CN113759368A - Device suitable for highway tunnel lining detection and working method - Google Patents
Device suitable for highway tunnel lining detection and working method Download PDFInfo
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- CN113759368A CN113759368A CN202110895421.5A CN202110895421A CN113759368A CN 113759368 A CN113759368 A CN 113759368A CN 202110895421 A CN202110895421 A CN 202110895421A CN 113759368 A CN113759368 A CN 113759368A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
Abstract
The invention discloses a device and a working method suitable for detecting a lining of a highway tunnel, which solve the problem that the normal passing of vehicles is influenced by the detection of the tunnel in the prior art, have the beneficial effects of ensuring the detection result and improving the detection efficiency, and have the following specific schemes: a device suitable for detecting a lining of a highway tunnel comprises a vehicle-mounted unit, a detection unit and a control unit, wherein the vehicle-mounted unit comprises a vehicle body, and the vehicle body can move along the longitudinal direction of the tunnel; the supporting track can be arranged on the inner side of the tunnel, a set distance is reserved between the supporting track and the surface of the tunnel lining, a set space is reserved between the side face of the vehicle body and the end part of the supporting track close to the side face, and the width of the space is larger than that of the road vehicle; the control unit is mounted on the vehicle body; the tunnel defect detection mechanism can move along the support rail and comprises an image acquisition unit, and the image acquisition unit is connected with the control unit; and a radar detection mechanism which is mounted on the support rail and can move along the support rail.
Description
Technical Field
The invention relates to the field of tunnel engineering, in particular to a device suitable for detecting a highway tunnel lining and a working method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
China is a country with the largest number of highway tunnels and the longest mileage in the world, and the scale and the number of tunnel projects are the first in the world. More and more tunnels gradually step into the operation period, tunnel defect problems are increasingly prominent, defects such as lining concrete cracks, water leakage and the like are commonly generated, tunnel lining falling accidents are easily induced by the defects, and major water inrush disaster hidden dangers exist, driving safety is threatened, and major economic losses are caused. In order to find out the diseases existing in the tunnel in operation and ensure the safe operation of the tunnel, the tunnel needs to be detected through regular inspection, emergency inspection or special inspection and the like, so that scientific basis and reasonable suggestion are provided for further adopting disease treatment measures.
The existing highway tunnel inspection vehicle is often provided with a line-scanning or surface-scanning camera and the like, the surface defects such as cracks and water leakage of the lining structure are identified through an image vision technology, the surface detection images acquired by the surface-scanning high-definition camera are very prone to distortion after being spliced, the detection effect is seriously influenced, the defects of the cracks and the water leakage on the surface of the tunnel structure can be only detected, and the urgent requirement of the internal detection of the lining structure cannot be met. The inventor finds that the existing detection needs road sealing detection and influences traffic passage, and causes inappropriate follow-up disease treatment measures because the reason and the position of the tunnel lining structure disease are difficult to reflect only through single radar internal detection or structure surface detection.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a device suitable for detecting the lining of a highway tunnel, which can automatically inspect the tunnel structure and does not influence the driving of vehicles on two sides.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an apparatus adapted for highway tunnel lining inspection, comprising:
the vehicle-mounted unit comprises a vehicle body, and the vehicle body can move along the longitudinal direction of the tunnel;
the supporting track can be arranged on the inner side of the tunnel, a set distance is reserved between the supporting track and the surface of the tunnel lining, a set space is reserved between the side face of the vehicle body and the end part of the supporting track close to the side face, and the width of the space is larger than that of the road vehicle;
a control unit mounted to the vehicle body;
the tunnel defect detection mechanism is arranged on the support rail and can move along the support rail, and comprises an image acquisition unit which is connected with the control unit;
and the radar detection mechanism is arranged on the support rail and can move along the support rail, and the radar detection mechanism is connected with the control unit.
Foretell device, on-vehicle unit can drive all parts and remove along the tunnel, and the automobile body walks along the tunnel central line, avoid the influence to normal driving in the highway tunnel, at on-vehicle unit walking in-process, acquire the crack on tunnel lining surface through tunnel disease detection mechanism, the disease problem of percolating water, can detect the inside latent disease of tunnel lining through radar detection mechanism, realize the comprehensive detection to highway tunnel lining from this, can not influence normal driving, and the accuracy of tunnel testing result has been improved.
According to the device suitable for detecting the lining of the highway tunnel, the lower surface of the vehicle body is provided with the walking part, the power source of the walking part is connected with the control unit, and the vehicle-mounted mechanism is driven to advance along the longitudinal direction of the tunnel by the walking part;
the automobile body has the height of setting for, the automobile body through many connecting rods with support track's inboard is connected, many connecting rods cross arrangement.
According to the device suitable for detecting the lining of the highway tunnel, in order to further avoid influence on driving in the tunnel, the height of the vehicle body is higher than that of the highway vehicle, and the connecting rod is positioned at the top end of the vehicle body.
The device suitable for detecting the lining of the highway tunnel comprises a first vehicle body which can move along the supporting track, a plurality of first mechanical arms are mounted on the first vehicle body and connected with the control unit, the image acquisition unit is mounted at the end part, away from the first vehicle body, of at least one first mechanical arm, and the first mechanical arm can drive the image acquisition unit to move towards the direction of the tunnel lining, so that the accuracy of image acquisition of the image acquisition unit is ensured.
According to the device suitable for highway tunnel lining detection, the light supplementing unit is installed at the end part, far away from the first vehicle body, of at least one first mechanical arm, the light supplementing unit is connected with the control unit, and the light supplementing unit is used for supplementing light to the image acquisition unit so as to obtain relatively clear photos.
The device suitable for highway tunnel lining detects as above, the image acquisition unit is industry area array camera, and each industry area array camera is furnished with wide angle prime lens, and wide angle prime lens orientation the outside of support track is in order to be used for shooing tunnel lining surface.
The device suitable for highway tunnel lining detects as above, the light filling unit is infrared ray array, the light filling unit with the image acquisition unit is parallel and the interval sets for the distance setting.
The device suitable for detecting the lining of the highway tunnel comprises a first vehicle body, a second vehicle body, a radar detection mechanism and a control unit, wherein the first vehicle body can move along the support track;
the mounting box is connected with the second vehicle body through a second mechanical arm, the second mechanical arm is connected with the control unit, and the mounting box can be ensured to be always attached to the surface of the tunnel lining through the arrangement of the second mechanical arm;
elastic idler wheels and limit sensors are respectively installed at corners of the top surface of the installation box, the limit sensors are connected with the control unit, and the radar antenna can smoothly cross over the obstacle through the limit sensors.
According to the device suitable for detecting the lining of the highway tunnel, a plurality of arc-shaped racks are arranged on the outer side of the supporting track, the motion paths of the tunnel defect detecting mechanism and the radar detecting mechanism are parallel to each other, and the tunnel defect detecting mechanism and the radar detecting mechanism can move along the arc-shaped racks.
In a second aspect, the invention also discloses a working method of the device suitable for detecting the lining of the highway tunnel, which comprises the following steps:
a tunnel defect detection mechanism and a radar detection mechanism are installed through the supporting track, and the supporting track is driven by the vehicle-mounted unit to move along the longitudinal direction of the tunnel;
when the vehicle-mounted unit moves, the radar detection mechanism moves along the circumferential direction of the support track and performs radar detection on the tunnel lining, and the radar detection mechanism sends the acquired radar image to the control unit;
the tunnel disease detection mechanism shoots the surface of the tunnel lining through the image acquisition unit and sends the shot picture to the control unit;
and the image information processing module of the control unit processes the acquired image so as to identify the corresponding disaster information of the tunnel.
The beneficial effects of the invention are as follows:
1) the vehicle-mounted unit is used for fixing the support rail, the support rail supports the tunnel defect detection mechanism and the radar detection mechanism, the vehicle body of the vehicle-mounted unit can move along the longitudinal direction of the tunnel, and a set space is formed between the side surface of the vehicle body and the end part of the support rail, so that the road sealing detection is avoided, and the normal passing of vehicles at the road tunnel is not influenced.
2) According to the device, in the process of advancing along a tunnel, the related conditions of disasters on the surface of the tunnel lining can be acquired through the tunnel disease detection mechanism, the annular internal disaster conditions on the surface of the tunnel lining can be acquired in the process of moving along the support rail through the radar detection mechanism, and the two detection mechanisms are organically combined, so that the convenience, the rapidness and the accuracy of detection and diagnosis of the lining diseases are greatly improved; meanwhile, the detection work of the inside and the outside of the tunnel can be realized by one-time operation, the detection efficiency is improved, and the labor cost is reduced.
3) According to the invention, the second mechanical arm is arranged through the radar detection mechanism, so that the mounting box can be always attached to the surface of the tunnel lining, and the accuracy of radar detection is ensured; through the setting of spacing sensor, can make radar antenna can stride across the barrier smoothly.
4) According to the invention, the problems of tunnel lining cracks, water leakage and the like can be rapidly identified through the working method of the device, the circumferential and longitudinal detection of the inside of the tunnel lining is realized through the radar detection mechanism, the tunnel defect result can be obtained through analysis of the control unit, the efficiency of tunnel detection work is greatly improved, the inspection can be automatically carried out, and the normal running of vehicles at two sides can not be influenced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a front view of an apparatus suitable for highway tunnel lining inspection according to one or more embodiments of the present invention.
Fig. 2 is a top view of an apparatus suitable for highway tunnel lining inspection in accordance with one or more embodiments of the present invention.
In the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the schematic is shown only schematically.
Wherein: 1. the system comprises a vehicle-mounted unit, 2, a radar detection mechanism, 3, a tunnel defect detection mechanism and 4, a support rail.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
term interpretation section: the terms "mounted," "connected," "fixed," and the like in the present invention are to be understood in a broad sense, and for example, the terms "mounted," "connected," and "fixed" may be fixed, detachable, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background art, the prior art only has the problem of detecting the damage on the surface of the tunnel, and in order to solve the technical problem, the invention provides a device and a working method suitable for detecting the lining of the highway tunnel.
In an exemplary embodiment of the present invention, referring to fig. 1, an apparatus for highway tunnel lining inspection comprises:
the vehicle-mounted unit 1 comprises a vehicle body, wherein the vehicle body can move along the longitudinal direction of the tunnel;
the supporting track 4 can be arranged on the inner side of the tunnel, a set distance is reserved between the supporting track 4 and the surface of the tunnel lining, a set space is reserved between the side face of the vehicle body and the end part of the supporting track close to the side face, and the width of the space is larger than that of the road vehicle;
a control unit mounted to the vehicle body;
the tunnel defect detection mechanism 3 is arranged on the support rail 4 and can move along the support rail, and comprises an image acquisition unit which is connected with the control unit;
and the radar detection mechanism 2 is arranged on the support track and can move along the support track, and the radar detection mechanism is connected with the control unit.
Furthermore, a traveling component is mounted on the lower surface of the vehicle body, and a power source of the traveling component is connected with the control unit; specifically, the running part can be the wheel, and the wheel can set up two or four, and certainly also can be other quantity, when the wheel sets up two, two wheels set up around, and a wheel is driving wheel, and specific this wheel is driven by driving motor, through driving motor drive wheel motion to drive whole on-vehicle mechanism and realize rectilinear motion along tunnel longitudinal direction.
The automobile body has the height of settlement, the automobile body has the length of settlement, and the automobile body has the width of settlement, but consider the automobile body to supporting orbital support, avoid the influence to the vehicle in the highway tunnel simultaneously again, the width of automobile body can not be too wide, preferably, the width of automobile body is between 20cm-50cm, the automobile body is connected with the inboard of supporting track 4 through many connecting rods, many connecting rods cross arrangement, the crossing connecting rod can set up the multiunit, set up two crossing connecting rods 5 in each group, namely, the one end of each connecting rod 5 is connected with the automobile body, the other end is connected with the inboard of supporting track, and two crossing connecting rods 5 in each group can link firmly, concrete accessible bolt and nut or other modes link firmly to guarantee the stable support of connecting rod to supporting track.
In order to avoid that the device influences the normal running of vehicles in the highway tunnel, the height of the vehicle body is higher than that of the vehicles on the highway, the connecting rod is positioned at the top end of the vehicle body, so that the vehicle flow on two sides cannot be influenced when the vehicle body moves along the longitudinal axis of the tunnel, meanwhile, the connecting rod is also positioned at the top end of the vehicle body, the normal running of the vehicles in the tunnel cannot be influenced, and certainly, when the device enters the highway tunnel for inspection, a driver can be informed of speed reduction running in the direction of entering the tunnel.
It should be noted that the tunnel defect detection mechanism 3 includes a first vehicle body capable of moving along the support track, the first vehicle body is provided with a plurality of first mechanical arms, the first mechanical arms are connected with the control unit, and an image acquisition unit is installed at an end portion of at least one first mechanical arm far away from the first vehicle body.
And the end part, far away from the first vehicle body, of the at least one first mechanical arm is provided with a light supplementing unit, and the light supplementing unit is connected with the control unit.
It can be understood that the first mechanical arm is an existing mechanical arm, the mechanical arm is a multi-degree-of-freedom mechanical arm, the image acquisition unit and the light supplement unit can be driven to move or move in the reverse direction towards the surface of the tunnel lining, attitude sensors such as three-axis gyroscopes are arranged on the mechanical arms, and the three-axis gyroscopes are connected with the control unit, so that the control unit can acquire state information of the first mechanical arm.
In some examples, the image capturing unit is an industrial camera, the industrial camera includes a plurality of industrial cameras, the plurality of industrial cameras are arranged in an array, the array is in a shape of a half-circular arc, the plurality of industrial cameras are arranged at set intervals, each industrial camera is arranged at an end of the first mechanical arm, and thus the adjacent two first mechanical arms are arranged at the same set interval, each industrial camera is provided with a wide-angle fixed-focus lens, and the wide-angle fixed-focus lens faces the outer side of the support track to be used for shooting the surface of the tunnel lining.
Specifically, the light filling unit is infrared ray array, and the light filling unit is parallel with industry camera array and the interval sets for the distance setting, and in some examples, the light filling unit sets up two sets ofly altogether, and two sets of light filling units are located the front and back both sides of industry camera array respectively, and the light of infrared ray is towards the tunnel lining surface, and the light filling unit is to industry camera light filling from this to obtain relatively clear black and white photo, so that the crack of tunnel lining, percolating water can be seen clearly to the picture that makes industry camera obtain.
Certainly, the infrared light of the light supplementing unit is invisible light, and the driving safety in the road tunnel is guaranteed.
Further, the industrial camera is provided with a storage unit for storing pictures taken by the industrial camera.
In addition, considering that the vehicle-mounted mechanism has a set traveling speed, the situation that the picture shot each time contains position information needs to be guaranteed, so that the industrial camera is connected with the encoder, the encoder is connected with the control unit, therefore, a synchronous pulse signal of the encoder is used as an external trigger signal of the industrial camera, the trigger frequency table can be set according to requirements, and the problem that the surface detection image acquired by the industrial area-array camera is prone to distortion after being spliced can be solved by the encoder.
Furthermore, the radar detection mechanism comprises a second vehicle body capable of moving along the supporting track, the second vehicle body is provided with a radar host connected with the control unit, the radar host is respectively and independently connected with the plurality of radar antennas, the radar antennas are arranged in the mounting box and connected with the positioning component through a synchronizer, and the positioning component (used for acquiring the position information of the vehicle-mounted mechanism) is mounted on the vehicle body, so that the radar host can receive a trigger signal of the positioning component;
the mounting box is connected with a second vehicle body through a second mechanical arm, the second mechanical arm is connected with the control unit, the second mechanical arm can realize telescopic motion, and the radar antenna can be ensured to work by being tightly attached to a working surface of a lining of a highway tunnel through the arrangement of the second mechanical arm;
further, installation box top surface edge installs elasticity gyro wheel and spacing sensor respectively, the elasticity gyro wheel is rotatable for the installation box, spacing sensor is connected with the control unit, spacing sensor can be current proximity sensor, when spacing sensor detects the installation box the place ahead and has the barrier like this, send information for the control unit, the action of second arm is controlled to the control unit, if radar antenna before contacting the wrong platform, the automatic shrink of second arm, after strideing across wrong platform position, the second arm stretches out.
Of course, in some examples, the second robotic arm may be a hydraulically telescoping arm.
It should be noted that the positioning component may be a GPS system, and the positioning component is connected to the control unit.
In some examples, the control unit may be a PLC controller or other types of controllers, and the control unit may control movement of the vehicle body, the first vehicle body, and the second vehicle body, may also realize synchronous control of the industrial camera and infrared light triggering, may also realize work of the first mechanical arm and the second mechanical arm, and may receive positioning information of the positioning element, picture information taken by the industrial camera, and radar image information acquired by the radar host; furthermore, the control unit has an image information processing module, which is used to process the acquired image to identify disaster information corresponding to the tunnel, and the image information processing module processes the image according to the prior art.
Of course, the control unit has a display screen through which corresponding disaster information can be displayed.
In this embodiment, a plurality of arc-shaped racks are arranged on the outer side of the supporting track, the motion paths of the tunnel defect detection mechanism and the radar detection mechanism are parallel to each other, and both the tunnel defect detection mechanism and the radar detection mechanism can move along the arc-shaped racks, as shown in fig. 2, specifically, 4 annular racks are arranged on the outer side of the supporting track 4, wherein 2 of the annular racks are used for moving the tunnel defect detection mechanism, and the other 2 of the annular racks are used for moving the radar detection mechanism.
The bottom side of the annular rack is provided with an opening, the first vehicle body and the second vehicle body can be identical in structure in order to be matched with the annular rack, the two vehicle bodies are respectively provided with a driving motor, the driving motors can drive the respective vehicle bodies to move, in the embodiment, the driving motors are connected with a control unit, the control unit is wirelessly connected with a remote controller, and the remote controller is used for controlling the movement of the first vehicle body and the second vehicle body so as to control the movement of the camera.
A working method of a device suitable for detecting a road tunnel lining comprises the following steps:
a tunnel defect detection mechanism and a radar detection mechanism are installed through the supporting track, and the supporting track is driven by the vehicle-mounted unit to move along the longitudinal direction of the tunnel;
when the vehicle-mounted unit moves, the radar detection mechanism moves along the circumferential direction of the support track and performs radar detection on the tunnel lining, and the radar detection mechanism sends the acquired radar image to the control unit;
the tunnel disease detection mechanism shoots the surface of the tunnel lining through the image acquisition unit and sends the shot picture to the control unit;
and the image information processing module of the control unit processes the acquired image so as to identify the corresponding disaster information of the tunnel.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A device suitable for highway tunnel lining detects, its characterized in that includes:
the vehicle-mounted unit comprises a vehicle body, and the vehicle body can move along the longitudinal direction of the tunnel;
the supporting track can be arranged on the inner side of the tunnel, a set distance is reserved between the supporting track and the surface of the tunnel lining, a set space is reserved between the side face of the vehicle body and the end part of the supporting track close to the side face, and the width of the space is larger than that of the road vehicle;
a control unit mounted to the vehicle body;
the tunnel defect detection mechanism is arranged on the support rail and can move along the support rail, and comprises an image acquisition unit which is connected with the control unit;
and the radar detection mechanism is arranged on the support rail and can move along the support rail, and the radar detection mechanism is connected with the control unit.
2. The device for detecting the lining of the road tunnel according to claim 1, wherein a walking part is mounted on the lower surface of the vehicle body, and a power source of the walking part is connected with the control unit;
the automobile body has the height of setting for, the automobile body through many connecting rods with support track's inboard is connected, many connecting rods cross arrangement.
3. The device for detecting the lining of the road tunnel according to claim 2, wherein the height of the vehicle body is higher than that of the road vehicle, and the connecting rod is positioned at the top end of the vehicle body.
4. The device of claim 1, wherein the tunnel lining detection mechanism comprises a first vehicle body capable of moving along the support track, the first vehicle body is provided with a plurality of first mechanical arms, the first mechanical arms are connected with the control unit, and the image acquisition unit is arranged at the end of at least one first mechanical arm far away from the first vehicle body.
5. The device for detecting the lining of the road tunnel according to claim 4, wherein a light supplementing unit is installed at the end of at least one first mechanical arm far away from the first vehicle body, and the light supplementing unit is connected with the control unit.
6. The device for detecting the lining of the road tunnel according to claim 1, wherein the image acquisition unit is an industrial area-array camera, each industrial area-array camera is provided with a wide-angle fixed-focus lens, and the wide-angle fixed-focus lens faces to the outer side of the support track for shooting the surface of the tunnel lining.
7. The device of claim 5, wherein the light supplementing unit is an infrared ray array, and the light supplementing unit is parallel to the image acquisition unit and spaced from the image acquisition unit by a set distance.
8. The device for detecting the lining of the road tunnel according to claim 1, wherein the radar detection mechanism comprises a second vehicle body capable of moving along the supporting track, the second vehicle body is provided with a radar main machine connected with the control unit, the radar main machine is respectively and independently connected with a plurality of radar antennas, and the radar antennas are arranged in a mounting box;
the mounting box is connected with a second vehicle body through a second mechanical arm, and the second mechanical arm is connected with the control unit;
the top surface corners of the mounting box are respectively provided with an elastic roller and a limit sensor, and the limit sensor is connected with the control unit.
9. The device for detecting the lining of the road tunnel according to claim 1, wherein a plurality of arc-shaped racks are arranged on the outer side of the supporting track, and the moving paths of the tunnel defect detecting mechanism and the radar detecting mechanism are parallel to each other and can move along the arc-shaped racks.
10. The working method of the device for the detection of the lining of the highway tunnel according to any one of claims 1 to 9, characterized by comprising the following steps:
a tunnel defect detection mechanism and a radar detection mechanism are installed through the supporting track, and the supporting track is driven by the vehicle-mounted unit to move along the longitudinal direction of the tunnel;
when the vehicle-mounted unit moves, the radar detection mechanism moves along the circumferential direction of the support track and performs radar detection on the tunnel lining, and the radar detection mechanism sends the acquired radar image to the control unit;
the tunnel disease detection mechanism shoots the surface of the tunnel lining through the image acquisition unit and sends the shot picture to the control unit;
and the image information processing module of the control unit processes the acquired image so as to identify the corresponding disaster information of the tunnel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110895421.5A CN113759368A (en) | 2021-08-05 | 2021-08-05 | Device suitable for highway tunnel lining detection and working method |
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| CN202110895421.5A CN113759368A (en) | 2021-08-05 | 2021-08-05 | Device suitable for highway tunnel lining detection and working method |
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| CN108828589A (en) * | 2018-06-19 | 2018-11-16 | 西安交通大学 | The quick vehicle-mounted detection method of Shield-bored tunnels lining quality high-precision and device |
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