CN113911221B

CN113911221B - Tunnel monitoring system

Info

Publication number: CN113911221B
Application number: CN202111257009.7A
Authority: CN
Inventors: 徐飞; 杜博文; 杜彦良; 赵维刚; 高阳; 李琦; 侍军浩; 石松涛; 张建宇; 王忠顺; 王天木
Original assignee: Beihang University; Shijiazhuang Tiedao University
Current assignee: Beihang University; Shijiazhuang Tiedao University
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-12-20
Anticipated expiration: 2041-10-27
Also published as: CN113911221A

Abstract

The invention provides a tunnel monitoring system, which comprises a monitoring vehicle and a sensing device, wherein the monitoring vehicle is connected with the sensing device through a cable; the monitoring vehicle comprises a vehicle body, a wireless energy supply device, a signal receiving and transmitting device, an image acquisition device and a control device; wheels are arranged at the front end and the rear end of the vehicle body; the caterpillar track is arranged on the vehicle body, and the caterpillar track is arranged between the wheels at the front end and the wheels at the rear end of the vehicle body; the wireless energy supply device is arranged on the vehicle body; the signal transceiver is arranged at the top of the vehicle body; the image acquisition device is arranged at the top of the vehicle body and is positioned at the front end of the vehicle body; the control device is arranged on the vehicle body and is respectively connected with the wireless energy supply device, the signal receiving and transmitting device, the image acquisition device and the driving device in the vehicle body; the sensing device is used for being placed in the tunnel and is a sensing device with a wireless charging induction module. The invention solves the problem of endurance of the sensing device, prolongs the monitoring period, improves the reliability of signal transmission and the timeliness of data collection, and also improves the reliability and the flexibility of driving.

Description

Tunnel monitoring system

Technical Field

The invention belongs to the technical field of tunnel construction monitoring, and particularly relates to a tunnel monitoring system.

Background

The construction of the tunnel can reduce the running distance of vehicles and the construction cost of roads, shorten the cost of highways and railways, ensure that the tunnel is closer to the straight-line distance between two places, and also play a role similar to a water bridge, namely, reduce the running time and increase the passenger capacity.

The traffic infrastructure of China gradually shifts to western complex mountainous areas and alpine and high-altitude areas, a large number of complex environment tunnel projects are planned and built, surrounding rock, structural displacement, stress and temperature monitoring are indispensable parts in the tunnel construction process, necessary guidance basis is provided for tunnel construction safety, and protective measures are laid in advance according to results. At present, some sensing devices are arranged in the process of tunnel construction at the same time, all monitoring data of a tunnel are directly transmitted to an external service terminal through the sensing devices, so that data collection and processing are not timely, the sustainable working time of the sensing devices is short, and the monitoring period is shortened.

Disclosure of Invention

The embodiment of the invention provides a tunnel monitoring system, aiming at collecting data in time and prolonging the monitoring period.

In order to realize the purpose, the invention adopts the technical scheme that: the utility model provides a tunnel monitoring system, includes monitoring vehicle and sensing device, monitoring vehicle includes:

the front end and the rear end of the vehicle body are both provided with wheels, and a crawler belt is arranged between the wheels at the front end and the wheels at the rear end of the vehicle body;

the wireless energy supply device is arranged on the vehicle body;

the signal receiving and transmitting device is arranged at the top of the vehicle body;

the image acquisition device is arranged on the top of the vehicle body and is positioned at the front end of the vehicle body;

the control device is arranged on the vehicle body and is respectively connected with the wireless energy supply device, the signal transceiving device, the image acquisition device and the driving device in the vehicle body;

the sensing device is used for being placed in the tunnel and is a sensing device with a wireless charging induction module.

In a possible implementation manner, a vertical support is arranged at the top of the vehicle body, and the signal transceiver is arranged at the top end of the vertical support.

In a possible implementation manner, the wireless energy supply device is annularly provided along a circle center which is a preset center.

In a possible implementation manner, the top surface of the car body is provided with a storage tank corresponding to the wireless energy supply devices one to one, the wireless energy supply devices are in rotating fit with the storage tank, the monitoring car further comprises a turnover driving device, the turnover driving device enables the wireless energy supply devices to be stored in the storage tank, and the wireless energy supply devices can also extend out of the storage tank.

In one possible implementation, the tumble driving apparatus includes:

the transmission ring is concentric with the preset center, a plurality of transmission helical teeth are arranged at the top of the transmission ring, the transmission helical teeth are radially distributed around the preset center, and the transmission helical teeth and a radial line at a position corresponding to the transmission ring form an included angle;

the transmission sleeves are sleeved on the transmission rings, the middle shafts of the transmission sleeves are perpendicular to the middle shafts of the transmission rings, transmission chutes matched with the transmission helical teeth are formed in the inner walls of the transmission sleeves, included angles are formed between the transmission chutes and the middle shafts of the transmission sleeves, and the transmission sleeves are connected with the wireless energy supply device; and

and the transmission driving mechanism is used for driving the transmission ring to rotate around the preset center.

In one possible implementation, the transmission ring has an outer peripheral surface formed with a first ring gear, and the transmission drive mechanism includes:

the transmission driving motor is fixed on the vehicle body; and

and the transmission driving gear is connected to an output shaft of the transmission driving motor and is meshed with the first gear ring.

In a possible implementation manner, the wireless energy supply device comprises a cover plate and an energy supply module, wherein the energy supply module is connected to the cover plate, and the cover plate is connected to the corresponding transmission sleeve; when the wireless energy supply device is accommodated in the accommodating groove, the cover plate is positioned above the energy supply module.

In one possible embodiment, the energy supply module is an arc-shaped component.

In a possible implementation manner, the monitoring vehicle further comprises an inertial navigation device, and the inertial navigation device is arranged on the vehicle body and connected with the control device.

In a possible implementation manner, the monitoring vehicle further comprises an anti-collision device, the anti-collision device comprises an anti-collision block and an anti-collision driving mechanism, the anti-collision block is rotatably connected to the vehicle body, and the anti-collision driving mechanism is used for driving the anti-collision block, so that the anti-collision block has an anti-collision state extending out of the edge of the vehicle body and a storage state stored in the vehicle body.

Compared with the prior art, the sensing device is provided with the wireless charging module, when the monitoring vehicle drives into the tunnel, the sensing device in the tunnel is powered through the wireless power supply device, the sensing device can be charged in the jacking inspection process, the problem of endurance of the sensing device is solved, and the monitoring period is prolonged; the signal receiving and transmitting device receives the data signals acquired by the sensing device, so that the field short-distance transmission of the signals is realized, and the reliability of signal transmission and the timeliness of data collection are improved; in addition, due to the arrangement of the wheels and the crawler belts, the tunnel construction vehicle can be well adapted to uneven ground in a tunnel construction environment, and the running reliability and flexibility are improved.

Drawings

Fig. 1 is a first schematic view illustrating a usage status of a tunnel monitoring system according to a first embodiment of the present invention;

fig. 2 is a schematic view illustrating a usage status of a tunnel monitoring system according to a first embodiment of the present invention;

fig. 3 is a schematic view illustrating a third usage state of the tunnel monitoring system according to the first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a monitoring vehicle according to an embodiment of the present invention;

FIG. 5 is a view of the assembly structure A of the first mounting bracket and the image scanning module of FIG. 4;

fig. 6 is a schematic top view of a flip driving apparatus according to a second embodiment of the present invention;

FIG. 7 is a schematic right-view partial structure of the drive ring of FIG. 6;

FIG. 8 is a right side elevational view of the assembled structure of one of the bushings and the corresponding wireless power supply of FIG. 6;

fig. 9 is a schematic top view of a third embodiment of the crash-proof driving mechanism according to the present invention;

fig. 10 is a schematic top view of a crash-proof driving mechanism according to a third embodiment of the present invention;

fig. 11 is a schematic view of the internal structure of a wheel according to a fourth embodiment of the present invention.

Description of reference numerals:

100. a vehicle body; 110. a vertical support; 120. a first mounting bracket; 130. a second mounting bracket; 140. a drive shaft; 150. a wheel; 151. a hub; 1511. a central accommodating cavity; 1512. a slideway; 152. an outer plate; 153. an adjusting ring; 1531. a main ring body; 1532. an adjusting block; 154. a slide bar; 155. adjusting the chute; 156. a slider; 157. a drive gear; 160. a crawler;

200. an anti-collision device; 210. an anti-collision block; 220. an anti-collision driving mechanism; 221. a front drive rack; 222. a front drive gear; 223. a side drive rack; 224. a side drive gear; 225. a first pull cord; 226. a first elastic member; 227. a first fixed pulley block; 228. a second pull cord; 229. a second elastic member; 230. a second fixed pulley block;

300. a wireless energy supply device; 310. a cover plate; 320. an energy supply module;

400. a signal transceiver;

500. an image acquisition device; 510. an image scanning module; 520. an infrared camera module;

600. a multipoint laser monitoring device;

700. a turnover driving device; 710. a drive ring; 711. a first ring gear; 720. a driving sleeve; 721. a drive chute; 730. a transmission helical gear; 740. a transmission drive gear;

800. a control device; 810. a data processing module; 820. a power supply module;

900. a sensing device; 910. a pipe shed embedded sensor; 920. an advanced small catheter embedded sensor; 930. a steel arch embedded sensor; 940. an anchor rod embedded sensor; 950. an anchor cable embedded sensor; 960. a multipoint displacement meter; 970. a multipoint displacement meter sensor;

1000. a palm surface; 1100. a pipe shed; 1200. a small advanced catheter; 1300. a steel arch frame; 1400. an anchor rod; 1500. an anchor cable; 1600. a region of virgin rock; 1700. an elasto-plastic transition region; 1800. the surrounding rock is broken and loosened.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 4 together, a tunnel monitoring system according to the present invention will now be described. The tunnel monitoring system comprises a monitoring vehicle and a sensing device.

The monitoring vehicle comprises a vehicle body 100, a wireless energy supply device 300, a signal transceiver 400, an image acquisition device 500 and a control device 800; wheels 150 are provided at both the front and rear ends of the vehicle body 100; the crawler belt 160 is arranged on the vehicle body 100, and the crawler belt 160 is arranged between the wheels 150 at the front end and the wheels 150 at the rear end of the vehicle body 100; the wireless energy supply device 300 is arranged on the vehicle body 100; the signal transceiver 400 is arranged at the top of the vehicle body 100; the image acquisition device 500 is arranged on the top of the vehicle body 100 and is positioned at the front end of the vehicle body 100; the control device 800 is arranged on the vehicle body 100 and is respectively connected with the wireless energy supply device 300, the signal transceiver 400, the image acquisition device 500 and the driving device in the vehicle body 100; the sensing device 900 is used for being placed in a tunnel, and is a sensing device with a wireless charging sensing module.

Compared with the prior art, the tunnel monitoring system provided by the embodiment has the advantages that the sensing device 900 is provided with the wireless charging module, when the monitoring vehicle drives into the tunnel, the sensing device 900 in the tunnel is powered through the wireless power supply device 300, the sensing device 900 can be charged in the jacking inspection process, the problem of endurance of the sensing device 900 is solved, and the monitoring period is prolonged; the signal transceiver 400 receives the data signals acquired by the sensing device 900, so that the field short-distance transmission of the signals is realized, and the reliability of signal transmission and the timeliness of data collection are improved; in addition, due to the arrangement of the wheels 150 and the crawler belts 160, the tunnel construction vehicle can be well adapted to uneven ground in a tunnel construction environment, and the driving reliability and flexibility are improved.

In some embodiments, referring to fig. 4, in order to facilitate the installation of the signal transceiver 400, the top of the vehicle body 100 is provided with a vertical bracket 110, and the signal transceiver 400 is arranged at the top end of the vertical bracket 110. The height of the signal transceiver 400 is raised in this embodiment, which is beneficial to shortening the signal transceiving distance and improving the reliability of signal transceiving. After receiving the signal, the signal transceiver 400 performs a backup in the control device 800, and can also send the backup to an external terminal (e.g., a mobile phone, a computer, etc.), so that the operator can obtain the data outside the tunnel.

Specifically, referring to fig. 6, a plurality of wireless energy supply devices 300 are annularly disposed around a predetermined center. Wireless remote wireless charging can be realized to wireless energy supply device 300 by the mode that adopts radio wave, and radio wave has certain directionality, needs wireless energy supply device 300 to have certain orientation, sets up the full coverage that a plurality of wireless energy supply devices 300 can guarantee the direction of charging.

Of course, the charging method of the wireless energy supply device 300 may be an electromagnetic induction method, a magnetic field resonance method, or the like, and may be adapted to the environment in the tunnel, which is not illustrated here.

In some embodiments, referring to fig. 6, the top surface of the car body 100 is provided with a receiving groove corresponding to the wireless energy supply device 300 one to one, the wireless energy supply device 300 is rotatably engaged with the corresponding receiving groove, the monitoring car further includes a flip driving device 700, the flip driving device 700 can enable the wireless energy supply device 300 to be received in the receiving groove, and can enable the wireless energy supply device 300 to extend out of the receiving groove. This embodiment enables wireless energy supply device 300 to accomodate in the storage tank through setting up the storage tank under non user state, avoids colliding with the damage, reduces cost of overhaul, increase of service life.

As a specific embodiment of the turnover driving device 700, referring to fig. 6 to 8, the turnover driving device 700 includes a driving ring 710, a driving sleeve 720 and a driving mechanism; the transmission ring 710 is concentric with the preset center, a plurality of transmission helical teeth 730 are arranged at the top of the transmission ring 710, the transmission helical teeth 730 are radially distributed around the preset center, and an included angle is formed between the transmission helical teeth 730 and a radial line of the corresponding position of the transmission ring 710; the plurality of transmission sleeves 720 are arranged, the transmission sleeves 720 are sleeved on the transmission ring 710, the middle shaft of each transmission sleeve 720 is perpendicular to the middle shaft of the transmission ring 710, the inner wall of each transmission sleeve 720 is provided with a transmission inclined slot 721 matched with the transmission inclined teeth 730, the transmission inclined slots 721 form an included angle with the middle shaft of the transmission sleeves 720, and the transmission sleeves 720 are connected with the wireless energy supply device 300; the transmission driving mechanism is used for driving the transmission ring 710 to rotate around a preset center. Wherein, a plurality of transmission chutes 721 are arranged in the same transmission sleeve 720 around the central axis of the transmission sleeve 720.

During transmission, in the rotating presence of the transmission ring 710, the previous transmission helical tooth 730 slides through one of the transmission chutes 721 of the transmission sleeve 720, and then the transmission sleeve 720 is pushed to rotate by a certain angle, and along with the continuous rotation of the transmission ring 710, the subsequent transmission helical tooth 730 continuously enters the next transmission chute 721, so that the continuous rotation of the transmission sleeve 720 is realized, and the purpose of turning over the wireless energy supply device 300 is achieved, wherein different turning directions correspond to different turning directions of the transmission ring 710. The transmission structure of this embodiment is simple compact, and transmission efficiency is higher, can drive the synchronous upset of a plurality of wireless energy supply device 300 simultaneously through a driving source, the control of being convenient for more.

In specific implementation, referring to fig. 4, the vertical support 110 is a vertical rod, and the predetermined center can be concentric with the vertical rod.

In some embodiments, referring to fig. 7, the outer circumferential surface of the driving ring 710 is formed with a first gear ring 711, and the driving mechanism includes a driving motor and a driving gear 740; the transmission driving motor is fixed on the vehicle body 100; the transmission drive gear 740 is connected to an output shaft of the transmission drive motor and meshes with the first ring gear 711. The rotation of transmission ring 710 is realized through the gear drive structure to this embodiment, simple structure, easily realization, and have the auto-lock effect, need not to set up locking structure in addition after rotatory targetting in place.

As an embodiment of the wireless energy supply device 300, referring to fig. 6 and fig. 8, the wireless energy supply device 300 includes a cover plate 310 and an energy supply module 320, the energy supply module 320 is connected to the cover plate 310, and the cover plate 310 is connected to a corresponding driving sleeve 720; when the wireless power supply device 300 is accommodated in the accommodating slot, the cover plate 310 is located above the power supply module 320. The cover plate 310 can play a role in sealing and protecting the energy supply module 320 in a storage state, so that the energy supply module 320 is prevented from being damaged, and the cover plate plays a role in supporting during overturning.

In specific implementation, in order to achieve effective sealing protection and maintain the aesthetic appearance, when the wireless power supply device 300 is received in the receiving groove, the upper surface substrate of the cover plate 310 is flush with the upper surface of the vehicle body 100.

Specifically, referring to fig. 8, to maximize the functional area, the energy supply module 320 is an arc-shaped member.

In some embodiments, the monitoring vehicle further comprises an inertial navigation device, which is disposed on the vehicle body 100 and connected to the control device 800. The inertial navigation device can automatically calibrate and position the wheel shaft based on a navigation system, and ensures that the driving direction of the wheel shaft has no deviation.

In one embodiment, the inertial navigation unit is mounted on the axle of the track 160 or on the drive shaft 140 connected to the wheels 150.

In some embodiments, referring to fig. 9 and 10, the monitoring vehicle further includes a collision avoidance device 200, the collision avoidance device 200 includes a collision avoidance block 210 and a collision avoidance driving mechanism 220, the collision avoidance block 210 is rotatably connected to the vehicle body 100, and the collision avoidance driving mechanism 220 is configured to drive the collision avoidance block 210, so that the collision avoidance block 210 has a collision avoidance state extending out of the edge of the vehicle body 100, and a storage state stored in the vehicle body 100. When the control device 800 detects that the inertial navigation system fails or the vehicle driving direction deviates, the anti-collision block 210 is unfolded to prevent the vehicle body 100 or each monitoring device from colliding with the side wall of the tunnel.

In some embodiments, referring to fig. 9 and 10, the pre-crash drive mechanism 220 includes a forward drive rack 221, a forward drive gear 222, a side drive rack 223, a side drive gear 224, a first pull rope 225, a first elastic member 226, a first set of pulleys 227, a second pull rope 228, a second elastic member 229, a second set of pulleys 230, and a forward drive driver. The front drive rack 221 is engaged with the front drive gear 222, and the side drive rack 223 is engaged with the side drive gear 224.

The number of the anti-collision blocks 210 is multiple, the anti-collision blocks 210 are respectively arranged at the front part and two sides of the vehicle body 100, the anti-collision block 210 at the front part is fixedly connected to the front drive gear 222, the front drive gear 222 is rotatably connected to the vehicle body 100, and the front drive rack 221 is connected to the vehicle body 100 in a left-right sliding manner; the side impact prevention blocks 210 are fixed to a side drive gear 224, the side drive gear 224 is rotatably coupled to the vehicle body 100, and a side drive rack 223 is slidably coupled to the vehicle body 100 in the front-rear direction.

The first fixed pulley block 227 is arranged on the left side of the vehicle body 100, one end of the first traction rope 225 is connected to the left end of the front drive rack 221, and the other end of the first traction rope bypasses the first fixed pulley block 227 and is connected with the front end of the left side drive rack 223; the second fixed pulley block 230 is arranged on the right side of the vehicle body 100, one end of a second traction rope 228 is connected to the right end of the front drive rack 221, and the other end of the second traction rope bypasses the second fixed pulley block 230 and is connected with the front end of the right side drive rack 223; the first elastic member 226 is connected to the vehicle body 100 at a rear end thereof, connected to the left side driving rack 223 at a front end thereof, connected to the vehicle body 100 at a rear end thereof, and connected to the right side driving rack 223 at a front end thereof, and the first elastic member 226 and the second elastic member 229 are configured with a biasing force for urging the corresponding side driving rack 223 to approach a rear portion of the vehicle body 100.

The front drive driver is used for driving the front drive rack 221 to move left and right; when the front drive rack 221 moves towards the first preset direction, the first traction rope 225 and the second traction rope 228 simultaneously pull the side drive racks 223 at the two sides to move forwards; when the front driving rack 221 moves towards a second preset direction opposite to the first preset direction, the first elastic piece 226 and the second elastic piece 229 draw the side driving teeth 223 at two sides to move backwards and reset.

Taking the viewing angles of fig. 9 and 10 as examples, the first predetermined direction is a left direction, the second predetermined direction is a right direction, and the state shown in fig. 9 is an initial state in which the crash block 210 is in the storage state, and the crash block 210 shown in fig. 10 is in the storage and crash-proof state.

In practical implementation, referring to fig. 9 and 10, the first fixed pulley block 227 includes three fixed pulleys, and the second movable pulley block 230 includes one fixed pulley.

In some embodiments, not shown in the drawings, the front-drive driver includes a front-drive driving motor and a front-drive driving lead screw, a nut seat adapted to the front-drive driving lead screw is provided on the front-drive rack 221, and the rotation of the output shaft of the front-drive driving motor can drive the front-drive rack 221 to move left and right.

In some embodiments, referring to fig. 1 to 3, the sensing device 900 is used to provide monitoring of parameters such as stress, displacement, temperature, etc. for the surrounding rock, lining structure, and tunnel face areas of the tunnel, and the specific configuration thereof may be:

1) In the area corresponding to the tunnel face 1000, a tunnel-face embedded sensor 910 is arranged on the tunnel 1100, and an advanced small conduit embedded sensor 920 is arranged on the advanced small conduit 1200, and the two sensors are used for monitoring whether the tunnel face 1000 has extrusion effect and various changes in the excavation process, and judging whether the tunnel face is stably supported in the excavation process of the tunnel face 1000;

2) The steel arch 1300 is provided with a steel arch embedded sensor 930, the anchor rod 1400 connected with the steel arch 1300 is provided with an anchor rod embedded sensor 940, and the anchor cable 1500 connected with the steel arch 1300 is provided with an anchor cable embedded sensor 950, wherein the three sensors are mainly used for the preliminary supporting stage of tunnel excavation and can be used for monitoring the change of surrounding rocks;

3) The steel arch 1300 is provided with a multipoint displacement meter 960, and multipoint displacement meter sensors 970 are correspondingly embedded in different rock stratum areas (an original rock area 1600, an elastic-plastic transition area 1700 and a surrounding rock breaking and loosening ring 1800) for monitoring the change of surrounding rocks in different areas.

Referring to fig. 4 and 5, as a specific embodiment of the image capturing apparatus 500, the image capturing apparatus 500 includes an image scanning module 510 and an infrared camera module 520, the image scanning module 510 and the infrared camera module 520 are arranged side by side at the front end of the top of the vehicle body 100, and the image scanning module 510 and the infrared camera module 520 are respectively connected to the control apparatus 800.

In the moving process, the image scanning module 510 scans each area of the tunnel body gradually, the control device 800 performs data integration according to the scanned data, and finally generates a 3D tunnel body live-action map on the external terminal, and meanwhile, the infrared camera module 520 automatically records and returns real-time images in the tunnel cave.

In specific implementation, the image scanning module 510 is a three-dimensional laser scanner, and the infrared camera module 520 is an infrared high-definition camera.

To facilitate the installation of the image scanning module 510 and the infrared camera module 520, referring to fig. 4 and 5, the first mounting rack 120 and the second mounting rack 130 are arranged at the front end of the vehicle body 100 side by side, the image scanning module 510 is arranged on the first mounting rack 120, and the infrared camera module 520 is arranged on the second mounting rack 130.

In specific implementation, referring to fig. 4 and 5, the first mounting frame 120 is a bent cylindrical structure, and the image scanning module 510 is mounted in the bent portion with a forward opening, so that scanning of the image scanning module 510 is not affected, and the image scanning module 510 can be protected to a certain extent, thereby preventing small stones from falling off and the like from damaging the image scanning module 510.

In some embodiments, referring to fig. 4, the tunnel monitoring vehicle further comprises a multipoint laser monitoring device 600 connected to the control device 800. The tunnel monitoring vehicle of this embodiment monitors each displacement of face through the multiple spot laser monitoring device 600 in the place ahead, has increased the suitable scene of tunnel monitoring vehicle.

In particular, referring to fig. 6, a multipoint laser monitoring device 600 is located at the front end of the vehicle body 100. In the tunnel excavation process, the tunnel monitoring car of this embodiment monitors the displacement of face each point through the multiple spot laser monitoring devices 600 in the place ahead to but infrared camera module 520 remote observation face is close to the situation, and it is convenient to be suitable for, and it is more comprehensive to acquire data.

Referring to fig. 11, as an embodiment of a wheel 150, the wheel 150 includes a hub 151, an outer plate 152, and a telescoping control mechanism; the hub 151 is connected to the drive shaft 140 of the vehicle body 100; the outer plates 152 are provided with a plurality of arc-shaped plates, and the outer plates 152 are concentrically arranged along the circumferential direction of the hub 151; the expansion control mechanism is respectively connected with the outer plate 152 and the hub 151 so as to adjust the distance between the outer plate 152 and the hub 151 along the radial direction of the hub 151; when the plurality of outer plates 152 are all in a state of being closest to the hub 151, the plurality of outer plates 152 surround and form an annular structure concentric with the hub 151, and the expansion control mechanism is further connected to the control device 800.

In this embodiment, the outer plate 152 directly contacts the ground. In the normal running process, the telescopic control mechanism can be controlled to be in an extension state, the outer plate 152 is farthest away from the hub 151, and the diameter of the wheel 150 is the largest at the moment, so that the purpose of lifting the crawler belt 160 off the ground can be achieved, and the form speed of the monitoring vehicle can be increased; when the ground surface is rugged and difficult to move only through the wheels 150, the telescopic control mechanism can be controlled to be in a retraction state, the distance between the outer plate 152 and the hub 151 is the minimum, and the diameter of the wheels 150 is the minimum at the moment, so that the crawler 160 is in direct contact with the ground and can travel through the road section through the crawler 160; of course, the telescopic control mechanism can also be controlled to be in a medium-long state, at the moment, the diameter of the wheel 150 is moderate, both the wheel 150 and the crawler belt 160 can contact the ground, and the monitoring vehicle can be driven to travel through the crawler belt 160 and the wheel 150 at the same time.

This embodiment is through control wheel 150's diameter for the monitoring vehicle has multiple mode of traveling, can adapt to the ground of different road conditions, uses the flexibility strong.

In some embodiments, referring to fig. 11, a central receiving cavity 1511 is formed in the middle of the hub 151, and a slide way 1512 disposed along a radial direction of the hub 151 penetrates through the outer periphery of the central receiving cavity 1511; the telescoping control mechanism comprises an adjusting ring 153, a slide rod 154 and a drive structure; the adjusting ring 153 is positioned in the central accommodating cavity 1511 and is concentrically and rotatably arranged with the hub 151, and an adjusting inclined groove 155 is formed in the adjusting ring 153; the sliding rod 154 is slidably inserted into the slideway 1512, a sliding block 156 in sliding fit with the slideway 1512 is arranged at the inner end of the sliding rod 154, and the outer end of the sliding rod 154 is connected to the outer plate 152; the driving structure is disposed in the central accommodating chamber 1511 and is used for driving the adjusting ring 153 to rotate, and the driving structure is further connected to the control device 800.

In the embodiment, the sliding rod 154 is moved by the rotation of the adjusting ring 153, so that the position of the outer plate 152 is controlled, and the driving synchronism is strong; when adjusting ring 153 is rotated in place, slide rod 154 can be stopped at this position by ensuring that adjusting ring 153 is not rotated any more, without additional locking structure, and the structure is simple and compact.

In practical implementation, referring to fig. 11, the long axis of the adjusting chute 155 forms an included angle with the radial line of the adjusting ring 153, and one end of the adjusting chute is close to the center of the adjusting ring 153, and the other end of the adjusting chute is far away from the center of the adjusting ring 153, and the inclined directions and the inclined angles of all the adjusting chutes 155 relative to the radial line of the corresponding position are the same.

As an embodiment of the adjusting ring 153, referring to fig. 11, the adjusting ring 153 includes a main ring body 1531 and a plurality of adjusting blocks 1532; a ring gear is formed on the outer circumferential surface of the main ring body 1531; a plurality of adjusting blocks 1532 are distributed along the circumference of the main ring body 1531 and fixed to the main ring body 1531, the adjusting blocks 1532 correspond to the outer plates 152 one by one, and the adjusting chutes 155 are disposed on the adjusting blocks 1532; the driving structure comprises a driving motor and a driving gear 157, the driving motor is fixed in the central accommodating cavity 1511, the driving gear 157 is coaxially fixed on the driving motor and meshed with the gear ring, and the driving motor is connected with the control device 800.

In order to keep the wheel 150 balanced during rotation and at the same time avoid excessive weight, the driving structure is symmetrically provided in two, as shown in fig. 11.

In specific implementation, taking the view of fig. 11 as an example, the state shown in fig. 11 is a state where the diameter of the wheel 150 is the smallest; when the diameter of the wheel 150 needs to be increased, the adjusting ring 153 is rotated clockwise through the driving gear 157, the sliding block 156 slides in the adjusting chute 155, and under the pushing action of the adjusting chute 155, the sliding rod 154 gradually extends outwards to enable the outer plate 152 to be far away from the hub 151; the outer plate 152 can be moved toward the hub 151 by reversing the operation, which will not be described herein. After the unit is adjusted, the driving gear 157 does not rotate any more, a self-locking structure is formed between the driving gear 157 and the gear ring, the adjusting ring 153 does not rotate any more, and stable position locking is realized.

In specific implementation of the present application, referring to fig. 4, the control device 800 includes a data processing module 810 and a power module 820, the data processing module 810 is electrically connected to the wireless energy supply device 300, the signal transceiver 400, the image scanning module 510, the infrared camera module 520, and the multipoint laser monitoring device 600, the data processing module 810 is in communication connection with the driving motor in a wireless transmission manner, and the power module 820 is configured to supply power to the driving motor in a wireless charging manner.

In particular, in order to make the most of the space of the vehicle body 100, the control device 800 is located at the rear of the vehicle body 100, and the vertical bracket 110 is located at the middle of the vehicle body 100.

Embodiments of the present application can accommodate the following two scenarios:

scene one:

1) In the tunnel construction stage, a pipe shed embedded sensor 910, an advanced small conduit embedded sensor 920, a steel arch embedded sensor 930, an anchor rod embedded sensor 940, an anchor cable embedded sensor 950, a multipoint displacement meter 960 and a multipoint displacement meter sensor 970 are installed at the designed positions, and each sensor starts a low energy consumption monitoring mode;

2) When the monitoring vehicle drives into the tunnel, the image scanning module 510 located at the front end of the vehicle body 100 scans each area of the tunnel body passing through the tunnel, data integration is performed through the scanned data, finally the data processing module 810 generates 3D tunnel body real scene image data, the infrared camera module 520 records images of each position of the tunnel, and the images are transmitted back to the external terminal through the data processing module 810;

3) After the monitoring vehicle drives into the sensor arrangement area and each sensor senses the monitoring vehicle through the positioning chip, the wireless energy supply device 300 is automatically paired with each sensor to supply energy to each sensor wirelessly;

4) In the running process of the monitoring vehicle, the inertial navigation device can automatically calibrate and position the wheel shaft based on a navigation system, so that the running direction of the wheel shaft is ensured to be free of deviation;

5) After the energy supply is completed, each sensor transmits the monitored data back to the data processing module 810, the data processing module 810 screens out the data with poor quality, and after the screening out is completed, the remaining data are processed and analyzed.

6) After the data processing is finished, the 5G signal transmission unit in the data processing module 810 returns the processed data to the external terminal to determine the data result;

7) And at intervals, the monitoring vehicle can patrol the tunnel body and repeat the steps.

Scene two:

1) In the tunnel excavation process, the monitoring vehicle monitors displacement of each point of the tunnel face 1000 through the front multipoint laser monitoring device 600, and the infrared camera module 520 can remotely observe the near condition of the tunnel face 1000;

2) The pipe shed embedded sensor 910 and the advanced small conduit embedded sensor 920 monitor the displacement, stress and temperature of the deep part of the tunnel face 1000, and process the data in the data processing module 810;

3) After the data processing module 810 screens and processes the data, the data meeting the requirement is transmitted to an external terminal through a 5G signal transmission unit in the data processing module 810.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a tunnel monitoring system which characterized in that, includes monitoring vehicle and sensing device, the monitoring vehicle includes:

the wireless energy supply device is arranged on the vehicle body;

the control device is arranged on the vehicle body and is respectively connected with the wireless energy supply device, the signal receiving and transmitting device, the image acquisition device and the driving device in the vehicle body;

the sensing device is used for being placed in the tunnel and is provided with a wireless charging sensing module;

a plurality of wireless energy supply devices are annularly arranged along the circle center which is the preset center;

the monitoring vehicle further comprises a turnover driving device, wherein the turnover driving device can enable the wireless energy supply devices to be contained in the containing grooves and can also enable the wireless energy supply devices to extend out of the containing grooves;

the tumble drive apparatus includes:

the transmission ring is concentric with the preset center, a plurality of transmission helical teeth are arranged at the top of the transmission ring, the transmission helical teeth are radially distributed around the preset center, and the transmission helical teeth and a radial line at the corresponding position of the transmission ring form an included angle;

2. The tunnel monitoring system of claim 1, wherein a vertical bracket is provided on the top of the vehicle body, and the signal transceiver is provided on the top end of the vertical bracket.

3. The tunnel monitoring system of claim 1, wherein the drive ring has an outer peripheral surface formed with a first ring gear, the drive mechanism comprising:

the transmission driving motor is fixed on the vehicle body; and

4. The tunnel monitoring system of claim 1, wherein the wireless power supply includes a cover plate and a power supply module, the power supply module is connected to the cover plate, and the cover plate is connected to the corresponding driving sleeve; when the wireless energy supply device is accommodated in the accommodating groove, the cover plate is positioned above the energy supply module.

5. The tunnel monitoring system of claim 4, wherein the energizing module is an arcuate member.

6. The tunnel monitoring system of claim 1, wherein the monitoring vehicle further comprises an inertial navigation device, the inertial navigation device being disposed on the vehicle body and connected to the control device.

7. The tunnel monitoring system of claim 6, wherein the monitoring vehicle further comprises an anti-collision device, the anti-collision device comprises an anti-collision block and an anti-collision driving mechanism, the anti-collision block is rotatably connected to the vehicle body, and the anti-collision driving mechanism is used for driving the anti-collision block, so that the anti-collision block has an anti-collision state extending out of the edge of the vehicle body and a storage state stored in the vehicle body.