Intelligent self-adaptive non-contact tunnel detection radar telescopic arm mechanism

Abstract

The utility model discloses a kind of intelligent self-adapting non-contact tunnel detection radar telescopic arm mechanism, comprising: internally provided with control module rotary ear seat, bottom is hinged with the first arm of second connecting pin shaft and rotary ear seat;Bottom is hinged with the top of first arm of first connecting pin shaft and second arm;First rotary drive device of detection radar is carried on the top of second arm by flange connection;Hinged between rotary ear seat and first arm, first oil cylinder driving first arm lifting;Hinged between first arm and second arm, second oil cylinder driving second arm stretching;Second rotary drive device is connected with rotary ear seat and drives the horizontal rotation of whole mechanism;Pressure sensor and angle sensor are provided at connecting pin shaft, and control module is according to the data of sensor feedback by PID algorithm control the telescopic amount of first oil cylinder and second oil cylinder, to realize the self-adapting adjustment of arm body posture, realize intelligent detection, improve detection flexibility, ensure the accuracy of detection data.

Description

Technical Field

[0001] The embodiments of this utility model belong to the field of tunnel detection technology, and more specifically, relate to an intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism. Background Technology

[0002] Tunnels are widely used in transportation, water conservancy, and other fields, and their structural safety is of paramount importance, thus requiring regular tunnel inspections. Currently, tunnel inspection mainly employs ground-penetrating radar (GPR) technology. This method involves electromagnetic wave transmission, reception, and signal processing. The radar detection mechanism scans for defects on the tunnel cross-section, requiring the radar to extend and retract to adapt to the tunnel's cross-sectional shape. Due to varying tunnel cross-sectional sizes, the distance between the radar antenna tip and the outer surface of the secondary lining must not exceed 2 meters to ensure effective detection distance. Existing technologies face challenges such as difficulty in identifying internal tunnel defects, limited GPR channels, and limited detection range and accuracy. Furthermore, the telescopic arm mechanism of non-contact inspection devices cannot adaptively adjust to the shape and distance of the tunnel's inner wall. During inspection, antenna position and angle adjustments are not flexible enough, resulting in low detection accuracy and failing to meet the requirements for rapid inspection. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this utility model provides an intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism. Through the combination of modular components such as a primary arm, a secondary arm, a rotary drive device, and a rotating lug, the mechanism achieves multiple degrees of freedom of movement, including radial extension / retraction, pitch angle adjustment, and horizontal rotation. Furthermore, a closed-loop control system is formed through a control module to achieve real-time monitoring and adaptive fine-tuning of the arm's posture, enabling intelligent detection, improving detection flexibility, and ensuring the accuracy of detection data.

[0004] To achieve the above objectives, this utility model provides an intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism, comprising: The rotating lug serves as the base of the entire mechanism and houses the control module. The first-stage arm is hinged to the rotating lug at its bottom via a second connecting pin. The second-stage arm is hinged at its bottom to the top of the first-stage arm via a first connecting pin; A primary hydraulic cylinder, hinged between the rotating lug and the primary arm, is used to drive the lifting and lowering of the primary arm relative to the rotating lug. A secondary hydraulic cylinder, hinged between the primary and secondary arms, is used to drive the extension angle of the secondary arm relative to the primary arm. The first rotary drive unit is connected to the top of the secondary arm via a flange and is used to mount the detection radar and adjust its rotation angle. The second rotary drive device is connected to the rotary lug and is used to drive the entire telescopic arm mechanism to rotate horizontally. An angle sensor for monitoring the angle between the secondary arm and the primary arm is provided at the first connecting pin. A pressure sensor for monitoring the force state of the first-stage arm is provided at the second connecting pin. The angle sensor and pressure sensor are electrically connected to the control module. The control module controls the extension and retraction of the first-stage and second-stage hydraulic cylinders based on the data fed back by the sensors using a PID algorithm, so as to achieve adaptive adjustment of the arm posture.

[0005] Furthermore, the middle section of the first-stage arm is provided with a foldable triangular support, and the end of the triangular support is provided with a suction cup for adhering to the inner wall of the tunnel; a storage groove for storing the triangular support is reserved at the hinge of the first-stage arm and the second-stage arm.

[0006] Furthermore, the end of the first rotary drive device is provided with a standardized electromagnetic locking interface for quick connection and replacement of different detection modules; the detection modules include ground penetrating radar, high-definition camera, infrared thermal imager or laser scanner.

[0007] Furthermore, an energy recovery device is provided in the oil circuit of the first-stage cylinder to recover its gravitational potential energy when the first-stage arm descends.

[0008] Furthermore, the drive end of the second rotary drive device integrates a servo motor to achieve precise rotational positioning of the entire telescopic boom mechanism.

[0009] Furthermore, the primary and secondary cylinders are electro-hydraulic hybrid drive cylinders, with a hydraulic drive mode and an electric servo mode directly driven by a servo motor; the control module is configured to use the hydraulic drive mode when performing large-amplitude stroke movements, and switch to the electric servo mode when performing small-amplitude high-precision adjustments.

[0010] In summary, compared with the prior art, the above-described technical solution conceived by this utility model can achieve the following beneficial effects: (1) The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism of this utility model realizes the movement of the mechanism in multiple degrees of freedom such as radial extension / contraction, pitch angle adjustment and horizontal rotation through the combination of modular components such as primary arm, secondary arm, rotary drive device and rotating lug, thereby improving the detection flexibility of the mechanism.

[0011] (2) The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism of this utility model, by adding an angle sensor at the first connecting pin and a pressure sensor at the second connecting pin, and introducing a control module based on PID algorithm to form a closed-loop control system, realizes real-time monitoring and adaptive fine adjustment of the arm posture, significantly improves the positioning accuracy and stability of ground penetrating radar and other detection modules in complex tunnel environments, ensures the accuracy of detection data, and can improve detection efficiency.

[0012] (3) The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism of this utility model has a standardized electromagnetic locking interface at the end of the first rotary drive device, which solves the problem of the traditional equipment having a single function and the cumbersome and time-consuming replacement of detection sensors. It realizes the rapid replacement of various detection modules such as ground penetrating radar, high-definition camera, infrared thermal imager, and laser scanner, so that a single device has multi-functional and integrated detection capabilities, which greatly improves the adaptability and flexibility of detection operations.

[0013] (4) The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism of this utility model is provided with a foldable triangular support in the middle section of the first-level arm, and the support end is equipped with a suction cup to form an additional support point. This solves the problem of end shaking caused by deflection deformation and field vibration after the long cantilever structure is fully extended, which affects the detection accuracy and even the safety of operation. It enhances the rigidity and stability of the entire boom system in the detection working state and improves the detection accuracy. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of an intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the working position of an intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the retracted position of an intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to an embodiment of the present invention. In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-first rotary drive device, 2-secondary boom assembly, 3-connecting pin, 4-first boom assembly, 5-secondary cylinder, 6-first cylinder, 7-pin, 8-second rotary drive device, 9-rotating lug, 10-detection radar system. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the present utility model. Furthermore, the technical features involved in the various embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0016] like Figure 1 As shown, this utility model embodiment provides an intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism, including a first rotary drive device 1, a secondary arm 2, a first connecting pin 3, a primary arm 4, a secondary hydraulic cylinder 5, a primary hydraulic cylinder 6, a second connecting pin 7, a second rotary drive device 8, a rotating lug 9, and a control module. By setting the detection area and the distance between the radar and the tunnel wall in the control module, the end-effector radar sensor senses the distance to the tunnel wall in real time and feeds it back to the control module. The control module receives cross-sectional scanning data from the detection radar, angle sensor data, and pressure sensor data, and after comprehensive analysis, sends instructions to each execution component. The coordinated action of each component adjusts the radar position to achieve the detection purpose. Specifically, The second-stage arm 2 of the first rotary drive device 1 is connected by a flange and is used to mount the detection radar system 10 and adjust the radar rotation angle. It is also equipped with a standardized electromagnetic locking interface to support quick replacement of detection modules. This allows the first rotary drive device 1 to not only mount ground penetrating radar, but also to quickly replace it with a high-definition camera for surface crack detection or an infrared thermal imager for water leakage detection or a laser scanner for convergence measurement. This enables a single device to complete a comprehensive health inspection of the internal and external surfaces of the tunnel structure lining.

[0017] The bottom of the primary arm 4 is connected to the rotating lug 9 via the second connecting pin 7. A foldable triangular support is provided in the middle section, and a suction cup is provided at the end. When unfolded, it can adhere to the tunnel wall via the suction cup, providing additional support and stability. This design is suitable for vibration environments, long arm extension conditions, or situations involving abnormal stress. A pressure sensor is installed at the pin to monitor the stress state of the primary arm.

[0018] The bottom of the secondary arm 2 is hinged to the top of the primary arm 4 via the first connecting pin 3, and the end is connected to the first rotary drive device 1 via a flange, so as to realize the long-distance extension and attitude adjustment of the detection radar. A storage groove for the triangular support is reserved at the hinge, and an angle sensor is installed at the pin to monitor the angle between the secondary arm 2 and the primary arm 4 in real time.

[0019] Angle and pressure sensors feed back the monitored boom angle and force data to the control module. The control module uses a PID algorithm to correct the extension and retraction of the secondary cylinder 5 and the primary cylinder 6. If the angle between the secondary boom 2 and the primary boom 4 deviates from the preset value due to the boom's own weight, the control module instructs the secondary cylinder 5 to fine-tune its extension and retraction to compensate for the angle error and prevent radar detection angle deviation. If an abnormal force is detected, the control module instructs the foldable triangular support to unfold. After the support stabilizes, the primary cylinder 6 and the secondary cylinder 5 continue to adjust until the force detection is normal.

[0020] The secondary hydraulic cylinder 5 is connected to the lugs of the primary arm 4 and the secondary arm 2 via a pin shaft, adjusting the extension angle of the secondary arm 2 relative to the primary arm 4.

[0021] The primary hydraulic cylinder 6 is connected to the primary arm 4 and the rotating lug 9 via a pin, driving and adjusting the lifting and lowering of the primary arm 4 relative to the rotating lug 9. An energy recovery device is installed in the hydraulic circuit of the primary hydraulic cylinder 6 to effectively recover and reuse gravitational potential energy during the mechanism's retraction.

[0022] The primary cylinder 6 and the secondary cylinder 5 are driven by a hybrid electro-hydraulic system. When performing large movements (such as lifting the boom by more than 1 meter), they switch to hydraulic drive mode to provide strong thrust. When making small adjustments (such as ±5° angle correction), the servo motor directly drives the cylinder piston rod, increasing the response speed to 0.1s and enabling high-precision fine-tuning. The control module automatically switches the drive mode according to the range of motion, improving the system's response efficiency and energy efficiency ratio.

[0023] The second rotary drive device 8 is connected to the rotary lug 9 by bolts. The drive end of the second rotary drive device 8 integrates a servo motor to achieve precise rotation and positioning of the entire telescopic arm system, adapting to the detection requirements of straight and curved tunnel sections.

[0024] The rotating ear seat 9 serves as the base connector of the overall mechanism, connecting to the second rotary drive device 8. The rotating ear seat 9 also contains a control module, including a path planning unit, which receives signals from various sensors, automatically calculates the optimal motion trajectory of each joint, and coordinates the actions of each component.

[0025] When the telescopic boom mechanism is in operation, commands such as setting and detecting distance are entered in the control module. Upon receiving the command to begin detection, the path planning unit first plans the boom's trajectory based on the preset detection position and angle. Subsequently, the second rotary drive device 8 is activated, and its integrated servo motor drives the entire boom system to rotate horizontally on the rotating lug 9, initially aligning it with the target tunnel section. Then, the boom extends. The first-stage hydraulic cylinder 6, in hydraulic drive mode, moves first, using its powerful thrust to lift the first-stage boom 4 from the rotating base 9, achieving a significant lifting and lowering motion to quickly reach the predetermined height. Simultaneously, the second-stage hydraulic cylinder 5 extends in hydraulic mode, pushing the second-stage boom 2 around its hinge point with the first-stage boom 4 (the first connecting pin 3), bringing the detection radar mounted at the boom end closer to the tunnel wall. After coarse positioning, the system immediately switches to fine-tuning mode: angle sensors monitor the angle between primary arm 4 and secondary arm 2 in real time, pressure sensors monitor the force state at the hinge point, and feed the data back to the control module. If an angle deviation is detected due to the weight of the arm itself or external disturbances, the control module activates the PID control algorithm to calculate the required fine-tuning amount and instructs the secondary cylinder to switch to direct drive by the servo motor for millimeter-level precise real-time extension and retraction compensation (usually within ±2°), quickly correcting the radar's pitch angle to ensure that its detection axis always maintains the preset optimal angle with the tunnel wall. If enhanced stability is required, the triangular support on primary arm 4 can be deployed and attached to the tunnel wall via suction cups. Finally, the first rotation drive device 1 drives the detection radar to rotate to the optimal angle. If the detection module needs to be replaced, the electromagnetic locking interface automatically releases, completing the quick replacement. Throughout the process, the electro-hydraulic hybrid drive system works in concert, with hydraulics providing high torque and long stroke, and the electric servo responsible for high-frequency, high-precision fine-tuning, ultimately enabling the radar sensor to reach and stabilize at a precise detection posture. This embodiment of the invention features multiple telescopic arm mechanisms within the control room cabin, enabling full-section inspection. For example... Figure 2 This is a schematic diagram of the telescopic boom in operation.

[0026] When the telescopic boom retracts after the inspection is complete, the control module initiates the retraction procedure. First, the control module instructs the first slewing drive unit 1 to adjust the radar module to a suitable retraction angle. Then, the fine-tuning system activates again, and the secondary cylinder 5, driven by a servo motor, performs a slight retraction, gradually reducing the angle between the primary boom 4 and the secondary boom 2 to a safe retraction angle to avoid interference with the mechanism itself or other equipment in the tunnel. Next, the main oil circuit switching valves of the primary cylinder 6 and the secondary cylinder 5 are activated, and the cylinders retract in a controlled manner under the control of the control module. At this point, the energy recovery device integrated in the oil circuit of the primary cylinder 6 begins to play a crucial role: it converts the hydraulic oil return pressure generated by gravitational potential energy during the descent of the primary boom 4 into storable energy (such as compressing an accumulator or charging a battery), rather than simply dissipating it through throttling and heat generation in traditional systems, thereby achieving energy saving and reducing the system's heat load. Throughout the retraction process, all sensors continuously operate: the pressure sensor ensures a smooth and shock-free retraction action, while the angle sensor monitors the relative positions of each boom in real time to prevent over-folding. Finally, the primary arm 4 and the secondary arm 2 smoothly retract to their initial folded state in sequence. Then, the second rotary drive device 8 actuates, rotating the entire arm back to a safe transport or standby position, completing the retraction process and preparing for the next inspection task. Figure 3 This is a schematic diagram of the telescopic arm in its retracted state.

[0027] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A telescopic arm mechanism for an intelligent adaptive non-contact tunnel detection radar, characterized in that, include: The rotating ear seat (9) serves as the base of the entire mechanism and contains a control module. The first-stage arm (4) is hinged at its bottom to the rotating lug (9) via a second connecting pin (7); The second-stage arm (2) is hinged at its bottom to the top of the first-stage arm (4) via a first connecting pin (3); A primary hydraulic cylinder (6) is hinged between the rotating lug (9) and the primary arm (4) for driving the primary arm (4) to rise and fall relative to the rotating lug (9); The secondary cylinder (5) is hinged between the primary arm (4) and the secondary arm (2) and is used to drive the extension angle of the secondary arm (2) relative to the primary arm (4); The first rotary drive unit (1) is connected to the top of the secondary arm (2) via a flange and is used to mount the detection radar and adjust its rotation angle; The second rotary drive device (8) is connected to the rotary lug (9) and is used to drive the entire telescopic arm mechanism to rotate horizontally; An angle sensor for monitoring the angle between the secondary arm (2) and the primary arm (4) is provided at the first connecting pin (3); A pressure sensor for monitoring the force state of the first-stage arm (4) is provided at the second connecting pin (7); The angle sensor and pressure sensor are electrically connected to the control module. The control module controls the extension and retraction of the first-stage cylinder (6) and the second-stage cylinder (5) through a PID algorithm based on the data fed back by the sensors, so as to achieve adaptive adjustment of the arm posture.

2. The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to claim 1, characterized in that, The middle section of the first-stage arm (4) is provided with a foldable triangular support, and the end of the triangular support is provided with a suction cup for adsorbing onto the inner wall of the tunnel; a storage groove for storing the triangular support is reserved at the hinge of the first-stage arm (4) and the second-stage arm (2).

3. The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to claim 2, characterized in that, The end of the first rotary drive device (1) is provided with a standardized electromagnetic locking interface for quick connection and replacement of different detection modules; the detection modules include ground penetrating radar, high-definition camera, infrared thermal imager or laser scanner.

4. The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to claim 3, characterized in that, An energy recovery device is installed in the oil circuit of the first-stage cylinder (6) to recover the gravitational potential energy of the first-stage arm (4) when it descends.

5. The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to claim 4, characterized in that, The second rotary drive device (8) has a servo motor integrated at its drive end, which is used to achieve precise rotational positioning of the entire telescopic arm mechanism.

6. The intelligent adaptive non-contact tunnel detection radar telescopic arm mechanism according to claim 5, characterized in that, The first-stage cylinder (6) and the second-stage cylinder (5) are electro-hydraulic hybrid drive cylinders, with a hydraulic drive mode and an electric servo mode directly driven by a servo motor; the control module is configured to use the hydraulic drive mode when performing large-amplitude stroke movements, and switch to the electric servo mode when performing small-amplitude high-precision adjustments.

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