Tunnel maintenance system and control method thereof

Abstract

The application relates to a tunnel maintenance system and a control method of the tunnel maintenance system. The tunnel maintenance system comprises a walking mechanism, a water supply mechanism, a spraying mechanism and a differential module. The walking mechanism comprises a wheel chassis, a guide sensing wheel and a displacement sensing piece. The wheel chassis is provided with a left wheel assembly and a right wheel assembly on the two sides in the walking direction of the walking mechanism. The guide sensing wheel is mounted on the front side of the wheel chassis. The displacement sensing piece mounted on the guide sensing wheel is used for detecting the mechanical displacement. The second direction is the length direction or the width direction of the wheel chassis. The water supply mechanism is communicated with the spraying mechanism and is used for providing maintenance liquid to the spraying mechanism. The differential module is also used for adjusting the speed difference between the left wheel assembly and the right wheel assembly according to the mechanical displacement, so that the guide sensing wheel is kept in close contact with the preset groove. The tunnel maintenance system in the application is beneficial to realizing intelligent tunnel maintenance and improving the maintenance quality and efficiency.

Description

Technical Field

[0001] This application relates to the field of tunnel lining concrete curing technology, and in particular to tunnel curing systems and their control methods. Background Technology

[0002] After the lining of water conservancy tunnels, highway and railway tunnels, and other engineering projects is completed and poured, the concrete lining is susceptible to damage such as shrinkage cracks due to the temperature, humidity, and ventilation conditions inside the tunnel. Inadequate curing can severely reduce the tunnel's structural durability and impermeability. Therefore, long-term continuous spraying for moisture retention curing is essential after the lining is formed. Currently, the mainstream curing equipment in the industry is a simple spraying curing trolley. However, this existing equipment has shortcomings in the construction of curved tunnels and tunnels with irregular cross-sections, as detailed below:

[0003] The bottom of tunnels typically features precast trenches for guiding the trolley's movement. However, with traditional trolleys, if the trolley deviates from the center of the trench, it continuously shifts to one side, causing the spraying mechanism to tilt towards one side of the tunnel lining. This results in insufficient curing fluid spraying on the other side, creating a curing blind spot. In areas lacking sufficient fluid, moisture evaporates rapidly, leading to excessive temperature and humidity gradients and widespread longitudinal and transverse shrinkage cracks. Consequently, related technologies require frequent manual corrections of the travel path, necessitating dedicated personnel to operate the trolley throughout the entire process, resulting in high labor costs and delayed corrections. Summary of the Invention

[0004] Therefore, it is necessary to provide a tunnel maintenance system and a control method for the tunnel maintenance system to address the issue of how to improve the efficiency and quality of tunnel maintenance.

[0005] In a first aspect, this application provides a tunnel maintenance system, comprising:

[0006] The walking mechanism includes a wheel chassis, guide sensing wheels, and a displacement sensor. The wheel chassis has a left wheel assembly and a right wheel assembly on both sides along a first direction, which is the walking direction of the walking mechanism. The left wheel assembly and the right wheel assembly are used to walk along the inner wall of the tunnel. A guide sensing wheel is installed on the front side of the wheel chassis. The displacement sensor is installed on the guide sensing wheel and is used to detect the mechanical displacement generated by the left and right swinging of the guide sensing wheel when the guide sensing wheel walks along a preset groove in the tunnel.

[0007] The injection mechanism is mounted on the wheel chassis;

[0008] A water supply mechanism is installed on the wheel chassis. The water supply mechanism is connected to the spray mechanism and is used to provide maintenance fluid to the spray mechanism.

[0009] The controller is electrically connected to the walking mechanism, the water supply mechanism, and the spraying mechanism; the controller includes a differential module, which is used to adjust the speed difference between the left wheel assembly and the right wheel assembly according to the mechanical displacement, so that the guide sensing wheel remains in contact with the preset groove.

[0010] In one embodiment, the spraying mechanism includes a first spraying element, a second spraying element, and a first moving component. The first spraying element is fixedly disposed relative to the wheel chassis. The first spraying element has a first flow cavity and a plurality of first nozzles arranged sequentially along the extension direction of the first spraying element, all of which communicate with the first flow cavity. The second spraying element has a second flow cavity and a plurality of second nozzles arranged at intervals along the extension direction of the second spraying element, all of which communicate with the second flow cavity. The water supply mechanism is capable of communicating with the first and second flow cavities. The planes on which the first and second spraying elements are located are both perpendicular to the first direction, and the second spraying element and the first spraying element slide in a plane perpendicular to the first direction. The first moving component is used to drive one end of the second spraying element relative to the first spraying element to slide along the length direction of the first spraying element. The controller further includes a spray control module. The first moving component is electrically connected to the spray control module.

[0011] In one embodiment, the spraying mechanism further includes a third spraying element and a second moving component; the third spraying element has a third flow cavity and a plurality of third nozzles arranged sequentially at intervals along the extension direction of the third spraying element, all of the third nozzles being in communication with the third flow cavity; the water supply mechanism is capable of communicating with the third flow cavity; the plane where the third spraying element is located is perpendicular to the first direction, and the third spraying element and the first spraying element slide in a plane perpendicular to the first direction; the second moving component is used to drive the third spraying element to slide relative to the other end of the first spraying element along the length direction of the first spraying element; the second moving component is electrically connected to the spraying control module.

[0012] In one embodiment, the tunnel maintenance system further includes an optical detection component mounted on the wheel chassis; the optical detection component is used to detect surface parameters of the tunnel inner wall above the wheel chassis; the injection control module is electrically connected to the optical detection component and is used to control the first moving component and the second moving component according to the surface parameters, thereby adjusting the relative positions of the second injection element and the third injection element relative to the first injection element.

[0013] In one embodiment, the sides of the first, second, and third spray members that are opposite to the wheel chassis are all curved.

[0014] In one embodiment, the tunnel maintenance system further includes multiple control valves and multiple liquid pipes; the first jetting element, the second jetting element, and the third jetting element are respectively connected to the water supply mechanism through different liquid pipes; each of the control valves is responsively connected to each of the liquid pipes; and the jetting control module is electrically connected to the control valves.

[0015] In one embodiment, the tunnel maintenance system further includes a height adjustment mechanism, the spraying mechanism being mounted on the wheel chassis via the height adjustment mechanism, the height adjustment mechanism being used to adjust the relative height between the spraying mechanism and the wheel chassis; wherein, the controller further includes a height control module; the height adjustment mechanism is electrically connected to the height control module.

[0016] Secondly, this application also provides a control method for a tunnel maintenance system; the control method for the tunnel maintenance system includes:

[0017] Obtain the mechanical displacement;

[0018] Calculate the target speed difference between the left wheel assembly and the right wheel assembly based on the mechanical displacement.

[0019] Based on the target speed difference, the rotation speeds of the left wheel assembly and / or the right wheel assembly are adjusted respectively, so that the speed difference between the left wheel assembly and the right wheel assembly reaches the target speed difference, so that the guide sensing wheel keeps in contact with the preset groove when driving.

[0020] Thirdly, this application also provides a control method for a tunnel maintenance system; the control method for the tunnel maintenance system includes:

[0021] Obtain the surface parameters;

[0022] The first boundary and the second boundary on both sides of the tunnel cross-section are identified based on the surface parameters; wherein, the first boundary is the boundary of the arc surface region farthest from the top of the tunnel arch in the left region of the tunnel; and the second boundary is the boundary of the arc surface region farthest from the top of the tunnel arch in the right region of the tunnel.

[0023] The first moving component is controlled according to the location of the first boundary, so that the second spray member slides relative to the first spray member, so that the second nozzle on the second spray member that is farthest from the first spray member can spray the first boundary.

[0024] The second moving component is controlled according to the location of the second boundary, so that the third spray member slides relative to the first spray member, so that the third nozzle of the third spray member, which is farthest from the first spray member, can spray the second boundary.

[0025] In one embodiment, the control method of the tunnel maintenance system further includes:

[0026] Obtain the mechanical displacement;

[0027] The offset parameters when the guide sensing wheel deviates are calculated based on the mechanical displacement.

[0028] The target speed difference between the left wheel assembly and the right wheel assembly is calculated based on the offset parameters;

[0029] Based on the target speed difference, the rotation speeds of the left wheel assembly and / or the right wheel assembly are adjusted respectively, so that the speed difference between the left wheel assembly and the right wheel assembly reaches the target speed difference, so that the guide sensing wheel keeps in contact with the preset groove when driving.

[0030] The aforementioned tunnel maintenance system and its control method involve a wheeled chassis traveling along the tunnel trench. When the trench curves, the trench sidewall presses against the guide induction wheel, causing it to oscillate left and right. Displacement sensors collect the amount of mechanical displacement in real time and transmit it to the differential module. The differential module adjusts the speed difference between the left and right wheel assemblies based on the mechanical displacement. Specifically, this can involve reducing the speed of the wheel on the offset side and increasing the speed of the wheel on the other side. The differential speed helps the entire equipment return to the center of the trench, continuously conforming to the trench trajectory. This facilitates deviation-free travel through curved tunnels, ensuring full coverage of the lining wall during spraying and preventing localized dry shrinkage and cracking due to lack of liquid. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a tunnel maintenance system shown in one embodiment.

[0032] Figure 2 This is a schematic diagram showing the electrical connections between the components and the controller in a tunnel maintenance system as illustrated in one embodiment.

[0033] Figure 3 This is a schematic diagram of the spraying mechanism in a tunnel maintenance system as shown in one embodiment.

[0034] Figure 4 for Figure 3 An enlarged schematic diagram of structure A shown in the figure.

[0035] Figure 5 This is a flowchart illustrating the control method of a tunnel maintenance system in one embodiment.

[0036] Figure 6 This is a flowchart illustrating the control method of a tunnel maintenance system in another embodiment.

[0037] Figure 7 This is a flowchart illustrating the control method of the tunnel maintenance system shown in other embodiments.

[0038] Explanation of reference numerals in the attached figures:

[0039] 100. Tunnel maintenance system; 110. Traveling mechanism; 111. Wheel chassis; 111a. Left wheel assembly; 111b. Right wheel assembly; 112. Guide sensing wheel; 113. Displacement sensor; 120. Water supply mechanism; 121. Storage tank; 122. Heating assembly; 123. Temperature measuring element; 130. Spraying mechanism; 130a. Arc structure; 130b. Rack section; 1301. Power source; 1302. Gear assembly; 131. First moving assembly; 132. First spray. Components; 1321, First nozzle; 130b, Rack; 133, Second spray component; 1331, Second nozzle; 134, Second moving assembly; 135, Third spray component; 1351, Third nozzle; 140, Controller; 141, Differential module; 142, Spray control module; 143, Altitude control module; 144, Temperature control module; 150, Control valve; 160, Optical detection assembly; 170, Altitude adjustment mechanism; X, First direction; Y, Second direction; Z, Altitude direction. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] Combination Figure 1 and Figure 2 As shown, one embodiment of this application provides a tunnel maintenance system 100, including a walking mechanism 110, a water supply mechanism 120, a spraying mechanism 130, and a controller 140.

[0042] The traveling mechanism 110 includes a wheel chassis 111, guide sensing wheels 112, and a displacement sensor 113. A left wheel assembly 111a and a right wheel assembly 111b are located on both sides of the wheel chassis 111 along the traveling direction of the traveling mechanism 110 (hereinafter referred to as the first direction X). It should be noted that due to differences in design dimensions, the first direction X can be the length direction of the wheel chassis 111 or the width direction of the wheel chassis 111. The left wheel assembly 111a and the right wheel assembly 111b are used to travel along the inner wall of the tunnel. A guide sensing wheel 112 is mounted on the front side of the wheel chassis 111; the displacement sensor 113 is mounted on the guide sensing wheel 112 and is used to detect the amount of mechanical displacement generated by the left and right swinging of the guide sensing wheel 112 when it travels along a preset groove in the tunnel.

[0043] The water supply mechanism 120 is mounted on the wheel chassis 111. The spraying mechanism 130 is mounted on the wheel chassis 111. The water supply mechanism 120 is connected to the spraying mechanism 130, and the water supply mechanism 120 is used to supply maintenance fluid to the spraying mechanism 130.

[0044] The controller 140 is electrically connected to the walking mechanism 110, the water supply mechanism 120, and the spraying mechanism 130. The controller 140 includes a differential module 141, which is used to adjust the speed difference between the left wheel assembly 111a and the right wheel assembly 111b according to the amount of mechanical displacement, so that the guide sensing wheel 112 remains in contact with the preset groove.

[0045] Understandably, when the wheel chassis 111 travels along the tunnel trench and the trench curves, the trench sidewall presses against the guide sensing wheel 112, causing it to oscillate left and right. The displacement sensor 113 collects the amount of mechanical displacement in real time and transmits it to the differential module 141. The differential module 141 adjusts the speed difference between the left wheel assembly 111a and the right wheel assembly 111b according to the amount of mechanical displacement. Specifically, it can reduce the speed of the wheel on the offset side and increase the speed of the wheel on the other side. By relying on the differential speed, the wheel chassis 111 as a whole returns to the center of the trench, ensuring that the guide sensing wheel 112 continuously follows the trench trajectory. This helps to achieve deviation-free travel in curved tunnels, and ensures that the spray covers the inner wall of the lining throughout the process, avoiding localized dry shrinkage and cracking due to lack of liquid.

[0046] The displacement sensing element 113 can be a contact-type resistive displacement sensor or a non-contact magnetostrictive displacement sensor, etc., which can collect the mechanical displacement generated by the swing of the guide sensing wheel 112.

[0047] Furthermore, it should be noted that electrical connection refers to the establishment of a signal and power transmission path between two types of components through electrical lines and communication links, realizing a connection relationship of at least one of the following three functions: control signal transmission, status signal feedback, and working power supply. This includes two equivalent implementation methods: wired electrical connection and wireless electrical connection. In addition, the left wheel assembly 111a and the right wheel assembly 111b are a pair of relative names. Specifically, in the direction in which the wheel chassis 111 travels towards the tunnel (i.e., the first direction X), the left and right sides are divided based on the wheel chassis 111. The left side corresponds to the left wheel assembly 111a, and the right side corresponds to the right wheel assembly 111b.

[0048] In some embodiments, such as Figure 3 and Figure 4 As shown, the spraying mechanism 130 includes a first spraying element 132, a second spraying element 133, and a first moving assembly 131. The first spraying element 132 is fixedly disposed relative to the wheel chassis 111. The first spraying element 132 has a first flow cavity and a plurality of first nozzles 1321 arranged sequentially along the extension direction of the first spraying element 132, all of which communicate with the first flow cavity. The second spraying element 133 has a second flow cavity and a plurality of second nozzles 1331 arranged at intervals along the extension direction of the second spraying element 133, all of which communicate with the second flow cavity. The water supply mechanism 120 is capable of communicating with the first and second flow cavities. The planes containing the first spraying element 132 and the second spraying element 133 are both perpendicular to the first direction X. The second spraying element 133 and the first spraying element 132 slide in a plane perpendicular to the first direction X. The first moving assembly 131 is used to drive one end of the second spraying element 133 relative to the first spraying element 132 to slide along the length direction of the first spraying element 132. The controller 140 also includes an injection control module 142. The first moving component 131 is electrically connected to the injection control module 142.

[0049] Specifically, the curing fluid is introduced into the first flow chamber inside the first spray member 132 from the water supply mechanism 120. The first flow chamber uniformly buffers the curing fluid and distributes it to each of the parallel first nozzles 1321. The first moving component 131 is electrically connected to the spray control module 142, which allows the spray control module 142 to control the first moving component 131 to move the first spray member 132 as a whole in a plane perpendicular to the first direction X. This simultaneously adjusts the lateral spraying position of all the first nozzles 1321, ensuring that the curing fluid is uniformly supplied to different positions of the lining. This allows for adjustable spraying range of the first spray member 132 and the second spray member 133 in a plane perpendicular to the first direction X, which is beneficial for adapting to tunnel lining surfaces of different widths or curvatures, ensuring uniform coverage of the curing fluid.

[0050] The length direction of the first spray member 132 refers to the extension direction of the first spray member 132. Specifically, in one example, when the first spray member 132 is arranged in an arc-shaped structure, the length direction of the first spray member 132 refers to the circumferential direction.

[0051] In one embodiment, such as Figure 3 and Figure 4 As shown, the spraying mechanism 130 also includes a third spraying element 135 and a second moving assembly 134. The third spraying element 135 has a third flow cavity and a plurality of third nozzles 1351 arranged sequentially at intervals along the extension direction of the third spraying element 135, all of which are in communication with the third flow cavity. The water supply mechanism 120 is in communication with the third flow cavity. The plane of the third spraying element 135 is perpendicular to the first direction X. The third spraying element 135 and the first spraying element 132 slide in a plane perpendicular to the first direction X. The second moving assembly 134 is used to drive the other end of the third spraying element 135 to slide along the length direction of the first spraying element 132 relative to the other end of the first spraying element 132. The second moving assembly 134 is electrically connected to the spraying control module 142.

[0052] Understandably, similarly, the curing fluid is introduced into the second flow chamber inside the second spraying component 133 from the water supply mechanism 120. The second flow chamber evenly buffers the curing fluid and distributes it to each of the parallel second nozzles 1331, which can increase the spray coverage of the tunnel's transverse area, reduce the number of times the second spraying component 133 travels back and forth, and improve the efficiency of the curing construction.

[0053] Furthermore, the second moving component 134 is electrically connected to the spray control module 142, enabling the spray control module 142 to control the second moving component 134 to drive the second spray element 133 to have overall displacement in a plane perpendicular to the first direction X, and synchronously adjust the lateral spraying position of all the third nozzles 1351. During operation, the spacing between the second spray element 133 and the third spray element 135 relative to the first spray element 132 in a plane perpendicular to the first direction X can be adjusted simultaneously to match the tunnel lining wall of different widths, expand the coverage of a single maintenance, and enable continuous adjustment of the spraying area, which is beneficial to improving maintenance efficiency and maintenance quality.

[0054] Accordingly, the length direction of the second spray member 133 refers to the extension direction of the second spray member 133. Specifically, in one example, when the second spray member 133 is arranged in an arc-shaped structure, the length direction of the second spray member 133 refers to the circumferential direction.

[0055] In one embodiment, the first spraying element 132, the second spraying element 133, and the third spraying element 135 are each provided with an arc-shaped structure 130a on one side opposite to the wheel chassis 111. Thus, the arc-shaped structure 130a is adapted to the inner contour of the tunnel lining wall, allowing each spraying element to maintain a relatively uniform spraying distance during spraying, thereby ensuring the uniformity and adhesion of the curing liquid coverage.

[0056] In one embodiment, the tunnel maintenance system 100 further includes multiple control valves 150 and multiple liquid pipes. The first jetting element 132, the second jetting element 133, and the third jetting element 135 are respectively connected to the water supply mechanism 120 through different liquid pipes. Each control valve 150 is responsively connected to each liquid pipe, and the jetting control module 142 is electrically connected to the control valve 150.

[0057] Understandably, the spray control module 142 can independently control the opening of each control valve 150, adjusting the flow rate of the curing fluid inside the corresponding liquid pipe. That is, different liquid pipes can be independently closed, and their flow rates can be increased or decreased. The spray hydraulic pressure between the first spray element 132, the second spray element 133, and the third spray element 135 does not interfere with each other. This facilitates independent flow control by zone. Specifically, different opening degrees or on / off switching frequencies of the control valves 150 can be matched according to the lining of different areas to match different spray flow rates, thus saving curing fluid. Furthermore, in one example, if the liquid pipe corresponding to the first spray element 132 fails, the corresponding control valve 150 can be closed independently, while the remaining second spray elements 133 and third spray elements 135 continue to operate normally without requiring a complete machine shutdown.

[0058] In one example, the control valve 150 is an electromagnetic on / off valve, which only enables the pipeline to be fully open / fully closed. Therefore, the flow rate in the liquid pipeline can be adjusted by regulating the on / off switching frequency of the control valve 150. In another example, the control valve 150 is a proportional regulating valve, which can continuously and steplessly adjust the liquid flow in the pipeline and precisely control the spray hydraulic pressure. Consequently, the flow rate in the liquid pipeline can be adjusted by regulating the opening degree of the control valve 150.

[0059] In conjunction with any embodiment of the first moving component 131 and the second moving component 134 described above, the tunnel maintenance system 100 further includes an optical detection component 160, which is mounted on the wheel chassis 111. The optical detection component 160 is used to detect the surface parameters of the tunnel inner wall. The injection control module 142 is electrically connected to the optical detection component 160 and is used to adjust the opening of the control valve 150 according to the surface parameters, so that the liquid flow rate of the liquid pipe is adjustable.

[0060] In this way, different spraying pressures can be adjusted according to surface parameters, which in turn can adjust the amount of curing liquid sprayed, making it more relevant to the surface conditions inside the tunnel.

[0061] Specifically, in one example, the optical detection component 160 is a camera used to capture images of the tunnel's inner wall. After receiving the tunnel images, the spray control module 142 analyzes the temperature inside the tunnel. When the temperature is greater than a first preset value, it increases the opening of the control valve 150 to increase the spray volume of the curing fluid; when the temperature is less than a second preset value, it decreases the opening of the control valve 150 to reduce the spray flow rate. The first preset value is greater than the second preset value.

[0062] In other words, the spray flow rate can be adaptively matched according to the temperature of the inner wall of the lining, increasing the curing effect in high-temperature areas and reducing the consumption of curing liquid in low-temperature areas, thus balancing construction quality and water conservation needs.

[0063] In some embodiments, the tunnel maintenance system 100 further includes an optical detection component 160, which is mounted on the wheel chassis 111. The optical detection component 160 is used to detect surface parameters of the tunnel inner wall. The spray control module 142 is electrically connected to the optical detection component 160 and is used to control the first moving component 131 and the second moving component 134 according to the surface parameters, thereby adjusting the relative positions of the second spray member 133 and the third spray member 135 relative to the first spray member 132 in a direction perpendicular to the first direction X.

[0064] Specifically, by adjusting the relative positions of the second spray element 133 and the third spray element 135 relative to the first spray element 132, the spray range formed by the second spray element 133, the first spray element 132, and the third spray element 135 in the first direction X can be adjusted. Then, based on surface parameters, the relative positions of the second spray element 133 and the third spray element 135 relative to the first spray element 132 in the direction perpendicular to X are adjusted so that the adjusted spray range adapts to the area requiring protection as indicated by the surface parameters. This allows the spraying of the curing liquid to be precisely aimed at the defective area for continuous curing. Based on this, by controlling the first moving component 131 and the second moving component 134 through surface parameter adjustment, manual adjustment of the spray position is eliminated, improving the accuracy of curing and avoiding errors caused by manual adjustment.

[0065] In one example, the optical inspection component 160 employs a 2D laser profile scanner to acquire complete inner wall cross-sectional parameters through full-area scanning, which are then used as surface parameters. In another example, the optical inspection component 160 employs an array of infrared optical probes to acquire local inner wall flatness data at multiple points, which are then used as surface parameters.

[0066] In conjunction with any of the above embodiments of the mobile component, such as Figure 3 and Figure 4As shown, both the first moving assembly 131 and the second moving assembly 134 include a power source 1301 and a gear assembly 1302. The power source 1301 drives the gear assembly 1302 to rotate. The second injection member 133 and the third injection member 135 have rack portions 130b on their wall surfaces facing the wheel chassis 111. The gear assembly 1302 meshes with the rack portion 130b, such that: one end of the second injection member 133 relative to the first injection member 132 slides along a plane perpendicular to the first direction X, and the third injection member 135 is driven to slide along a plane perpendicular to the first direction X relative to the other end of the first injection member 132. The injection control module 142 is electrically connected to the power source 1301.

[0067] Understandably, the injection control module 142 outputs a displacement control signal, and the power source 1301 drives the gear to rotate forward / reverse. This meshes with a rack, causing the second injection element 133 and the third injection element 135 to extend and retract relative to the two ends of the first injection element 132 along its length direction. This adjusts the range of the injection plane formed by the first injection element 132, the second injection element 133, and the third injection element 135 in a direction perpendicular to the first direction X, thus adapting to different injection requirements. Furthermore, due to the small meshing transmission clearance and high positioning accuracy, it facilitates the precise positioning and movement of the second injection element 133 and the third injection element 135 relative to the two ends of the first injection element 132 along its length direction without offset, achieving accurate spraying of the target area. Simultaneously, the large meshing transmission load capacity improves the stability of the sliding motion of the second injection element 133 and the third injection element 135 relative to the two ends of the first injection element 132 along its length direction.

[0068] In conjunction with any embodiment of the above-described injection mechanism 130, such as Figure 1 As shown, the tunnel maintenance system 100 also includes a height adjustment mechanism 170 for height control. The spraying mechanism 130 is installed on the wheel chassis 111 via the height adjustment mechanism 170, enabling adjustment of the relative height between the spraying mechanism 130 and the wheel chassis 111 along the height direction X of the wheel chassis 111. This adapts to the working size requirements of different tunnel inner walls and meets the spraying height requirements under different working conditions. The controller 140 includes a height control module 143. The height adjustment mechanism 170 is electrically connected to the height control module 143, allowing the height control module 143 to receive height control signals from the spraying control module 142 and automatically complete the height adjustment operation of the spraying mechanism 130.

[0069] The height adjustment mechanism 170 can be a screw telescopic mechanism, a hydraulic telescopic mechanism, etc., without much restriction here.

[0070] In one example, the height adjustment mechanism 170 is connected between the second injection element 133 and the wheel chassis 111. Thus, since the relative position of the second injection element 133 remains unchanged, it helps to improve the stability of the height adjustment.

[0071] In another example, the tunnel maintenance system 100 also includes an elastic bushing, which is fitted outside the height adjustment mechanism 170 and presses against the second injection component 133 and the wheel chassis 111. This provides better cushioning, thereby reducing the impact force of the injection mechanism 130 on the height adjustment mechanism 170 during driving and improving the stability of the tunnel maintenance system 100.

[0072] Another aspect of this application, such as Figure 5 As shown, a control method for a tunnel maintenance system is provided, comprising:

[0073] S101, obtain the mechanical displacement.

[0074] Specifically, when the guide sensing wheel 112 moves within the preset groove, it maintains a relatively parallel relationship with the radial sidewall of the groove. The mechanical displacement reflects the offset between the wheel chassis 111 and the preset groove. The greater the misalignment between the wheel chassis 111 and the preset groove, the greater the risk of the wheel chassis 111 overturning, and the larger the absolute value of the mechanical displacement. Conversely, the greater the fit between the wheel chassis 111 and the preset groove, the higher the reliability of the wheel chassis 111's smooth operation, and the smaller the absolute value of the mechanical displacement.

[0075] In one example, the displacement sensor 113 can be an angle detection sensor used to detect the amount of angular deflection so that the amount of angular deflection can be used as the amount of mechanical displacement.

[0076] In another example, the displacement sensor 113 can be a speed sensor used to detect the travel speed of the guide sensor wheel 112 in the first direction X, so that the product of the travel speed and the travel time can be used as the mechanical displacement.

[0077] S102, calculate the target speed difference between the left wheel assembly 111a and the right wheel assembly 111b based on the mechanical displacement.

[0078] In step S102, a larger mechanical displacement means a larger left-right swing amplitude of the guide sensing wheel 112, and a larger target speed difference, so that the speed difference between the left wheel assembly 111a and the right wheel assembly 111b can be used to recalibrate and straighten the wheel chassis 111, thereby turning the wheel chassis 111 and ensuring that the wheel chassis 111 always travels relative to the extension direction of the preset groove. On the other hand, a smaller mechanical displacement means a smaller left-right swing amplitude of the guide sensing wheel 112, and a smaller target speed difference, so that the turning amplitude of the wheel chassis 111 can be reduced, ensuring that the wheel chassis 111 always travels relative to the extension direction of the preset groove.

[0079] S103, adjust the rotation speed of the left wheel assembly 111a and / or the right wheel assembly 111b according to the target speed difference, so that the speed difference between the left wheel assembly 111a and the right wheel assembly 111b reaches the target speed difference, so that the guide sensing wheel 112 keeps in contact with the preset groove for driving.

[0080] Specifically, the steering torque is generated by the speed difference between the left wheel assembly 111a and the right wheel assembly 111b. That is, there is a corresponding mapping relationship between the target speed difference and the steering torque. Therefore, the steering torque of the left wheel assembly 111a and the right wheel assembly 111b can be adjusted based on the target speed difference to achieve the target speed difference.

[0081] For example, when the wheel chassis 111 drives the guide sensing wheel 112 to deviate to the right, the speed of the right wheel assembly 111b is reduced and / or the speed of the left wheel assembly 111a is increased; similarly, when the wheel chassis 111 drives the guide sensing wheel 112 to deviate to the left, the speed of the left wheel assembly 111a is reduced and / or the speed of the right wheel assembly 111b is increased. The offset distance is positively correlated with the speed difference; the greater the offset, the greater the required steering torque, and the higher the corresponding speed difference value.

[0082] In this way, the corresponding differential speed is adaptively matched according to the offset parameters to achieve automatic correction of the wheel chassis 111, ensuring that the maintenance equipment travels stably along the preset trajectory of the tunnel.

[0083] In conjunction with the above-described embodiment of the optical detection component 160, such as Figure 6 As shown, another embodiment of this application provides a control method for a tunnel maintenance system, the control method for the tunnel maintenance system including:

[0084] S201, obtain surface parameters.

[0085] Among them, the surface parameters include the distance between the tunnel inner wall and the optical detection component 160 and the flatness of the tunnel inner wall.

[0086] S202, based on surface parameters, identify the first and second boundaries on both sides of the tunnel cross section.

[0087] The first boundary is the boundary of the arc-shaped area on the left side of the tunnel that is farthest from the apex of the tunnel arch. The second boundary is the boundary of the arc-shaped area on the right side of the tunnel that is farthest from the apex of the tunnel arch.

[0088] Understandably, optical detection relies on the principle of light reflection for ranging. This is based on the reflection of a light beam inside the tunnel back to the receiving end of the optical detection component 160. The distance between the tunnel wall and the optical detection component 160, as well as the surface morphology of the tunnel wall, affect the round-trip time and intensity of the light beam. When the optical detection component 160 is aligned with the smooth lining area of ​​the tunnel wall, the reflected light is uniform and the intensity is stable. However, when the optical detection component 160 is aligned with the curved surface area of ​​the tunnel wall, the reflected light will exhibit a longer reflection path and a sudden change in intensity. Consequently, the different round-trip times and / or intensities between the curved surface area and the smooth area of ​​the tunnel result in different surface parameters. Therefore, the curved areas of the tunnel can be identified based on these surface parameters, and the first and second boundaries of the curved surface area furthest from the tunnel arch apex can also be determined.

[0089] Based on this, the curved surface region can be identified through surface parameters, eliminating the need for manual marking and preventing omissions or misjudgments due to human eye fatigue or subjective judgment. Correspondingly, the boundary of the curved surface region farthest from the apex of the arch can be identified to obtain the first and second boundaries.

[0090] Among them, the surface parameters include at least one or a combination of multiple parameters such as tunnel image contrast and the light signal value of reflected light.

[0091] In one example, the optical detection component 160 includes a camera, which acquires surface parameters such as an image of the tunnel interior wall. The curved surface region, as well as the first and second boundaries within the curved surface region, are identified in the tunnel interior wall image. Thus, the curved surface region, along with its first and second boundaries, can be identified in the tunnel interior wall image using methods such as edge computing, which improves the accuracy of the identification.

[0092] In another example, the optical detection component 160 includes a scanner that rotates circumferentially along a plane perpendicular to the first direction X, such that the location where a sudden change in the light signal is initially detected is defined as a first boundary, and the location where a sudden change in the light signal is finally detected is defined as a second boundary. This reduces the number of computational steps, which helps to lower the requirements for computing power and algorithms.

[0093] S203, control the first moving component 131 according to the location of the first boundary, so that the second spray member 133 slides relative to the first spray member 132, so that the second nozzle 1331 on the second spray member 133 that is farthest from the first spray member 132 can spray the first boundary.

[0094] Understandably, since the relative position of the optical detection component 160 is known, the location of the first boundary can be determined through the optical detection component 160. Based on the location of the first boundary and the location of the optical detection component 160, the offset between the current second spray element 133 and the first boundary can be determined. The existence of this offset causes the second spray element 133 to either fail to cover the first boundary or cover too much of the area of ​​the first boundary, resulting in inaccurate spraying range of the maintenance fluid. Therefore, the first moving component 131 is controlled according to the location of the first boundary, so that the second spray element 133 slides relative to the first spray element 132, so that the second nozzle 1331 on the second spray element 133, which is farthest from the first spray element 132, can spray the first boundary, thus ensuring that the first boundary is accurately covered by the spray, improving the accuracy of the maintenance fluid spraying range, and thereby achieving precise maintenance.

[0095] S204, control the second moving component 134 according to the location of the second boundary, so that the third spray member 135 slides relative to the first spray member 132, so that the third nozzle 1351, which is furthest from the first spray member 132, can spray the second boundary.

[0096] In step S204, since the relative position of the optical detection component 160 is known, the location of the second boundary can be determined through the optical detection component 160. Based on the location of the second boundary and the location of the optical detection component 160, the offset between the current third spray element 135 and the second boundary can be determined. The existence of this offset causes the third spray element 135 to either fail to cover the second boundary or cover too much of the area of ​​the second boundary, resulting in inaccurate spraying range of the maintenance fluid. Therefore, the second moving component 134 is controlled according to the location of the second boundary, so that the third spray element 135 slides relative to the first spray element 132, so that the second nozzle 1331 on the third spray element 135, which is farthest from the first spray element 132, can spray the second boundary, so that the second boundary can be covered precisely, improving the accuracy of the maintenance fluid spraying range, and thus achieving precise maintenance.

[0097] Therefore, this embodiment can achieve targeted spraying of curved areas without any missed areas; it significantly reduces the occurrence of lining cracks and sandblasting defects, improves the overall durability of the tunnel lining, and reduces later repair costs. At the same time, it eliminates the need to spray other non-curved areas, which helps reduce the consumption of curing fluid.

[0098] Furthermore, in one example, there can be overlapping areas between the first spray element 132 and the second spray element 133, as well as between the first spray element 132 and the third spray element 135 in the second direction Y, to eliminate spray blind spots, ensure that the lining surface within the target spray range is uniformly and continuously covered, and reduce computational complexity. Only the first spray element 132 required at the boundary of the target spray range needs to be identified; the first spray elements 132 at other locations can be automatically started and stopped according to preset logic, achieving precise coverage as needed. The second direction Y is perpendicular to the first direction X.

[0099] It should be noted that in the embodiment where the control method for the tunnel maintenance system includes steps S201 to S204, the control method for the tunnel maintenance system may also include the aforementioned steps S101 to S103. Steps S101 to S103 may be performed before step S201 or after step S204.

[0100] In the above embodiments, by combining steps S101 to S103 and steps S201 to S204, the travel mechanism 110 can be automatically adjusted according to the trajectory of the preset groove, avoiding the problem of uneven spraying caused by the instability of the center of gravity of the travel mechanism 110. At the same time, surface parameters can be acquired through the optical detection component 160 to adjust the spraying range according to the surface parameters, enabling precise spraying and improving the quality of maintenance.

[0101] In some embodiments, the water supply mechanism 120 includes a storage tank 121, a heating assembly 122, and a temperature measuring element 123. The temperature measuring element 123 is used to measure the liquid temperature of the maintenance solution in the storage tank 121. The heating assembly 122 is disposed in the storage tank 121 to provide heating heat to the maintenance solution in the storage tank 121. The controller 140 includes a temperature control module 144. Both the temperature measuring element 123 and the heating assembly 122 are electrically connected to the temperature control module 144.

[0102] The temperature control module 144 is used to control the heating component 122 to adjust the heating power according to the liquid temperature, so that the temperature of the curing solution in the storage tank 121 is adjustable. The heating component 122 may be, but is not limited to, a heating wire, an electric heating plate, etc.

[0103] Specifically, in one embodiment, such as Figure 7 As shown, the control methods for tunnel maintenance systems also include:

[0104] S301, obtain the liquid temperature.

[0105] S302, determine whether the liquid temperature is within the preset temperature range.

[0106] When the liquid temperature is within the preset temperature range, the heating component 122 is controlled to stop heating or maintain the current power.

[0107] When the liquid temperature is lower than the minimum threshold of the preset temperature range, the heating component 122 is activated or the heating power is increased until the liquid temperature rises back to the preset temperature range.

[0108] When the liquid temperature exceeds the maximum threshold of the preset temperature range, the heating component 122 is controlled to reduce power or stop heating.

[0109] This allows for intelligent temperature control of the curing solution, ensuring optimal performance and providing better curing results. Furthermore, precise temperature control effectively prevents thermal stress cracks on the concrete surface caused by excessively high or low curing solution temperatures, further enhancing the overall durability and structural stability of the tunnel lining.

[0110] Where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0111] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0112] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A tunnel maintenance system, characterized in that, include: The walking mechanism includes a wheel chassis, guide sensing wheels, and a displacement sensor. The wheel chassis has a left wheel assembly and a right wheel assembly on both sides along a first direction, which is the walking direction of the walking mechanism. The left wheel assembly and the right wheel assembly are used to walk along the inner wall of the tunnel. A guide sensing wheel is installed on the front side of the wheel chassis. The displacement sensor is installed on the guide sensing wheel and is used to detect the mechanical displacement generated by the left and right swinging of the guide sensing wheel when the guide sensing wheel walks along a preset groove in the tunnel. The injection mechanism is mounted on the wheel chassis; A water supply mechanism is installed on the wheel chassis. The water supply mechanism is connected to the spray mechanism and is used to provide maintenance fluid to the spray mechanism. The controller is electrically connected to the walking mechanism, the water supply mechanism, and the spraying mechanism; the controller includes a differential module, which is used to adjust the speed difference between the left wheel assembly and the right wheel assembly according to the mechanical displacement, so that the guide sensing wheel remains in contact with the preset groove.

2. The tunnel maintenance system according to claim 1, characterized in that, The spraying mechanism includes a first spraying element, a second spraying element, and a first moving component. The first spraying element is fixedly disposed relative to the wheel chassis. The first spraying element has a first flow cavity and a plurality of first nozzles arranged sequentially along the extension direction of the first spraying element, all of which communicate with the first flow cavity. The second spraying element has a second flow cavity and a plurality of second nozzles arranged at intervals along the extension direction of the second spraying element, all of which communicate with the second flow cavity. The water supply mechanism is capable of communicating with the first and second flow cavities. The planes on which the first and second spraying elements are located are both perpendicular to the first direction, and the second spraying element and the first spraying element slide in a plane perpendicular to the first direction. The first moving component is used to drive one end of the second spraying element relative to the first spraying element to slide along the length direction of the first spraying element. The controller further includes a spray control module. The first moving component is electrically connected to the spray control module.

3. The tunnel maintenance system according to claim 2, characterized in that, The spraying mechanism further includes a third spraying element and a second moving component; the third spraying element has a third flow cavity and a plurality of third nozzles arranged sequentially at intervals along the extension direction of the third spraying element, all of which are in communication with the third flow cavity; the water supply mechanism is in communication with the third flow cavity; the plane of the third spraying element is perpendicular to the first direction, and the third spraying element and the first spraying element slide in a plane perpendicular to the first direction; the second moving component is used to drive the third spraying element to slide relative to the other end of the first spraying element along the length direction of the first spraying element. The second moving component is electrically connected to the injection control module.

4. The tunnel maintenance system according to claim 3, characterized in that, The tunnel maintenance system also includes an optical detection component, which is installed on the wheel chassis; the optical detection component is used to detect the surface parameters of the tunnel inner wall above the wheel chassis; The jetting control module is electrically connected to the optical detection component and is used to control the first moving component and the second moving component according to the surface parameters, so as to adjust the relative positions of the second jetting component and the third jetting component relative to the first jetting component.

5. The tunnel maintenance system according to claim 3, characterized in that, The first, second, and third spray components each have an arc-shaped surface on the side opposite to the wheel chassis.

6. The tunnel maintenance system according to claim 3, characterized in that, The tunnel maintenance system also includes multiple control valves and multiple liquid pipes; the first jetting element, the second jetting element, and the third jetting element are respectively connected to the water supply mechanism through different liquid pipes; each of the control valves can be switched on and off connected to each of the liquid pipes; The injection control module is electrically connected to the control valve.

7. The tunnel maintenance system according to claim 1, characterized in that, The tunnel maintenance system also includes a height adjustment mechanism, and the spraying mechanism is mounted on the wheel chassis via the height adjustment mechanism. The height adjustment mechanism is used to adjust the relative height between the spraying mechanism and the wheel chassis. The controller also includes a height control module. The height adjustment mechanism is electrically connected to the height control module.

8. A control method applied to the tunnel maintenance system as described in any one of claims 1 to 7, characterized in that, The control method for the tunnel maintenance system includes: Obtain the mechanical displacement; Calculate the target speed difference between the left wheel assembly and the right wheel assembly based on the mechanical displacement. Based on the target speed difference, the rotation speeds of the left wheel assembly and / or the right wheel assembly are adjusted respectively, so that the speed difference between the left wheel assembly and the right wheel assembly reaches the target speed difference, so that the guide sensing wheel keeps in contact with the preset groove when driving.

9. A control method applied to the tunnel maintenance system as described in claim 4, characterized in that, The control method for the tunnel maintenance system includes: Obtain the surface parameters; The first boundary and the second boundary on both sides of the tunnel cross-section are identified based on the surface parameters; wherein, the first boundary is the boundary of the arc surface region farthest from the top of the tunnel arch in the left region of the tunnel; and the second boundary is the boundary of the arc surface region farthest from the top of the tunnel arch in the right region of the tunnel. The first moving component is controlled according to the location of the first boundary, so that the second spray member slides relative to the first spray member, so that the second nozzle on the second spray member that is farthest from the first spray member can spray the first boundary. The second moving component is controlled according to the location of the second boundary, so that the third spray member slides relative to the first spray member, so that the third nozzle of the third spray member, which is farthest from the first spray member, can spray the second boundary.

10. The control method for the tunnel maintenance system according to claim 9, characterized in that, The control method for the tunnel maintenance system also includes: Obtain the mechanical displacement; The offset parameters when the guide sensing wheel deviates are calculated based on the mechanical displacement. The target speed difference between the left wheel assembly and the right wheel assembly is calculated based on the offset parameters; Based on the target speed difference, the rotation speeds of the left wheel assembly and / or the right wheel assembly are adjusted respectively, so that the speed difference between the left wheel assembly and the right wheel assembly reaches the target speed difference, so that the guide sensing wheel keeps in contact with the preset groove when driving.

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