Laser ranging-based automatic navigation system for box girder transporting and erecting all-in-one machine for passing tunnel

Abstract

The invention discloses a laser ranging based automatic navigation system for a box girder transporting and erecting all-in-one machine for passing a tunnel. According to the invention, a lifting altitude detecting sensor is arranged on a winding drum to detect the height of the box girder; balance oil cylinder length measuring sensors are arranged on outer sides of a front travelling wheel group and a back travelling wheel group to obtain the elongation of the balance oil cylinder; travelling wheel group steering angle encoders are arranged on a front car frame travelling wheel group steering mechanism and a back car frame travelling wheel group steering mechanism to detect steering angles of the travelling wheel groups; and laser sensors are arranged on left and right sides of the ends of travelling plates of the front and the back travelling wheel groups to guarantee the front travelling wheel group and the back travelling wheel group to steer automatically and respectively in the travelling process of the complete machine in the tunnel, so as to achieve the functions of automatic navigation and anticollision. The automatic navigation system has simple structure and high reliability, can realize the functions of the automatic navigation, the anticollision, and the like of a main engine in the tunnel, can automatically identify whether inner walls of the tunnel is completed, and realizes the automatic navigation under road conditions of various tunnels.

Description

technical field [0001] The invention relates to an automatic navigation technology, in particular to an automatic navigation system for a box-girder frame-transporting integrated machine for crossing a tunnel based on laser distance measurement. Background technique [0002] The all-in-one machine for transporting and racking is an important construction equipment in the construction of railway passenger dedicated lines. With the development of passenger dedicated railway construction in the western region, there are many mountain tunnels under construction, and the advantages of using the integrated machine for box girder transport are reflected. The key point restricting the working efficiency of the all-in-one machine for transporting and frame-transporting is the running speed when the all-in-one machine for transporting and frame-transporting passes through the tunnel. For this reason, the automatic navigation technology for crossing the tunnel must be widely used. [...

AI Technical Summary

Problems solved by technology

This is too harsh on the tunnel construction conditions and environment, and cannot adapt to the construction conditions of the construction site. In addition, the cost of hardware and software required for image recognition and processing is high, and maintenance is difficult, which restricts its application.

Images