Tunnel back break and water leakage detection system

Abstract

The utility model relates to a tunnel back break and water leakage detection system which comprises a detection holder, a connecting device and a moving trolley, a sensor is installed on the detection holder, the bottom of the detection holder is connected with a base through a vertical rod, the bottom of the connecting device is connected with the top of the moving trolley through a telescopic rod, and the top end of the telescopic rod is connected with a clamping jaw capable of being loosened through a rotating shaft. And the loosening clamping jaw is used for clamping a vertical rod at the bottom of the detection holder. The beneficial effects of the utility model are that the system can accurately detect and evaluate the internal structure, the water leakage condition and the back break amount of the tunnel through the comprehensive utilization of various high-precision sensors such as the infrared thermal imaging scanner and the domestic solid-state three-dimensional laser radar. The comprehensiveness and the accuracy of detection are ensured through the high resolution and the wide field angle of the sensor, and reliable data support is provided for maintenance and management of the tunnel.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel detection, in particular to a tunnel over-excavation, under-excavation and water leakage detection system. Background Art

[0002] Tunnels are essential transportation facilities, and their structural safety is paramount. However, the complex internal environment of tunnels, characterized by lack of network coverage, high humidity, and significant temperature fluctuations, poses significant challenges to traditional manual or single-technique inspections. Traditional tunnel construction overbreak and underbreak detection relies on scattered measurement points using total stations, which is inefficient and costly. While technological advancements have enabled the development of total station laser scanners, which offer high-precision measurements, their high cost limits widespread adoption.

[0003] Considering that the accuracy requirement for tunnel section over-break and under-break measurement is within 2 cm, the existing tunnel internal detection equipment has problems such as complex structure and low flexibility. Therefore, there is an urgent need to provide a tunnel over-break and under-break and leakage detection system to achieve efficient and accurate detection of tunnel internal structure, leakage and over-break and under-break. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a tunnel over-excavation, under-excavation and water leakage detection system.

[0005] This tunnel over-excavation, under-excavation and water leakage detection system includes a detection platform, a connecting device and a mobile trolley. The detection platform is equipped with a sensor. The bottom of the detection platform is connected to a base via a vertical rod. The bottom of the connecting device is connected to the top of the mobile trolley via a telescopic rod. The top of the telescopic rod is connected to a releasable clamping claw via a rotating shaft. The releasable clamping claw is used to clamp the vertical rod at the bottom of the detection platform.

[0006] The mobile trolley comprises a trolley box, a shock absorbing device is arranged inside the trolley box, a pulley is arranged at the bottom of the mobile trolley, and the pulley and the shock absorbing device are connected by a telescopic rod.

[0007] Preferably, the shock absorbing device includes a vertical shock absorbing spring and a transverse shock absorbing connecting rod, the bottom of the vertical shock absorbing spring is fixedly connected to the vertical shock absorbing base, and the top of the vertical shock absorbing spring is fixedly connected to the transverse shock absorbing connecting rod.

[0008] Preferably, the shock absorbing device further includes a shock absorbing protection device and a vertical rubber damping shock absorber, the vertical rubber damping shock absorber is fixed above the transverse shock absorbing link, and the shock absorbing protection device is arranged around the shock absorbing device.

[0009] Preferably, the sensor includes an infrared thermal imaging scanner, a solid-state three-dimensional laser radar, an ultra-wideband locator and an inertial navigation unit, and the solid-state three-dimensional laser radar is arranged at the top front side of the sensor.

[0010] Preferably, a fixed point positioning system matching the solid-state three-dimensional laser radar is provided in the tunnel.

[0011] Preferably, the pulley is connected to a connecting plate, and a first support rod and a second support rod are provided on both sides of the telescopic rod. The first support rod and the second support rod each include two rods, which are connected by a rotating shaft. One rod is hingedly connected to the trolley box, and the other rod is hingedly connected to the connecting plate.

[0012] The beneficial effects of the utility model are:

[0013] 1) This utility model overcomes network limitations and achieves efficient detection: To address the lack of network coverage or weak network signals in tunnels, this utility model integrates ultra-wideband positioning technology and an inertial navigation unit to achieve precise positioning and navigation in a network-free environment. This ensures the continuity and accuracy of the detection process, improves detection efficiency, and enables the detection system to operate stably in tunnel environments with poor network coverage.

[0014] 2) This utility model boasts exceptionally high detection accuracy and comprehensiveness: By integrating a variety of high-precision sensors, including infrared thermal imaging scanners and domestically produced solid-state 3D LiDAR, the system accurately detects and assesses tunnel internal structure, water leaks, and over- and under-excavation. The sensors' high resolution and wide field of view ensure comprehensive and accurate detection, providing reliable data support for tunnel maintenance and management.

[0015] 3) The utility model has a strong ability to adapt to terrain: the mobile trolley adopts an eight-wheel drive structure and a retractable mobile leg design, which enables the detection system to easily cope with various uneven surfaces on the tunnel ground, greatly improving the terrain adaptability of the mobile trolley and ensuring the smooth progress of the detection process. At the same time, it improves the flexibility and stability of the detection system. In addition, the installation of a shock-absorbing device inside the mobile trolley makes the detection process more stable and the detection data more reliable.

[0016] 4) This utility model enables intelligent detection and reduces human intervention: The integrated obstacle avoidance and navigation system enables the detection system to autonomously identify obstacles within the tunnel, plan the optimal driving path, and perform autonomous detection. This reduces human intervention, mitigates safety risks during the detection process, and improves detection efficiency and accuracy.

[0017] 5) This utility model offers high cost-effectiveness and reduces inspection costs: The use of cost-effective equipment such as solid-state laser radar reduces the overall cost of the inspection system. Compared to full-station laser scanners, this system maintains high-precision inspection while being more economical and affordable, facilitating its widespread application and promotion in the tunnel inspection field.

[0018] 6) The utility model has a simple structure and is easy to maintain: Each component of the detection system can be disassembled and used separately, and the structure is simple and clear. The simple structural design facilitates the daily maintenance and upkeep of each component of the system, while also improving the flexibility and scalability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the utility model tunnel over-break, under-break and water leakage detection system;

[0020] Figure 2 This is a structural diagram of the data processing and analysis center of the utility model;

[0021] Figure 3 This is a structural diagram of the fixed point positioning system of the utility model;

[0022] Figure 4 This is a schematic diagram of the structure of the utility model of a shock absorbing device for a trolley for detecting over-break, under-break and water leakage in a tunnel;

[0023] Figure 5 This is a schematic diagram of the structure of the movable telescopic legs of the utility model tunnel over-break and under-break and water leakage detection trolley;

[0024] Figure 6 This is a flow chart for implementing the utility model tunnel over-excavation, under-excavation and water leakage detection system.

[0025] Explanation of the accompanying drawings: infrared thermal imaging scanner 101, solid-state three-dimensional laser radar 102, ultra-wideband locator 103, inertial navigation unit 104, base 105, releasable clamp 201, rotating shaft 202, telescopic rod 203, reinforcement plate 204, mobile cart 3, fixed point positioning system 4, data processing and analysis center 5, vertical rubber damping shock absorber 302, vertical shock absorption base 303, shock absorption protection device 310, vertical shock absorption spring 311, lateral shock absorption link 312, cart box 301, telescopic rod 304, first support rod 305, second support rod 306, connecting plate 307, pulley 308. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the following embodiments. The following embodiments are provided solely to facilitate understanding of the present invention. It should be noted that, within the scope of the present invention, modifications may be made by a person skilled in the art without departing from the principles of the present invention. Such improvements and modifications are also within the scope of the claims of the present invention.

[0027] Example 1

[0028] As an embodiment, such a tunnel over-excavation, under-excavation and water leakage detection system is as follows: Figures 1 to 5As shown in the figure, by integrating multiple sensors and mobile platforms, efficient and accurate detection of tunnel internal structure, water leakage, over-excavation and under-excavation can be achieved. It has the advantages of being small, flexible, inexpensive, simple in structure, and providing stable and reliable data.

[0029] A sensor is installed on the detection platform, which includes an infrared thermal imaging scanner 101, a solid-state three-dimensional laser radar 102, an ultra-wideband locator 103 and an inertial navigation unit 104. The solid-state three-dimensional laser radar 102 is located at the top of the front side of the sensor.

[0030] A fixed point positioning system 4 matching the solid-state three-dimensional laser radar 102 is provided in the tunnel.

[0031] The bottom of the detection platform is connected to the base 105 via a vertical rod. The bottom of the connecting device is connected to the top of the mobile trolley 3 via a telescopic rod 203. The top of the telescopic rod 203 is connected to a releasable clamping claw 201 via a rotating shaft 202. The releasable clamping claw 201 is used to clamp the vertical rod at the bottom of the detection platform 1.

[0032] The mobile cart 3 includes a cart box 301, which is equipped with a shock-absorbing device. The shock-absorbing device includes a vertical shock-absorbing spring 311 and a transverse shock-absorbing link 312. The bottom of the vertical shock-absorbing spring 311 is fixedly connected to the vertical shock-absorbing base 303, and the top of the vertical shock-absorbing spring 311 is fixedly connected to the transverse shock-absorbing link 312. The shock-absorbing device also includes a shock-absorbing protection device 310 and a vertical rubber damping shock absorber 302. The vertical rubber damping shock absorber 302 is fixed above the transverse shock-absorbing link 312, and the shock-absorbing protection device 310 is arranged around the shock-absorbing device.

[0033] A pulley 308 is provided at the bottom of the mobile trolley 3 , and the pulley 308 and the shock absorbing device are connected via a telescopic rod 304 .

[0034] The pulley 308 is connected to the connecting plate 307, and the first support rod 305 and the second support rod 306 are provided on both sides of the telescopic rod 304. The first support rod 305 and the second support rod 306 each include two rods, which are connected by a rotating shaft. One rod is hingedly connected to the trolley box 301, and the other rod is hingedly connected to the connecting plate 307.

[0035] Example 2

[0036] As another embodiment, this second embodiment proposes, based on the first embodiment, a more specific tunnel over-excavation, under-excavation and water leakage detection system:

[0037] The connecting device consists of a releasable clamping jaw 201, a rotating shaft 202, a telescopic rod 203, and a reinforcement plate 204. The releasable clamping jaw 201 is used to install and remove the detection platform; the rotating shaft 202 and telescopic rod 203 are used to adjust the height and orientation of the detection platform; and the reinforcement plate 204 uses triangular steel to secure the telescopic rod 203 to the upper cover of the mobile cart 3, further strengthening the stability of the entire detection device.

[0038] like Figure 4 As shown, the mobile trolley 3 consists of a trolley box 301, a vertical rubber damping shock absorber 302, a vertical shock absorbing base 303, a shock absorbing protection device 310, a vertical shock absorbing spring 311, a transverse shock absorbing connecting rod 312, a telescopic rod 304, a first support rod 305, a second support rod 306, a connecting plate 307, and a pulley 308. The vertical rubber damping shock absorber 302, the vertical shock absorbing base 303, the shock absorbing protection device 310, the vertical shock absorbing spring 311, and the transverse shock absorbing connecting rod 312 constitute a shock absorbing device which is placed inside the trolley box 301 and is used to absorb ground vibrations and impacts during the detection process. The main working mechanism is that the shaking generated by the trolley during operation is absorbed by the vertical shock absorbing spring. At the same time, the expansion and contraction of the vertical shock absorbing spring 311 will cause the vertical rubber damping shock absorber 302 to generate a certain amount of dynamic potential energy, and the friction between the vertical rubber damping shock absorber 302 and the shock absorbing protection device 310 will offset part of the potential energy, thereby reducing the shaking of the trolley, ensuring the stability and reliability of the detection data, and protecting the trolley body and internal components from damage. Function: The telescopic rod 304, first support rod 305, second support rod 306, and pulley 308 are connected by a connecting plate 307. The support rod and telescopic rod adopt a freely retractable design, ensuring that the mobile vehicle 3 can easily navigate various uneven tunnel surfaces caused by construction during tunnel movement. This greatly enhances the terrain adaptability of the mobile vehicle 3 and further demonstrates its flexibility. The coordinated operation of the support rod and telescopic rod provides dual stability during the vehicle's operation. The mobile vehicle 3 of this utility model adopts an eight-wheel drive structure, which strengthens the vehicle's stability during operation and ensures steady progress in various complex environments. The mobile vehicle is equipped with a high-precision encoder for precise control. The vehicle has a built-in obstacle avoidance system and navigation system, which can autonomously identify obstacles in the tunnel and plan the optimal driving path, ensuring a safe and efficient inspection process. The obstacle avoidance system uses a combination of laser radar and infrared sensors to achieve real-time detection and distance measurement of obstacles ahead. The navigation system uses pre-input tunnel maps and real-time positioning information to enable autonomous navigation of the vehicle.

[0039] It should be noted that the parts in this embodiment that are the same or similar to those in the first embodiment can be referenced to each other and will not be described in detail in this application.

[0040] Example 3

[0041] As another embodiment, this embodiment three proposes, on the basis of embodiments one and two, a more specific tunnel over-excavation and under-excavation and water leakage detection system, wherein the detection platform integrates a variety of sensors for real-time collection of data such as the internal structure of the tunnel, water leakage conditions and location information; the connecting device is used to connect the detection platform with the mobile trolley 3, and is also used to adjust the height and orientation of the detection platform according to the detection requirements to achieve all-round detection; the mobile trolley 3 serves as the carrier of the detection platform and is responsible for autonomous driving in the tunnel; the fixed point positioning system 4 adopts ultra-wideband technology to ensure the precise positioning of the detection platform; the data processing and analysis center 5 is responsible for receiving, processing and analyzing the detection data and generating a detection report.

[0042] The solid-state 3D laser radar 101 is used to collect 3D point cloud data from the tunnel interior in real time. Through comparative analysis, it can accurately measure the difference between the actual tunnel profile and the designed profile, thereby calculating the amount of over-excavation or under-excavation. The ultra-wideband locator 103, in conjunction with the fixed-point positioning system 4 installed within the tunnel, enables precise positioning of the inspection platform. UWB technology offers advantages such as high precision and strong anti-interference capabilities, ensuring accurate positioning even in tunnels without network coverage. The ultra-wideband locator 103 provides posture and acceleration information of the inspection platform during its movement, which, combined with UWB positioning data, further improves detection accuracy. The infrared thermal imaging scanner 104 utilizes infrared thermal imaging technology to precisely identify leaks within the tunnel, leveraging the temperature difference between leaking and non-leaking areas. The infrared thermal imaging scanner boasts high resolution and a wide field of view, enabling coverage of every corner of the tunnel and ensuring comprehensive inspection. The base 105 ensures the stable placement of the inspection platform.

[0043] like Figure 3 As shown, the fixed-point positioning system 4 is arranged with fixed points at each end of the tunnel, at one-quarter of its length, and in the middle, forming a positioning network within the tunnel. These fixed points utilize high-precision UWB base stations, which receive and process positioning signals from the inspection PTZ in real time, ensuring accurate PTZ position information during inspection.

[0044] like Figure 2 As shown, the data processing and analysis center 5 receives raw data from the inspection PTZ, including 3D point cloud data, infrared thermal imaging data, positioning data, and IMU data. The data processing and analysis center uses advanced algorithms and models to process and analyze this raw data, generating a 3D model of the tunnel's internal structure, reports on overbreak and underbreak, and maps of water leakage distribution. The data processing and analysis center also provides data visualization, allowing users to intuitively understand the actual conditions within the tunnel.

[0045] The implementation steps of this tunnel over-excavation and under-excavation and water leakage detection system are as follows: Figure 6As shown:

[0046] Step 1: Install UWB fixed points at preset locations in the tunnel to build a fixed point positioning system 4.

[0047] Step 2: Install the detection platform on the mobile vehicle 3 and perform debugging and calibration.

[0048] Step 3: Start the mobile car 3, which drives autonomously according to the preset navigation path, and the detection pan-tilt head starts collecting data at the same time.

[0049] Step 4: The data processing and analysis center 5 receives and processes the collected data and generates a test report.

[0050] Step 5: Analyze and evaluate the structural problems inside the tunnel based on the inspection report.

[0051] It should be noted that the parts in this embodiment that are the same or similar to those in Embodiments 1 and 2 can be referenced to each other and will not be described in detail in this application.

[0052] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

Claims

1. A tunnel over-break, under-break and water leakage detection system, characterized in that: include: A detection platform, a connecting device and a mobile trolley, wherein a sensor is installed on the detection platform, the bottom of the detection platform is connected to a base through a vertical rod, the bottom of the connecting device is connected to the top of the mobile trolley through a telescopic rod, and the top of the telescopic rod is connected to a releasable clamping claw through a rotating shaft, and the releasable clamping claw is used to clamp the vertical rod at the bottom of the detection platform; The mobile trolley comprises a trolley box, a shock absorbing device is arranged inside the trolley box, a pulley is arranged at the bottom of the mobile trolley, and the pulley and the shock absorbing device are connected by a telescopic rod.

2. The tunnel over-break, under-break and water leakage detection system according to claim 1 is characterized in that: The shock absorbing device comprises a vertical shock absorbing spring and a transverse shock absorbing connecting rod. The bottom of the vertical shock absorbing spring is fixedly connected to the vertical shock absorbing base, and the top of the vertical shock absorbing spring is fixedly connected to the transverse shock absorbing connecting rod.

3. The tunnel over-break, under-break and water leakage detection system according to claim 2 is characterized in that: The shock absorption device also includes a shock absorption protection device and a vertical rubber damping shock absorption device. The vertical rubber damping shock absorption device is fixed above the transverse shock absorption connecting rod, and the shock absorption protection device is arranged around the shock absorption device.

4. The tunnel over-break, under-break and water leakage detection system according to claim 1, characterized in that: The sensor includes an infrared thermal imaging scanner, a solid-state three-dimensional laser radar, an ultra-wideband locator and an inertial navigation unit. The solid-state three-dimensional laser radar is located at the top front of the sensor.

5. The tunnel over-break, under-break and water leakage detection system according to claim 4 is characterized in that: A fixed-point positioning system matched with a solid-state three-dimensional laser radar is installed in the tunnel.

6. The tunnel over-break, under-break and water leakage detection system according to claim 1, characterized in that: The pulley is connected to a connecting plate, and a first support rod and a second support rod are provided on both sides of the telescopic rod. The first support rod and the second support rod each include two rods, which are connected by a rotating shaft. One rod is hingedly connected to the trolley box, and the other rod is hingedly connected to the connecting plate.

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