Tunnel detection vehicle

Abstract

The utility model belongs to the technical field of track detection, and particularly discloses a tunnel detection vehicle. The tunnel detection vehicle comprises a vehicle body, and a tunnel three-dimensional detection device, a tunnel appearance detection device, a tunnel internal structure detection device, a synchronous positioning device and a main control device which are arranged on the vehicle body, the tunnel three-dimensional detection device, the tunnel appearance detection device, the tunnel internal structure detection device and the synchronous positioning device are all in communication connection with the master control device. The tunnel detection vehicle not only can complete the inspection work of the tunnel of the urban rail transit line in a short time, is high in detection efficiency, but also can realize intelligent comprehensive detection on various diseases and faults, and is high in detection accuracy.

Description

Technical Field

[0001] The utility model belongs to the technical field of track detection, in particular to a tunnel detection vehicle. Background Art

[0002] Urban rail transit tunnels need to conduct regular maintenance inspections to ensure that they are in a safe operating state. During the maintenance inspection, it is necessary to identify the tunnel status such as lining cracks, water seepage, block falling and other defects, locate the fault point, and take specific maintenance measures. Traditional maintenance inspections mainly rely on manual visual inspections and handheld simple tools. The inspection personnel have a large workload, take a long time, and have low inspection efficiency. In addition, based on human visual characteristics, some small-scale defects and faults are difficult to detect through manual visual inspections. Therefore, the use of intelligent detection equipment to assist manual inspections has gradually become a new way of maintenance work in urban rail transit and tunnel engineering.

[0003] However, there are two major problems with current intelligent detection equipment: first, the detection means have single functions and low integration, making it difficult to detect multiple types of faults and defects, and the detection efficiency is low; second, there is a lack of effective fault positioning and synchronous calculation means, making it difficult to synchronously control multiple types of detection equipment, and it is also impossible to accurately calculate the current line mileage information, resulting in large errors in fault positioning. Utility Model Content

[0004] In order to overcome the above-mentioned shortcomings, the purpose of the utility model is to provide a tunnel inspection vehicle, which can not only complete the inspection work of urban rail transit line tunnels in a short time with high detection efficiency, but also can realize intelligent comprehensive detection of various types of diseases and faults with high detection accuracy.

[0005] In order to achieve the above utility model purpose, the technical solution adopted by the utility model is as follows:

[0006] A tunnel inspection vehicle comprises a vehicle body and a tunnel three-dimensional inspection device, a tunnel appearance inspection device, a tunnel internal structure inspection device, a synchronous positioning device, and a main control device arranged on the vehicle body, wherein the tunnel three-dimensional inspection device, the tunnel appearance inspection device, the tunnel internal structure inspection device, and the synchronous positioning device are all connected to the main control device for communication;

[0007] The tunnel three-dimensional detection device is used to collect three-dimensional image information around the vehicle body, the tunnel appearance detection device is used to collect appearance image information of the tunnel wall, and the tunnel internal structure detection device is used to collect internal image information of the tunnel wall. The synchronous positioning device is used to provide a synchronous trigger signal for the tunnel three-dimensional detection device, the tunnel appearance detection device and the tunnel internal structure detection device, and to position the vehicle body. The main control device is used to detect the apparent defects and internal defects of the tunnel according to the received three-dimensional image information, appearance image information and internal image information;

[0008] Wherein, the tunnel internal structure detection device includes a plurality of air-coupled radars, which are arranged on the vehicle body and arranged along the circumference of the vehicle body, and all of the air-coupled radars face the tunnel wall.

[0009] Furthermore, the synchronous positioning device includes a binocular vision positioning calculation sub-device, a milepost shooting sub-device and a trigger signal sub-device. The trigger signal sub-device is used to generate a trigger signal. The main control device controls the tunnel three-dimensional detection device, the tunnel appearance detection device, the tunnel internal structure detection device, the binocular vision positioning calculation sub-device and the milepost shooting sub-device to be triggered synchronously according to the received trigger signal to obtain the current moving distance of each detection device and the vehicle body.

[0010] Furthermore, the binocular vision positioning calculation sub-device includes two area array cameras, which are installed at the bottom of the vehicle body, for continuously photographing the roadbed area of ​​the tunnel, and performing binocular vision calculation based on multiple parameter configurations to obtain the moving distance of the vehicle body.

[0011] Furthermore, the trigger signal sub-device includes a distance trigger sub-device and a time trigger sub-device, the distance trigger sub-device is used to generate a high-frequency trigger signal to trigger a high-frequency working device, and the time trigger sub-device is used to generate a non-high-frequency trigger signal to trigger a non-high-frequency working device.

[0012] Furthermore, the distance trigger sub-device includes an encoder and a roller, the roller is installed on the bottom of the vehicle body through a connecting piece, and the roller shaft of the roller is connected to the encoder shaft; the time trigger sub-device is a time trigger sub-device based on NTP network timing.

[0013] Furthermore, a tunnel high-pressure spray cleaning device is also provided on the vehicle body, and the tunnel high-pressure spray cleaning device is communicatively connected to the main control device.

[0014] Furthermore, the tunnel high-pressure spray cleaning device includes a high-pressure spray pipe, which is in an arc shape that matches the inner wall of the tunnel. A plurality of spray heads are provided on the high-pressure spray pipe, and the spray heads face the inner wall of the tunnel.

[0015] Furthermore, the tunnel three-dimensional detection device includes a three-dimensional laser scanner, a mobile platform and an industrial computer. The three-dimensional laser scanner is arranged on the mobile platform. The industrial computer controls the mobile platform to move outside the vehicle body so that the three-dimensional laser scanner obtains three-dimensional image information around the vehicle body.

[0016] Furthermore, the tunnel appearance detection device includes a plurality of cameras and a plurality of light sources, and the plurality of cameras and the plurality of light sources are all arranged on the vehicle body and arranged along the circumference of the vehicle body; the cameras are used to collect the appearance image information of the tunnel wall, and the light sources are used to supplement the appearance of the tunnel wall.

[0017] Furthermore, the plurality of light sources are divided into two groups, and the two groups of light sources are arranged along the circumference of the vehicle body and are respectively located at the front and rear sides of the plurality of cameras.

[0018] The utility model has the beneficial effects:

[0019] 1. The utility model detects the surface, interior and three-dimensional structure of the tunnel based on image information. The detection content is rich and the accuracy is high. It basically covers the daily engineering inspection content, effectively reduces the labor intensity, has strong timeliness and high detection efficiency.

[0020] 2. The utility model also integrates a tunnel high-pressure spray cleaning device. By spraying and cleaning the tunnel wall, the dust deposited on the surface of the tunnel wall can be cleaned, thereby exposing small-scale surface diseases of the tunnel wall, which is beneficial to improving the detection effect of the tunnel surface detection device.

[0021] 3. The synchronous positioning device of the utility model can not only provide synchronous trigger signals for each detection device, so as to synchronously control various types of detection devices, but also adopts a multi-positioning technology combining a binocular vision positioning calculation sub-device, a mileage mark shooting sub-device and a trigger signal sub-device, which solves the problem of large positioning errors caused by factors such as slippage and speed change of the encoder, eliminates the cumulative error, and then realizes high-precision positioning of the detection vehicle through a high-precision digital map, which can accurately calculate the current line mileage information, and then accurately locate the disease, which is helpful for aligning the previous detection data of the disease and effectively monitoring the development of the disease. Specifically, the binocular vision positioning calculation sub-device uses two array cameras to continuously shoot the roadbed area, and relies on the configuration of parameters such as pixel equivalent, depth of field, and focal length to perform binocular vision calculation to obtain the moving distance of the detection vehicle, thereby realizing accurate positioning of the detection vehicle (its positioning accuracy can reach millimeter level); at the same time, the mileage mark shooting sub-device is used to shoot images of the line mileage mark, and the line mileage information of the whole vehicle can be obtained after applying the image analysis algorithm, thereby providing a calibration function for the binocular vision distance calculation. When the binocular vision technology fails, this information can also be used for the redundant design of mileage calculation. And through the triggering sub-signal device, each detection device can be synchronously triggered with the binocular vision positioning calculation sub-device, and the current line mileage information of each detection device can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 The present invention is a schematic structural diagram of a tunnel inspection vehicle provided by the utility model.

[0024] Figure 2 for Figure 1 The figure is a partial enlarged view corresponding to the tunnel surface detection device.

[0025] Figure 3 for Figure 1 A partial enlarged view of the tunnel surface detection device portion;

[0026] Figure 4 The present invention is a schematic structural diagram of a distance trigger sub-device provided by the present invention.

[0027] Figure ID:

[0028] 1- tunnel three-dimensional detection device, 11- three-dimensional laser scanner, 12- mobile platform, 2- tunnel high-pressure spray cleaning device, 21- high-pressure spray pipe, 22- spray head, 3- tunnel internal structure detection device, 31- air coupled radar, 4- tunnel appearance detection device, 41- camera, 42- light source, 5- mileage shooting sub-device, 6- distance trigger sub-device, 61- roller, 611- roller mounting rod, 62- encoder, 63- mounting plate, 64- driving motor, 65- coupling, 66- lead screw, 67- linear slide rod, 68- connecting rod, 69- tension spring, 7- binocular vision positioning calculation sub-device, 100- vehicle body. DETAILED DESCRIPTION

[0029] The technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0031] In order to make the implementation process of the utility model clearer, it will be described in detail below with reference to the accompanying drawings.

[0032] like Figure 1 As shown, this embodiment provides a tunnel inspection vehicle, which includes a vehicle body 100 and a tunnel three-dimensional detection device 1, a tunnel surface detection device 4, a tunnel internal structure detection device 3, a synchronous positioning device, and a main control device arranged on the vehicle body 100, wherein the tunnel three-dimensional detection device 1, the tunnel surface detection device 4, the tunnel internal structure detection device 3 and the synchronous positioning device are all communicatively connected to the main control device.

[0033] Among them, the tunnel three-dimensional detection device 1 is used to collect three-dimensional image information around the vehicle body, the tunnel appearance detection device 4 is used to collect appearance image information of the tunnel wall, and the tunnel internal structure detection device 3 is used to collect internal image information of the tunnel wall; the synchronous positioning device is used to provide a synchronous trigger signal for the tunnel three-dimensional detection device 1, the tunnel appearance detection device 4 and the tunnel internal structure detection device 3 and to position the vehicle body 100, and the main control device is used to detect the apparent diseases and internal diseases of the tunnel according to the received three-dimensional image information, appearance image information and internal image information.

[0034] The inspection vehicle integrates multiple detection methods and can synchronously control multiple detection devices based on time and distance information. It uses binocular vision technology to calculate the current line mileage information, and combines mileage mark photography for positioning calibration, thereby realizing intelligent comprehensive detection of various types of diseases and faults involved in tunnel engineering and maintenance.

[0035] For further explanation, the structures and functions of the tunnel three-dimensional detection device 1, the tunnel surface detection device 4, the tunnel internal structure detection device 3, the synchronous positioning device and the main control device are described one by one here.

[0036] Continue to refer to Figure 2 In this embodiment, exemplarily, the tunnel three-dimensional detection device 1 is installed on the front end surface of the car body 100, which includes a three-dimensional laser scanner 11, a mobile platform 12 and an industrial computer (not shown in the figure). The three-dimensional laser scanner 11 is set on the mobile platform 12, and the industrial computer controls the mobile platform 12 to move outside the car body 100 so that the three-dimensional laser scanner 11 obtains three-dimensional image information around the car body 100.

[0037] Specifically, the vertical axis of the 3D laser scanner 11 is fixed so that it can only rotate around the horizontal axis, and is mounted on the vehicle body 100 and travels along the track to form a spiral scanning mode. Compared with traditional station-type scanning, the point cloud density obtained by this mode is more balanced, and no point cloud registration operation is required.

[0038] In actual use, the inspection personnel use the scanning processing software to set the scanning speed, interval scanning length and section acquisition interval. The three-dimensional laser scanner 11 follows the vehicle body 100 to perform section scanning along the set mileage to obtain the three-dimensional section data of the specified mileage section. After analysis and calculation by the scanning processing software, the radial convergence data of the section at any mileage of the tunnel is finally obtained, including ellipticity, major axis, minor axis, deflection angle, horizontal clearance line at any height of the section, clearance line length at the center of the circle, vertex height, center of the circle coordinates and other data, which can realize the limit detection and geometric shape detection of the tunnel, and is used to determine whether the equipment / components installed on the tunnel lining invade the train driving area, and to detect the convergence deformation of the tunnel.

[0039] Continue to refer to Figure 3 Exemplarily, the tunnel appearance detection device 4 includes a plurality of cameras 41 and a plurality of light sources 42, and the plurality of cameras 41 and the plurality of light sources 42 are all arranged on the vehicle body 100 and arranged along the circumference of the vehicle body 100, and the cameras 41 and the light sources 42 are all facing the tunnel wall, so that the field of view of the plurality of cameras 41 forms a semi-arc. In addition, the camera 41 is installed by a telescopic mechanism (not marked in the figure) to facilitate adjustment of the object distance of the camera 41; the camera 41 is used to collect the apparent image information of the tunnel wall, and the light source is used to supplement the apparent light of the tunnel wall.

[0040] The surface inspection is mainly to inspect the tunnel walls on both sides of the rails to detect whether there are cracks or inequalities in the tunnel walls. Therefore, the camera 41 and the light source 42 in the tunnel surface inspection device 4 are both facing the tunnel wall, and there are two main application scenarios of the tunnel surface inspection device 4, one is the tunnel wall of a single-line shield tunnel, and the other is the tunnel wall of a mining method tunnel. For the convenience of explanation, examples are given here.

[0041] The subway single-hole single-line shield tunnel is used as the main design basis. The lining part of this type of tunnel is an arc with an inner diameter of 2700mm and 2750mm. The data collection of the tunnel lining is completed in a single operation, and the central angle covers a range of about 240 degrees. Horizontally, the fields of view of the two adjacent cameras 41 are superimposed on each other, and the fusion band width is about 20% of the frame; vertically, the frame rate is increased so that the front and rear frames of the same camera 41 are superimposed on each other, and the fusion band width is about 30%~40% of the frame, so as to achieve complete coverage of the detection range surface.

[0042] Specifically, the fields of view of the multiple cameras 41 form a semi-arc, and the arc of the semi-arc is about 240 degrees. If the field of view of one camera 41 is 50 degrees and the overlapping bandwidth area of ​​each two adjacent cameras 41 is 10 degrees, then the number of the cameras 41 is eight.

[0043] Optionally, the arc surface formed by the lens positions of the cameras 41 is concentric with the tunnel wall, wherein a single camera 41 covers 38.88 degrees, with an overlapping band of 8.88 degrees, accounting for approximately 22.84% of the field of view, and covers an arc surface of approximately 240 degrees. The fields of view of the eight cameras 41 overlap in pairs to form complete coverage of the tunnel wall.

[0044] In actual operation, the telescopic mechanism is first adjusted so that the object distance of the camera 41 reaches the designed object distance and the telescopic mechanism is locked so that the object distance caused by focusing floats within a few mm, and the overlap zone floating caused by this ranges from 19.834% to 20.198%.

[0045] Furthermore, for the sake of convenience, the mining method tunnel is taken as an example again. Taking the cross-sectional view of the mining method lining structure as an example, the camera 41 is arranged at the center line of the mining method tunnel, 1900 mm away from the track surface, which is consistent with the height of the shield method camera arrangement center from the track surface.

[0046] In the mining tunnel environment, the object distance fluctuation of the camera 41 distribution scheme is less than 141mm, which is within the effective depth of field range (approximately ±700mm) and has a high safety margin; the overlap rate fluctuation is less than 1.36%, which can meet the design requirements.

[0047] In a more preferred embodiment, the plurality of light sources 42 are divided into two groups, and the two groups of light sources 42 are arranged along the circumference of the vehicle body 100 and are respectively located at the front and rear sides of the plurality of cameras 41. Such an arrangement can better fill in the light for the cameras 41 and improve the quality of the image information collected by the cameras 41.

[0048] The tunnel internal structure detection device 3 includes a plurality of air-coupled radars 31 , which are arranged on the vehicle body 100 and arranged along the circumference of the vehicle body 100 , and all face the tunnel wall for detecting the internal structure of the tunnel wall.

[0049] In this embodiment, exemplarily, the synchronous positioning device includes a binocular vision positioning calculation sub-device 7, a milepost shooting sub-device 5 and a trigger signal sub-device, and the trigger signal sub-device is used to generate a trigger signal. The main control device controls the tunnel three-dimensional detection device 1, the tunnel appearance detection device 4, the tunnel internal structure detection device 3, the binocular vision positioning calculation sub-device 7 and the milepost shooting sub-device 5 to be triggered synchronously according to the received trigger signal to obtain the current moving distance of each detection device and the vehicle body 100.

[0050] In actual use, the trigger signal sub-device triggers the binocular vision positioning calculation sub-device 7, the tunnel three-dimensional detection device 1, the tunnel appearance detection device 4 and the tunnel internal detection device 3 at a certain moment, and the four are in a synchronous triggering state. At this time, the binocular vision positioning calculation sub-device 7, the tunnel three-dimensional detection device 1, the tunnel appearance detection device 4 and the tunnel internal detection device 3 can all obtain accurate line mileage information. If a certain detection device is triggered in the gap triggered by the binocular vision positioning calculation sub-device 7, the detection device fails to be triggered synchronously with the binocular vision positioning calculation sub-device 7, and cannot obtain accurate line mileage information. At this time, the main control device can synchronously correct the information of the detection device according to the time record and data sequence number of the collected information, so as to obtain accurate line mileage information.

[0051] Specifically, the binocular vision positioning calculation sub-device 7 includes two area array cameras, which are installed at the bottom of the vehicle body 100, and are used to continuously shoot the roadbed area of ​​the tunnel, and perform binocular vision calculation based on parameter configurations such as pixel equivalent, depth of field, and focal length, so as to obtain the moving distance of the inspection vehicle, and then realize the precise positioning of the comprehensive inspection vehicle (the positioning accuracy can reach millimeter level).

[0052] Exemplarily, the trigger signal sub-device includes a distance trigger sub-device 6 and a time trigger sub-device (not shown in the figure).

[0053] The distance trigger sub-device 6 is used to generate a high-frequency trigger signal to trigger a high-frequency working device. Exemplarily, the distance trigger sub-device 6 includes an encoder 62 and a roller 61, and the roller 61 is installed on the bottom of the vehicle body 100 through a connecting piece. Specifically, the connecting piece includes a mounting plate 63, a driving piece, a linear slide rod 67, a connecting rod 68, a tension spring 69 and a roller mounting rod 611. The mounting plate 63 is connected to the bottom of the vehicle body 100, and the driving piece is installed on the mounting plate 63. The driving piece includes a driving motor 64, a coupling 65 and a screw rod 66 connected in sequence from back to front, and a sliding groove corresponding to the screw rod 66 is provided on the mounting plate 63. The slider at the upper end of the linear slide rod 67 passes through the sliding groove and is threadedly connected to the lead screw 66. The lower end of the linear slide rod 67 is hinged to the rod body of the connecting rod 68 near its lower end. The upper end of the connecting rod 68 is hinged to the mounting plate 63. The lower end of the connecting rod 68 is hinged to the roller mounting rod 611. The two ends of the tension spring 69 are respectively connected to the rod body of the connecting rod 68 and the rod body of the roller mounting rod 611. The lower end of the roller mounting rod 611 is installed with the roller 61 through a roller shaft (not marked in the figure), and the roller shaft is connected to the encoder 62 shaft.

[0054] In actual use, when the encoder 62 needs to work, the drive motor 64 drives the screw rod 66 to rotate, and the rotating screw rod 66 pushes the slider of the linear slide 67 to move forward along the sliding groove, so that the connecting rod 68 connected to the linear slide 67 swings to press the roller 61 down onto the track, otherwise the roller 61 is retracted and does not contact the track. When the detection vehicle is moving, the roller 61 rotates at the same time, so that the encoder 62 rotates synchronously. At this time, the travel distance of the detection vehicle can be obtained by calculating the output signal of the encoder 62.

[0055] The utility model changes the traditional way of adding encoders to the wheels of the vehicle body, and installs the encoder 62 through a connecting piece to make it independent. Not only does it not need to modify the vehicle body carrying the tunnel inspection equipment, but it also reduces the impact of the vehicle body 100 on the encoder 62 when turning or changing speed. At the same time, the roller 61 can maintain a tight state with the track under the action of the tension spring 69 to prevent it from slipping, thereby ensuring the normal operation of the encoder 62 connected thereto, further improving the mileage calculation accuracy of the vehicle body 100 and ensuring the trigger continuity, and effectively improving the detection efficiency.

[0056] The time trigger sub-device is used to generate a non-high-frequency trigger signal to trigger a non-high-frequency device, such as an area array camera, etc. Optionally, the time trigger sub-device is a time trigger sub-device based on NTP network timing.

[0057] Exemplarily, the mileage marker shooting sub-device 5 is an array camera, which is installed on the tunnel appearance detection device 4. The array camera is used to shoot images of line mileage markers. After applying the image analysis algorithm, the line mileage information of the whole vehicle can be obtained, thereby providing a calibration function for binocular vision distance calculation. When the binocular vision technology fails, this information can also be used for the redundant design of mileage calculation.

[0058] In actual use, the tunnel inspection vehicle initially establishes a high-precision digital map along the tunnel, and continuously photographs the roadbed area through the binocular vision positioning calculation sub-device 7, performs binocular vision calculation based on the configuration of pixel equivalent, depth of field, focal length and other parameters, and combines the encoder 62 to determine the current position of the tunnel inspection vehicle in real time, generates relative position coordinates, and then photographs the hundred-meter mark on the tunnel surface in real time through the mileage mark shooting sub-device 5. After photographing the hundred-meter mark, the hundred-meter mark characters are read and recognized through the OCR technology, thereby generating the absolute position of the tunnel inspection vehicle, and then the position of the tunnel inspection vehicle is calibrated through the high-precision digital map to achieve high-precision positioning of the device. The use of the multi-positioning technology of the area array camera, the encoder 62, the high-precision digital map and the hundred-meter mark recognition and calibration solves the problem of large positioning errors caused by factors such as slipping and speed change of the encoder 62. Positioning calibration is performed every hundred meters to eliminate cumulative errors. The high-precision positioning of the tunnel inspection vehicle is achieved through the high-precision digital map, and the disease can be accurately located, which helps to align the disease detection data and effectively monitor the disease development.

[0059] In this embodiment, the main control device is responsible for controlling the working state of each detection device and storing data. Exemplarily, the main control device includes a main industrial computer, a data acquisition device and a storage device. Among them, the main industrial computer adopts a PCIE (high-speed serial computer expansion bus standard) interface to connect with the data acquisition device, which is convenient for the assembly, maintenance and upgrade of the detection device. The data acquisition device uses a variety of acquisition cards to realize data interaction between each detection device and the main industrial computer. The storage device is a solid-state hard disk, which can meet the bandwidth requirements required for data acquisition and can realize stable data storage function.

[0060] At the same time, the main control unit has built-in processing software, which covers field collection and data processing, including parameter configuration, raw data acquisition, data analysis (analysis → ring division → tangent), section analysis, disease analysis, report generation and other functions. The report template can be customized according to actual user needs.

[0061] In a more preferred embodiment, a tunnel high-pressure spray cleaning device 2 is also provided on the vehicle body, and the tunnel high-pressure spray cleaning device 2 is communicatively connected to the main control device, and is used for spray cleaning the tunnel wall to clean the dust deposited on the surface of the tunnel wall, thereby exposing small-scale surface diseases of the tunnel wall, which is beneficial to improving the detection effect of the tunnel surface detection device.

[0062] Exemplarily, the tunnel high-pressure spray cleaning device 2 includes a high-pressure spray pipe 21, which is in an arc shape that matches the inner wall of the tunnel, and is provided with a plurality of spray heads 22, which face the tunnel wall. By arranging the spray heads 22 that match the arc shape of the tunnel wall, the tunnel wall can be completely washed when the vehicle body 100 is moving.

[0063] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tunnel inspection vehicle, characterized in that: It includes a vehicle body and a tunnel three-dimensional detection device, a tunnel appearance detection device, a tunnel internal structure detection device, a synchronous positioning device, and a main control device arranged on the vehicle body, wherein the tunnel three-dimensional detection device, the tunnel appearance detection device, the tunnel internal structure detection device, and the synchronous positioning device are all connected to the main control device for communication; The tunnel three-dimensional detection device is used to collect three-dimensional image information around the vehicle body, the tunnel appearance detection device is used to collect appearance image information of the tunnel wall, and the tunnel internal structure detection device is used to collect internal image information of the tunnel wall. The synchronous positioning device is used to provide a synchronous trigger signal for the tunnel three-dimensional detection device, the tunnel appearance detection device and the tunnel internal structure detection device, and to position the vehicle body. The main control device is used to detect the apparent defects and internal defects of the tunnel according to the received three-dimensional image information, appearance image information and internal image information; Wherein, the tunnel internal structure detection device comprises a plurality of air-coupled radars, the plurality of air-coupled radars are arranged on the vehicle body and arranged along the circumference of the vehicle body, and the plurality of air-coupled radars are all facing the tunnel wall; The synchronous positioning device includes a binocular vision positioning calculation sub-device, a milepost shooting sub-device and a trigger signal sub-device. The trigger signal sub-device is used to generate a trigger signal. The main control device controls the tunnel three-dimensional detection device, the tunnel appearance detection device, the tunnel internal structure detection device, the binocular vision positioning calculation sub-device and the milepost shooting sub-device to be triggered synchronously according to the received trigger signal to obtain the current moving distance of each detection device and the vehicle body.

2. A tunnel inspection vehicle according to claim 1, characterized in that: The binocular vision positioning calculation sub-device includes two area array cameras, which are installed at the bottom of the vehicle body and are used to continuously shoot the roadbed area of ​​the tunnel and perform binocular vision calculation based on multiple parameter configurations to obtain the moving distance of the vehicle body.

3. A tunnel inspection vehicle according to claim 1, characterized in that: The trigger signal sub-device includes a distance trigger sub-device and a time trigger sub-device. The distance trigger sub-device is used to generate a high-frequency trigger signal to trigger a high-frequency working device, and the time trigger sub-device is used to generate a non-high-frequency trigger signal to trigger a non-high-frequency working device.

4. A tunnel inspection vehicle according to claim 3, characterized in that: The distance trigger sub-device includes an encoder and a roller, the roller is installed on the bottom of the vehicle body through a connecting piece, and the roller shaft of the roller is connected to the encoder shaft; the time trigger sub-device is a time trigger sub-device based on NTP network timing; The distance trigger sub-device (6) comprises an encoder (62) and a roller (61), wherein the roller (61) is mounted on the bottom of the vehicle body (100) via a connecting member, wherein the connecting member comprises a mounting plate (63), a driving member, a linear slide rod (67), a connecting rod (68), a tension spring (69) and a roller mounting rod (611), wherein the mounting plate (63) is connected to the bottom of the vehicle body (100), and the driving member is mounted on the mounting plate (63), wherein the driving member comprises a driving motor (64), a coupling (65) and a screw rod (66) which are connected in sequence from the back to the front, and wherein a threaded rod (66) is provided on the mounting plate (63) The sliding groove is provided, and the sliding block at the upper end of the linear sliding rod (67) passes through the sliding groove and is threadedly connected to the screw rod (66); the lower end of the linear sliding rod (67) is hinged to the rod body of the connecting rod (68) near its lower end; the upper end of the connecting rod (68) is hinged to the mounting plate (63); the lower end of the connecting rod (68) is hinged to the roller mounting rod (611); the two ends of the tension spring (69) are respectively connected to the rod body of the connecting rod (68) and the rod body of the roller mounting rod (611); the lower end of the roller mounting rod (611) is mounted with the roller (61) through a roller shaft; and the roller shaft is connected to the encoder (62) shaft.

5. The tunnel inspection vehicle according to claim 1, characterized in that: The vehicle body is also provided with a tunnel high-pressure spray cleaning device, and the tunnel high-pressure spray cleaning device is communicatively connected with the main control device.

6. A tunnel inspection vehicle according to claim 5, characterized in that: The tunnel high-pressure spray cleaning device comprises a high-pressure spray pipe, which is in an arc shape adapted to the inner wall of the tunnel. A plurality of spray heads are arranged on the high-pressure spray pipe, and the spray heads face the inner wall of the tunnel.

7. The tunnel inspection vehicle according to claim 1, characterized in that: The tunnel three-dimensional detection device includes a three-dimensional laser scanner, a mobile platform and an industrial computer. The three-dimensional laser scanner is arranged on the mobile platform. The industrial computer controls the mobile platform to move outside the vehicle body so that the three-dimensional laser scanner obtains three-dimensional image information around the vehicle body.

8. The tunnel inspection vehicle according to claim 1, characterized in that: The tunnel appearance detection device includes a plurality of cameras and a plurality of light sources, wherein the plurality of cameras and the plurality of light sources are arranged on the vehicle body and arranged along the circumference of the vehicle body; the cameras are used to collect the appearance image information of the tunnel wall, and the light sources are used to supplement the appearance of the tunnel wall.

9. A tunnel inspection vehicle according to claim 8, characterized in that: The plurality of light sources are divided into two groups, and the two groups of light sources are arranged along the circumference of the vehicle body and are respectively located at the front and rear sides of the plurality of cameras.

Images