A device for detecting a lining of a tunnel

Abstract

The application discloses a kind of detection devices of tunnel internal lining, it is related to tunnel detection technical field, comprising: lifting installation part, radar detection part and for connecting the connecting part of both;The lifting installation part includes installation base and first telescopic link, the installation base is used to install the detection device on mobile equipment, the detection device is moved in tunnel detection using the mobile equipment, the first telescopic link is fixedly connected on installation base, for adjusting the height of the radar detection part;The radar detection part includes transverse mounting plate, transverse support component and detection component, and the transverse support component is installed on the left and right sides of transverse mounting plate;The application can keep detection radar in preset detection track automatically when mobile equipment generates driving track deviation, integrated lining wrong station mechanical detection function simultaneously, with the advantages of simple structure, low cost, high reliability and convenient operation.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, and more specifically to an inspection device for the internal lining of a tunnel. Background Technology

[0002] Ground-penetrating radar (GPR) is a mainstream non-destructive testing method for tunnel lining quality. Its core principle is to identify defects by utilizing the reflection characteristics of high-frequency electromagnetic waves within the lining structure. During testing, the radar antenna moves continuously along the survey line, closely pressed against the lining surface. The emitted electromagnetic waves are reflected at interfaces between different media such as concrete, reinforcing steel, surrounding rock, and cavities. By analyzing parameters such as waveform, amplitude, and two-way travel time, information such as lining thickness, location of cavities behind the lining, distribution of reinforcing steel, and concrete density can be deciphered. This method offers advantages such as continuous operation, speed, and non-destructive testing, and is particularly effective at detecting hidden defects such as construction joint voids and incomplete backfilling of surrounding rock.

[0003] For the quality inspection of tunnel lining using ground-penetrating radar (GPR), the common method involves workers holding the radar equipment and moving it along the tunnel lining surface for inspection. However, this manual method is labor-intensive and inefficient, limiting its application to small-scale, short-distance lining inspections. Therefore, existing technologies have developed that mount the GPR on a mobile device (such as an engineering vehicle) using a bracket. This mobile device then drives the GPR to collect signals from the tunnel lining. For example, Chinese Patent Publication No. CN116338589A, published on June 27, 2023, discloses a tunnel GPR advanced prediction and auxiliary inspection vehicle, which utilizes a tracked trolley and radar bracket to achieve automatic tunnel inspection.

[0004] However, the aforementioned devices are used for inspecting railway tunnels. The track trolley utilizes the positioning function of the rails to allow the radar to adhere to the lining surface during movement and move along the detection trajectory. For highway tunnels, engineering vehicles are currently commonly used to move the radar for inspection. However, due to inevitable trajectory deviations during vehicle operation, existing detection supports are fixed relative to the vehicle. When the vehicle deviates from its trajectory during inspection, the radar easily deviates from the preset detection trajectory, leading to inaccurate detection results. In severe cases, it can even cause the radar to collide and be damaged by the lining. For example, Chinese Patent Publication No. CN108317998A, published on July 24, 2018, discloses a full-section tunnel lining inspection vehicle. While it considers the above problems, it uses sensors to detect the vehicle's position in the tunnel and uses the vehicle's travel distance and a preset desired trajectory point for automatic driving control. Although this method can correct the vehicle's trajectory, it involves complex control hardware and software, which is prone to misidentification and misjudgment when dealing with the complex construction environment inside tunnels, and the equipment cost is high.

[0005] Furthermore, when installing adjacent linings in a tunnel, misalignment may occur at the edges of the two adjacent linings. Currently, the detection of this misalignment is often done manually using tools or through image analysis using more expensive visual inspection equipment. Manually measuring the height difference at each adjacent lining joint is inefficient, while image detection faces significant challenges in image quality and algorithm robustness due to the harsh tunnel environment, including dust and moisture interference. Therefore, how to detect lining misalignment using a low-cost and more efficient method is also a technical problem that this invention aims to solve.

[0006] Therefore, a detection device for the tunnel lining is needed to solve the above problems. Summary of the Invention

[0007] The purpose of this invention is to provide a detection device for the internal lining of tunnels, so as to solve the problems existing in the prior art mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A device for detecting tunnel interior lining, comprising: The lifting and mounting unit, the radar detection unit, and the connecting unit for connecting the two; The lifting installation unit includes a mounting base and a first telescopic rod. The mounting base is used to install the detection device on a mobile device, and the mobile device is used to move the detection device in the tunnel for detection. The first telescopic rod is fixedly connected to the mounting base and is used to adjust the height of the radar detection unit. The radar detection unit includes a horizontal mounting plate, a horizontal support assembly, and a detection assembly. The horizontal support assembly is installed on the left and right sides of the horizontal mounting plate and is used to provide horizontal support and limit the detection device. The detection assembly is installed in the middle of the horizontal mounting plate and includes a pole and a detection radar. The detection radar is installed on the upper end of the pole and is used to detect the top of the tunnel lining. It also includes a lining misalignment detection mechanism installed on a transverse support assembly; the transverse support assembly includes a first buffer rod and a wheel frame, the wheel frame being rotatably connected to the end of the first buffer rod via a pin, the rotation axis of the wheel frame being perpendicular to the tunnel travel direction, allowing the wheel frame to swing around the pin; the lining misalignment detection mechanism includes a misalignment detection switch and a connecting rod, the connecting rod being connected between the misalignment detection switch and the wheel frame, utilizing the rotation of the wheel frame relative to the first buffer rod when it passes the misalignment position to drive the misalignment detection switch to achieve misalignment detection.

[0009] Preferably, the connecting part is disposed between the lifting mounting part and the radar detection part, so that the lifting mounting part can rotate and move laterally relative to the radar detection part, thereby expanding the range of the movement trajectory of the mobile device in the tunnel; The connecting part includes a rotating shaft, a rotating seat, and a linear guide rail mounted on the upper end of the first telescopic rod. The rotating seat is mounted on the rotating shaft and can rotate relative to the first telescopic rod. The linear guide rail is mounted on the lower end face of the transverse mounting plate. A slider is mounted on the upper end face of the rotating seat and is slidably connected to the linear guide rail, so that the first telescopic rod can move laterally relative to the transverse mounting plate.

[0010] Preferably, the lateral support assembly further includes a second telescopic rod and a support wheel fixedly installed on the lateral mounting plate, and the first buffer rod is installed at the output end of the second telescopic rod; the two lateral ends of the wheel frame are rotatably connected to the support wheel, and the support wheel can contact and roll with the tunnel lining surface when the detection device moves.

[0011] Preferably, the detection assembly further includes a connecting seat mounted on a horizontal mounting plate, the upright is rotatably connected to the connecting seat via a connecting shaft, and the connecting seat is provided with an adjustment component for adjusting the angle of the upright.

[0012] Preferably, the upper end of the upright is connected to a second buffer rod, the upper end of the second buffer rod is connected to a mounting box, and the detection radar is installed in the mounting box.

[0013] Preferably, the adjustment assembly includes a worm gear, a worm, and a drive motor keyed to the connecting shaft of the upright. The worm is rotatably connected to the connecting seat and meshes with the worm gear. The connecting seat is equipped with a drive motor for driving the worm to rotate.

[0014] Preferably, the misalignment detection switch includes a housing, a base plate, and conductive plates. The base plate is installed at the bottom of the housing, and two conductive plates are provided on the base plate. The conductive plates are electrically connected to two first pins on the housing, respectively. The housing has a sliding groove, and a control block is slidably connected inside the housing. A conductive rod is slidably connected inside the connection hole of the control block. A spring for pushing the conductive rod outward is also provided inside the connection hole. The control block has a second pin, which is electrically connected to the conductive rod. One end of the connecting rod is rotatably connected to the shaft on the control block, and the other end of the connecting rod is rotatably connected to the shaft on the wheel frame; The sliding of the control block causes the conductive rod to come into contact with or separate from the conductive sheet.

[0015] Preferably, the first telescopic rod and the second telescopic rod are electric telescopic rods or hydraulic telescopic rods.

[0016] Preferably, the detection radar has a roller on its detection surface, and the outer edge of the roller protrudes 2-5mm beyond the detection surface of the detection radar.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention provides a connecting part consisting of a rotating shaft, a rotating seat, a slider, and a linear guide rail between the lifting installation part and the radar detection part. This allows the radar detection part to automatically slide and rotate horizontally relative to the mobile device in the cross-sectional direction of the tunnel. When the mobile device moves and causes lateral deviation, the floating connecting part can passively absorb and compensate for the deviation, ensuring that the radar detection part always stays on the preset detection trajectory under the positioning effect of the lateral support component. It can achieve automatic trajectory correction without relying on any electronic sensors and automatic control algorithms, effectively avoiding the distortion of detection data or equipment collision damage caused by vehicle trajectory deviation. It significantly reduces driving difficulty and operating costs, and has the advantages of simple structure, rapid response, high reliability, and is not affected by the complex construction environment inside the tunnel.

[0018] 2. This invention integrates a mechanical lining misalignment detection mechanism consisting of a misalignment detection switch and a connecting rod between the first buffer rod of the transverse support component and the wheel frame. Utilizing the angular deflection generated when the wheel frame encounters a lining misalignment, the connecting rod drives the control block inside the misalignment detection switch to slide, causing the conductive rod to contact the conductive plate and conduct electricity, outputting an electrical signal. Combined with the odometer position information, the location of the misalignment can be recorded synchronously and accurately. Without the need for additional visual inspection equipment, automatic detection and recording of misalignments can be completed simultaneously with tunnel lining radar inspection operations, significantly reducing equipment costs. Furthermore, it is unaffected by lighting and dust conditions inside the tunnel, achieving integrated operation of radar inspection and misalignment detection. Attached Figure Description

[0019] Figure 1 This is a front-view stereoscopic structural diagram of the present invention.

[0020] Figure 2 This is a bottom-view three-dimensional structural diagram of the present invention.

[0021] Figure 3 This is a schematic diagram of the detection component structure of the present invention.

[0022] Figure 4 This is a schematic diagram of the lateral support component structure of the present invention.

[0023] Figure 5 This is a schematic diagram of the misalignment detection switch structure of the present invention.

[0024] Figure 6 This is a schematic diagram of the internal structure of the misalignment detection switch of the present invention.

[0025] Figure 7This is a schematic diagram showing the detection device of the present invention installed on a work vehicle.

[0026] Figure 8 This is a schematic diagram showing the state of the work vehicle of the present invention when it is traveling in the middle of the tunnel.

[0027] Figure 9 This is a schematic diagram of the state of the working vehicle of the present invention when it is traveling and turning on the left side of the tunnel.

[0028] Figure 10 This is a schematic diagram of the lining misalignment detection mechanism of the present invention in the misalignment position.

[0029] Figure 11 For the present invention Figure 10 A magnified schematic diagram of the structure at point A in the middle.

[0030] In the diagram: 1. Mounting base; 2. First telescopic rod; 3. Rotating shaft; 4. Rotating seat; 5. Horizontal mounting plate; 6. Slider; 7. Linear guide rail; 8. Horizontal support assembly; 81. Second telescopic rod; 82. First buffer rod; 83. Wheel frame; 84. Support wheel; 85. Misalignment detection switch; 851. Housing; 852. Base plate; 853. Conductive sheet; 854. First pin; 855. Control block; 856. Conductive rod; 857. Second pin; 86. Connecting rod; 9. Detection assembly; 91. Connecting seat; 92. Vertical pole; 93. Second buffer rod; 94. Mounting box; 95. Detection radar; 96. Worm gear; 97. Worm; 98. Drive motor. Detailed Implementation

[0031] 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.

[0032] Please see Figures 1-11 The present invention provides the following technical solutions: A detection device for tunnel lining includes: a lifting and mounting unit, a radar detection unit, and a connecting unit for connecting the two. The lifting and mounting unit includes a mounting base 1 and a first telescopic rod 2. The mounting base 1 is used to mount the detection device on a mobile device, which then moves the detection device within the tunnel for detection. The first telescopic rod 2 is fixedly connected to the mounting base 1 and is used to adjust the height of the radar detection unit.

[0033] In this embodiment, the mounting base 1 is fixed to the frame of the mobile device by bolts. The mobile device is preferably an engineering work vehicle or a tracked walking platform. The first telescopic rod 2 is driven by an electric push rod or a hydraulic cylinder to achieve precise adjustment of the height of the radar detection unit, adapting to the inspection needs of tunnel linings with different cross-sectional dimensions.

[0034] The radar detection unit includes a transverse mounting plate 5, a transverse support assembly 8, and a detection assembly 9. The transverse support assembly 8 is installed on the left and right sides of the transverse mounting plate 5 to provide transverse support and limit the detection device, ensuring stable support for the detection device in the tunnel cross-section direction. The transverse support assembly 8 includes a second telescopic rod 81, a first buffer rod 82, and a wheel frame 83, all fixedly mounted on the transverse mounting plate 5. The first buffer rod 82 is installed at the output end of the second telescopic rod 81; the second telescopic rod 81 is an electric push rod or a hydraulic cylinder. The wheel frame 83 is rotatably connected to the end of the first buffer rod 82, and support wheels 84 are rotatably connected to both transverse ends of the wheel frame 83. The support wheels 84 can contact and roll against the tunnel lining surface when the detection device moves.

[0035] The first buffer rod 82 consists of an outer tube, an inner slide rod, and a compression spring built into the outer tube. One end of the compression spring abuts against the bottom of the outer tube, and the other end abuts against the end of the inner slide rod. It is used to provide a continuous elastic thrust to the wheel frame 83, so that the support wheel 84 always maintains close contact with the tunnel lining surface during the detection process, while absorbing the vibration and impact caused by the slight unevenness of the tunnel lining surface, ensuring the stability of the detection device operation.

[0036] The wheel frame 83 is rotatably connected to the end of the first buffer rod 82 via a pin. A torsion spring is also installed on this pin, which provides flexible restraint for the wheel frame 83. When the torsion spring is not charged, the wheel frame 83 is perpendicular to the first buffer rod 82, ensuring the stability of the detection device's movement. Its axis of rotation is perpendicular to the tunnel's travel direction, allowing the wheel frame 83 to swing freely within a certain angle range around the pin, thus adapting to the undulations of the tunnel lining surface along the travel direction. The support wheel 84 is a rolling wheel covered with an elastic rubber layer, and its outer circumferential surface is provided with anti-slip patterns to increase friction with the lining surface and prevent the support wheel 84 from sliding on the lining surface during detection, which could generate abnormal noise or damage the lining surface.

[0037] The detection assembly 9 is installed in the middle of the transverse mounting plate 5. The detection assembly 9 includes a pole 92 and a detection radar 95. The detection radar 95 is installed on the upper end of the pole 92 and is used to detect the top of the tunnel lining. The detection assembly 9 also includes a connecting seat 91 installed on the transverse mounting plate 5. The pole 92 is rotatably connected to the connecting seat 91, and the connecting seat 91 is equipped with an adjustment component for adjusting the angle of the pole 92. The lower end of the pole 92 is rotatably connected to the connecting seat 91 via a connecting shaft. Its rotation axis is parallel to the tunnel travel direction, allowing the pole 92 to swing at an angle in the tunnel cross-section direction, thereby adjusting the detection position of the detection radar 95.

[0038] The adjustment assembly includes a worm gear 96, a worm 97, and a drive motor 98, all keyed to the connecting shaft of the upright 92. The worm 97 is rotatably connected to the connecting seat 91 and meshes with the worm gear 96. The drive motor 98, which drives the worm 97 to rotate, is mounted on the connecting seat 91. The drive motor 98 is either a stepper motor or a servo motor, and its output shaft is coaxially connected to the worm 97 via a coupling. When the drive motor 98 is powered on, it drives the worm 97 to rotate. The worm 97, through meshing transmission, drives the worm gear 96 and the upright 92 to rotate around the connecting shaft, thereby achieving precise adjustment of the angle of the detection radar 95. Due to the self-locking characteristic of the worm gear transmission pair, when the drive motor 98 stops running, the upright 92 can remain at any adjusted angle without self-deflection, thus ensuring that the detection radar 95 maintains a stable posture during the detection process.

[0039] A second buffer rod 93 is connected to the upper end of the upright 92, and a mounting box 94 is connected to the upper end of the second buffer rod 93. The detection radar 95 is installed inside the mounting box 94. The structure of the second buffer rod 93 is the same as that of the first buffer rod 82. The stiffness of its internal spring is less than the weight of the detection radar 95 itself, so that in its natural state, the second buffer rod 93 can be compressed to the middle position of its stroke. Thus, during the detection process, it can provide sufficient upward thrust to make the detection radar 95 fit against the lining surface, and can also retract downward to absorb the excessive pressure from the bulge of the lining surface, avoiding damage to the detection radar 95 due to excessive force. The mounting box 94 is a hollow box structure with an internal mounting cavity for accommodating the detection radar 95. The upper end of the mounting box 94 has an opening for exposing the detection surface of the detection radar 95. The detection radar 95 is fixed inside the mounting box 94 by shock-absorbing pads or rubber blocks to isolate high-frequency vibrations from the second buffer rod 93 and the upright 92, ensuring the stability and accuracy of the detection signal.

[0040] The detection radar 95 has rollers on its detection surface. Multiple rollers are evenly distributed along the edge of the detection surface, and their rolling direction is consistent with the tunnel's travel direction. The rollers have a diameter of not less than 10mm, and their outer edges protrude 2-5mm from the detection surface of the radar 95. This allows the rollers to directly contact and roll against the tunnel lining surface during detection, while maintaining a small gap (0.5-2mm) between the detection surface of the radar 95 and the lining surface. This avoids direct friction and wear between the detection surface of the radar 95 and the lining surface, and ensures that the distance between the transmitting and receiving antennas of the radar 95 and the lining surface remains within the effective detection range, thus guaranteeing the strength and quality of the detection signal.

[0041] The connecting part is located between the lifting and mounting part and the radar detection part, so that the lifting and mounting part can rotate and move laterally relative to the radar detection part, expanding the range of movement trajectory of the mobile equipment in the tunnel, making the operation vehicle more flexible to drive, reducing the driving difficulty, and being able to avoid construction obstacles in the tunnel.

[0042] Specifically, the connecting part provides a free sliding stroke of at least ±200mm in the tunnel cross-section direction and a free rotation angle of at least ±15° in the horizontal plane. When the mobile device deviates laterally due to driving operations during its travel in the tunnel, the connecting part enables the lifting mounting part to slide or rotate relative to the radar detection part, thereby separating the mobile device's deviation from the radar detection part. This allows the radar detection part to remain on the preset detection trajectory under the positioning effect of the lateral support component 8. Simultaneously, when the mobile device needs to avoid temporary construction facilities or stacked materials in the tunnel, the driver can directly steer the mobile device away from the centerline without worrying about the detection radar 95 deviating from the detection trajectory. This is because the sliding and rotation functions of the connecting part automatically compensate for the deviation, greatly reducing driving difficulty and the technical requirements for the driver.

[0043] The connecting part includes a rotating shaft 3, a rotating seat 4, and a linear guide rail 7 installed on the upper end of the first telescopic rod 2. The rotating seat 4 is installed on the rotating shaft 3 and can rotate relative to the first telescopic rod 2. The linear guide rail 7 is installed on the lower end face of the transverse mounting plate 5. A slider 6 is installed on the upper end face of the rotating seat 4 and is slidably connected to the linear guide rail 7, so that the first telescopic rod 2 can move laterally relative to the transverse mounting plate 5.

[0044] The rotating shaft 3 is vertically positioned, with its lower end fixedly connected to the top of the first telescopic rod 2, and its upper end rotatably connected to the rotating seat 4 via a bearing. The rotating seat 4 is a rectangular plate structure, with at least two sliders 6 fixedly mounted on its upper surface, the sliders 6 being evenly distributed laterally. A linear guide rail 7 is fixedly mounted on the lower surface of the transverse mounting plate 5, its extension direction being perpendicular to the tunnel travel direction. Rolling elements or sliding bushings are provided between the sliders 6 and the linear guide rail 7 to achieve relative sliding with a low coefficient of friction.

[0045] During the operation of the detection device, when the mobile device travels along the tunnel, the support wheels 84 of the lateral support assembly 8 contact the tunnel lining surface. The first buffer rod 82 and the second telescopic rod 81 apply a lateral constraint force to the lateral mounting plate 5, ensuring that the lateral position of the radar detection unit is determined by the tunnel lining itself and is unaffected by changes in the lateral position of the mobile device. When the mobile device deviates laterally, the first telescopic rod 2 drives the slider 6 to slide along the linear guide rail 7 via the rotating shaft 3 and the rotating seat 4. Simultaneously, the rotating seat 4 can rotate around the rotating shaft 3 to adapt to changes in the direction of travel of the mobile device, thus ensuring that the radar detection unit is unaffected by the lateral and angular deviation of the mobile device and always remains on the preset detection trajectory.

[0046] The present invention also includes a lining misalignment detection mechanism, which is mounted on the first buffer rod 82. The lining misalignment detection mechanism includes a misalignment detection switch 85 and a connecting rod 86. The connecting rod 86 connects the misalignment detection switch 85 and the wheel frame 83. The rotation of the wheel frame 83 relative to the first buffer rod 82 drives the misalignment detection switch 85 to perform misalignment detection.

[0047] The misalignment detection switch 85 includes a housing 851, a base plate 852, and conductive plates 853. The base plate 852 is mounted on the bottom of the housing 851, and two conductive plates 853 are provided on the base plate 852. The conductive plates 853 are electrically connected to two first pins 854 on the housing 851. A sliding groove is provided on the housing 851, and a control block 855 is slidably connected inside the housing 851. A conductive rod 856 is slidably connected in the connection hole of the control block 855, and a spring for pushing the conductive rod 856 outward is also provided in the connection hole. A second pin 857 is provided on the control block 855, and the second pin 857 is electrically connected to the conductive rod 856. One end of the connecting rod 86 is rotatably connected to a shaft on the control block 855, and the other end of the connecting rod 86 is rotatably connected to a shaft on a wheel frame 83.

[0048] The second pin 857 is connected to an external signal acquisition circuit via a wire. When the misalignment detection switch 85 is turned on, the signal acquisition circuit receives the level change signal and associates the signal with the current position information of the detection device (provided by the odometer or GPS positioning system of the mobile device) to record the location where the lining misalignment occurs.

[0049] Under normal testing conditions, when the support wheel 84 rolls on the flat lining surface, the wheel frame 83 remains perpendicular to the first buffer rod 82, the connecting rod 86 is in its naturally extended position, the control block 855 is located in the middle section of the housing 851 of the misalignment detection switch 85, the conductive rod 856 and the conductive sheet 853 are separated, and the misalignment detection switch 85 is in an open-circuit state. When the support wheel 84 passes through the joint between two adjacent linings, and there is a height difference between the two linings greater than a set threshold (e.g., 5mm), the two support wheels 84 located on different linings will generate a relative displacement difference, causing the wheel frame 83 to be forced to deflect around its rotation axis. The deflection of the wheel frame 83 pulls or pushes the control block 855 to slide along the groove through the connecting rod 86. When the control block 855 slides to the position where the conductive rod 856 contacts the conductive sheet 853, the misalignment detection switch 85 is turned on and outputs an electrical signal, indicating that a lining misalignment defect has been detected. The conduction trigger threshold of the misalignment detection switch 85 is determined by the length of the connecting rod 86, the rotation angle of the wheel frame 83, and the initial distance between the conductive rod 856 and the conductive plate 853. It can be adjusted by replacing the connecting rod 86 with different lengths or adjusting the installation position of the conductive plate 853 to adapt to misalignment detection standards with different accuracy requirements.

[0050] The working process of this invention is as follows: When it is necessary to inspect the tunnel lining, such as Figure 7 As shown, the detection device is first installed on the work vehicle, with the lateral support assembly 8 facing the left and right sides of the work vehicle. The work vehicle is driven into the tunnel to be inspected, and the angle of the upright 92 is adjusted according to the preset detection trajectory. Then, the first telescopic rod 2 is adjusted to rise, so that the detection radar 95 is in contact with the lining surface.

[0051] After the detection radar 95 is positioned, the second telescopic rod 81 is extended outward, causing its end support wheel 84 to contact the lining, thus achieving lateral positioning of the detection device. Figure 8 As shown, when the work vehicle moves forward, the detection radar 95 can perform detection according to the preset trajectory.

[0052] When the trajectory of the work vehicle deviates, such as Figure 9 As shown, slider 6 slides to the left on linear guide rail 7, causing the lifting mounting part to move to the left relative to the radar detection part. At this time, under the vertical positioning of the first telescopic rod 2 and the lateral positioning of the lateral support assembly 8, the detection radar 95 remains in its original detection position, preventing the detection trajectory from deviating. This design allows for more flexible driving of the work vehicle, reduces the difficulty of operation, and facilitates the work vehicle in avoiding obstacles in the tunnel.

[0053] When inspecting a relatively flat lining surface, the wheel frame 83 is perpendicular or nearly perpendicular to the first buffer rod 82, and the conductive rod 856 is not in contact with the conductive sheet 853. However, when encountering larger misalignments that do not meet construction requirements, such as... Figure 11 As shown, the two support wheels 84 are located on different linings. At this time, the wheel frame 83 deflects at a large angle relative to the first buffer rod 82. The wheel frame 83 drives the control block 855 to slide through the connecting rod 86, so that the conductive rod 856 on the control block 855 contacts the conductive sheet 853 to conduct electricity, thereby transmitting the electrical signal to the control unit. Combined with the position information, the detection situation is recorded, realizing the synchronous, simple and efficient detection of lining misalignment.

[0054] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A detection device for tunnel interior lining, characterized in that, include: The lifting and mounting unit, the radar detection unit, and the connecting unit for connecting the two; The lifting installation unit includes a mounting base (1) and a first telescopic rod (2). The mounting base (1) is used to install the detection device on a mobile device and use the mobile device to move the detection device in the tunnel for detection. The first telescopic rod (2) is fixedly connected to the mounting base (1) and is used to adjust the height of the radar detection unit. The radar detection unit includes a horizontal mounting plate (5), a horizontal support assembly (8), and a detection assembly (9). The horizontal support assembly (8) is installed on the left and right sides of the horizontal mounting plate (5) and is used to provide horizontal support and limit the detection device. The detection assembly (9) is installed in the middle of the horizontal mounting plate (5). The detection assembly (9) includes a pole (92) and a detection radar (95). The detection radar (95) is installed on the upper end of the pole (92) and is used to detect the top of the tunnel lining. It also includes a lining misalignment detection mechanism installed on the transverse support assembly (8); the transverse support assembly (8) includes a first buffer rod (82) and a wheel frame (83), the wheel frame (83) is rotatably connected to the end of the first buffer rod (82) by a pin, the rotation axis of the wheel frame (83) is perpendicular to the tunnel travel direction, so that the wheel frame (83) can swing around the pin; the lining misalignment detection mechanism includes a misalignment detection switch (85) and a connecting rod (86), the connecting rod (86) is connected between the misalignment detection switch (85) and the wheel frame (83), and the wheel frame (83) is rotated relative to the first buffer rod (82) when it passes through the misalignment position, thereby driving the misalignment detection switch (85) to realize misalignment detection.

2. The detection device for tunnel internal lining according to claim 1, characterized in that: The connecting part is disposed between the lifting and mounting part and the radar detection part, so that the lifting and mounting part can rotate and move laterally relative to the radar detection part, thereby expanding the range of the movement trajectory of the mobile device in the tunnel. The connecting part includes a rotating shaft (3), a rotating seat (4), and a linear guide rail (7) installed on the upper end of the first telescopic rod (2). The rotating seat (4) is installed on the rotating shaft (3) and can rotate relative to the first telescopic rod (2). The linear guide rail (7) is installed on the lower end face of the transverse mounting plate (5). A slider (6) is installed on the upper end face of the rotating seat (4). The slider (6) is slidably connected to the linear guide rail (7), so that the first telescopic rod (2) can move laterally relative to the transverse mounting plate (5).

3. The detection device for tunnel internal lining according to claim 2, characterized in that: The transverse support assembly (8) also includes a second telescopic rod (81) and a support wheel (84) fixedly installed on the transverse mounting plate (5). The first buffer rod (82) is installed at the output end of the second telescopic rod (81). The support wheel (84) is rotatably connected to both ends of the wheel frame (83). The support wheel (84) can contact and roll with the tunnel lining surface when the detection device moves.

4. The detection device for tunnel internal lining according to claim 1, characterized in that: The detection component (9) also includes a connecting seat (91) mounted on a horizontal mounting plate (5). The upright (92) is rotatably connected to the connecting seat (91) via a connecting shaft. The connecting seat (91) is provided with an adjustment component for adjusting the angle of the upright (92).

5. The detection device for tunnel internal lining according to claim 4, characterized in that: The upper end of the pole (92) is connected to a second buffer rod (93), the upper end of the second buffer rod (93) is connected to a mounting box (94), and the detection radar (95) is installed in the mounting box (94).

6. The detection device for tunnel internal lining according to claim 4, characterized in that: The adjustment assembly includes a worm gear (96), a worm (97), and a drive motor (98) keyed to the connecting shaft of the upright (92). The worm (97) is rotatably connected to the connecting seat (91) and meshes with the worm gear (96). The connecting seat (91) is equipped with a drive motor (98) for driving the worm (97) to rotate.

7. The detection device for tunnel interior lining according to claim 1, characterized in that, The misalignment detection switch (85) includes a housing (851), a base plate (852), and conductive plates (853). The base plate (852) is installed at the bottom of the housing (851). Two conductive plates (853) are provided on the base plate (852). The conductive plates (853) are electrically connected to two first pins (854) on the housing (851). The housing (851) is provided with a sliding groove, and a control block (855) is slidably connected inside the housing (851). A conductive rod (856) is slidably connected inside the connection hole of the control block (855). A spring for pushing the conductive rod (856) outward is also provided inside the connection hole. A second pin (857) is provided on the control block (855), and the second pin (857) is electrically connected to the conductive rod (856). One end of the connecting rod (86) is rotatably connected to the shaft on the control block (855), and the other end of the connecting rod (86) is rotatably connected to the shaft on the wheel frame (83); The control block (855) slides to allow the conductive rod (856) to come into contact with or separate from the conductive sheet (853).

8. The detection device for tunnel internal lining according to claim 3, characterized in that: The first telescopic rod (2) and the second telescopic rod (81) are electric telescopic rods or hydraulic telescopic rods.

9. The detection device for tunnel internal lining according to claim 1, characterized in that: The detection radar (95) has a roller on its detection surface, and the outer edge of the roller protrudes 2-5mm beyond the detection surface of the detection radar (95).

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