CN111457962A

CN111457962A - Rapid detection method and detection device for tunnel internal diseases

Info

Publication number: CN111457962A
Application number: CN202010387284.XA
Authority: CN
Inventors: 刘学增; 朱合华; 桑运龙; 吴建勋; 周熙俊
Original assignee: SHANGHAI TONGYAN CIVIL ENGINEERING TECHNOLOGY CO LTD; Tongji University
Current assignee: SHANGHAI TONGYAN CIVIL ENGINEERING TECHNOLOGY CO LTD; Tongji University
Priority date: 2020-05-09
Filing date: 2020-05-09
Publication date: 2020-07-28
Anticipated expiration: 2040-05-09
Also published as: CN111457962B

Abstract

The invention relates to a rapid detection method and a detection device for detecting diseases in a tunnel. The detection method comprises the following steps: detecting the lining thickness and back cavity by using acoustic emission and laser vibration measurement technologies; detecting the strength and compactness of the lining by using a laser ultrasonic technology; detecting underground water behind the lining by using an infrared temperature detection technology; detecting the deterioration degree of surrounding rocks behind the lining by using a laser scanning and inversion technology; and determining the disease position by using inertial navigation and image registration technologies. The tunnel internal disease detection device comprises modules of acoustic emission, laser vibration measurement, laser ultrasonic, infrared temperature detection, surrounding rock parameter inversion and the like, and disease characteristics such as lining thickness, lining back cavities, underground water, surrounding rock weakening degree, concrete strength, compactness and the like can be synchronously obtained by driving once in a tunnel.

Description

Rapid detection method and detection device for tunnel internal diseases

Technical Field

The invention relates to a method for detecting internal diseases of an operating tunnel, in particular to a method and a device for quickly detecting internal diseases such as tunnel lining thickness, lining back holes, underground water, concrete strength, compactness and the like.

Background

The tunnel internal diseases mainly comprise: the lining has insufficient thickness, a cavity exists at the back, underground water or surrounding rocks are enriched at the back of the lining and weakened, the concrete strength is insufficient and not dense, and the internal diseases easily induce structural apparent diseases such as cracking, water leakage, peeling and peeling, even cause disastrous accidents such as collapse, burst water and the like, and seriously endanger the structure and traffic safety. Therefore, the detection of the internal diseases of the tunnel is important for mastering the technical state of the structure and ensuring the operation safety.

In the traditional tunnel defect detection method, the core drilling method can detect defects inside the tunnel, but secondary damage is caused to the tunnel structure, sudden disasters can be induced, the detection efficiency is extremely low, and the requirement of large-scale maintenance and inspection cannot be met. For this reason, nondestructive testing instruments such as ground penetrating radar, ultrasonic detector, resiliometer, and the like have been tried to be applied to the detection of diseases inside tunnels.

Ground penetrating radar and ultrasonic detection technologies have been widely applied to tunnel nondestructive testing, and infrared temperature detection technologies have also been applied to some extent. The ground penetrating radar can be used for detecting the thickness of the lining and the cavity behind the lining, and can judge whether a large-scale underground water body exists behind the lining or not; the ultrasonic wave is mainly used for detecting whether the concrete strength, the lining and the primary support are closely attached.

According to published technical data, patents, documents and the like, the main technical characteristics of the prior method are as follows:

(1) in the aspects of lining thickness and back cavity detection,

CN201510273416.5 discloses a railway tunnel lining quality detection vehicle, which utilizes multiple radar antenna assemblies to realize the coverage of the whole section of the tunnel, and can detect the lining thickness, back cavity, underground water and the like based on radar image analysis. CN201520345295.6 also discloses a railway tunnel detects car, including railcar automobile body, PC and geological radar host computer, tunnel disease detection mechanism, tunnel concrete detection complementary unit, tunnel inner contour lighting system, crack detection system and thermal map drawing system, GPS system, realized the detection of diseases such as tunnel secondary lining concrete crack, seepage water and cavity. CN201510273300.1 discloses a highway, special detection car of hydraulic tunnel, should detect the car main part, tunnel inner contour lighting system, crack detecting system, thermal map drawing system, geological radar system, drilling coring and resiliometer's work platform, computer host computer, can detect diseases such as tunnel secondary lining concrete crack, seepage water and cavity equally. CN201510201860.6 discloses a vehicle-mounted tunnel full-section multi-arm rebound detection device and a use method thereof, and the vehicle-mounted scheme is adopted, and a crack image detection system, a water leakage infrared thermal image detection system, a back cavity radar detection system and a GPS positioning system are matched, so that automatic detection of diseases such as a tunnel secondary lining concrete crack, water leakage and a cavity is realized. CN201810574031.6 discloses a non-contact vehicle-mounted system for inspecting highway tunnel lining structure diseases, which comprises an air coupling antenna, a radar host, a control system and a vehicle-mounted device, and detects the thickness of a secondary lining, the distribution of reinforcing steel bars and I-shaped steel bars, the compactness after the secondary lining and the cavity condition in a non-contact electromagnetic wave excitation and receiving mode.

(2) In the aspects of detecting the strength and compactness of lining concrete

CN201510201860.6 discloses a vehicle-mounted tunnel full-section multi-arm rebound detection device and a use method thereof, and the vehicle-mounted scheme is adopted, and a crack image detection system, a water leakage infrared thermal image detection system, a back cavity radar detection system and a GPS positioning system are matched, so that automatic detection of diseases such as a tunnel secondary lining concrete crack, water leakage and a cavity is realized. CN201610854251.5 discloses a tunnel lining nondestructive test device, including workstation and brake universal caster, apart from fine setting subassembly, height adjustment subassembly, the automatic host computer that beats subassembly, peripheral hardware, utilize the automatic subassembly that beats to tunnel lining beat, utilize the microphone to trun into the sound signal into with the beat sound wave, collect analysis sound signal by host computer, judge lining concrete compactness, the cavity condition behind one's back. CN201721770840.1 discloses a detection device of tunnel lining structure compactness, by big exciting hammer, little exciting hammer, acceleration sensor and data processing device, adopt the mode of knocking and contact coupling, carry out concrete compactness through analysis stress wave and detect. CN201710318614.8 discloses a tunnel substrate compactness detection system, a detection method, and a storage medium, where the detection system uses a plurality of surface wave vibration pickup sensors, a surface wave instrument, a processor, etc. to detect the substrate compactness by a contact excited surface wave method. CN201720320712.0 discloses a measuring point positioning device for measuring concrete strength by an ultrasonic rebound synthesis method, which adopts a known ultrasonic detection technology and an auxiliary positioning device to realize accurate positioning of a position to be detected. CN201811594187.7 discloses a laser ultrasonic rapid detection method and device for concrete surface microcracks, the method steps include: the method comprises the steps of scanning concrete to be detected by emitting laser according to a scanning path, receiving and preprocessing an ultrasonic signal propagated on the concrete to be detected, judging whether micro cracks exist or not based on the change degree of the waveform of the ultrasonic signal of an adjacent incident point on the scanning path, and accurately positioning the micro cracks. The technology adopts a non-contact mode to excite the ultrasound and detect the concrete cracks.

(3) In the aspect of underground water detection behind lining

The system comprises a vehicle-mounted mobile platform, lighting equipment, a photoelectric encoder, a GPS receiver, an inertial unit, a synchronous controller, an area array camera, an infrared thermal imager, a collection server, a display control device and a power supply system, wherein tunnel lining two-dimensional image data, infrared temperature field data and section deformation data are combined with positioning data of the GPS, the inertial unit and the photoelectric encoder to establish a tunnel model with gray scale information, temperature information and section deformation information, tunnel lining cracks are analyzed, the length, width and lining surface leakage water information are automatically detected, the tunnel lining cracks are automatically detected, a plurality of area array cameras, an ED (infrared thermal imaging detector) and an infrared thermal imager are installed on a chassis truck through a horizontal rotating shaft, the tunnel lining cameras are installed on the sensor supports respectively, the infrared thermal imager collects tunnel image data on a tunnel section, the infrared thermal imager collects tunnel leakage data, the thermal imager and the infrared thermal imager collect infrared thermal image data, the infrared thermal imager collect and process a shallow thermal image data, the infrared thermal imager collect and the infrared thermal image, the infrared thermal imager collect and the infrared data, the infrared leakage data, the infrared thermal image, the infrared data, the infrared thermal imager, the infrared thermal image, the infrared thermal imager, the thermal image, the infrared thermal image collecting and the shallow thermal image, the shallow thermal image collecting and the shallow thermal image collecting system, the shallow thermal image processing system, the shallow thermal imaging system, the shallow thermal image processing system thermal imaging system, the shallow thermal image processing system, the shallow thermal imaging system.

(4) Aspect of detecting deterioration of surrounding rock behind lining

CN 5638 discloses a method for rapidly and quantitatively detecting weakening of a surrounding rock of underground engineering by zones, a system and equipment, firstly, the strength of the weakened surrounding rock at different depths of a tunnel excavation body at a set observation region is obtained on site, the average strength of the weakened surrounding rock is calculated, and the weakening degree of the surrounding rock is detected according to the change situation of the average strength of the weakened surrounding rock relative to the average strength of the initial surrounding rock and/or the change situation of the average strength of the weakened surrounding rock along with time.

(5) Technical aspect of positioning in tunnel

In addition to the technologies of CN201510273416.5, CN201510273300.1, CN201510131839.3 and CN201910856676.3 listed above, CN201210065360.0 also discloses a full-section vehicle-mounted detection method and device for railway tunnel lining. When the technology detects the diseases, the GPS or inertial navigation technology is adopted for positioning.

The general problems faced by the prior published patent publications and technologies for detecting the internal diseases of the tunnel are summarized as follows:

1) the accuracy and precision of radar electromagnetic wave detection are greatly influenced by steel bars in the lining and a primary steel arch, the lining strength, the size of underground water and the deterioration degree of surrounding rocks cannot be judged, and other instruments or technical means are required. In addition, multiple radars and antennas are required to be configured during full-section detection, which is expensive.

2) The contact type sound wave, ultrasonic wave or resilience detection method is low in speed, instruments are easy to damage, and only the thickness of the lining, a back cavity and whether the lining is compact or not can be detected, so that the deterioration degree of surrounding rocks behind the lining and the underground water scale cannot be detected.

3) The existing infrared temperature detection technology is applied to the identification of the surface temperature of the lining and the detection of surface leakage water, and the occurrence state of underground water behind the lining cannot be analyzed.

4) The method for testing the surrounding rock strength on site in the construction period cannot be used for operating the tunnel, the CN201910382854.3 adopts a conventional inverse analysis method, the problems of local convergence and difficult convergence are faced, the influence of operation structure diseases cannot be considered, and the conventional inverse analysis method is only suitable for parameter inversion in the construction period.

5) The GPS signal in the tunnel is weak or even has no signal, and is influenced by the line shape of the tunnel, and the accumulated error of inertial navigation is large, which is common knowledge. The accurate positioning of the diseases cannot be realized only by the inertial navigation technologies such as a GPS (global positioning system), a distance measuring wheel and the like, and the actual measurement positioning error on site reaches several meters or even tens of meters. This will cause significant deviation in the positions of the two disease detections, which seriously affects the diagnosis of the tunnel health status.

In summary, a non-contact rapid detection method and a detection device suitable for detecting the thickness and the back cavity of a reinforced concrete lining, tunnel underground water, the deterioration degree of surrounding rocks, the strength and the compactness of concrete are lacked at present, and particularly a detection device capable of detecting and synchronously acquiring the disease characteristics at one time is lacked.

Disclosure of Invention

Aiming at the defects, the invention provides a method and a device for rapidly detecting the internal diseases of the tunnel by utilizing the technologies of laser ultrasound, laser vibration measurement, infrared temperature detection, surrounding rock parameter inversion and the like and integrating, effectively overcomes the defects of the prior published patents and technologies, and achieves the aim of rapidly detecting the internal diseases of tunnel lining thickness, lining back cavities, underground water, concrete strength, compactness and the like.

The technical scheme of the invention is as follows:

a method for rapidly detecting diseases in a tunnel comprises the following steps:

s1: the method for detecting the lining thickness and the back cavity by using the acoustic emission and laser vibration measurement technology specifically comprises the following substeps:

s11: directionally transmitting sound waves to the surface of the tunnel lining by using a sound wave transmitting device to cause lining vibration;

s12: detecting lining vibration information by using a laser vibration measuring device, transmitting laser to the surface of a lining by using the laser vibration measuring device, dividing the laser into a measuring beam and a reference beam, enabling the measuring beam to be incident to the surface of the concrete lining and carrying the lining vibration information to be reflected to a spectrum detector of the laser vibration measuring device, and enabling the reference beam to be received by the spectrum detector after being reflected and focused and to be converted into vibration information of material points on the surface of the lining;

s13: establishing mathematical models of vibration speeds of back cavities and surface particles of the lining with different concrete thicknesses, different types of concrete and different sizes and ranges through research, and automatically analyzing and judging the thickness of the lining and the back cavities on the basis of vibration speed data;

s2: the method for detecting the strength and compactness of the lining by using the laser ultrasonic technology specifically comprises the following substeps:

s21: exciting laser by using a laser vibration measuring device, and forming ultrasonic waves when the laser is incident to the surface of the lining, wherein the ultrasonic waves are transmitted on the surface and inside of the lining;

s22: receiving an echo signal of ultrasonic waves by using a non-contact ultrasonic receiving device;

s23: waveform characteristic parameters such as sound time, sound velocity, sound amplitude, frequency and the like of the ultrasonic waves and echoes thereof are calculated by utilizing a waveform preprocessing and analyzing method; calculating the strength of the concrete lining based on the relationship between the strength and the compactness of the concrete and the waveform characteristic parameters, and judging the compactness of the concrete lining;

s3: the method for detecting the underground water behind the lining by using the infrared temperature detection technology specifically comprises the following substeps:

s31: detecting the temperature of the side surface of the lining by using an infrared temperature detecting device, and determining the temperature of surrounding rocks by combining the surface temperature;

s32: establishing a three-dimensional calculation model for simulating the evolution of the lining temperature field, and analyzing the characteristics of the temperature field behind the lining by combining a mathematical model of the seasonal variation of the surface temperature distribution of surrounding rocks and the lining and actually measured data; when the temperature difference between the surfaces of the surrounding rock and the lining is less than 1 ℃, waiting for the time with larger environmental temperature change or further heating excitation, and repeating the step S21;

s33: calculating the parameters of the temperature field behind the lining, comparing the parameters with empirical data or peripheral temperature data, and calculating the water-bearing area behind the lining;

s34: combining a large number of tests and tests, further establishing a mathematical distribution model of the surface temperature and the back temperature, rapidly calculating the edge of the water body behind the back based on a formula method, and calculating the water-bearing area behind the lining;

s4: the method for detecting the deterioration degree of the surrounding rock behind the lining by utilizing the laser scanning and inversion technology specifically comprises the following substeps:

s41, determining the section profile L1 at the initial stage of tunnel operation;

s42, moving and scanning the tunnel by using a three-dimensional laser scanning device, fitting the current section profile L2 and reconstructing a tunnel three-dimensional model along the longitudinal direction;

s43, establishing a stratigraphic structure method inverse analysis calculation model of surrounding rock degradation behind the lining, taking a section profile L1 as an initial state, taking a surrounding rock initial strength parameter and a loosening coil parameter as main input conditions, carrying out inverse analysis based on an improved adaptive genetic algorithm, and calculating a section profile L3;

s44, when the error value of each point of the section outline L3 and L2 is smaller than the set threshold value, the surrounding rock strength and the loosening circle parameter at the moment are the deterioration degree of the surrounding rock corresponding to the section outline L2;

s45, determining deformation values △ si of all parts of the tunnel section according to the section profiles L2 and L1, weakening and grading the surrounding rock, wherein the grading corresponds to the structural technical condition value;

s5: determining the disease position by using inertial navigation and image registration technology, specifically comprising the following substeps:

s51: before entering the tunnel, dynamically acquiring position data through a GPS, determining the position of a tunnel entrance, and recording an initial mileage;

s52: after entering the tunnel, calculating the travel distance from the tunnel entrance by using the time sequence data of the distance measuring wheel;

s53: acquiring apparent images of the arch waist and the side wall part at the side close to the tunnel in real time by using a CCD camera;

s54: identifying characteristic objects such as construction joints, mileage labels in tunnels, distribution boxes and the like based on an image characteristic identification and analysis module, and correcting mileage data of the distance measuring wheel by combining the mileage data of the characteristic objects;

s55: and determining the annular position of each disease by using laser point source data.

The sound wave intensity in the step S11 is not lower than 70-80 dB, when the detection precision is in the cm level, the sound wave intensity is not lower than 100dB, and the lower limit f of the excitation frequency_minCan be calculated as follows:

in the formula, h is the designed thickness of the lining, D is the minimum diameter of a cavity behind the back of the lining to be detected, E is an elastic model of lining concrete, rho is the density of the lining concrete, and ν is the Poisson ratio of the lining concrete.

The laser in the step S12 is near-infrared invisible laser with a wavelength of 870mm-1500nm, the excitation frequency of the laser is not lower than 2KHz, and the angle θ between the laser incident surface and the sound wave direction is 90 °.

The method for judging the lining thickness and the back cavity in the step S13 is as follows:

recording the design value of the lining thickness as h and the vibration speed as V under the intact condition₀The lining thickness of each detection point is h_iThe depth of the cavity at each detection point is d_iThe vibration speed of each detection point is V_iV when the acoustic wave excitation intensity is 80dB-100dB and the lining thickness is 35 cm-40 cm₀Is 0.5 mu m/s,

if the vibration velocity V of the detection point is detected_i≤V₀No cavity exists behind the corresponding lining;

if the detection point V is detected_i＞V₀A cavity exists at the back of the corresponding lining, and the lining thickness h is analyzed by adopting a linear attenuation mode_i＝h+h×(V_i-V₀)/V₀Depth of cavity d_i＝(V_i-V₀)×h/V₀。

In the inverse analysis calculation model in the step S43, if L2 changes in the range of the initial loose collar, the height of the loose collar in the radial direction is inverted, and if L2 changes in the range of the initial loose collar, the height of the loose collar in the radial direction and the width range in the circumferential direction are inverted at the same time;

the initial loose circle of the surrounding rock in the step S43 considers the influence of external load, the range of the initial loose circle of the surrounding rock is 120 degrees of the arch part under the action of loose load, the range of the initial loose circle of the surrounding rock covers the range of bias voltage and extends 10 degrees to two sides under the action of bias voltage caused by joint, bedding and terrain, and the range of the initial loose circle of the surrounding rock covers the range of extrusion action and extends 10 degrees to two sides under the action of plastic ground pressure caused by high ground stress;

the inverse analysis method in the step S43 is to improve the conventional adaptive genetic operator by means of niche, repeat string, marine distance, and population migration, and incorporate a disease characteristic calculation model during analysis, wherein cracks, insufficient thickness, and cavity diseases are determined by a stiffness reduction method, and the influence of concrete deterioration is considered by a strength-time function curve for water leakage diseases.

The surrounding rock weakening classification standard in the step S45 is as follows:

0 grade, no weakening, basically no increase of external load borne by the structure, △ si ≈ 0 mm;

level 1, slightly weakened, increased external load borne by the structure (still less than the design load), △ si < 0mm < 2 mm;

2-level, moderately weakened, and remarkably increased external load (close to the design load) borne by the structure, wherein the si is more than 2mm and less than △ mm and is less than or equal to 5 mm;

level 3, severe weakening, and obviously increasing the external load borne by the structure (1-1.5 times of the design load-), wherein the si is more than 5mm and less than △ mm and is less than or equal to 10 mm;

class 4, hazardous condition, the external load carried by the structure increases significantly (1.5 times over the design load), △ si > 10 mm.

The range wheel mileage data correction scheme in the step S54 is as follows:

the actual mileage of the absolute reference object A, B in the tunnel is respectively recorded as Ka0 and Kb0, the distance between the relative reference objects C and D is recorded as L, and the data are known quantities;

recording the measurement mileage of a reference object A, B, C, D and a disease E, F based on inertial navigation technology and the like as Ka1, Kb1, Kc1, Kd1, Ke1 and Kf 1;

for the disease E, if a reference object a whose absolute mileage is known is set near one of the disease E, the correction method is Ke0 ═ Ke1+ (Ka0-Ka 1);

for the disease F, if one reference object B with a known absolute distance and two reference objects C, D with a known relative distance are present in the vicinity of the disease F, the correction method is Kf0 ═ Kb0- (Kb1-Kf1) ×L/(Kd 1-Kc 1).

The utility model provides a quick detecting system of inside disease in tunnel, includes the flatbed, be provided with sound wave emitter, laser vibration measurement device, non-contact ultrasonic wave receiving arrangement, infrared temperature detection device, tunnel interior positioner, three-dimensional laser scanning device, power supply unit, storage device, central controller and data processing analytical equipment on the flatbed, central controller is connected with sound wave emitter, laser vibration measurement device, non-contact ultrasonic wave receiving arrangement, infrared temperature detection device, tunnel interior positioner, three-dimensional laser scanning device, realizes the start-up, closes and the collaborative work of above each device, data processing analytical equipment is used for the analysis and the demonstration of laser ultrasonic data, laser vibration measurement data, infrared temperature detection data, country rock degradation data. The detection speed of the detection device can reach 10-80 km/h.

The acoustic wave transmitting device comprises a plurality of groups of directional power amplifiers, amplifiers and guide wheels, wherein the power amplifiers are 400cm-700cm away from the surface of the lining, and the distance between acoustic wave excitation points incident to the surface of the lining is not less than 10 cm; the power amplifiers are uniformly arranged along the circumferential direction of the inner surface of the tunnel, and the included angle between every two adjacent power amplifiers is 20-40 degrees.

The laser vibration measuring device comprises a plurality of groups of laser vibration measuring instruments, each laser vibration measuring instrument comprises a laser, a spectroscope, a focusing mirror, a reflecting mirror, a spectrum detector and a rotating guide wheel, the energy of the laser is not lower than 500mJ, the distance between the laser and the surface of the lining is 300cm-700cm, 1 group of laser exciters can be configured during low-speed detection (not more than 5km/h), 2 groups can be preferably configured during 5-10km/h, and 3 groups can be preferably configured during 10-20 km/h; the multiple groups of laser vibration meters are arranged at fixed angles along the circumferential direction of the inner surface of the tunnel, and the laser vibration meters are connected to the guide wheels and can rotate along the circumferential direction of the tunnel to realize laser excitation and reception of the full section and a certain longitudinal range of the tunnel. The guide wheel arrangement should ensure that the lasers of different lasers do not interfere with each other.

The non-contact ultrasonic receiving device comprises a plurality of groups of air coupling antennas, an amplifier and an oscilloscope, wherein the air coupling antennas are double-contraction mode air coupling antennas of 400MHz plus 900MHz, the 400MHz antennas are independently adopted at the side wall and the arch foot of a tunnel, the air coupling antennas are 300cm-400cm away from the lining surface, the air coupling antennas are fixed on guide wheels, the infrared temperature detecting device comprises a plurality of groups of thermal infrared imagers, the groups of thermal infrared imagers are circumferentially and uniformly arranged along the inner surface of the tunnel, the coverage range of each group is 30-40 degrees, during local fixed type reexamination, a thermal excitation device can be configured, the diffusion characteristic of a temperature field is detected in a heating mode, the temperature diffusion speed of a water-rich area is obviously slower than that of an anhydrous area, and accordingly underground water is judged behind the ground, the tunnel inner positioning device comprises a plurality of CCD cameras, a light supplementing source, a distance measuring wheel and a GPS, the CCD cameras are arranged on two sides of a flat.

Compared with the detection technology of combined detection and repeated driving of the existing manual and conventional mobile detection devices, the invention adopts a plurality of key technical ideas to overcome the problems of thickness and cavity at the back of the lining, strength and compactness, deterioration of surrounding rocks, rapid nondestructive detection of underground water at the back of the lining and accurate disease positioning, integrates the technologies, adopts one set of device to drive once in the tunnel, can synchronously realize the target, greatly improves the detection efficiency and the identification precision, is more accurate in disease positioning, and obviously reduces the influence on normal traffic driving. The main technical advantages are as follows:

(1) based on the principles of sound wave detection, light interference and sound velocity analysis, the non-contact large-range rapid detection of the lining thickness and the back cavity of the reinforced concrete and the plain concrete is realized by adopting the sound emission and laser vibration detection technologies, and compared with the prior art, the method is applied to the detection of the lining thickness and the back cavity of the reinforced concrete, and has higher accuracy and precision;

(2) based on an ultrasonic detection principle and an air coupling antenna, a laser ultrasonic non-contact detection technology for the strength and compactness of lining concrete is provided, compared with the prior art, drilling or contact detection is not needed, the efficiency and the precision are greatly improved, and the problem that an instrument probe is easy to damage in a contact detection means is also avoided;

(3) the development analysis model of the back temperature field based on the surface temperature of the lining is utilized, and the infrared temperature detection is combined to realize the rapid and accurate detection of the occurrence state of the underground water behind the lining, so that the problem that the occurrence state of the back water is unclear in the operation period at the present stage is solved;

(4) by utilizing an improved adaptive genetic algorithm and a disease rigidity/strength analysis model, the dynamic incremental reverse analysis method is applied to detection and analysis of the deterioration of surrounding rocks of the operation tunnel, the defects of conventional inversion analysis are overcome, the analysis precision is further improved by adopting a three-dimensional generalized Howk-Brown rule, and the rapid and fine detection of the deterioration degree of the surrounding rocks in the operation period is realized;

(5) GPS hole opening positioning, in-hole inertial navigation rough positioning and image feature registration are combined, the problem that only inertial navigation positioning accuracy is insufficient in the prior art is solved, and longitudinal positioning accuracy is improved to a centimeter level from several meters to tens of meters in the prior art.

Drawings

FIG. 1 is a schematic view of the acoustic emission and laser vibration measurement inspection of the present invention;

FIG. 2 is a schematic diagram of the laser ultrasonic inspection technology based on air coupling antenna of the present invention;

FIG. 3 is a schematic diagram of interferometer-based laser ultrasonic inspection of the present invention;

FIG. 4 is a schematic diagram of the relationship between the mileage reference object and the disease location.

Detailed Description

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

The invention discloses a method for rapidly detecting a disease in a tunnel, which comprises the following steps:

s1: as shown in fig. 1, the method for detecting lining thickness and back cavity by using acoustic emission and laser interference technology specifically comprises the following substeps:

s11, directionally transmitting sound waves to the surface of the tunnel lining by using a high-power amplifier; the distance between the power amplifier and the lining surface is 4-7 m, and an amplifier can be configured to dynamically adjust the output power of the power amplifier; the power amplifier is connected with the guide wheel 1, and the guide wheel 1 can rotate along the annular direction of the tunnel to realize excitation of full-section sound waves; the rotating speed of the guide wheel is determined by the radius of the section of the tunnel and the distance between the measuring points along the circumferential direction and the longitudinal direction, and the distance between sound wave excitation points incident to the surface of the lining is not smaller than 10 cm;

the strength of the sound wave excited by the power amplifier is not lower than 70-80 dB, and when the detection precision is in a cm level, the strength is not lower than 100 dB; the excitation frequency f is related to physical and mechanical parameters of the lining concrete and detection accuracy indexes, and the lower limit f_minCan be calculated as follows to ensure the strength of the amplitude perception;

in the formula, h is the design thickness of the lining, D is the minimum diameter (which can be determined according to the detection requirement) of the cavity behind the back of the lining to be detected, E is an elastic model of lining concrete, rho is the density of the lining concrete, and ν is the Poisson ratio of the lining concrete.

And S12, emitting sound waves, exciting the vibration of the lining, and detecting the vibration information of the lining by using a laser vibration meter. The laser vibration meter comprises a high-energy pulse laser, a spectroscope, a focusing mirror, a refractor and a spectrum detector; the laser device is used for exciting and receiving laser, and preferably selects point source laser;

the measuring beam is divided into a measuring beam and a reference beam by an internal spectroscope, wherein the measuring beam is incident to the surface of the concrete lining and carries the vibration information of the lining to be reflected to a spectrum detector of a vibration meter; the reference beam is reflected and focused and then received by the spectral detector, and is converted into vibration information of mass points on the surface of the lining.

In order to ensure the density and the sensing intensity of the detection points, the laser excitation frequency is not lower than 2KHz, and the energy of a laser is not lower than 500 mJ;

the included angle theta between the laser incidence surface and the sound wave direction should be 90 degrees as much as possible so as to reduce the signal-to-noise ratio as much as possible.

The laser is preferably near-infrared invisible laser with the wavelength of 870-1500 nm, so that traffic interference and threat to human eyes are avoided (the wavelength of the laser Class I for human eye safety does not exceed 1550 nm).

S13, automatically analyzing and recording vibration speed characteristics of different detection points through a data processing and analyzing system, and judging lining thickness and back cavity conditions, wherein the analyzing method comprises the following steps:

recording the design value of the lining thickness as h and the vibration speed as V under the intact condition₀Each point has a lining thickness of h_iThe vibration speed of each detection point is V_i；V₀And lining thickness, back cavity calculation formula, should get through experimental and numerical analysis's research means; when the acoustic excitation intensity is 80-100 dB and the lining thickness is 35-40 cm, V is₀It is desirable to take 0.5 μm/s.

1) Vibration velocity V of detection point_i≤V₀No cavity exists behind the corresponding lining;

2) detection point V_i＞V₀A cavity is arranged at the back of the lining corresponding to the point;

3) taking the vibration velocity linear attenuation mode analysis as an example,

thickness h of lining_i＝h+h*(Vi-V₀)/V₀

Depth d of cavity_i＝(V_i-V₀)*h/V₀；

The area of the cavity can be calculated according to the area of the outer edge of the abnormal detection point.

In order to realize rapid detection, the guide wheel 2 is additionally arranged on the laser vibration meter, and the guide wheel 2 can rotate along the circumferential direction and the longitudinal direction of the tunnel, so that laser excitation and receiving of a certain range of the full section and the longitudinal direction of the tunnel are realized; the rotating speed of the guide wheel 2 is determined by detecting the density requirement and the radius of the section of the tunnel, and the distance between detection points (namely incidence points) is ensured not to exceed 10 cm.

When the detection speed exceeds 40km/h, 2-3 groups of power amplifiers, laser vibration measuring instruments and guide wheels can be arranged to ensure the distance and the precision of detection points.

S2: as shown in fig. 2, the method for detecting the strength and compactness of the lining by using the laser ultrasonic technology specifically comprises the following substeps:

s21, when the laser excited by the laser vibrometer is incident to the surface of the lining, ultrasonic waves are formed and are transmitted on the surface and inside of the lining; the wave velocity is different under different strength and compactness conditions, and the reflection, transmission, scattering and strength attenuation are realized when the wave velocity meets the lining and primary support interface.

S22, receiving electromagnetic wave (laser) echo or ultrasonic echo signals affected by the defect by using the air coupling antenna; the air coupling antenna is connected with the amplifier and the oscilloscope to realize the amplification and display of signals; the air coupling antennas are fixed on the annular guide wheel, and the number of the air coupling antennas is consistent with that of the laser vibration meter;

the double-receiving mode air coupling antenna with 400MHz plus 900MHz is preferred, and the 400MHz antenna can be independently analyzed at the side wall and the arch springing part; the amplifier is arranged on the surface of the antenna and between the lining surface and the antenna probe, so that the lossless amplification of the signal is realized.

S23, waveform characteristic parameters such as sound time, sound velocity, sound amplitude, frequency and the like of the ultrasonic waves and the echoes thereof are calculated by utilizing a waveform preprocessing and analyzing method; and calculating the strength of the concrete lining based on the relationship between the strength and the compactness of the concrete and the waveform characteristic parameters, and judging the compactness of the concrete lining.

Specially, when the lining thickness and the back cavity do not need to be detected simultaneously, or the requirement for detection precision is not high, the detection of the strength and compactness of the lining concrete can be realized based on an interferometer in a laser vibration meter, and the schematic diagram is shown in fig. 3.

s31: detecting the temperature of the side surface of the lining by using an infrared temperature detecting device, wherein the infrared temperature detecting device comprises a plurality of groups of thermal infrared imagers, the plurality of groups of thermal infrared imagers are uniformly arranged along the circumferential direction of the inner surface of the tunnel, the coverage range of each group is 30-40 degrees, and the number of the thermal infrared imagers is the same as that of the laser vibration detectors; when local fixed type reexamination is carried out, a thermal excitation device can be configured, the diffusion characteristic of a temperature field is detected in a heating mode, the temperature diffusion speed of a water-rich area is obviously slower than that of a water-free area, and accordingly, the back ground water is judged;

s32: establishing a three-dimensional calculation model for simulating the evolution of the lining temperature field, and analyzing the characteristics of the temperature field behind the lining by combining a mathematical model of the seasonal variation of the surface temperature distribution of surrounding rocks and the lining and actually measured data; the method is suitable for the parts with the surface temperature difference of not less than 1 ℃ of the surrounding rock and the lining;

s33: and calculating the parameters of the temperature field behind the lining, comparing the parameters with empirical data or peripheral temperature data, judging whether underground water exists or not, and calculating the water-bearing area behind the lining.

S34: based on a large number of tests and the calculation simulation mentioned in step S32, a mathematical distribution model of the surface temperature and the back temperature can be further established, the edge of the water body behind the back can be rapidly calculated based on a formula, and the water-applying area behind the lining can be calculated.

s41, determining the section profile L1 at the initial stage of tunnel operation, wherein the method comprises the steps of calling finished quality inspection data after the tunnel is built, consulting design files, determining structural design parameters and surrounding rock information, building a stratum structure or load structure calculation model according to the structural design parameters and the surrounding rock information, and calculating to obtain the section profile L1 at the initial stage of tunnel operation in a design state;

s42, moving and scanning in the tunnel by using a three-dimensional laser scanning device, wherein the three-dimensional laser scanning device is a three-dimensional laser scanner, and fitting a current section profile L2 based on a point cloud data preprocessing and noise point removing method to reconstruct a tunnel three-dimensional model along the longitudinal direction;

s43, establishing a stratum structure method inverse analysis calculation model of surrounding rock degradation behind the lining, taking a section profile L1 as an initial state, taking surrounding rock initial strength parameters and loosening ring parameters obtained by construction period detection or experimental research or experience as main input conditions, carrying out inverse analysis based on an improved adaptive genetic algorithm, and calculating a section profile L3;

in the steps, a three-dimensional calculation model is preferably selected as the inverse analysis calculation model, the surrounding rock is an improved generalized three-dimensional Howk-Brown strength structure, and the concrete, the steel bars and the steel arch frames are plastic damage structures;

in the inverse analysis calculation model in the steps, if L2 changes in the range of the initial loose circle, the height of the loose circle in the radial direction is inverted, and if L2 changes in the range of the initial loose circle, the height of the loose circle in the radial direction and the range in the circumferential direction are inverted simultaneously;

in the above steps, the influence of external load should be considered in the initial loose circle of the surrounding rock: under the action of a loosening load, the range of the initial loosening ring of the surrounding rock is 120 degrees of that of the arch, under the action of bias voltage caused by joints, bedding and topography, the range of the initial loosening ring of the surrounding rock covers the bias voltage range and extends 10 degrees to two sides, and under the action of plastic ground pressure caused by high ground stress, the initial loosening ring of the surrounding rock covers the extrusion range and extends 10 degrees to two sides;

the inverse analysis method in the steps improves the conventional adaptive genetic operator by adopting the modes of niche, repeated string, marine distance and population migration, and solves the problem of local convergence of the conventional inversion method; during analysis, a disease characteristic calculation model is integrated, wherein cracks, insufficient thickness and cavity diseases are determined through a rigidity reduction method, the influence of the diseases is determined, the influence of concrete degradation is considered through a strength-time function curve for water leakage diseases, and the problem that a conventional inverse analysis method cannot be used for inversion of surrounding rock parameters of a diseased structure is solved;

s44, when the error value of each point of the section outline L3 and L2 is smaller than the set threshold value, the thickness of the wall rock can be 0.5mm for the conventional two-lane tunnel, and the parameters of the wall rock strength and the loosening circle at the moment are the wall rock deterioration degree corresponding to the section outline L2;

s45, determining deformation values △ si of all parts of the tunnel section according to the section profiles L2 and L1, weakening and dividing the surrounding rock into five grades according to the classification standard as follows:

s52: and after entering the tunnel, calculating the travel distance from the tunnel entrance by using the time sequence data of the distance measuring wheel. Roughly determining the longitudinal mileage, wherein the error of the level is 1-10 m;

s54: on the basis of an image feature recognition analysis module, recognizing features such as construction joints, mileage labels in tunnels, distribution boxes and the like through image preprocessing, a sub-pixel edge detection algorithm and the like, and interpolating and correcting the mileage data of the distance measuring wheel by combining the mileage data of the features in an image registration mode, wherein the longitudinal positioning precision reaches the level of cm;

when the linear interpolation scheme is used, as shown in fig. 4, the correction method is as follows:

the actual mileage of the fan A and the actual mileage of the mileage label B are known and recorded in a basic information base and respectively recorded as Ka0 and Kb0, and the distance between a construction joint C and a construction joint D is also known and recorded as L;

recording the measurement mileage of a fan A, a mileage label B, a construction joint C, a construction joint D, underground water E and a back cavity F based on inertial navigation technology and the like as Ka1, Kb1, Kc1, Kd1, Ke1 and Kf1 respectively;

for the underground water E, only one absolute mileage reference object (fan A) is arranged nearby, and the correction method is Ke0 ═ Ke1+ (Ka0-Ka 1);

for the rear cavity F, one absolute mileage reference object (mileage label B) and two relative mileage reference objects (construction joints C and D) are present in the vicinity, and the correction method is Kf0 ═ Kb0- (Kb1-Kf1) ×L/(Kd 1-Kc 1).

Other interpolation or improved correction methods based on the above concepts are also within the scope of protection.

S55: the circumferential position of each disease is determined by using laser point source data, and the precision reaches the mm level.

The invention relates to a rapid detection system for tunnel internal diseases, which takes a flat car as a carrier, wherein the flat car is provided with a sound wave transmitting device, a laser vibration measuring device, a non-contact ultrasonic wave receiving device, an infrared temperature detecting device, a tunnel inner positioning device, a three-dimensional laser scanning device, a power supply device, a storage device, a central controller, a data processing and analyzing device, the central controller and the sound wave transmitting device, the laser vibration measuring device, the non-contact ultrasonic wave receiving device, the infrared temperature detecting device, the tunnel inner positioning device and the three-dimensional laser scanning device are connected to realize the starting, closing and cooperative work of the devices, the data processing and analyzing device is used for analyzing and displaying laser ultrasonic data, laser vibration measuring data, infrared temperature detecting data and surrounding rock degradation data, the data processing and analyzing device is loaded on a specific workstation or a server, and the detection speed can reach 10-80 km/h.

The acoustic wave transmitting device comprises a plurality of groups of power amplifiers, amplifiers and guide wheels, and is used for directionally transmitting acoustic waves to the surface of the tunnel from a long distance, wherein the transmitting direction is related to a set angle, and the vibration of the surface of the lining is caused. The distance between the power amplifier and the lining surface is 400cm-700cm, and the distance between sound wave excitation points incident to the lining surface is not less than 10 cm; the power amplifiers are uniformly arranged along the circumferential direction of the inner surface of the tunnel, the included angle between every two adjacent power amplifiers is 20-40 degrees, and the sound wave radiation intensity of any detection area is guaranteed.

The laser vibration measuring device comprises a plurality of groups of laser vibration measuring instruments, each vibration measuring instrument comprises a laser, a spectroscope, a focusing mirror, a reflecting mirror, a spectrum detector and a guide rail, the laser excites a dot matrix light source, the dot matrix light source is divided into a measuring beam and a reference beam through the spectroscope and directly emits the measuring beam and the reference beam to the surface of the lining, and the laser receives reflected light of the reference beam and the measuring beam through the focusing mirror and the reflecting mirror. And judging the strength and compactness of the concrete based on the light interference principle. The technical requirement is that the energy of the laser is not lower than 500mJ, and the laser is 300cm-700cm away from the surface of the lining when the laser is installed. When the monitoring device runs at the speed of 20-50km/h, the laser point coverage detection range can be ensured by detecting the moment of the section; when the detection device runs at a low speed not exceeding 5km/h, 1 group of laser vibration meters can be configured, when the detection device runs at 5-10km/h, 2 groups of laser vibration meters are preferably configured, and 3 groups are preferably configured at 10-20 km/h. The multiple groups of laser vibration meters are uniformly arranged at fixed angles along the circumferential direction of the tunnel, and the arrangement of the vibration mirrors and the guide rails ensures that the lasers of different lasers are not interfered with each other.

The non-contact ultrasonic receiving device comprises a plurality of groups of air coupling antennas, an amplifier and an oscilloscope, and is used for receiving ultrasonic echo signals excited by laser and judging lining thickness and back cavities. The detection distance of the air coupling antenna is 300cm-400cm in technical requirements.

The infrared temperature detecting device comprises a plurality of groups of high-strength infrared thermal imagers for sensing the temperature data of the surface of the lining. Each group of thermal infrared imagers covers 30-40 degrees and is uniformly arranged along the circumferential direction of the inner surface of the tunnel. When the local area is fixedly rechecked (special inspection of key parts), a thermal excitation device can be configured, the diffusion characteristic of a temperature field is detected in a heating mode, the temperature diffusion speed of a water-rich area is obviously slower than that of a water-free area, and accordingly, the back ground water is judged.

Tunnel positioner includes many CCD cameras, high strength light filling light source, range finding wheel and GPS, and 2 are no less than to the CCD camera, set up in the flatbed both sides, acquire the apparent image at hunch waist and side wall position, and the light filling light source is infrared L ED, reduces the interference to the traffic, and GPS is used for tunnel entrance to a cave mileage position's determination.

In the detection method, aiming at the detection of the lining thickness and the back cavity, a power amplifier is adopted to excite sound waves and excite the lining to vibrate; and a laser vibration meter is utilized to emit laser to the surface of the lining, receive reflected laser carrying lining vibration information, automatically analyze the vibration characteristics of mass points after measuring and forming light interference with a reference beam, and quickly judge the thickness and the back cavity of the lining. The technical means achieves the non-contact rapid detection effect same as that of the prior art, can be applied to reinforced concrete lining, and has mature power amplifier and vibration meter technology, low price and lower cost.

According to the detection method, aiming at the detection of the strength and compactness of the lining, the laser excited by a laser vibration meter is utilized to excite ultrasonic waves in a non-contact mode and spread on the surface and the inside of the lining; and receiving the reflected ultrasonic signals in a non-contact manner by utilizing an air coupling antenna, and automatically judging and calculating the strength and compactness of the lining concrete based on the analysis of characteristic parameters such as sound time, sound velocity, sound amplitude, frequency and the like. Compared with the existing contact type ultrasonic wave excitation and receiving technology, the technology of the invention realizes the non-contact type excitation and receiving of the ultrasonic wave and obviously improves the detection efficiency.

According to the detection method, aiming at the detection of underground water behind the lining, on the basis that the thermal infrared imager detects the surface temperature, a temperature field diffusion model from the back of the lining to the surface is provided, a surface-surrounding rock-tunnel inner surface temperature diffusion formula in different seasons in winter and summer is established, the temperature distribution characteristics of the back are evolved according to the surface temperature, the existence of the underground water is further judged, and the water-applying area behind the lining is calculated. Compared with the prior art, the invention realizes the accurate detection and area calculation of underground water behind the lining.

In the detection method, aiming at the detection of the deterioration degree of the surrounding rock behind the lining, the rigidity/strength calculation model of the defects such as cracks, insufficient thickness, cavities, water leakage and the like is integrated into inverse analysis while the adaptive genetic algorithm is improved by utilizing the technologies such as niche, repeated string, marine distance and the like, and the operating tunnel surrounding rock parameter inversion analysis method considering the structural defects is established; and then, according to the deformation detection data, the surrounding rock weakening condition is inverted, a grading standard of the degradation degree is established, and judgment basis of deformation and degradation range is provided. Compared with the prior art, the method and the device realize the judgment of the deterioration degree of the surrounding rock behind the lining of the operation tunnel and establish a quantitative judgment standard.

In the detection method, aiming at the position detection of the tunnel defect, the invention determines the mileage of the entrance of the tunnel by using a GPS, primarily determines the longitudinal mileage by using an inertial navigation technology, provides an image feature identification method for a tunnel construction joint, a distribution box in the tunnel, a lighting lamp, a mileage label and the like, establishes a longitudinal mileage interpolation correction method based on image registration, and improves the positioning accuracy from several meters to the centimeter level. Compared with the prior art, the invention has higher positioning precision and more accurate detection result.

The above disclosure is only an example of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art should fall within the scope of the present invention.

Claims

1. A method for rapidly detecting diseases in a tunnel is characterized by comprising the following steps:

s23: waveform characteristic parameters such as sound time, sound velocity, sound amplitude, frequency and the like of ultrasonic waves and echoes thereof are calculated by utilizing a waveform preprocessing and analyzing method, the strength of the concrete lining is calculated based on the relation between the strength and the compactness of the concrete and the waveform characteristic parameters, and the compactness of the concrete lining is judged;

s32: establishing a three-dimensional calculation model for simulating the evolution of the lining temperature field, and analyzing the characteristics of the temperature field behind the lining by combining a mathematical model of the seasonal variation of the surface temperature distribution of surrounding rocks and the lining and actually measured data;

s54: identifying a feature in the tunnel based on an image feature identification and analysis module, and correcting mileage data of the distance measuring wheel by combining the mileage data of the feature;

2. The method for rapidly detecting the tunnel interior disease according to claim 1, wherein the sound wave intensity in the step S11 is not lower than 70-80 dB, when the detection precision is in the cm level, the sound wave intensity is not lower than 100dB, and the lower limit f of the excitation frequency is_minCan be calculated as follows:

3. The method for rapidly detecting the tunnel internal disease according to claim 1, wherein the laser in step S12 is a near-infrared invisible laser with a wavelength of 870mm to 1500nm, the excitation frequency of the laser is not lower than 2KHz, and the angle θ between the laser incident surface and the direction of the acoustic wave is 90 °.

4. The method for rapidly detecting tunnel interior diseases according to claim 1, wherein the method for judging lining thickness and back cavity in step S13 is as follows:

if the detection point V is detected_i＞V₀A cavity exists at the back of the corresponding lining, and the lining thickness h is analyzed by adopting a linear attenuation mode_i＝h+h×(Vi-V₀)/V₀Depth of cavity d_i＝(V_i-V₀)×h/V₀。

5. The method for rapidly detecting tunnel interior diseases according to claim 1, wherein in the inverse analysis calculation model in step S43, if L2 changes within the range of the initial loose circle, the height of the loose circle in the radial direction is inverted, and if L2 changes outside the range of the initial loose circle, the height of the loose circle in the radial direction and the width range in the circumferential direction are simultaneously inverted;

6. The method for rapidly detecting tunnel interior diseases according to claim 1, wherein the surrounding rock weakening classification standard in the step S45 is as follows:

7. The utility model provides a quick detecting system of inside disease in tunnel, its characterized in that includes the flatbed, be provided with sound wave emitter, laser vibration measurement device, non-contact ultrasonic wave receiving arrangement, infrared temperature detection device, tunnel interior positioner, three-dimensional laser scanning device, power supply unit, storage device, central controller and data processing analytical equipment on the flatbed, central controller is connected with sound wave emitter, laser vibration measurement device, non-contact ultrasonic wave receiving arrangement, infrared temperature detection device, tunnel interior positioner, three-dimensional laser scanning device, realizes the start-up, closes and the collaborative work of above each device, data processing analytical equipment is used for the analysis and the display of laser ultrasonic data, laser vibration measurement data, infrared temperature detection data, country rock degradation data.

8. The system for rapidly detecting the tunnel internal diseases according to claim 7, wherein the sound wave emitting device comprises a plurality of groups of directional power amplifiers, amplifiers and guide wheels, the power amplifiers are 400-700 cm away from the lining surface, and the distance between sound wave excitation points incident to the lining surface is not less than 10 cm; the power amplifiers are uniformly arranged along the circumferential direction of the inner surface of the tunnel, and the included angle between every two adjacent power amplifiers is 20-40 degrees.

9. The system for rapidly detecting the internal diseases of the tunnel according to claim 7, wherein the laser vibration measuring device comprises a plurality of groups of laser vibration measuring instruments, each laser vibration measuring instrument comprises a laser, a spectroscope, a focusing mirror, a reflecting mirror, a spectrum detector and a guide wheel, the energy of the laser is not lower than 500mJ, the distance between the laser and the lining surface is 300cm-700cm, the plurality of groups of laser vibration measuring instruments are annularly arranged along the inner surface of the tunnel, and the laser vibration measuring instruments are connected to the guide wheels and can rotate along the annular direction of the tunnel to realize laser excitation and reception of the whole section and a certain longitudinal range of the tunnel.

10. The system for rapidly detecting the internal diseases of the tunnel according to claim 7, wherein the non-contact ultrasonic receiving device comprises a plurality of groups of air coupling antennas, an amplifier and an oscilloscope, the air coupling antennas are 400MHz +900MHz double-contraction mode air coupling antennas, 400MHz antennas are independently adopted at the side walls and the arch foot parts of the tunnel, the air coupling antennas are 300cm-400cm away from the lining surface and are fixed on guide wheels, the infrared temperature detecting device comprises a plurality of groups of thermal infrared imagers, the groups of thermal infrared imagers are uniformly arranged along the circumferential direction of the inner surface of the tunnel, each group covers the range of 30 degrees-40 degrees, the tunnel internal positioning device comprises a plurality of CCD cameras, a light supplementing source, a distance measuring wheel and a GPS, the CCD cameras are arranged on two sides of the flat car, and the light supplementing source is infrared L ED.