Tunnel monitoring device

Abstract

The utility model discloses a tunnel monitoring device which comprises a moving mechanism, a geological sampling mechanism, a tunnel section size monitoring mechanism, a tunnel lining monitoring mechanism, a tunnel inner wall appearance monitoring mechanism and a tunnel contour monitoring mechanism, and the moving mechanism is used for moving in a tunnel; the geological sampling mechanism is arranged on the moving mechanism and is used for sampling soil in the tunnel; the tunnel section size monitoring mechanism is arranged on the moving mechanism and used for monitoring the section size of the tunnel; the tunnel lining monitoring mechanism is arranged on the moving mechanism and used for monitoring a tunnel lining; the tunnel inner wall appearance monitoring mechanism is arranged on the moving mechanism and used for monitoring the tunnel inner wall appearance; the tunnel contour monitoring mechanism is arranged on the moving mechanism and used for monitoring the contour change of the inner wall of the tunnel; thus, multiple monitoring functions are integrated, one-by-one monitoring is not needed, and the monitoring efficiency is greatly improved; and automatic real-time monitoring of the tunnel is achieved, monitoring equipment does not need to be manually carried and placed, and the labor intensity of workers is greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel monitoring, in particular to a tunnel monitoring device. Background Art

[0002] Tunnel monitoring is a crucial step in ensuring the quality and safety of tunnel projects. It primarily encompasses three categories: construction-period monitoring, operational-period monitoring, and other specialized monitoring. For example, construction-period monitoring requires geological monitoring and tunnel dimension monitoring. Geological monitoring involves manually inserting a sampling tube into the tunnel soil to collect samples, which are then sent for monitoring. Tunnel dimension monitoring involves measuring with a tape measure. Operational-period monitoring assesses environmental factors such as air quality, humidity, and temperature within the tunnel to ensure that the tunnel environment meets operational requirements. Other specialized monitoring involves testing the quality of the tunnel lining.

[0003] With the development of construction engineering technology and the improvement of construction and maintenance requirements, the demand for monitoring has also increased accordingly. Traditional manual monitoring methods generally rely on manual handheld equipment to monitor corresponding data, or use corresponding automated monitoring equipment to monitor in the tunnel. Each monitoring requires different equipment. Therefore, the existing tunnel monitoring technology lacks comprehensiveness, requires a lot of time to monitor one by one, and manpower to move equipment, making it increasingly difficult to meet the actual monitoring needs. Utility Model Content

[0004] The main purpose of the utility model is to provide a tunnel monitoring device with multiple monitoring functions to solve the above problems.

[0005] To achieve the above objectives, the present invention provides a tunnel monitoring device comprising:

[0006] A moving mechanism for moving in the tunnel;

[0007] a geological sampling mechanism, provided on the mobile mechanism, for sampling the soil in the tunnel;

[0008] A tunnel cross-sectional dimension monitoring mechanism, provided on the mobile mechanism, for monitoring the cross-sectional dimension of the tunnel;

[0009] a tunnel lining monitoring mechanism, provided on the mobile mechanism, for monitoring the tunnel lining;

[0010] A tunnel inner wall surface monitoring mechanism, provided on the mobile mechanism, for monitoring the tunnel inner wall surface;

[0011] The tunnel profile monitoring mechanism is arranged on the moving mechanism and is used to monitor the profile changes of the inner wall of the tunnel.

[0012] Optionally, the moving mechanism includes a moving wheel group, a first driving member and a mounting platform. The moving wheel group is arranged at the bottom of the mounting platform and includes at least two moving wheels. The first driving member is drivingly connected to the moving wheels to drive the moving wheels to roll in the tunnel.

[0013] Optionally, a sampling area is provided on the mounting platform, and a sampling hole is passed through the sampling area;

[0014] The geological sampling mechanism comprises:

[0015] a crossbeam, provided in the sampling area, extending along a first direction and spanning above the sampling hole;

[0016] A lifting structure is provided between the crossbeam and the mounting platform, and is drivingly connected to the crossbeam to drive the crossbeam to move in an up-and-down direction relative to the mounting platform;

[0017] a second driving member, provided on the crossbeam;

[0018] a sampling tube, arranged corresponding to the sampling hole and extending in the up-down direction, wherein the second driving member is drivingly connected to the sampling tube to drive the sampling tube to rotate around its axis; and

[0019] The drill bit is sleeved on the outer circumference of the sampling tube.

[0020] Optionally, the tunnel cross-section dimension monitoring mechanism includes:

[0021] a mounting frame disposed in the middle of the mounting platform and extending in the vertical direction, wherein an arcuate groove is formed on an outer peripheral wall of the mounting frame, the arcuate groove extending along the circumference of the mounting frame, and the top of the arcuate groove corresponds to the arch of the tunnel; and

[0022] A plurality of laser ranging sensors are arranged in the arc-shaped groove and distributed at intervals along the circumference of the arc-shaped groove. The plurality of laser ranging sensors include at least a first laser ranging sensor, a second laser ranging sensor and a third laser ranging sensor. The first laser ranging sensor and the second laser ranging sensor are arranged at both ends of the arc-shaped groove for measuring the width of the tunnel. The third laser ranging sensor is arranged at the top of the arc-shaped groove for measuring the height of the tunnel.

[0023] Optionally, the tunnel lining monitoring mechanism is provided on the mounting platform and includes:

[0024] Multiple detection radars; and,

[0025] A plurality of third driving members are connected to the plurality of detection radars in a one-to-one driving manner to drive the plurality of detection radars to move toward or away from the installation platform, so that the detection radars can move between an initial position and a detection position. When the detection radars are located at the detection position, the detection radars are in contact with the inner wall of the tunnel.

[0026] Optionally, the tunnel inner wall surface monitoring mechanism is provided on the mounting platform and includes at least one infrared camera.

[0027] Optionally, the tunnel profile monitoring mechanism is arranged on the mounting platform and includes a three-dimensional laser scanner.

[0028] Optionally, the tunnel monitoring device further includes an obstacle avoidance mechanism, which includes at least one obstacle avoidance radar. The obstacle avoidance radar is disposed on the mounting platform and is used to identify equipment and obstacles along the tunnel.

[0029] Optionally, the tunnel monitoring device further includes an environmental monitoring mechanism, which is provided on the installation platform and includes:

[0030] The mounting box has ventilation openings; and

[0031] At least one sensor is provided in the installation box, and the sensor is a temperature sensor, a humidity sensor, a wind pressure sensor or a wind speed sensor.

[0032] Optionally, the tunnel monitoring device also includes a monitoring cloud platform, which is electrically connected to the mobile mechanism, the geological sampling mechanism, the tunnel section size monitoring mechanism, the tunnel lining monitoring mechanism, the tunnel inner wall surface monitoring mechanism, and the tunnel contour monitoring mechanism.

[0033] In the technical solution of the present utility model, by setting the geological sampling mechanism, the tunnel cross-sectional dimension monitoring mechanism, the tunnel lining monitoring mechanism, the tunnel inner wall surface monitoring mechanism and the tunnel contour monitoring mechanism, multiple monitoring functions are integrated, which can simultaneously monitor the geology, geometric dimensions of the tunnel lining, the tunnel inner wall surface, the tunnel contour and contour changes of the tunnel, and monitor comprehensively to ensure the construction quality without the need to monitor one by one, thereby greatly improving the monitoring efficiency; and by setting a moving mechanism, the above-mentioned monitoring mechanism can be driven to move in the tunnel to realize automatic real-time monitoring of the tunnel, without the need for manual transportation and placement of monitoring equipment, thereby greatly reducing the intensity of manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0035] Figure 1 This is a front view of an embodiment of the tunnel monitoring device provided by the present utility model;

[0036] Figure 2 for Figure 1 Side view of the tunnel monitoring device;

[0037] Figure 3 for Figure 1 A top view of part of the structure of the tunnel monitoring device;

[0038] Figure 4 for Figure 1 Schematic diagram of the structure of the geological sampling mechanism of the tunnel monitoring device.

[0039] Description of Figure Numbers:

[0040] Label name Label name 100 Tunnel monitoring device 3 Tunnel cross-section dimension monitoring agency 1 Mobile mechanism 31 Mounting bracket 11 Mobile wheel set 311 Arc groove 111 Moving wheels 32 Laser ranging sensor 12 Installation Platform 4 Tunnel lining monitoring agency 121 Sampling hole 41 Detection radar 2 Geological sampling agency 42 The third driving member 21 beam 5 Tunnel inner wall surface monitoring mechanism 22 Lifting structure 6 Tunnel profile monitoring agency 23 Second driving member 7 Obstacle avoidance mechanism 24 sampling tube 8 Environmental monitoring agencies 25 drill 81 Installation box

[0041] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0044] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] Tunnel monitoring is a crucial step in ensuring the quality and safety of tunnel projects. It primarily encompasses three categories: construction-period monitoring, operational-period monitoring, and other specialized monitoring. For example, construction-period monitoring requires geological monitoring and tunnel dimension monitoring. Geological monitoring involves manually inserting a sampling tube into the tunnel soil to collect samples, which are then sent for monitoring. Tunnel dimension monitoring involves measuring with a tape measure. Operational-period monitoring assesses environmental factors such as air quality, humidity, and temperature within the tunnel to ensure that the tunnel environment meets operational requirements. Other specialized monitoring involves testing the quality of the tunnel lining.

[0046] With the development of construction engineering technology and the improvement of construction and maintenance requirements, the demand for monitoring has also increased accordingly. Traditional manual monitoring methods generally rely on manual handheld equipment to monitor corresponding data, or use corresponding automated monitoring equipment to monitor in the tunnel. Each monitoring requires different equipment. Therefore, the existing tunnel monitoring technology lacks comprehensiveness, requires a lot of time to monitor one by one, and manpower to move equipment, making it increasingly difficult to meet the actual monitoring needs.

[0047] In view of this, the present invention provides a tunnel monitoring device 100, Figures 1 to 4 This is an embodiment of a tunnel monitoring device 100 provided by the present invention.

[0048] See also Figures 1 to 4The tunnel monitoring device 100 includes a moving mechanism 1, a geological sampling mechanism 2, a tunnel cross-sectional dimension monitoring mechanism 3, a tunnel lining monitoring mechanism 4, a tunnel inner wall surface monitoring mechanism 5 and a tunnel contour monitoring mechanism 6. The moving mechanism 1 is used to move in the tunnel; the geological sampling mechanism 2 is arranged on the moving mechanism 1, and is used to sample the soil in the tunnel; the tunnel cross-sectional dimension monitoring mechanism 3 is arranged on the moving mechanism 1, and is used to monitor the cross-sectional dimension of the tunnel; the tunnel lining monitoring mechanism 4 is arranged on the moving mechanism 1, and is used to monitor the tunnel lining; the tunnel inner wall surface monitoring mechanism 5 is arranged on the moving mechanism 1, and is used to monitor the tunnel inner wall surface; the tunnel contour monitoring mechanism 6 is arranged on the moving mechanism 1, and is used to monitor the contour changes of the tunnel inner wall.

[0049] In the technical solution of the present utility model, by setting the geological sampling mechanism 2, the tunnel cross-sectional dimension monitoring mechanism 3, the tunnel lining monitoring mechanism 4, the tunnel inner wall surface monitoring mechanism 5 and the tunnel contour monitoring mechanism 6, multiple monitoring functions are integrated, which can simultaneously monitor the geology, geometric dimensions of the tunnel lining, the tunnel inner wall surface, the tunnel contour and contour changes of the tunnel, and monitor comprehensively to ensure the construction quality without the need to monitor one by one, thereby greatly improving the monitoring efficiency; and by setting the mobile mechanism 1, the above-mentioned monitoring mechanism can be driven to move in the tunnel to realize automatic real-time monitoring of the tunnel, without the need for manual transportation and placement of monitoring equipment, thereby greatly reducing the intensity of manual labor.

[0050] Furthermore, the tunnel monitoring device 100 also includes a monitoring cloud platform, which is electrically connected to the mobile mechanism 1, the geological sampling mechanism 2, the tunnel cross-section size monitoring mechanism 3, the tunnel lining monitoring mechanism 4, the tunnel inner wall surface monitoring mechanism 5, and the tunnel contour monitoring mechanism 6.

[0051] Furthermore, the tunnel monitoring device 100 also includes a controller, a 4G acquisition gateway and a cloud server. The controller is electrically connected to the mobile mechanism 1, and the 4G acquisition gateway is electrically connected to the geological sampling mechanism 2, the tunnel cross-sectional dimension monitoring mechanism 3, the tunnel lining monitoring mechanism 4, the tunnel inner wall surface monitoring mechanism 5, and the tunnel contour monitoring mechanism 6, and is electrically connected to the controller and the cloud server. The monitoring cloud platform is electrically connected to the controller and the cloud server.

[0052] More specifically, the 4G acquisition gateway integrates a data acquisition module, an edge computing module, a power supply module, and a data transmission module, enabling data collection from each monitoring mechanism. After performing preliminary calculations on the data, the data is output to the cloud server via a 4G wireless network or a wired network. More specifically, the 4G acquisition gateway transmits the collected data to the cloud server via a 4G base station. The cloud server integrates IoT and cloud computing technologies, performs computations and analysis on various monitoring data, and then stores the data in a classified manner. The processed data is then transmitted to the monitoring cloud platform, which performs statistical analysis on the data to determine the development patterns and changing trends of various characteristic parameters. The platform then sends the data to the terminal and displays it on the user side in the form of data and charts, enabling archiving, querying, storage, and management of data from each measuring point in the tunnel. Furthermore, the controller can also control the operating status of the mobile mechanism 1 and each monitoring mechanism to adapt to various monitoring situations.

[0053] For details, please refer to Figure 1 and Figure 2 The moving mechanism 1 includes a moving wheel group 11, a first driving member and an installation platform 12. The moving wheel group 11 is arranged at the bottom of the installation platform 12 and includes at least two moving wheels 111. The first driving member is driven and connected to the moving wheels 111 to drive the moving wheels to roll in the tunnel.

[0054] Furthermore, in one embodiment of the present invention, the movable wheels are track wheels, which can adapt to various complex terrains, such as grass, land and uneven roads, and can operate stably and carry heavy equipment or items, and are highly practical.

[0055] Specifically, in an embodiment of the present invention, the first driving component is a driving motor.

[0056] Specifically, in one embodiment of the present invention, the mobile mechanism 1 further includes a frame, and two moving wheels are provided, which are distributed at the bottom of the frame at intervals along the width direction of the frame, and the mounting platform 12 is provided on the frame.

[0057] Specifically, geological sampling refers to the process of collecting samples from geological bodies to study mineral quality, the physical and chemical properties of ores and surrounding rocks, and other aspects, providing a scientific basis for deposit evaluation, reserve calculations, and related geological and mining work. There are many different methods for geological sampling, and different sampling methods and techniques are used depending on the geological conditions and objectives. For example, direct-push drilling technology is used for sampling. Direct-push drilling uses manual or mechanical force to push a drill tool into the ground for sampling. It is particularly suitable for deep soil sampling, improving the quality and efficiency of sampling.

[0058] In the present invention, the geological sampling mechanism 2 can be a shallow sampling drill, such as the TGQ series sampling drill developed by the Beijing Exploration Engineering Institute of the China Geological Survey, including TGQ-5, TGQ-10, TGQ-30, TGQ-50 and other models, which are suitable for shallow sampling; it can also be a portable geological sampling notching machine, such as the Swedish GEO series portable geological sampling notching machine, which is a device that replaces traditional manual hand-chisel sampling. It has the characteristics of fast sampling speed, high efficiency, and standardized and accurate samples. It is widely used in geological exploration and solid mineral deposit exploration in the absence of electricity, or the Swedish HUSQUARNA K760 geological notching sampler, which is suitable for field rock geological notching sampling.

[0059] Further, see Figure 3 and Figure 4 In one embodiment of the present invention, a sampling area is provided on the mounting platform 12, and a sampling hole 121 is passed through the sampling area; the geological sampling mechanism 2 includes a beam 21, a lifting structure 22, a second driving member 23, a sampling tube 24 and a drill bit 25. The beam 21 is provided in the sampling area, extends along a first direction, and spans above the sampling hole 121; the lifting structure 22 is provided between the beam 21 and the mounting platform 12, and is driven and connected to the beam 21 for driving the beam 21 to move in the up and down directions relative to the mounting platform 12; the second driving member 23 is provided on the beam 21; the sampling tube 24 is provided corresponding to the sampling hole 121 and extends in the up and down directions, and the second driving member 23 is driven and connected to the sampling tube 24 to drive the sampling tube 24 to rotate around its axis; the drill bit 25 is sleeved on the outer circumference of the sampling tube 24.

[0060] In this way, the lifting structure 22 can drive the crossbeam 21 to move in the up and down directions, thereby driving the drill bit 25 to drill a hole in the soil in the tunnel. Then, the sampling tube 24 is inserted into the soil along the hole drilled by the drill bit 25 to complete soil sampling. Finally, the sampled soil is sent to the soil monitoring equipment for monitoring.

[0061] It should be noted that the first direction is a direction parallel to the installation platform 12 .

[0062] Furthermore, in the present invention, the configuration of the lifting structure 22 is not limited and may be an existing folding lifting frame (scissor-type), a lifting cylinder, a lifting hydraulic cylinder, an electric push rod, etc. More specifically, in one embodiment of the present invention, the lifting structure 22 includes two electric push rods, which are arranged on both sides of the sampling hole 121 and below the crossbeam 21 to form a gantry structure. The electric push rods are driven and connected to the crossbeam 21 to drive the crossbeam 21 to move in the up and down directions.

[0063] Specifically, in an embodiment of the present invention, the second driving member 23 is a driving motor, and is fixedly installed at the middle portion of the crossbeam 21 .

[0064] Specifically, the sampling tube 24 is a round tube made of stainless steel, one end of which is connected to the second driving member 23, and the other end is used to pass through the sampling hole 121 toward the ground and be inserted into the hole drilled by the drill bit 25 to sample the tunnel soil.

[0065] Specifically, in the present invention, the tunnel cross-section dimension monitoring mechanism 3 can be a total station, a laser cross-section instrument or a cross-section scanner. Figure 3 In one embodiment of the present invention, the tunnel cross-sectional dimension monitoring mechanism 3 includes a mounting frame 31 and a plurality of laser ranging sensors 32. The mounting frame 31 is disposed in the middle of the mounting platform 12 and extends in the vertical direction. An arcuate groove 311 is defined on the outer peripheral wall of the mounting frame 31. The arcuate groove 311 extends along the circumference of the mounting frame 31, and the top of the arcuate groove 311 corresponds to the vault of the tunnel. The plurality of laser ranging sensors 32 are disposed in the arcuate groove 311 and are spaced apart along the circumference of the arcuate groove 311. The plurality of laser ranging sensors 32 include at least a first laser ranging sensor 32, a second laser ranging sensor 32, and a third laser ranging sensor 32. The first and second laser ranging sensors 32 are disposed at both ends of the arcuate groove 311 for measuring the width of the tunnel. The third laser ranging sensor 32 is disposed at the top of the arcuate groove 311 for measuring the height of the tunnel. The distance between the inner wall of the tunnel and the sensor is determined by emitting laser pulses and measuring the time it takes for the laser pulses to be reflected back, thereby measuring the cross-sectional dimensions of the tunnel.

[0066] Furthermore, a plurality of fourth laser ranging sensors 32 are provided between the third laser ranging sensor 32 and the first laser ranging sensor 32, and between the third laser ranging sensor 32 and the second laser ranging sensor 32, and the curvature between the arc grooves 311 corresponding to two adjacent fourth laser ranging sensors 32 is 10° or 20°.

[0067] Specifically, in the present utility model, tunnel lining monitoring can be achieved through geological radar method, acoustic wave method, laser profiler method, direct measurement method, image processing and deep learning, and array ultrasonic non-destructive testing.

[0068] Further, see Figure 2 and Figure 3In one embodiment of the present utility model, the tunnel lining monitoring mechanism 4 is arranged on the installation platform 12, and includes a plurality of detection radars 41 and a plurality of third driving members 42. The plurality of third driving members 42 are driven and connected to the plurality of detection radars 41 in a one-to-one correspondence to drive the plurality of detection radars 41 to move closer to or away from the installation platform 12, so that the detection radar 41 moves between the initial position and the detection position. When the detection radar 41 is located at the detection position, the detection radar 41 abuts against the inner wall of the tunnel.

[0069] Furthermore, in the present invention, the third driving member 42 can be an existing electric telescopic rod, a multi-joint robotic arm, etc., which drives the detection radar 41 to contact or separate from the inner wall of the tunnel, thereby achieving full coverage of lining detection from the tunnel arch to the wall corner.

[0070] The application of the detection radar 41 in tunnel lining inspection is mainly reflected in its non-destructive, high efficiency and strong penetrating ability. The detection radar 41 (GPR) images and analyzes the interior of the tunnel lining by emitting electromagnetic waves and receiving their reflected signals. It can detect problems such as lining thickness, steel bar distribution, concrete density and internal defects. Specifically, the detection radar 41 can be used to detect defects such as voids, voids, and loose backfill in tunnel linings. For example, in the inspection of Fenghuoshan Tunnel, the geological radar successfully detected voids and loose backfill areas behind the lining. These defects appear on the radar image as strong reflection areas and continuous phase axes. In addition, the radar image can also reflect cracks and water seepage on the lining surface, thereby providing a reliable basis for tunnel safety assessment.

[0071] Furthermore, a plurality of the detection radars 41 are arranged on the longitudinal survey line of the tunnel to ensure full coverage, i.e., corresponding to the tunnel vault, left and right arch haunches, left and right side walls and tunnel bottom, so as to obtain detailed information of the lining cross section, which helps to accurately measure the lining thickness and identify the voids and loose areas behind the lining.

[0072] Specifically, in the present invention, the surface monitoring of the tunnel inner wall can be achieved through non-destructive testing (NDT), infrared imaging, laser scanning and lidar, camera photography and mobile detection equipment.

[0073] Furthermore, in one embodiment of the present invention, the tunnel inner wall surface monitoring mechanism 5 is provided on the mounting platform 12 and includes at least one infrared camera for taking pictures of the tunnel inner wall surface to identify defects such as cracks, water leakage, and peeling.

[0074] It's important to note that infrared thermal imaging technology reflects the integrity and uniformity of the internal structure by capturing temperature changes on the lining surface. Defects or material inhomogeneities within the lining will result in abnormal surface temperature fluctuations, which can be detected using infrared thermal imaging. Furthermore, infrared cameras can also be used to detect water seepage in tunnels. For example, infrared thermal imaging can quickly scan and detect leaks, moisture, debonding within 3 cm, and voids or water pockets within 8 cm of the lining surface.

[0075] When the mobile mechanism 1 moves at a constant speed, the infrared camera takes pictures at a fixed distance to comprehensively photograph the surface defects of the tunnel inner wall lining, such as water leakage. When the mobile mechanism 1 travels through the entire tunnel, all photos of the entire tunnel can be collected. The photos are processed according to the principle of photogrammetry to obtain the coordinates of each pixel point in real space, realize three-dimensional reconstruction of the entire tunnel, and measure various data of the entire tunnel.

[0076] Specifically, in the present invention, tunnel contour detection can be achieved through three-dimensional laser scanning technology, inertial measurement technology, etc.

[0077] Furthermore, in one embodiment of the present utility model, the tunnel profile monitoring mechanism 6 is arranged on the mounting platform 12, and includes a three-dimensional laser scanner. The three-dimensional laser scanner has a cross-sectional scanning function. During the movement of the mobile mechanism 1, the three-dimensional laser scanner can continuously scan the tunnel cross-section, thereby obtaining the profile changes of the inner wall of the tunnel, and realizing comparative monitoring of tunnel structure deformation, block falling or misalignment; and the three-dimensional laser scanner can quickly and contactlessly obtain three-dimensional point cloud data of the tunnel with high precision and high resolution, which can be used to construct a digital model of the tunnel, providing support for the informatization and intelligentization of tunnel construction.

[0078] Specifically, there are some equipment and obstacles along the line in the tunnel, such as switch machines, signal machines, track circuits, transponders, boxes and other obstacles that invade the limit. When the tunnel monitoring device 100 is working, the geological sampling mechanism 2 and the tunnel lining monitoring mechanism 4 are likely to interfere with the equipment and obstacles along the line during the monitoring process, that is, when the lifting structure 22 drives the crossbeam 21 to move, and when the third driving member 42 drives the detection radar 41 to move, interference occurs with the equipment and obstacles along the line.

[0079] Therefore, see Figures 1 to 3The tunnel monitoring device 100 also includes an obstacle avoidance mechanism 7, which includes at least one obstacle avoidance radar. The obstacle avoidance radar is arranged on the installation platform 12 and is used to identify equipment and obstacles along the tunnel, that is, to identify the appearance and relative position coordinate information of the equipment or obstacles along the tunnel, so that the activity direction of the mobile mechanism 1 can be adjusted according to the position information of the equipment or obstacles along the tunnel, and then the position of the tunnel monitoring device 100 can be adjusted to avoid interference.

[0080] Furthermore, the controller is electrically connected to the obstacle avoidance radar to control the mobile mechanism 1 according to the signal transmitted by the obstacle avoidance radar, so as to adjust the position of the tunnel monitoring device 100 in time.

[0081] For details, please refer to Figures 1 to 3 The tunnel monitoring device 100 further includes an environment monitoring mechanism 8 , which is disposed on the installation platform 12 ; the environment monitoring mechanism 8 is used to monitor the environment in the tunnel in real time.

[0082] It should be noted that in one embodiment of the present invention, the NB-IOT monitoring equipment designed by Shenzhen Topray Electronics Co., Ltd. is directly used for environmental monitoring. The NB-IOT monitoring equipment has a temperature sensor, a humidity sensor, a carbon dioxide and a smoke sensor, which can detect temperature, humidity, carbon dioxide and smoke in real time, set the normal range value, and when there is no abnormality in the tunnel, the NB-IOT monitoring equipment sends data once an hour; when the data is abnormal and exceeds the normal range value, the device starts an immediate alarm program and immediately sends the current data to the control center.

[0083] More specifically, in another embodiment of the present invention, the environmental monitoring mechanism 8 includes an installation box 81 and at least one sensor, and the installation box 81 has a ventilation hole; the sensor is arranged in the installation box 81, and the sensor is a temperature sensor, a humidity sensor, a wind pressure sensor or a wind speed sensor.

[0084] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the utility model concept, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A tunnel monitoring device, characterized in that: The tunnel monitoring device comprises: A moving mechanism for moving in the tunnel; a geological sampling mechanism, provided on the mobile mechanism, for sampling the soil in the tunnel; A tunnel cross-sectional dimension monitoring mechanism, provided on the mobile mechanism, for monitoring the cross-sectional dimension of the tunnel; a tunnel lining monitoring mechanism, provided on the mobile mechanism, for monitoring the tunnel lining; A tunnel inner wall surface monitoring mechanism, provided on the mobile mechanism, for monitoring the tunnel inner wall surface; The tunnel profile monitoring mechanism is arranged on the moving mechanism and is used to monitor the profile changes of the inner wall of the tunnel.

2. The tunnel monitoring device according to claim 1, characterized in that: The moving mechanism includes a moving wheel group, a first driving member and an installation platform. The moving wheel group is arranged at the bottom of the installation platform and includes at least two moving wheels. The first driving member is drivingly connected to the moving wheels to drive the moving wheels to roll in the tunnel.

3. The tunnel monitoring device according to claim 2, characterized in that: A sampling area is provided on the installation platform, and a sampling hole is passed through the sampling area; The geological sampling mechanism comprises: a crossbeam, provided in the sampling area, extending along a first direction and spanning above the sampling hole; A lifting structure is provided between the crossbeam and the mounting platform, and is drivingly connected to the crossbeam to drive the crossbeam to move in an up-and-down direction relative to the mounting platform; a second driving member, provided on the crossbeam; a sampling tube, arranged corresponding to the sampling hole and extending in the up-down direction, wherein the second driving member is drivingly connected to the sampling tube to drive the sampling tube to rotate around its axis; and The drill bit is sleeved on the outer circumference of the sampling tube.

4. The tunnel monitoring device according to claim 2, characterized in that: The tunnel cross-section dimension monitoring mechanism includes: a mounting frame disposed in the middle of the mounting platform and extending in the vertical direction, wherein an arcuate groove is formed on an outer peripheral wall of the mounting frame, the arcuate groove extending along the circumference of the mounting frame, and the top of the arcuate groove corresponds to the arch of the tunnel; and A plurality of laser ranging sensors are arranged in the arc-shaped groove and distributed at intervals along the circumference of the arc-shaped groove. The plurality of laser ranging sensors include at least a first laser ranging sensor, a second laser ranging sensor and a third laser ranging sensor. The first laser ranging sensor and the second laser ranging sensor are arranged at both ends of the arc-shaped groove for measuring the width of the tunnel. The third laser ranging sensor is arranged at the top of the arc-shaped groove for measuring the height of the tunnel.

5. The tunnel monitoring device according to claim 2, characterized in that: The tunnel lining monitoring mechanism is arranged on the installation platform and includes: Multiple detection radars; and, A plurality of third driving members are connected to the plurality of detection radars in a one-to-one driving manner to drive the plurality of detection radars to move toward or away from the installation platform, so that the detection radars can move between an initial position and a detection position. When the detection radars are located at the detection position, the detection radars are in contact with the inner wall of the tunnel.

6. The tunnel monitoring device according to claim 2, characterized in that: The tunnel inner wall surface monitoring mechanism is arranged on the installation platform and includes at least one infrared camera.

7. The tunnel monitoring device according to claim 2, characterized in that: The tunnel profile monitoring mechanism is arranged on the installation platform and includes a three-dimensional laser scanner.

8. The tunnel monitoring device according to claim 2, characterized in that: The tunnel monitoring device further includes an obstacle avoidance mechanism, which includes at least one obstacle avoidance radar. The obstacle avoidance radar is disposed on the mounting platform and is used to identify equipment and obstacles along the tunnel.

9. The tunnel monitoring device according to claim 2, characterized in that: The tunnel monitoring device further includes an environmental monitoring mechanism, which is disposed on the mounting platform and includes: The mounting box has ventilation openings; and At least one sensor is provided in the installation box, and the sensor is a temperature sensor, a humidity sensor, a wind pressure sensor or a wind speed sensor.

10. The tunnel monitoring device according to any one of claims 1 to 9, characterized in that: The tunnel monitoring device also includes a monitoring cloud platform, which is electrically connected to the mobile mechanism, the geological sampling mechanism, the tunnel section size monitoring mechanism, the tunnel lining monitoring mechanism, the tunnel inner wall surface monitoring mechanism, and the tunnel contour monitoring mechanism.

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