference; The unmanned testing vehicle moves sequentially to the corresponding testing station according to the planned movement path; At each inspection station, an unmanned inspection vehicle drives a detection radar that is close to the surface of the tunnel lining, and controls the intelligent radar system to move along the tunnel circumferentially according to the planned inspection path. The intelligent radar system generates high-frequency electromagnetic pulses towards the surface of the tunnel lining to detect and generate detection data. The detection data is analyzed and processed to determine the overall quality of the detected tunnel lining.

[0012] Furthermore, in the detection method, a robotic arm device is automatically used to draw lines on site and locate the detected area based on the radar detection results.

[0013] The tunnel secondary lining circumferential inspection scheme provided by this invention has the following advantages over existing technologies: (1) This tunnel secondary lining circumferential inspection scheme has a more comprehensive tunnel secondary lining inspection range, which can cover the entire tunnel secondary lining area.

[0014] (2) The tunnel secondary lining circumferential inspection scheme is carried out by an unmanned inspection vehicle equipped with intelligent radar equipment, which avoids the safety risks of manual operation at height and improves the inspection efficiency; (3) The circumferential detection results of this tunnel secondary lining circumferential detection scheme can output the quality of the entire tunnel secondary lining. According to actual needs, it can also realize the three-dimensional presentation of the casting quality of the entire tunnel secondary lining. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is a schematic diagram illustrating the principle of the detection equipment applicable to the circumferential detection of tunnel secondary lining in this invention; Figure 2 This is a schematic diagram illustrating the structural principle of the detection radar in the detection device of this invention; Figure 3 This is a flowchart illustrating the process of suppressing strong reflection signals from reinforcing bars in this invention; Figure 4 This is an example diagram illustrating the enhancement of weak disease signals in this invention; Figure 5 This is a flowchart of the structural layer detection and tracking process in this invention; Figure 6 This is a flowchart illustrating the implementation of circumferential detection of tunnel secondary lining in an example of the present invention. Figure 7 This is an example diagram of circumferential detection of tunnel secondary lining in an embodiment of the present invention. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0018] In view of the structural characteristics of tunnel secondary lining pouring, the present invention provides a circumferential inspection scheme suitable for tunnel secondary lining. This scheme innovatively combines unmanned driving equipment with intelligent radar equipment for detection, thereby enabling automatic inspection of tunnel secondary lining pouring, avoiding the safety risks of manual operation at heights, improving inspection efficiency and safety, and also enabling circumferential inspection with no blind spots in the inspection area, realizing whole-slab quality self-inspection of tunnel secondary lining and ensuring inspection quality.

[0019] See Figure 1 The illustration shows an example of the configuration of a detection device suitable for circumferential detection of tunnel secondary lining, as provided by the present invention.

[0020] Based on the diagram, the detection equipment mainly consists of two parts: an unmanned detection vehicle 100 and an intelligent radar system 200.

[0021] Among them, the unmanned inspection vehicle 100 is configured to carry the intelligent radar system 200 and can drive automatically on the construction site, driving the detection radar in the intelligent radar system 200 to closely adhere to the surface 310 of the tunnel secondary lining 300 and move circumferentially along the surface 310 of the tunnel secondary lining in order to achieve circumferential detection.

[0022] The unmanned testing vehicle 100 here is mainly composed of a movable chassis 110 and a telescopic robotic arm assembly 120 mounted on the movable chassis.

[0023] Among them, the movable chassis 110 serves as the main body for the unmanned testing vehicle 100 to achieve unmanned driving. Specifically, it is configured to automatically plan the movement path on the construction site and drive automatically accordingly, so as to realize the unmanned testing vehicle 100 can move automatically between various testing stations.

[0024] The telescopic robotic arm assembly 120 serves as the detection action component in the unmanned detection vehicle 100. It is mounted on the movable chassis 110 and is used to carry the detection radar 210 in the intelligent radar system. The telescopic robotic arm assembly 120 is further configured to swing and / or extend relative to the movable chassis 110, which can drive the detection radar 210 to closely adhere to the tunnel secondary lining surface 310 and move circumferentially along the tunnel secondary lining surface 310 for circumferential detection.

[0025] The intelligent radar system 200 in this detection equipment includes a detection radar 210 and a control terminal 220. The detection radar 210 is mounted on a telescopic robotic arm assembly 120. It can be closely attached to the tunnel lining surface 310 under the drive of the telescopic robotic arm assembly 120, and can move circumferentially along the tunnel lining surface 310 under the drive of the telescopic robotic arm assembly 120, while maintaining close contact with the tunnel lining surface 310 during the movement. The detection radar 210 can also synchronously generate high-frequency electromagnetic pulses towards the tunnel lining surface 310 for detection and generate detection data while moving circumferentially along the tunnel lining surface 310.

[0026] The control terminal 220 in the intelligent radar system 200 is configured to interact with the detection radar 210 to acquire the detection data generated by the detection radar and perform analysis and processing to determine the overall quality of the secondary lining of the detected tunnel.

[0027] This section provides further specific configuration schemes for the unmanned testing vehicle 100 and the intelligent radar system 200 in the testing equipment.

[0028] The movable chassis 110 in this unmanned testing vehicle 100 is not limited in its specific configuration here, and can be determined according to actual needs.

[0029] As further explanation, the mobile chassis 110 is specifically configured to operate autonomously, that is, the mobile chassis 110 has functions such as autonomous navigation, autonomous positioning, and autonomous charging.

[0030] As further explanation, the movable chassis 110 is specifically configured to be capable of intelligent path planning, automatically analyzing and selecting the optimal path based on road conditions to improve detection efficiency.

[0031] As further explanation, the movable chassis 110 is specifically configured to intelligently avoid obstacles, automatically identify obstacles, and have an obstacle-crossing capability of no less than 5cm.

[0032] This unmanned inspection vehicle 100 can also automatically draw lines on site, using a robotic arm device to draw lines based on radar detection results and locate the detected areas.

[0033] See Figure 2 The detection radar 210 in this intelligent radar system 200 is mainly composed of an antenna transceiver unit 211, an embedded main control and acquisition unit 212, a power supply and peripheral unit 213, a stepping and pulse forming unit 214, and a battery unit 215 working together.

[0034] The embedded main control and acquisition unit 212 is configured to be connected to the power supply and peripheral unit 213, the stepping and pulse forming unit 214 and the antenna transceiver unit 211. It is responsible for real-time data acquisition, processing and uploading, and undertakes the timing control task of the stepping and pulse forming unit 214 and the control function of antenna power supply.

[0035] The stepping and pulse forming unit 214 is configured to connect to the antenna transceiver unit 211, the power supply and peripheral unit 213, and the embedded main control and acquisition unit 212. It can control the antenna to work at the set repetition frequency according to the user settings and the antenna frequency, and accurately control the stepping accuracy to achieve equivalent sampling of radar signals.

[0036] The power supply and peripheral unit 213 is configured to be connected to the battery unit 215, the antenna transceiver unit 211, the embedded main control and acquisition unit 212, and the stepping and pulse forming unit 214 respectively. The power supply and peripheral unit 213 is used to convert the power supply of the battery unit into the power supply required for the operation of other units, and to provide wireless and wired network communication functions and range measuring wheel and GPS interface functions.

[0037] The antenna transceiver unit 211 specifically includes four parts: a transmitter, a receiver, a transmitting antenna, and a receiving antenna. The transmitting antenna converts the pulse signal transmitted by the transmitter into electromagnetic waves, and the receiver converts the electromagnetic wave signal received by the receiving antenna into a voltage signal, which is then sent to the embedded main control and acquisition unit for processing, analysis, and display.

[0038] The control terminal 220 in this intelligent radar system 200 can be deployed as a back-end terminal in the rear or directly in the unmanned detection vehicle 100.

[0039] As further explanation, when the control terminal 220 is deployed at a distance from the site, the control terminal 220 establishes a communication connection with the control components of the unmanned detection vehicle 100 and the detection radar 210 via wireless communication.

[0040] When the control terminal 220 is deployed in the unmanned testing vehicle 100, the control terminal 220 preferably establishes a communication connection with the control components of the unmanned testing vehicle 100 through wired communication; at the same time, it establishes a communication connection with the detection radar 210 through wireless communication.

[0041] This control terminal 220 is equipped with a control module, a radar data analysis and processing module, and a storage module.

[0042] The control module can configure the system operating parameters according to the actual connected antenna in the detection radar 210.

[0043] The radar data analysis and processing module can analyze and process the radar detection data uploaded by the detection radar 210 to determine the overall quality of the secondary lining of the detected tunnel.

[0044] The storage module is used to store the data generated by the control module and the radar data analysis and processing module.

[0045] As further explanation, the detection radar 210 in this intelligent radar system 200 specifically adopts an ultra-wideband impulse radar system. Based on the propagation of high-frequency electromagnetic waves, it detects underground media through phenomena such as reflection and refraction of high-frequency electromagnetic waves in the medium. The electromagnetic properties of the medium can be described by three parameters: relative permittivity, magnetic permeability, and electrical conductivity. Different substances, as long as their physical properties differ, will inevitably have different electromagnetic properties. These differences in the medium can be used to detect underground targets.

[0046] As further explained, when the detection radar 210 in this intelligent radar system 200 is working, the ground-penetrating radar antenna in its antenna transceiver unit emits a high-frequency electromagnetic pulse of a certain intensity into the underground medium, carrying ultra-wideband electromagnetic wave energy into the tunnel secondary lining. When the electromagnetic wave propagates in the underground medium, it is reflected or scattered when it encounters an underground target with different electromagnetic properties, and is finally received by the receiving antenna. The ground-penetrating radar's main control and acquisition unit digitizes and preprocesses the received echo signal in real time, and uploads the processed result to the computer (i.e., the control terminal).

[0047] The radar's detection depth depends on the attenuation and propagation characteristics of electromagnetic waves in the detection environment. The non-uniformity of the target leads to a non-linear response of the detection environment to the radar signal frequency. In practical applications, the radar detection depth can be roughly estimated based on the radar equations, with a margin to ensure the actual detection effect.

[0048] The radar range equation is: (1) In the formula, To receive signal power, For transmission power, This refers to the antenna gain (the transmit and receive antennas have the same gain). The radar cross-section of the target object. For the operating wavelength, This represents the relative permittivity of the medium.

[0049] The tunnel secondary lining detection uses a radar antenna with a center frequency of 900MHz. The antenna transmits a signal amplitude of 30V and a repetition frequency of 390kHz. Therefore, the transmit power is: (2) The receiver signal is designed to have a sensitivity of 20μ. V pp Then the received power is: (3) The antenna operating wavelength is calculated using the center frequency point as follows: (4) Antenna gain , For concrete path propagation loss, calculated at 10 dB / m value Radar cross section relative permittivity of concrete Take the median value The detection distance is: (5) (6) Theoretically, this indicator can meet the requirements for the depth of grouting quality detection in tunnel segments. However, in reality, due to interference from materials such as reinforcing bars and humidity in the medium, the propagation path loss is uncertain, and the specific parameters need to be corrected again after testing.

[0050] As a further explanation, when the control terminal 220 in this intelligent radar system 200 analyzes and processes the radar data detected by the detection radar 210, in order to ensure the accuracy of the analysis and processing, the control terminal 220 optimizes the radar data detected by the detection radar 210, specifically including rebar reflection signal suppression processing, defect weak signal enhancement processing, and structural layer detection and tracking.

[0051] (1) Suppression of steel bar reflection signals: Strong reflected echoes from reinforcing bars are a major obstacle in the detection of defects in tunnel secondary lining grouting. The influence of reinforcing bars on the defect echo signal is mainly manifested in attenuation of defect echo intensity, signal delay, and echo aliasing: the defect echo intensity is inversely proportional to the diameter of the covering reinforcing bars; the larger the diameter of the reinforcing bars, the weaker the defect echo intensity. Reinforcing bar diffraction causes a time delay between defect echoes obscured by reinforcing bars and those not obscured by reinforcing bars; when the distance between the reinforcing bars and the defect is close, the defect echo signal and the reinforcing bar echo signal superimpose, generating additive interference signals.

[0052] Because the steel bars in reinforced concrete structures are good conductors with strong reflectivity and a transmittance of 0, only a small portion of the energy continues to propagate downwards through diffraction. This results in a low intensity of the reflected echo signal from defects such as those at the bottom of the steel bars, which is significantly different from the echo signal from defects not obscured by the steel bars. This creates singularities during defect echo feature extraction, affecting the accuracy of defect identification.

[0053] Therefore, enhancing the echo signal of defects and eliminating the influence of steel reinforcement obstruction are the difficulties in using ground-penetrating radar to detect and identify internal defects in reinforced concrete structures.

[0054] To address this, the present invention employs energy feature vector correction and target echo reconstruction algorithms to suppress strong reflection signals from reinforcing bars.

[0055] See Figure 3 The process for suppressing strong reflection signals from reinforcing bars in this invention is as follows: To obtain the energy characteristics of the ground-penetrating radar echo signal, correlation calculations were performed on the B-Scan data according to the sampling location. The formula for reconstructing the target echo signal after suppressing the energy characteristics of the steel reinforcement reflection wave is expressed as: .

[0056] (2) Weak disease signals are enhanced: The present invention employs grayscale stretching as an image processing method to enhance weak signals of disease.

[0057] In this scheme, when enhancing weak disease signals using image processing methods such as grayscale stretching, the image contrast is increased based on the grayscale range of the target region in the image.

[0058] See Figure 4 For ground-penetrating radar-detected strata images, grayscale stretching can be used to improve the clarity of deeper layers, enhance contrast, and make changes in lesions more obvious.

[0059] For ground-penetrating radar images, the grayscale values ​​often cover the entire range of 0 to 1, but most of the signals are concentrated in a certain grayscale value area. Piecewise linear stretching transformation can be used to transform the area where the main signals are located, expand the grayscale range of useful information, and improve the contrast of the target area.

[0060] (3) Structural layer detection and tracking Based on the above-mentioned radar detection data processing, the present invention identifies the characteristics of the reflected waves from the structural layer and determines the selected detection algorithm according to the characteristics, so as to achieve the purpose of correctly detecting and tracking the structural layer.

[0061] The characteristics of the structural layer reflected waves here mainly include the time characteristics, amplitude characteristics, and phase characteristics of the structural layer reflected waves.

[0062] (3.1) Temporal characteristics of reflected waves from structural layers When using the same radar to detect structural layers, the distance between the radar antenna and the surface layer changes within a certain range due to the vibration of the observation system. At the same time, the thickness of the structural layer usually has certain design requirements and does not change much. Therefore, the arrival time of the reflected wave from the structural layer should also vary within a certain range.

[0063] (3.2) Amplitude characteristics of reflected waves from structural layers The attenuation effect of the medium reduces the energy of the reflected waves from the structural layer. However, the dielectric constant of tunnel segments generally does not vary significantly, and the attenuation of the reflected waves from the structural layer is usually within a certain range. Therefore, the amplitude of the reflected waves from the structural layer is another basis for accurately selecting them.

[0064] (3.3) Phase characteristics of reflected waves from structural layers According to the laws of reflection and refraction of electromagnetic waves, the field strength of the reflected electromagnetic wave is: (8) in, , These are the relative permittivity of the upper and lower dielectric layers, respectively. and These represent the field strengths of the reflected wave and the incident wave, respectively. In ground-penetrating radar images, the reflected waves from the structural layer are a set of waveforms similar in shape to the incident wave. The phase of the reflected wave depends on the difference in relative permittivity between the media above and below the reflecting surface.

[0065] When the dielectric constant of the medium at the interface is greater than that of the medium below the interface, the reflected wave is in phase with the incident wave; conversely, when the dielectric constant of the medium at the interface is less than that of the medium below the interface, the reflected wave is out of phase with the incident wave.

[0066] Furthermore, the process of detecting and tracking the structural layer based on the defined temporal characteristics, amplitude characteristics, and phase characteristics of the reflected wave in the structural layer is as follows: Figure 5 As shown: Regarding the circumferential inspection scheme for tunnel secondary lining provided by this invention, the following specific application example illustrates the implementation process of circumferential inspection of tunnel secondary lining based on this invention.

[0067] Before implementation, a tunnel secondary lining circumferential detection device was first constructed based on the aforementioned scheme and deployed to the construction site.

[0068] See Figure 6 Based on the aforementioned preparations, the specific implementation steps for the circumferential inspection of the tunnel secondary lining are as follows: (1) Determine the detection area and object After the secondary lining of the tunnel is poured and cured, the area to be inspected is selected, and preparations are made for the inspection.

[0069] (2) Radar selection and scheme formulation Determine the maximum depth for this test, select a suitable radar antenna model, and develop a test plan based on the radar characteristics.

[0070] (3) Control of wall surface flatness Observe the condition of the tunnel lining wall to avoid surface defects such as misalignment, protrusions, or honeycomb pitting that can easily damage the radar antenna.

[0071] (4) Equipment operation status test The test measures the operational status of the detection equipment and the transmission and reception status of the radar equipment.

[0072] (5) Specify the circumferential detection path and spacing The inspection path is determined along the tunnel circumference. Generally, one side of the tunnel can be selected, divided according to the whole slab pouring area, and the circumferential scanning interval is controlled to be no more than 1m as the inspection path.

[0073] (6) On-site testing (6.1) Movement and control of the inspection vehicle See Figure 7 During a single path of circumferential detection, the detection vehicle should remain stable, ensuring that the radar equipment is close to the wall, and wait for the radar equipment to complete the detection task of this loop. After the radar equipment completes a single detection path, the detection vehicle should move forward a certain distance, with the direction of movement parallel to the tunnel wall. The moving distance is the interval of circumferential detection, and the movement process should be kept stable.

[0074] (6.2) Intelligent radar data acquisition See Figure 7 The radar equipment moves vertically along the tunnel's circumference, with the robotic arm controlling its direction of movement in real time. During the movement, the radar collects and stores waveform data. After a single path detection is completed, the radar moves with the vehicle for one detection interval to the next detection path, and then performs a cyclical test.

[0075] (7) Data transmission and processing After all the planned testing areas are completed, the equipment is shut down, and the data is transmitted to the analysis and processing software for post-processing.

[0076] (8) Display of test results The post-processing results are displayed on the screen, and a test report is generated.

[0077] As can be seen from the above examples, the circumferential inspection scheme for tunnel lining provided by this invention is different from the existing technology, which mainly focuses on inspection along the direction of the tunnel lining survey line. The innovative method adopts a whole-panel circumferential scanning whole-panel inspection mode, which can cover the entire tunnel lining area.

[0078] The circumferential inspection scheme for tunnel secondary lining proposed in this invention differs from existing technologies, which require inspectors to manually operate ground-penetrating radar equipment at heights. This innovative approach uses an unmanned vehicle to control a robotic arm to perform the inspection task, resulting in higher inspection efficiency and avoiding the safety risks associated with manual operations at heights.

[0079] The circumferential detection scheme for tunnel lining proposed in this invention is different from the existing radar detection of tunnel lining, which integrates data from a single measuring line. It innovatively uses circumferential radar detection data splicing to form the final detection result, so that the final output is the quality of the entire tunnel lining, specifically a three-dimensional presentation of the casting quality of the entire tunnel lining.

[0080] 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 this invention is defined by the appended claims and their equivalents.

Claims

1. A testing device suitable for circumferential inspection of tunnel secondary lining, characterized in that, The detection equipment includes an unmanned detection vehicle and an intelligent radar system; The unmanned inspection vehicle includes a movable chassis and a retractable robotic arm assembly mounted on the movable chassis. The movable chassis is configured to drive automatically at the construction site. The retractable robotic arm assembly is mounted on the movable chassis and is used to carry the detection radar in the intelligent radar system. The retractable robotic arm assembly is configured to swing and / or extend relative to the movable chassis, and can drive the detection radar to closely adhere to the surface of the tunnel lining and move circumferentially along the surface of the tunnel lining. The intelligent radar system includes a detection radar and a control terminal. The detection radar is configured to generate high-frequency electromagnetic pulses facing the surface of the tunnel lining to detect and generate detection data. The control terminal is configured to interact with the detection radar, acquire the detection data generated by the detection radar, and perform analysis and processing to determine the overall quality of the secondary lining of the detected tunnel.

2. The testing equipment for circumferential testing of tunnel secondary lining according to claim 1, characterized in that, The mobile chassis is configured to enable intelligent path planning and intelligent obstacle avoidance.

3. The testing equipment for circumferential inspection of tunnel secondary lining according to claim 1, characterized in that, The movable chassis is configured to automatically use a robotic arm to mark lines on-site and locate the detected area based on radar detection results.

4. The testing equipment for circumferential testing of tunnel secondary lining according to claim 1, characterized in that, The detection radar consists of an antenna unit, an embedded main control and acquisition unit, a power supply and peripheral unit, a stepping and pulse forming unit, and a battery unit. The power supply and peripheral unit is configured to connect to the battery unit, the antenna unit, the embedded main control and acquisition unit, and the stepping and pulse forming unit, respectively. The embedded main control and acquisition unit is configured to connect the power supply, the stepping and pulse forming unit, the peripheral unit, and the antenna unit. The stepping and pulse forming unit is configured to connect to the antenna unit.

5. A detection method applicable to circumferential inspection of tunnel secondary lining, characterized in that, The detection method is based on an unmanned detection vehicle and an intelligent radar system to perform circumferential detection of the tunnel secondary lining, including: Plan the movement path for the detection area and the object, as well as the detection path along the tunnel circumference; The unmanned testing vehicle moves sequentially to the corresponding testing station according to the planned movement path; At each inspection station, an unmanned inspection vehicle drives a detection radar that is close to the surface of the tunnel lining, and controls the intelligent radar system to move along the tunnel circumferentially according to the planned inspection path. The intelligent radar system generates high-frequency electromagnetic pulses towards the surface of the tunnel lining to detect and generate detection data. The detection data is analyzed and processed to determine the overall quality of the detected tunnel lining.

6. The detection method for circumferential detection of tunnel secondary lining according to claim 5, characterized in that, In the detection method, a robotic arm device is automatically used to draw lines on site and locate the detected area based on the radar detection results.

Images