Unmanned inspection device for tunnel supporting structure

Abstract

The utility model provides an unmanned inspection device for a tunnel supporting structure, and belongs to the technical field of tunnel detection. The unmanned inspection device comprises a rack, the rack comprises a main frame body and an auxiliary frame body located at one end of the main frame body in the length direction, a detection device is installed on the auxiliary frame body, a suction cup mechanism and two rows of walking mechanisms are installed on the main frame body, and the suction cup mechanism is located between the two rows of walking mechanisms or / and between walking wheels of each row of walking mechanisms. According to the utility model, the detection device is independent, an independent installation foundation is provided for the detection device, and the auxiliary frame body is located at one end of the main frame body in the length direction, so that the width of the main frame body is not increased even if the size of the detection device is large; compared with the prior art, interference between the rack and the arc-shaped inner wall of the tunnel or difficulty in contact between the suction cups and the arc-shaped inner wall of the tunnel can be avoided more easily, so that the device is applicable to circular tunnels with small diameters and higher in applicability.

Description

Technical Field

[0001] The utility model relates to an unmanned inspection device for a tunnel support structure, belonging to the technical field of tunnel detection. Background Art

[0002] Tunnel grouting construction is a key process in tunnel construction. For example, in shield construction, after the segments are assembled, due to the gaps between the segments and the surrounding soil, grouting is required behind the segments to fill these gaps, thereby effectively controlling ground settlement. Currently, the amount of grouting is generally determined based on construction experience. The grouting amount is closely related to the excavation geology, and requires a high level of experience and skill from the grouting operator. Both insufficient grouting and over-grouting will affect construction safety and the quality of the tunnel project, so the grouting quality needs to be tested later. In addition, for hard rock excavation construction, grouting is also required to form a lining structure to prevent deformation or collapse of the surrounding rock. The quality of the lining structure also needs to be tested later. Among them, the lining structure, segments, and the grouting behind the segments can be collectively referred to as the support structure.

[0003] The existing conventional inspection method involves personnel standing on a work vehicle and holding a ground-penetrating radar against the surface of the support structure for inspection. This method is inefficient, labor-intensive, and subject to detection errors. Furthermore, due to tunnel size limitations, some work vehicles cannot enter the tunnel at all. In response, Chinese invention patent application publication number CN118605532A discloses a multi-mode flying, adsorption, and wall-climbing robot and its control method. The robot comprises a body frame, within which are disposed several rotors driven by rotor motors, a bottom surface of which is provided with several running wheels and suction cups controlled by a vacuum pump, and various sensors, wireless communication modules, and an integrated controller, disposed on the bottom surface of the body frame. These sensors include a wall detection sensor for detecting wall defects. During operation, the rotors control the robot's flight and attitude adjustment, providing the robot with flight capabilities. The vacuum pump and suction cups ensure the robot's stable adsorption on the wall for static inspection. When the robot needs to leave the wall, all suction cups are simultaneously depressurized.

[0004] The robot's frame (i.e., the chassis) is a square frame, and the various sensors (i.e., detection devices) are arranged on its bottom surface, located between the two rows of wheels (i.e., the two rows of running mechanisms). Smaller sensors do not occupy excessive space, but if larger sensors are required for detection, the frame's width will increase, making it susceptible to interference with the curved inner walls of tunnels or difficult for the suction cups to contact them, making it unsuitable for use in circular tunnels with smaller diameters. Furthermore, the robot uses a vacuum pump to provide suction for the suction cups, which is heavy. The limited number of suction cups and the lack of space for additional suction cups result in the robot's insufficient ability to adhere to the wall, posing a safety hazard. Utility Model Content

[0005] The purpose of the utility model is to provide an unmanned inspection device for a tunnel support structure, so as to solve the problem in the prior art that a body frame with a cube structure is adopted and a detection device is arranged between two rows of walking mechanisms, which causes the width of the body frame to increase when a larger detection device is configured, thereby causing the body frame to easily interfere with the curved inner wall of the tunnel or the suction cup to have difficulty in contacting the curved inner wall of the tunnel, and cannot be applied to circular tunnels with smaller diameters.

[0006] To achieve the above objectives, the unmanned inspection device for tunnel support structures in the present invention adopts the following technical solutions:

[0007] A tunnel support structure unmanned inspection device, the unmanned inspection device includes a frame, the frame includes a main frame and a sub-frame located at one end of the main frame in the length direction, the sub-frame is equipped with a detection device for detecting the quality of the support structure, the main frame is equipped with a suction cup mechanism for adsorbing on the inner wall of the tunnel and two rows of walking mechanisms for walking on the inner wall of the tunnel and arranged parallel to the width direction of the main frame, the suction cup mechanism is located between the two rows of walking mechanisms or / and between the walking wheels of each row of walking mechanisms.

[0008] The beneficial effect of the above technical solution is that: the utility model belongs to the invention creation of element change, which mainly changes the shape of the frame and the layout position of the detection device. The frame includes a main frame and a sub-frame located at one end of the main frame in the length direction. The suction cup mechanism and two rows of walking mechanisms are installed on the main frame to ensure the basic function of the unmanned inspection device; the suction cup mechanism is located between the two rows of walking mechanisms or / and between the walking wheels of each row of walking mechanisms, which facilitates the layout of the suction cup mechanism and even avoids the main frame from being too large in width. The detection device is installed on the sub-frame, which is equivalent to separating the detection device and providing it with a separate installation base. The sub-frame is located at one end of the main frame in the length direction. In this way, even if the detection device is large in size, it will not increase the width of the main frame. Of course, when in use, the length direction of the frame needs to be consistent with the length direction of the tunnel. Compared with the existing technology, the utility model is easier to avoid interference between the frame and the curved inner wall of the tunnel or difficulty for the suction cup to contact the curved inner wall of the tunnel. Therefore, it can be applied to circular tunnels with smaller diameters and has stronger applicability.

[0009] Furthermore, a telescopic driving device for controlling the extension and retraction of the detection device is provided between the detection device and the sub-frame.

[0010] Furthermore, a pressure sensor is provided between the telescopic drive device and the detection device.

[0011] Furthermore, a distance measuring sensor for measuring the distance between the detection device and the inner wall of the tunnel is fixed on the detection device.

[0012] Furthermore, there are two or more distance measuring sensors, and the distance measuring sensors are arranged at intervals and located at the edge of the detection device.

[0013] Furthermore, the telescopic driving device is a cylinder, and a micro air pump for supplying air to the cylinder is installed on the sub-frame.

[0014] Furthermore, the length of the main frame is greater than the width, and the suction cup mechanisms are arranged in two parallel rows along the width direction of the main frame. Each row of suction cup mechanisms includes at least three suction cups arranged at intervals along the length direction of the main frame.

[0015] Furthermore, the suction cup mechanism includes more than two suction cups and axial flow fans arranged in one-to-one correspondence with the individual suction cups.

[0016] Furthermore, the traveling mechanism is a crawler traveling mechanism, and the suction cup mechanism is located between two rows of crawler traveling mechanisms.

[0017] Furthermore, the detection device is a ground penetrating radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front view of an embodiment of the unmanned inspection device for tunnel support structures of the present utility model;

[0019] Figure 2 This is a top view of an embodiment of the unmanned inspection device for tunnel support structures of the present utility model;

[0020] Figure 3 It is a bottom view of an embodiment of the unmanned inspection device for tunnel support structures of the present utility model.

[0021] In the figure: 1. Main frame; 2. Sub-frame; 3. Propeller; 4. Track; 5. Motor; 6. Reducer; 7. Suction cup; 8. Ground penetrating radar; 9. Distance sensor; 10. Axial fan. DETAILED DESCRIPTION

[0022] In response to the technical problems existing in the prior art, the basic concept of the present invention is to change the shape of the frame and the layout position of the detection device, and set the frame to include a square main frame, and set a sub-frame at one end of the length direction of the main frame to separately install the detection device, so as to avoid the main frame from being too large in width, thereby avoiding interference between the frame and the curved inner wall of the tunnel or difficulty for the suction cup to contact the curved inner wall of the tunnel.

[0023] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0024] Embodiment 1 of the unmanned inspection device for tunnel support structures of the present invention (hereinafter referred to as the unmanned inspection device):

[0025] like Figure 1、 Figure 2 and Figure 3 As shown, the unmanned inspection device includes a frame, which includes a square main frame 1 and a sub-frame 2 located at one end of the main frame 1 in the longitudinal direction and having a width no greater than the width of the main frame 1. In this embodiment, the length of the main frame 1 is greater than the width, and is more than twice the width. In the longitudinal direction of the main frame 1, the length of the sub-frame 2 is much smaller than the length of the main frame 1, and is between one-fifth and one-sixth of the length of the main frame 1. In the width direction of the main frame 1, the width of the sub-frame 2 is equal to the width of the main frame 1, that is, the entire frame has a rectangular parallelepiped structure.

[0026] The main frame 1 is equipped with a rotor mechanism for providing lift for the unmanned inspection device, a suction cup mechanism for adsorbing the unmanned inspection device to the inner wall of the tunnel, and two rows of walking mechanisms arranged parallel to the width of the main frame 1, allowing the unmanned inspection device to travel along the inner wall of the tunnel. Specifically, the rotor mechanisms are arranged in two rows, aligned with the two rows of walking mechanisms in the height direction of the main frame 1. Each row of rotor mechanisms includes two propellers 3. The two propellers 3 in each row are located at either end of the main frame 1 in the length direction, and the two rows of propellers 3 are located at either end of the main frame 1 in the width direction. Each propeller 3 is equipped with a motor (the motor is located inside the main frame 1 and is not shown in the figure).

[0027] The crawler-tracked mechanism provides a larger contact area with the tunnel's inner wall, more stable operation, and easier steering. Both sets of crawler-tracked mechanisms include crawler tracks 4, as well as motors 5 and reducers 6 that drive the tracks 4. These motors 5 and reducers 6 provide the driving force for the tracks 4 to move forward and also enable steering by controlling the speeds of the tracks 4 on both sides.

[0028] The suction cup mechanism is located between the two rows of crawler tracks. The suction cup mechanism is arranged in two parallel rows along the width of the main frame 1. Each row includes at least three suction cups 7 spaced apart along the length of the main frame 1. In this embodiment, each row includes four suction cups 7, fully utilizing the length of the main frame 1 and increasing the number of suction cups 7. Furthermore, the suction cup mechanism also includes an axial flow fan 10, corresponding to each suction cup 7. This ensures independent negative pressure for each suction cup 7, preventing interference between different suction cups 7. In scenarios involving bolt holes on the pipe segment, even when encountering densely packed bolt holes, a high negative pressure can still be achieved to maintain normal operation of the unmanned inspection device. The failure of a few suction cups 7 prevents them from falling off the pipe segment wall. This enables the unmanned inspection device to conduct unrestricted, full-area inspections at various locations, such as pipe segment joints and bolt holes. The use of an axial flow fan 10 as the negative pressure source significantly reduces weight compared to a vacuum pump, improving the suction cup mechanism's ability to adhere to the wall.

[0029] The sub-frame 2 is equipped with a detection device for detecting the quality of the support structure, such as Figure 2 As shown, the detection device in this embodiment is a ground-penetrating radar 8, which can emit high-frequency electromagnetic waves to detect the thickness of the support structure, cracks on the surface and inside, and voids, gaps, and looseness behind the support structure. The ground-penetrating radar 8 has a certain size. If it is directly installed between the two rows of running mechanisms, the width of the frame will increase, making it easy for the frame to interfere with the curved inner wall of the tunnel or difficult for the suction cup to contact the curved inner wall of the tunnel, making it unsuitable for circular tunnels with smaller diameters. In contrast, the ground-penetrating radar 8 in the present utility model is installed on the sub-frame 2, effectively separating the detection device and providing a separate mounting base for it. The sub-frame 2 is located at one end of the main frame 1 in the longitudinal direction. This allows the main frame 1 to be wider even if the detection device is larger. Compared to existing technologies, it is easier to prevent interference between the frame and the curved inner wall of the tunnel or difficulty for the suction cup to contact the curved inner wall of the tunnel, making it suitable for circular tunnels with smaller diameters and more suitable for use. Of course, during use, the length of the frame must be consistent with the length of the tunnel.

[0030] Furthermore, a telescopic drive device (located within the sub-frame 2, not shown) is installed between the GPR 8 and the sub-frame 2 to control the extension and retraction of the GPR 8. This allows the GPR 8 to be extended and positioned against the tunnel's inner wall during inspection, and retracted when not in use, thus preventing interference with the smooth movement of the unmanned inspection system. Specifically, in this embodiment, the telescopic drive device is a pneumatic cylinder, and the sub-frame 2 is equipped with a miniature air pump (located within the sub-frame 2, not shown) to supply air to the cylinder, minimizing the weight of the unmanned inspection system.

[0031] Furthermore, a pressure sensor is installed between the telescopic drive mechanism and the ground-penetrating radar 8 to detect the contact force between the ground-penetrating radar 8 and the tunnel inner wall. Based on the contact force, the telescopic drive mechanism's extension and retraction can be adjusted, ensuring that the ground-penetrating radar 8 achieves optimal detection results. Furthermore, a distance sensor 9 is affixed to the ground-penetrating radar 8 to measure the distance between the ground-penetrating radar 8 and the tunnel inner wall. Two or more distance sensors 9 are provided, each spaced apart and located at the edge of the ground-penetrating radar 8. In this embodiment, four distance sensors 9 are located at the four corners of the ground-penetrating radar 8. The detection surface of the distance sensor 9 does not protrude from the detection surface of the ground-penetrating radar 8. The detection information from the distance sensor 9 can also reflect the degree of contact between the ground-penetrating radar 8 and the tunnel inner wall, thereby assisting the pressure sensor in better controlling the extension and retraction of the telescopic drive mechanism.

[0032] Furthermore, the main frame 1 or the sub-frame 2 is equipped with a controller (not shown) connected to the ground-penetrating radar 8, pressure sensor, ranging sensor, rotor mechanism, suction cup mechanism, and travel mechanism. Of course, the main frame 1 or the sub-frame 2 is also equipped with a battery (not shown) to provide power to the various electrical components. The controller receives commands from a remote control (i.e., a handheld operating panel) to control the operation of the motors in the rotor mechanism and travel mechanism, as well as the axial flow fan in the suction cup mechanism. The controller also receives detection information from the ground-penetrating radar 8, pressure sensor, and ranging sensor 9, and transmits this information to the operating panel via wireless communication. The operating panel utilizes a Windows system and features an integrated interface design with control, data collection, and interpretation functions. Through the integrated software interface on the operating panel, the unmanned inspection device can perform inspections on different survey lines. The control module includes settings, controls, and status displays. Settings include the air source and maximum contact pressure settings for the telescopic drive. Controls include emergency stop, forward, backward, left turn, right turn, extension, and retraction. Status displays include a communication connection light, an emergency indicator, spacing values ​​at different positions, suction cup pressure values, and the pressure value of the ground-penetrating radar contacting the tunnel wall. The acquisition module includes communication connection with the ground-penetrating radar, starting acquisition, and ending acquisition. The interpretation module includes the ring number, survey line, interpretation results, non-compacted locations, and non-compacted probability. The acquisition and interpretation module automatically triggers the communication connection, acquisition, and interpretation steps based on the pressure value of the ground-penetrating radar contacting the tunnel wall, providing automated acquisition and interpretation.

[0033] The working process of the unmanned inspection device in this utility model is as follows:

[0034] During operation, the GPR 8, controlled by the telescopic drive mechanism, extends and adheres to the tunnel's inner wall. Simultaneously, the suction cup 7 maintains contact with the tunnel's inner wall, while the propeller 3 generates pressure against the tunnel's inner wall. These two forces combine to ensure sufficient suction between the unmanned inspection device and the tunnel's inner wall. The traveling mechanism then allows the unmanned inspection device to overcome the resistance created by the suction force and move along the tunnel's inner wall, enabling the GPR 8 to maintain close contact with the tunnel's inner wall while simultaneously moving and inspecting. When the GPR 8 is not in use, it retracts under the control of the telescopic drive mechanism, maintaining smooth movement while also providing protection against collisions and damage.

[0035] This unmanned inspection device enables unmanned, full-scale inspection of tunnel wall grouting saturation, meeting the needs of post-grouting inspections on tunnel walls of varying diameters. It is unaffected by complex environments such as segment joints, bolt holes, bosses, and grouting holes. This allows for safe and rapid inspections throughout the entire tunnel, facilitating targeted grouting operations based on inspection reports and improving tunnel construction quality.

[0036] In other embodiments of the unmanned inspection device for tunnel support structures: the unmanned inspection device can also be used to inspect the quality of lining structures.

[0037] In other embodiments of the unmanned inspection device for tunnel support structures, the detection device may also be a laser scanning device or an impact echo detector.

[0038] In other embodiments of the unmanned inspection device for tunnel support structures: according to the specific detection principle of the detection device, static detection can also be performed, that is, detection is performed when the unmanned inspection device is adsorbed and fixed on the inner wall of the tunnel, and no detection is performed during the movement of the unmanned inspection device.

[0039] In other embodiments of the unmanned inspection device for tunnel support structures: the walking mechanism can also be a walking wheel, and a row of walking mechanisms includes two walking wheels. In this case, the suction cup mechanism can be arranged between the two rows of walking wheels, or between the two walking wheels of each row of walking mechanisms, or part of it can be arranged between the two rows of walking wheels, and the other part can be arranged between the two walking wheels of each row of walking mechanisms.

[0040] In other embodiments of the unmanned inspection device for tunnel support structures: the negative pressure source in the suction cup mechanism that provides suction for the suction cup may also be a vacuum pump.

[0041] In other embodiments of the unmanned inspection device for tunnel support structures: depending on the specific length of the main frame, the number of suction cups in each column of suction cup mechanisms can also be three, five or more, and of course can also be two.

[0042] In other embodiments of the unmanned inspection device for tunnel support structures, the telescopic drive device may also be an electric push rod.

[0043] In other embodiments of the unmanned inspection device for tunnel support structures, three or two ranging sensors may be arranged, or of course only one may be arranged.

[0044] In other embodiments of the unmanned inspection device for tunnel support structures, the detection device may no longer be fixed with a distance-measuring sensor. In this case, only a pressure sensor is used to determine the degree of contact between the detection device and the tunnel inner wall. Of course, in other embodiments, neither a pressure sensor nor a distance-measuring sensor may be provided, and the degree of contact between the detection device and the tunnel inner wall may be controlled by precisely controlling the extension and contraction of a telescopic drive device. Of course, in other embodiments, the telescopic drive device may not be provided, and in this case, neither a pressure sensor nor a distance-measuring sensor is required. In this case, the position of the detection device is fixed, and as long as the traveling mechanism is in close contact with the tunnel inner wall, the detection device will be in close contact with the tunnel inner wall.

[0045] In other embodiments of the unmanned inspection device for tunnel support structures, the main frame may also be a square structure, i.e., the main frame's length is equal to its width, but due to the presence of the sub-frame, the entire frame still has a rectangular parallelepiped structure. In other embodiments, regardless of whether the main frame's length is equal to or greater than its width, the width of the sub-frame may be smaller than the width of the main frame. The width of the sub-frame only needs to be sufficient to accommodate the installation of the detection device and does not need to be equal to the width of the main frame. In this case, the overall frame shape is not a rectangular parallelepiped structure.

[0046] In other embodiments of the unmanned inspection device for tunnel support structures, the rotor mechanism and the walking mechanism may be arranged not in alignment but staggered in the height direction of the main frame.

[0047] In other embodiments of the unmanned inspection device for tunnel support structures: the unmanned inspection device may not include a rotor mechanism, and in this case the unmanned inspection device is held tightly against the inner wall of the tunnel by the suction force of the suction cup mechanism alone.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be based on the claims. Any equivalent structural changes made using the description and drawings of the present invention shall also be included in the scope of protection of the present invention.

Claims

1. An unmanned inspection device for a tunnel support structure, characterized by: The unmanned inspection device includes a frame, which includes a main frame and a sub-frame located at one end of the main frame in the length direction. The sub-frame is equipped with a detection device for detecting the quality of the support structure. The main frame is equipped with a suction cup mechanism for adsorbing on the inner wall of the tunnel and two rows of walking mechanisms for walking on the inner wall of the tunnel and arranged parallel to the width direction of the main frame. The suction cup mechanism is located between the two rows of walking mechanisms or / and between the walking wheels of each row of walking mechanisms.

2. The unmanned inspection device for tunnel support structures according to claim 1 is characterized by: A telescopic driving device for controlling the extension and retraction of the detection device is provided between the detection device and the sub-frame.

3. The unmanned inspection device for tunnel support structures according to claim 2 is characterized by: A pressure sensor is provided between the telescopic driving device and the detection device.

4. The unmanned inspection device for tunnel support structures according to claim 2 or 3, characterized in that: A distance measuring sensor for measuring the distance between the detection device and the inner wall of the tunnel is fixed on the detection device.

5. The unmanned inspection device for tunnel support structures according to claim 4 is characterized in that: There are more than two distance measuring sensors, which are arranged at intervals and located at the edge of the detection device.

6. The unmanned inspection device for tunnel support structures according to claim 2 or 3, characterized in that: The telescopic driving device is a cylinder, and a micro air pump for supplying air to the cylinder is installed on the sub-frame.

7. The unmanned inspection device for tunnel support structures according to any one of claims 1 to 3, characterized in that: The length of the main frame is greater than its width, and the suction cup mechanisms are arranged in two parallel rows along the width direction of the main frame. Each row of suction cup mechanisms includes at least three suction cups spaced apart along the length direction of the main frame.

8. The unmanned inspection device for tunnel support structures according to any one of claims 1 to 3, characterized in that: The suction cup mechanism includes more than two suction cups and axial flow fans arranged in one-to-one correspondence with the individual suction cups.

9. The unmanned inspection device for a tunnel support structure according to any one of claims 1 to 3, characterized in that: The walking mechanism is a crawler walking mechanism, and the suction cup mechanism is located between two rows of crawler walking mechanisms.

10. The unmanned inspection device for tunnel support structures according to any one of claims 1 to 3, characterized in that: The detection device is a ground penetrating radar.

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