tunnel inspection machine

Abstract

Tunnel inspection machine (2) for checking the operational safety of a traffic tunnel (4), in particular a road or rail traffic tunnel, wherein the tunnel inspection machine (2) comprises a chassis (8) movable along a longitudinal extension (6) of the traffic tunnel (4), characterized in that at least one actuator (10) for generating and emitting shock or pressure waves (22) directed towards the tunnel walls (12) and / or tunnel ceiling (14) is attached to the chassis (8), so that the traffic tunnel (4) is subjected to higher loads during inspection with the tunnel inspection machine (2) due to the emitted shock or pressure waves (22) than during its normal operation (so-called overload or stress test).

Description

[0001] The present invention relates to a tunnel inspection machine for checking the operational safety of a traffic tunnel, in particular a road or rail tunnel.

[0002] In industrialized countries, traffic tunnels represent an indispensable part of the transport infrastructure. They are subject to considerable stress due to use and environmental influences. These stresses arise primarily from movements of the soil surrounding the tunnel, high temperatures and high humidity within the tunnel itself, and pressure waves caused by traffic passing through the tunnel. To ensure the operational safety of traffic tunnels, they must be inspected more or less intensively from time to time.

[0003] The increasingly urgent task of maintaining and repairing the aging, yet indispensable, tunnel infrastructure, which is growing in length and is also indispensable, requires intensified and intelligent considerations for optimal management of the facilities, given the need for efficient use of resources and limited personnel resources. This places high engineering demands. To provide inspiration and guiding principles for this, the "Repair of Traffic Tunnels" working group was formed under the leadership of STUVA and began its work in spring 2016 (see https: / / www.stuva.de / downloads / publikationen / pdf / STUVA-Sachstandsbericht_2017_web.pdf).

[0004] Various automated visual inspection methods for tunnel infrastructure are known from the state of the art (see, for example, https: / / bmdv.bund.de / SharedDocs / DE / Anlage / StB / dokumentation-bauwerkspruefungnach-din-1076.pdf?_blob=publicationFile). For example, automated inspection methods for recording the surfaces of tunnel walls and ceilings, including laser scanning, are described. If additional methods are to be used, prior approval from the Federal Ministry of Transport, Building and Urban Development must be obtained. When using automated inspection methods, it must be ensured "that damage that impairs stability, traffic safety, or durability is reliably detected."

[0005] The Federal Ministry of Transport and Digital Infrastructure (BMVI) announced the guideline for the uniform recording, assessment, recording, and evaluation of structural inspection results according to DIN 1076 (RI-EBW-PRÜF) in letter StB 17 / 7192.70 / 41-2778893 dated March 9, 2017. This guideline is part of the guideline for the maintenance of civil engineering structures (RI-ERH-ING). Damage identified by an automated process with a damage assessment > 1 for S, V, D must subsequently be examined in detail by a close-up inspection in accordance with RI-EBW-PRÜF.

[0006] To shorten road closures, minimize traffic restrictions, and improve accident prevention for inspection personnel, laser scanning techniques are increasingly being used in tunnel inspections. This significantly reduces the effort required for close-up inspections. Repeated inspections also allow for an assessment of damage progression by comparing the images acquired. This optoelectronic technique uses a high-performance scanner to capture both photographic and thermographic images of the surface of the tunnel lining.

[0007] Current practice is that if a defect in a traffic tunnel is discovered during a routine inspection or outside of regular inspection intervals, for example, because rock fragments or parts of the tunnel lining break off and fall to the tunnel floor, the traffic tunnel is either closed or opened for restricted use. The restriction may relate to the number of vehicles permitted to pass through the tunnel per unit of time or to a maximum permitted speed at which the vehicles may pass through the tunnel. This results in significant traffic disruption.

[0008] The purpose of restricting the use of the traffic tunnel is to ensure that, as part of the continued restricted use, no further rock fragments or parts of the tunnel lining break off and fall onto the tunnel floor or onto the traffic passing through. However, even restricting use cannot guarantee this.

[0009] Timely renovation of a traffic tunnel often fails due to the time-consuming planning and approval processes, as well as the lack of timely provision of the necessary funds. Several years can pass between the detection of a defect or damage in a traffic tunnel and its renovation.

[0010] Based on the described prior art, the present invention is based on the object of enabling further approximately normal use of the traffic tunnel without restrictions of use after a defect in a traffic tunnel has been detected, and at the same time reducing with a high degree of probability the danger to road users emanating from the defective traffic tunnel.

[0011] To achieve this object, a tunnel inspection machine having the features of claim 1 is proposed. In particular, based on the tunnel inspection machine of the type mentioned above, it is proposed that the tunnel inspection machine comprises a chassis movable along a longitudinal extent of the traffic tunnel with at least one actuator attached thereto for generating and emitting shock or pressure waves directed toward the tunnel walls and / or tunnel ceiling.

[0012] The invention is based on the idea of ​​moving the tunnel inspection machine according to the invention through the traffic tunnel along the longitudinal extent of the tunnel promptly after detection of a defect or damage to the traffic tunnel. The tunnel walls and / or tunnel ceiling are subjected to the artificially generated shock or pressure waves in order to specifically break out any loose rock fragments or pieces of the tunnel lining that may still be present or are about to become loose. The remaining tunnel reveal (i.e. tunnel walls and / or tunnel ceiling) most likely no longer contain any loose rock fragments or pieces of the tunnel lining that could break out uncontrollably and fall to the tunnel floor during continued normal use of the traffic tunnel with no or only minor restrictions on use. For a certain period of time, continued normal operation of the traffic tunnel is possible without danger to road users.

[0013] The rock fragments or parts of the tunnel lining removed by the tunnel inspection machine can fall to the ground and be collected behind the tunnel inspection machine and removed from the tunnel, e.g., mechanically using dedicated sweepers, wheel loaders, or conveyor belts, or hydraulically using a flushing fluid that is pumped out of the tunnel along with the rock or lining residue. It is also conceivable for the removed rock fragments or parts of the tunnel lining to fall into a collection device on the tunnel inspection machine, e.g., a collection hopper, and be removed from there, e.g., using a conveyor belt or suitable mobile machinery.

[0014] The tunnel inspection machine or its chassis can be moved through the traffic tunnel in various ways. For example, it is conceivable for the chassis to be mounted on a vehicle traveling through the traffic tunnel, in particular a road vehicle or a rail vehicle or a corresponding chassis without its own drive, and to be moved through the traffic tunnel together with it.

[0015] Alternatively, it would be conceivable for the tunnel inspection machine to have tires, wheels, rollers, or a walking mechanism or skids attached to the chassis that can be used to move the chassis or tunnel inspection machine along the length of the tunnel. This can be done passively, for example, using a traction cable, or actively, for example, using the chassis's own drive.

[0016] Furthermore, the tunnel inspection machine can have at least one motor attached to the chassis for driving at least one of the wheels, tires, rollers, or the walking mechanism. This allows the tunnel inspection machine to move independently along the length of the tunnel. The motor can be an electric motor, an internal combustion engine, or a pneumatic motor driven by compressed air.

[0017] Shock or pressure waves are mechanical-acoustic pressure pulses. They are characterized by a rapid pressure increase and a short pulse duration. Shock waves are sound waves, which are more or less audible to the human ear depending on the frequency range used. Preferably, the frequency range used by the actuators to generate the shock or pressure waves is variably adjustable so that the generated shock or pressure waves can be adapted to the material of the tunnel walls and / or ceiling, and the desired penetration depth of the shock or pressure waves into the material of the tunnel walls and / or ceiling can be adjusted. The frequency range can be adjusted before using the tunnel inspection machine and before driving through the traffic tunnel, or dynamically during driving through the tunnel.

[0018] In the atmosphere, shock or pressure waves occur during explosive processes, such as detonations, lightning strikes, or when an aircraft breaks the sound barrier. Shock waves are acoustic pulses characterized by high, positive pressure amplitudes and a very steep increase in pressure compared to the ambient pressure. They can briefly transfer energy from the point of generation to distant areas. Shock waves are represented by a single, predominantly positive pressure pulse followed by a comparatively small tensile component (negative pressure pulse). Such a pulse can contain frequencies from a few kilohertz to more than 10 megahertz.

[0019] Shock waves propagate without interruption as long as they are in a medium of the same impedance (= wave resistance). The generated shock or pressure waves move almost unhindered through the air until they encounter the tunnel wall and / or tunnel ceiling. However, when the shock waves encounter interfaces of different impedance, such as the tunnel wall and / or tunnel ceiling, different compressive, tensile, and shear forces develop within and at the interface. These forces have a destructive effect on the tunnel wall and / or tunnel ceiling to a certain extent and, if the tunnel wall and / or tunnel ceiling is close to the defect or damage, can lead to the dislodgement of rock fragments or parts of the tunnel lining.

[0020] Sound is pressure or shock waves that can propagate in liquids, gases, and solids. In ideal liquids and gases, such as air, sound only propagates as longitudinal waves. In solids, such as the tunnel wall and / or tunnel ceiling, sound can propagate as longitudinal waves and transverse waves. Even if some, or possibly even a large portion, of the pressure or shock waves are reflected at the interface between the air and the tunnel wall and / or tunnel ceiling, the pressure or shock waves can still produce the desired effect in or on the tunnel wall and / or tunnel ceiling. In particular, the impacting pressure or shock waves can break loose or shortly before loosening rock, or parts of the tunnel lining, out of the tunnel wall and / or tunnel ceiling.

[0021] The amplitudes of the shock or pressure waves artificially generated by the tunnel inspection machine are preferably greater in magnitude than the shock or pressure waves generated by normal use of the traffic tunnel by road users passing through. In this way, the traffic tunnel is subjected to greater loads during inspection with the tunnel inspection machine according to the invention than during normal operation (so-called overload or stress test). This allows loose rock fragments or parts of the tunnel lining to break away during the inspection, even those that would not break away and fall to the ground during normal operation of the tunnel.

[0022] A variety of known possibilities for generating the shock or pressure waves are conceivable. Preferably, the at least one actuator is designed to generate the shock or pressure waves electrohydraulically, piezoelectrically, or electromagnetically. Pyrotechnical generation of the shock or pressure waves by the at least one actuator is also conceivable.

[0023] It is conceivable that at least one actuator uses a mixture of propane, butane, and air, which is detonated on its way through a tubular component. The supply of the gases and the explosion of the mixture can be controlled by a control unit. The result is a shock wave that exits the tubular component at an open front end directed toward the tunnel wall and / or tunnel ceiling. The shock wave resembles a sonic boom, propagates at approximately 2,000 meters per second, and lasts up to 300 milliseconds. The at least one actuator can emit 60 to 100 shock waves per minute.

[0024] It is further proposed that the at least one actuator comprise at least one acoustic lens and / or at least one reflector for focusing the shock or pressure waves toward the tunnel walls and / or tunnel ceiling. This can improve the efficiency of the inspection and reduce the energy required to generate the shock or pressure waves, as well as the noise pollution for persons in the vicinity (e.g., the operator of the tunnel inspection machine).

[0025] Preferably, the at least one actuator is movably attached to the chassis. The at least one actuator can be moved toward or away from the tunnel walls and / or tunnel ceiling. In this way, the sound source for the shock or pressure waves can be brought as close as possible to the tunnel walls and / or tunnel ceiling, thus improving efficiency. Furthermore, the same tunnel inspection machine can be used for various traffic tunnels with different diameters or widths / heights. Preferably, the distance between the at least one actuator and the tunnel walls and / or tunnel ceiling is < 0.5 m. For the described type of movement, the at least one actuator can be attached to the chassis so that it can be linearly displaced in the radial direction with respect to the longitudinal extent of the tunnel. The actuator can be moved electrically, hydraulically, or in some other way.Alternatively, the at least one actuator can be attached to the chassis via a robot arm, which allows movement of the at least one actuator at least in the radial direction.

[0026] Alternatively or additionally, the at least one actuator can be moved parallel to the surface extension of the tunnel walls and / or tunnel ceiling. This makes it possible to sweep over the entire surface of the tunnel walls and / or tunnel ceiling with just one actuator or with a few actuators and to subject them to shock or pressure waves. Furthermore, as the tunnel inspection machine moves through the tunnel, the at least one actuator can be specifically kept away from objects attached to the tunnel walls and / or tunnel ceiling that would be damaged by the targeted exposure to shock or pressure waves, and can avoid these objects. Such objects can be, for example, skylights, lamps, traffic lights, traffic signs, radar traps, ventilation grilles, or similar. For the type of movement described, the at least one actuator can be moved in the circumferential direction around the longitudinal extension (orThe actuator can be attached to the chassis so that it can be translationally displaceable along the longitudinal axis of the tunnel. The actuator can be moved electrically, hydraulically, or in some other way. Alternatively, the at least one actuator can be attached to the chassis via a robot arm, which allows the at least one actuator to move at least parallel to the surface of the tunnel walls and / or tunnel ceiling.

[0027] It is conceivable that the tunnel inspection machine could be pulled through the traffic tunnel during the inspection. A tractor could be located at a portal outside the tunnel and pull the machine along the tunnel's length, for example, using a cable from the opposite tunnel portal.

[0028] However, it is also conceivable for the tunnel inspection machine to be self-propelled. Its chassis can be remotely controlled, or it can move itself, along the length of the traffic tunnel. Alternatively, the tunnel inspection machine can have a driver's cab. This is preferably protected from falling rocks or parts of the tunnel lining. Furthermore, it is preferably soundproofed to protect the operating personnel from the possible noise of shock or pressure waves, or from the noise generated by their generation. Finally, it is advantageous if the driver's cab is sealed off from the outside in a dust-tight and / or moisture-tight manner.

[0029] It is further conceivable to combine the tunnel inspection machine according to the invention with an optical inspection of the surfaces of the tunnel reveal. In this sense, it is proposed that the tunnel inspection machine have at least one camera for optically capturing the tunnel walls and / or tunnel ceiling before and / or after the tunnel walls and / or tunnel ceiling are subjected to shock or pressure waves. Preferably, several cameras are present so that the entire surface of the tunnel walls and / or tunnel ceiling can be captured before and / or after the tunnel walls and / or tunnel ceiling are subjected to shock or pressure waves. The cameras can be designed to optically capture the surface two- or three-dimensionally. The cameras can be movably attached to the chassis. The cameras can capture images of the surfaces of the tunnel walls and / or tunnel ceiling in a wavelength range visible to the human eye.It would also be conceivable for the cameras to capture images in an invisible wavelength range (e.g., infrared, ultrasonic). The camera images can be combined into two- or three-dimensional images of the tunnel lining. They can also be saved for documentation or logging purposes.

[0030] The tunnel inspection machine can have a processing unit that is connected to the at least one camera and is configured to process camera images in such a way that damage to the tunnel walls and / or the tunnel ceiling or changes to the tunnel walls and / or the tunnel ceiling between before and after the tunnel walls and / or the tunnel ceiling are subjected to the shock or pressure waves are detected. The processing unit can comprise a microcontroller or a microprocessor on which a computer program can be executed, which, when executed on the microcontroller or the microprocessor, processes the camera images and detects damage or changes to the tunnel walls and / or the tunnel ceiling.

[0031] The tunnel inspection machine can further comprise a processing unit which is connected to the at least one camera and is designed to process camera images such that the at least one actuator is automatically moved as a function of the camera images while the tunnel inspection machine is moving along the longitudinal extent through the traffic tunnel with respect to the tunnel walls and / or tunnel ceiling. The movement of the at least one actuator can take place in a radial direction towards or away from the surface of the tunnel walls and / or tunnel ceiling and / or in a circumferential direction parallel to the surface of the tunnel walls and / or tunnel ceiling. The at least one camera or the processing unit can detect objects attached to the surface of the tunnel walls and / or tunnel ceiling and control the movement of the at least one actuator such that the actuator does not collide with the objects.The objects are not exposed to the generated shock or pressure waves. The processing unit can comprise a microcontroller or a microprocessor on which a computer program can be executed, which realizes the automatic movement of the at least one actuator when executed on the microcontroller or the microprocessor. The processing unit for the automatic movement of the at least one actuator can be the same processing unit that is provided for processing the camera images and detecting damage or changes to the tunnel walls and / or tunnel ceiling.

[0032] Furthermore, it is conceivable for the tunnel inspection machine to have a storage unit that is connected to the at least one camera and is designed to store camera images and / or processing results of a processing unit. The storage unit can comprise one or more RAM or ROM, magnetic or optical memories, or the like. The storage unit can be part of a processing unit of the tunnel inspection machine. However, the storage unit can also be designed as an external storage unit provided separately from the tunnel inspection machine, with which a processing unit of the tunnel inspection machine is connected via a wireless data transmission connection. The storage unit can, in particular, be part of a cloud storage system.

[0033] Preferably, the storage unit is configured to store, along with the storage of camera images and / or processing results of a processing unit, position and / or time data representing the position of the tunnel inspection machine along the longitudinal extent of the traffic tunnel and / or the time at which the camera images were recorded. This allows for precise determination of the position of the detected damage or changes to the tunnel lining. This also makes it possible to create a detailed two- or three-dimensional image of the tunnel lining following the inspection run of the tunnel inspection machine. A qualitative and quantitative comparison of the condition of the tunnel lining with previous or subsequent inspection runs is also possible.

[0034] According to a preferred embodiment, the tunnel inspection machine has, downstream of the at least one actuator in a direction of movement of the tunnel inspection machine through the traffic tunnel, at least one preferably movable device for spraying concrete or another material towards the tunnel walls and / or tunnel ceiling. Shotcrete is concrete that is conveyed to the site of use in a hose line, where it is pneumatically applied from a spray nozzle and compacted by the impact energy. The production and use of shotcrete is governed by the European DIN EN 14487 and the national application standard DIN 18551. The formulation largely corresponds to that of normal concrete according to DIN 1045-2. Ingredients include, for example, water, cement, and aggregates. Other materials that could be sprayed onto the tunnel walls and / or tunnel ceiling include, for example, synthetic resins, preferably mixed with fibers.The shotcrete or other material can be sprayed onto the specific areas of the tunnel lining where pieces of rock or parts of the lining have broken out as a result of exposure to the artificially generated shock or pressure waves, or even before, or for other reasons. This can extend or improve the durability of the traffic tunnel without causing further damage. Applying the shotcrete or other material over the entire surface of the tunnel lining is also conceivable.

[0035] It is proposed that the tunnel inspection machine has at least one camera for optically capturing the tunnel walls and / or tunnel ceiling before and / or after the tunnel walls and / or tunnel ceiling are subjected to the shock or pressure waves, and a processing unit which is connected to the at least one camera and is designed to process camera images in such a way that damage to the tunnel walls and / or tunnel ceiling or changes to the tunnel walls and / or tunnel ceiling between before and after the shock or pressure waves are applied, wherein the processing unit is further designed to control and move the shotcrete device in such a way that concrete or the other material is sprayed at locations on the tunnel walls and / or tunnel ceiling where damage to or a change to the tunnel walls and / or tunnel ceiling has been detected.The application of shotcrete can therefore be carried out selectively, camera-controlled and automatically.

[0036] To enable cleaning of the tunnel lining exposed to the shock or pressure waves and / or easier removal of the rock fragments and / or lining pieces broken out of the tunnel lining, it is proposed that the tunnel inspection machine, in its direction of movement along the traffic tunnel, have at least one preferably movable device for spraying a liquid, in particular water, toward the tunnel walls and / or tunnel ceiling, downstream of the at least one actuator. This allows the tunnel lining to be cleaned. The liquid can be collected at the tunnel floor together with the fallen rock fragments and / or lining pieces and / or pumped away via a pipe system.

[0037] Although not claimed, the present invention also relates to a method for checking the operational safety of a traffic tunnel, in particular a road or rail tunnel. The method is characterized in that a tunnel inspection machine of the type described above is used. This comprises a chassis with at least one actuator attached thereto for generating and emitting shock or pressure waves directed towards the tunnel walls and / or tunnel ceiling. The tunnel inspection machine is moved through the tunnel along a longitudinal extent of the traffic tunnel. In the process, the tunnel walls and / or tunnel ceiling are specifically exposed to the shock or pressure waves, so that chunks of rock or parts of the tunnel lining can break out of the tunnel lining.

[0038] Further features and advantages of the present invention are explained in more detail below with reference to the figures. Features shown in the figures may also be essential to the invention in their own right, even if this is not shown in the figures and not explicitly mentioned in the description. Furthermore, the features shown in the figures may be combined with one another in any desired manner, even if this combination is not shown in the figures and not explicitly mentioned in the description. They show: Fig. 1 a portal of a traffic tunnel with a tunnel inspection machine according to the invention entering in a schematic view; and Fig. 2 a tunnel inspection machine according to the invention according to a preferred embodiment in a schematic view.

[0039] The invention relates to a tunnel inspection machine 2 for checking the operational safety of a traffic tunnel 4, in particular a road or rail tunnel. With the invention, after a defect or damage to the traffic tunnel 4 has been detected, continued approximately normal use of the traffic tunnel 4 is possible without restrictions of use, and at the same time, the danger posed by the defective traffic tunnel 4 to road users traveling through the traffic tunnel 4 can be reduced.

[0040] The invention proposes a tunnel inspection machine 2 comprising a chassis 8 movable along a longitudinal extent 6 of the traffic tunnel 4 with at least one actuator 10 attached thereto for generating and emitting shock or pressure waves 22 directed in the direction of the tunnel walls 12 and / or tunnel ceiling 14.

[0041] The invention is based on the idea of ​​moving the tunnel inspection machine 2 according to the invention through the traffic tunnel 4 along the longitudinal extent 6 of the tunnel 4 promptly after the detection of a defect or damage to the traffic tunnel 4. In doing so, the tunnel walls 12 and / or tunnel ceiling 14 are subjected to the artificially generated shock or pressure waves 22 in order to specifically break out any loose rock fragments or parts of a tunnel lining that may still be present or are about to become loose. The remaining tunnel reveal (i.e., tunnel walls 12 and / or tunnel ceiling 14) most likely no longer contain any loose rock fragments or loose parts of the tunnel lining that could break out uncontrollably during continued normal use of the traffic tunnel with no or only minor restrictions on use.For a certain period of time, normal operation of traffic tunnel 4 is possible without danger to the road users passing through.

[0042] The rock fragments or parts of the tunnel lining broken out by the tunnel inspection machine 2 can fall to the tunnel floor 20 and be collected behind the tunnel inspection machine 2 and transported out of the tunnel 4, for example, mechanically with separate sweepers, wheel loaders, conveyor belts, or hydraulically by means of a flushing liquid that is pumped out of the tunnel 4 together with the rock or lining residues contained therein. It would also be conceivable for the broken-out rock fragments or parts of the tunnel lining to fall into a collection device (not shown) of the tunnel inspection machine 2, for example, a collection hopper, and be transported away from there, for example, by means of a conveyor belt or suitable mobile machines.

[0043] The tunnel inspection machine 2 or its chassis 8 can be moved through the traffic tunnel 4 in different ways. For example, it is conceivable that the chassis 8 is designed to be mounted on a vehicle (not shown) traveling through the traffic tunnel 4, in particular a road vehicle or a rail vehicle or a corresponding chassis without its own drive, and to be moved together with it through the traffic tunnel 4.

[0044] Alternatively, it would be conceivable for the tunnel inspection machine 2 to have tires, wheels 16, rollers, or a walking mechanism or skids attached to the chassis 8 that are rotatably mounted on the chassis 8, with the aid of which the chassis 8 or the tunnel inspection machine 2 can be moved along the longitudinal extent 6 of the tunnel 4. This can be done passively, e.g., by means of a traction cable (not shown), or actively, e.g., by means of a dedicated drive 18 of the chassis 8.

[0045] Furthermore, the tunnel inspection machine 2 can have, as a drive 18, at least one motor attached to the chassis 8 for driving at least one of the wheels 16, tires, rollers, or the walking mechanism. In this way, the tunnel inspection machine 2 can move independently along the longitudinal extent 6 of the tunnel 4. The motor can be an electric motor, an internal combustion engine, or a pneumatic motor driven by compressed air. Transmission means (not shown), for example in the form of a clutch, a gearbox, a cardan shaft, or the like, can be arranged between the drive 18 and the driven wheel(s) 16, tires, rollers, or the walking mechanism.

[0046] Shock or pressure waves 22 are mechanical-acoustic pressure pulses. They are characterized by a rapid pressure increase and a short pulse duration. Shock waves 22 are sound waves, which are more or less audible to the human ear depending on the frequency range used. Preferably, the frequency range used by the actuators 10 to generate the shock or pressure waves 22 is variably adjustable so that the generated shock or pressure waves 22 can be adapted to the material of the tunnel walls 12 and / or ceiling 14 and the desired penetration depth of the shock or pressure waves 22 into the material of the tunnel walls 12 and / or ceiling 14 can be adapted to the desired requirements. The frequency range can be adjusted before use and proper operation of the tunnel inspection machine 2 and before driving through the traffic tunnel 4, or dynamically while driving through the tunnel 4 with the tunnel inspection machine 2.

[0047] Shock waves 22 continue uninterrupted as long as they are in a medium of the same impedance (= wave resistance). The generated shock or pressure waves 22 move almost unhindered through the air until they encounter the tunnel wall 12 and / or tunnel ceiling 14. However, when the shock waves 22 encounter interfaces of different impedance, such as the transition between the air and the tunnel wall 12 and / or tunnel ceiling 14, different compressive, tensile, and shear forces develop there and at the interface. These forces have a destructive effect on the tunnel wall 12 and / or tunnel ceiling 14 to a certain extent and, if the tunnel wall 12 and / or tunnel ceiling 14 is on the verge of a defect or damage, lead to the dislodgement of rock fragments or parts of the tunnel lining.

[0048] The amplitudes of the shock or pressure waves 22 artificially generated by the tunnel inspection machine 2 are preferably greater in magnitude than the shock or pressure waves generated by normal use of the traffic tunnel by road users passing through. In this way, the traffic tunnel 4 is subjected to greater loads during the inspection with the tunnel inspection machine 2 according to the invention than during normal operation (so-called overload or stress test). This allows even loose rock fragments or parts of the tunnel lining to break out during the inspection that would not have broken out and fallen to the ground in the foreseeable future during normal operation of the tunnel 4.

[0049] A variety of known possibilities for generating the shock or pressure waves 22 are conceivable. Preferably, the at least one actuator 10 is designed to generate the shock or pressure waves 22 electrohydraulically, piezoelectrically, or electromagnetically. Pyrotechnical generation of the shock or pressure waves 22 by the at least one actuator 10 is also conceivable.

[0050] It would be particularly conceivable for the at least one actuator 10 to use a mixture of propane, butane and air, which on its way through a tubular component 24 (cf. Fig. 2) is detonated. The supply of gases and the explosion of the mixture can be controlled by a control unit (not shown). The result is a shock wave 22 that exits the tubular component 24 at an open front end directed toward the tunnel wall 12 and / or tunnel ceiling 14. The shock wave 22 resembles a sonic boom, propagates at approximately 2,000 meters per second, and lasts up to 300 milliseconds. The at least one actuator can emit 60 to 100 shock waves per minute.

[0051] It is further proposed that the at least one actuator 10 has at least one acoustic lens and / or at least one reflector 26 (cf. Fig. 1) for focusing the shock or pressure waves 22 toward the tunnel walls 12 and / or tunnel ceiling 14. This can improve the efficiency of the inspection and reduce the energy required to generate the shock or pressure waves 22, as well as the noise pollution for persons in the vicinity (e.g., the operating personnel of the tunnel inspection machine 2).

[0052] Preferably, the at least one actuator 10 is movably mounted on the chassis 8. A corresponding movement arrangement is shown in Fig. 2 and designated by the reference numeral 28. The at least one actuator 10 can be moved towards or away from the tunnel walls 12 and / or tunnel ceiling 14 (double arrow 30 in Fig. 1). In this way, the sound source for the shock or pressure waves 22 can be brought as close as possible to the tunnel walls 12 and / or tunnel ceiling 14, thus improving efficiency. Furthermore, the same tunnel inspection machine 2 can be used for various traffic tunnels 4 with different diameters or widths / heights. Preferably, the distance between the at least one actuator 10 and the tunnel walls 12 and / or tunnel ceiling 14 is less than 0.5 m. For the described type of movement 30, the at least one actuator 10 can be attached to the chassis 8 by means of the movement arrangement 28 so that it can be linearly displaced in the radial direction relative to the longitudinal extent 6 of the tunnel 4. The movement arrangement 28 can operate electrically, hydraulically, or in another manner.Alternatively, the movement arrangement 28 of the at least one actuator 10 may comprise a robot arm which is attached to the chassis and which allows a movement 30 of the at least one actuator 10 at least in the radial direction.

[0053] Alternatively or additionally, the at least one actuator 10 can be moved parallel to a surface extension of the tunnel walls 12 and / or tunnel ceiling 14 (cf. double arrow 34 in Fig. 1). This can in turn be realized by a schematically shown movement arrangement 28. This makes it possible to sweep over the entire surface of the tunnel walls 12 and / or tunnel ceiling 14 with just one actuator 10 or with a few actuators 10 and to subject them to shock or pressure waves 22. Furthermore, during the movement of the tunnel inspection machine 2 through the tunnel 4, the at least one actuator 10 can be specifically kept away from objects 32 attached to the tunnel walls 12 and / or tunnel ceiling 14, which would be damaged by the targeted exposure to shock or pressure waves 22, and avoid these objects 32. Such objects 32 can be, for example, skylights, lamps, traffic lights, traffic signs, radar traps, ventilation grilles, or the like. For the described type of movement 34, the at least one actuator 10 can be moved by means of the movement arrangement 28 in the circumferential direction around the longitudinal extension 6 (orThe actuator 10 can be attached to the chassis 8 so as to be translationally displaceable along the longitudinal axis (longitudinal axis) of the tunnel 4. Movement 34 of the actuator 10 can be effected electrically, hydraulically, or in some other way. Alternatively, the movement arrangement 28 can also comprise a robot arm, via which the at least one actuator 10 is attached to the chassis 8. The robot arm allows movement 34 of the at least one actuator 10 at least parallel to the surface of the tunnel walls 12 and / or tunnel ceiling 14.

[0054] It is conceivable that the tunnel inspection machine 2 is pulled through the traffic tunnel 4 during the inspection. A tractor (not shown) can be arranged at a portal outside the tunnel 4 and pull the tunnel inspection machine 2, e.g., by means of a cable, from the opposite tunnel portal along the longitudinal extent 6 of the tunnel 4. However, it would also be conceivable for the tunnel inspection machine 2 to be self-propelled. It can be moved or move along the longitudinal extent 6 of the traffic tunnel 4 with its chassis 8 by remote control. Alternatively, the tunnel inspection machine 2 can have a driver's cab (not shown). This is preferably protected from falling rocks or parts of the lining of the tunnel 4. Furthermore, it is preferably soundproofed to protect the operating personnel from the possible noise of the shock or pressure waves 22 or the noise generated by their generation.Finally, it is advantageous if the driver's cab is sealed off from the outside in a dust-tight and / or moisture-tight manner.

[0055] It is further conceivable to combine the tunnel inspection machine 2 according to the invention with an optical inspection of the surfaces of the tunnel reveal 12, 14. In this sense, it is proposed that the tunnel inspection machine 2 have at least one camera 36 for optically capturing the tunnel walls 12 and / or tunnel ceiling 14 in a direction of movement 38 of the tunnel inspection machine 2 before and / or after the tunnel walls 12 and / or tunnel ceiling 14 are subjected to the shock or pressure waves 22. Preferably, several cameras 36 are distributed over the circumference of the tunnel 4 so that the entire surface of the tunnel walls 12 and / or tunnel ceiling 14 can be captured before and / or after the tunnel walls 12 and / or tunnel ceiling 14 are subjected to the shock or pressure waves 22. The cameras 36 can be designed to optically capture the surface two-dimensionally or three-dimensionally. The cameras 36 can be movably attached to the chassis 8.Corresponding movement arrangements 40 are shown in . Fig. 2. The cameras 36 can capture images of the surfaces of the tunnel walls 12 and / or tunnel ceiling 14 in a wavelength range visible to the human eye. However, it would also be conceivable for the cameras 36 to capture images in an invisible wavelength range (e.g., infrared range, ultrasonic range). The camera images can be combined to form two- or three-dimensional images of the tunnel reveal 12, 14 over the entire longitudinal extent 6 of the tunnel 4.

[0056] The tunnel inspection machine 2 can have a processing unit 42 that is connected to the at least one camera 36 and is designed to process camera images in such a way that damage to the tunnel walls 12 and / or the tunnel ceiling 14 or changes to the tunnel walls 12 and / or the tunnel ceiling 14 between before and after the tunnel walls 12 and / or the tunnel ceiling 14 are subjected to the shock or pressure waves 22 are detected. The processing unit 42 can comprise a microcontroller or a microprocessor 44 on which a computer program can be executed that processes the camera images and detects damage or changes to the tunnel walls 12 and / or the tunnel ceiling 14 when executed on the microcontroller or the microprocessor 44.

[0057] The tunnel inspection machine 2 can further comprise a processing unit, for example the processing unit 42 or another processing unit, which is connected to the at least one camera 36 and is designed to process camera images in such a way that the at least one actuator 10 is automatically moved as a function of the camera images during the movement 38 of the tunnel inspection machine 2 along the longitudinal extent 6 through the traffic tunnel 4 with respect to the tunnel walls 12 and / or tunnel ceiling 14. The movement 30, 34 of the at least one actuator 10 can take place in the radial direction towards or away from the surface of the tunnel walls 12 and / or tunnel ceiling 14 and / or in the circumferential direction parallel to the surface of the tunnel walls 12 and / or tunnel ceiling 14. The at least one camera 36 orThe processing unit 42 can detect objects 32 attached to the surface of the tunnel walls 12 and / or tunnel ceiling 14 and control the movement of the at least one actuator 10 such that the actuator 10 does not collide with the objects 32 or the objects 32 are not subjected to the generated shock or pressure waves 22. The processing unit 42 can comprise a microcontroller or a microprocessor, e.g., the microprocessor 44 or another microcontroller or microprocessor, on which a computer program can be executed, which realizes the automatic movement of the at least one actuator 10 when executed on the microcontroller or the microprocessor 44.The processing unit 42 for the automatic movement 30, 34 of the at least one actuator 10 can be the same processing unit 42 which is provided for processing the camera images and detecting damage or changes to the tunnel walls 12 and / or tunnel ceiling 14.

[0058] Furthermore, it is conceivable for the tunnel inspection machine 2 to have a storage unit 46 that is connected to the at least one camera 36 and is designed to store camera images and / or processing results of a processing unit 42 for documentation purposes or for logging. The storage unit 46 can comprise one or more RAM or ROM, magnetic or optical storage devices, or the like. The storage unit 46 can be part of a processing unit 42 of the tunnel inspection machine 2. However, the storage unit 42 can also be designed as an external storage unit (not shown) provided separately from the tunnel inspection machine 2, with which a processing unit 42 of the tunnel inspection machine 2 is connected via a wireless data transmission connection. The storage unit 46 can, in particular, be part of a cloud storage system.

[0059] Preferably, the storage unit 46 is configured to store, along with the storage of camera images and / or processing results of a processing unit 42, position and / or time data representing the position of the tunnel inspection machine 2 along the longitudinal extent 6 of the traffic tunnel 4 and / or the time at which the camera images were recorded. This allows for precise determination of the position of the detected damage or changes to the tunnel lining 12, 14. This also makes it possible to create a detailed two- or three-dimensional image of the tunnel lining 12, 14 following the inspection run of the tunnel inspection machine 2. A qualitative and quantitative comparison of the condition of the tunnel lining 12, 14 with the condition during previous or subsequent inspection runs is also possible.

[0060] The tunnel inspection machine 2 can have, in a direction of movement 38 of the tunnel inspection machine 2 through the traffic tunnel 4, at least one preferably movable device 48 for spraying concrete 50 or another material in the direction of the tunnel walls 12 and / or tunnel ceiling 14 after the at least one actuator 10. A corresponding movement arrangement 52 for moving the shotcrete device 48 is shown in Fig. 2 is shown schematically. Shotcrete 50 is a concrete that is conveyed to the site of use in a hose line, where it is pneumatically applied from a spray nozzle and compacted by the impact energy. Ingredients of the shotcrete 50 include, for example, water, cement and aggregates. Other materials that could be sprayed onto the tunnel walls 12 and / or tunnel ceiling 14 include, for example, synthetic resins, preferably mixed with fibers. The shotcrete 50 or the other material can be sprayed specifically onto those points on the tunnel reveal 12, 14 where pieces of rock or parts of the lining have broken out as a result of exposure to the artificially generated shock or pressure waves 22 or even before or for other reasons. In this way, the future durability of the traffic tunnel 4 can be extended / improved without further defects.It would also be conceivable to apply the shotcrete 50 or the other material over the entire surface of the tunnel reveal 12, 14.

[0061] It is further proposed that the tunnel inspection machine 2 has at least one camera 36 for optically capturing the tunnel walls 12 and / or tunnel ceiling 14 before and / or after the tunnel walls 12 and / or tunnel ceiling 14 are subjected to the shock or pressure waves 22, and a processing unit, for example the processing unit 42 or another processing unit, which is connected to the at least one camera 36 and is designed to process camera images in such a way that damage to the tunnel walls 12 and / or tunnel ceiling 14 or changes to the tunnel walls 12 and / or tunnel ceiling 14 between before and after the application of the shock or pressure waves 22 are detected, wherein the processing unit 42 is further designed to control and move the shotcrete device 48 in such a way that concrete 50 or the other material is sprayed at locations on the tunnel walls 12 and / or tunnel ceiling 14.where damage or a change to the tunnel walls 12 and / or tunnel ceiling 14 has been detected. The application of the shotcrete 50 can thus be carried out selectively, camera-controlled, and automatically.

[0062] In order to enable cleaning of the tunnel lining 12, 14 subjected to the shock or pressure waves 22 and / or easier removal of the rock fragments and / or lining pieces broken out of the tunnel lining 12, 14, it is proposed that the tunnel inspection machine 2 has, in its direction of movement 38 along the traffic tunnel 4, after the at least one actuator 10, at least one preferably movable device 54 for spraying a liquid 56, in particular water, in the direction of the tunnel walls 12 and / or tunnel ceiling 14. A corresponding movement arrangement 58 for moving the liquid spraying device 54 is shown in Fig.2. This allows the tunnel lining 12, 14 to be cleaned. The liquid 56 can be collected along with the fallen rock fragments and / or lining pieces at the tunnel floor 20 and / or pumped out via a pipe system (not shown). QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited non-patent literature

[0000] https: / / www.stuva.de / downloads / publikationen / pdf / STUVA-Sachstandsbericht_2017_web.pdf

[0003] https: / / bmdv.bund.de / SharedDocs / DE / Anlage / StB / dokumentation-bauwerkspruefungnach-din-1076.pdf?_blob=publicationFile

[0004]

Claims

[1] Tunnel inspection machine (2) for checking the operational safety of a traffic tunnel (4), in particular a road or rail tunnel, wherein the tunnel inspection machine (2) comprises a chassis (8) movable along a longitudinal extension (6) of the traffic tunnel (4), characterized by that at least one actuator (10) for generating and emitting shock or pressure waves (22) directed towards the tunnel walls (12) and / or tunnel ceiling (14) is fastened to the chassis (8), so that the traffic tunnel (4) is exposed to higher loads during inspection with the tunnel inspection machine (2) due to the emitted shock or pressure waves (22) than during its normal operation (so-called overload or stress test). [2] Tunnel inspection machine (2) according to claim 1, wherein the at least one actuator (10) is designed to generate the shock or pressure waves (22) electrohydraulically, piezoelectrically or electromagnetically. [3] Tunnel inspection machine (2) according to claim 1 or 2, wherein the at least one actuator (10) has at least one acoustic lens and / or at least one reflector (26) for focusing the shock or pressure waves (22) in the direction of the tunnel walls (12) and / or tunnel ceiling (14). [4] Tunnel inspection machine (2) according to one of the preceding claims, wherein the at least one actuator (10) is movably attached to the chassis (8), in particular movable towards or away from the tunnel walls (12) and / or tunnel ceiling (14) and / or parallel to a surface extension of the tunnel walls (12) and / or tunnel ceiling (14). [5] Tunnel inspection machine (2) according to one of the preceding claims, wherein the chassis (8) is designed to be fastened to a vehicle traveling through the traffic tunnel (4), in particular a road vehicle or a rail vehicle or a corresponding trailer. [6] Tunnel inspection machine (2) according to one of the preceding claims, wherein the tunnel inspection machine (2) has wheels (16) rotatably mounted on the chassis (8). [7] Tunnel inspection machine (2) according to claim 6, wherein the tunnel inspection machine (2) has a motor (18) attached to the chassis (8) for driving at least one of the wheels (16). [8] Tunnel inspection machine (2) according to one of the preceding claims, wherein the tunnel inspection machine (2) is designed to be moved or to move with the chassis (8) remotely controlled along the longitudinal extension (6) of the traffic tunnel (4). [9] Tunnel inspection machine (2) according to one of the preceding claims, wherein the tunnel inspection machine (2) has a driver's cab. [10] Tunnel inspection machine (2) according to one of the preceding claims, wherein the tunnel inspection machine (2) has at least one camera (36) for optically detecting the tunnel walls (12) and / or tunnel ceiling (14) before and / or after the tunnel walls (12) and / or tunnel ceiling (14) are subjected to the shock or pressure waves (22). [11] Tunnel inspection machine (2) according to claim 10, wherein the tunnel inspection machine (2) has a processing unit (42) which is connected to the at least one camera (36) and is designed to process camera images in such a way that damage to the tunnel walls (12) and / or the tunnel ceiling (14) or changes to the tunnel walls (12) and / or tunnel ceiling (14) between before and after the tunnel walls (12) and / or tunnel ceiling (14) are subjected to the shock or pressure waves (22). [12] Tunnel inspection machine (2) according to claim 10 or 11, wherein the tunnel inspection machine (2) has a processing unit (42) which is connected to the at least one camera (36) and is designed to process camera images such that the at least one actuator (10) is automatically moved with respect to the tunnel walls (12) and / or tunnel ceiling (14) in dependence on the camera images. [13] Tunnel inspection machine (2) according to one of claims 10 to 12, wherein the tunnel inspection machine (2) has a storage unit (46) which is connected to the at least one camera (36) and is designed to store camera images and / or processing results of a processing unit (42). [14] Tunnel inspection machine (2) according to claim 13, wherein the storage unit (46) is designed to store, together with the storage of camera images and / or processing results of a processing unit (42), position and / or time data which represent the position of the tunnel inspection machine (2) along the longitudinal extent (6) of the traffic tunnel (4) and / or the time of recording the camera images. [15] Tunnel inspection machine (2) according to one of the preceding claims, wherein the tunnel inspection machine (2) has, in a direction of movement (38) of the tunnel inspection machine (2) through the traffic tunnel (4), after the at least one actuator (10), at least one preferably movable device (48) for spraying concrete (50) in the direction of the tunnel walls (12) and / or tunnel ceiling (14). [16] Tunnel inspection machine (2) according to claim 15, wherein the tunnel inspection machine (2) has at least one camera (36) for optically capturing the tunnel walls (12) and / or tunnel ceiling (14) before and / or after the tunnel walls (12) and / or tunnel ceiling (14) are subjected to the shock or pressure waves (22) and a processing unit (42) which is connected to the at least one camera (36) and is designed to process camera images in such a way that damage to the tunnel walls (12) and / or the tunnel ceiling (14) or changes to the tunnel walls (12) and / or tunnel ceiling (14) between before and after the tunnel walls (12) and / or tunnel ceiling (14) are subjected to the shock or pressure waves (22) are detected, wherein the processing unit (42) is designed to control and move the shotcrete device (48) in such a way that concrete (50) is sprayed specifically at points on the tunnel walls (12) and / or tunnel ceiling (14),where damage or a change to the tunnel walls (12) and / or tunnel ceiling (14) was detected., [17] Tunnel inspection machine (2) according to one of the preceding claims, wherein the tunnel inspection machine (2) has, in a direction of movement (38) of the tunnel inspection machine (2) through the traffic tunnel (4), after the at least one actuator (10), at least one preferably movable device (54) for spraying a liquid (56), in particular water, in the direction of the tunnel walls (12) and / or tunnel ceiling (14).

Images