Digital information system for fully automatic tunnel maintenance trolley based on multivariable fusion control

Abstract

The present invention proposes a digital information system for a fully automatic tunnel maintenance trolley with multivariable fusion control. The system comprises a trolley body, an electrical control cabinet mounted on a workbench adjacent to the trolley body, and a front panel mounted with a touchscreen display. The touchscreen display is mounted on the panel, and the touchscreen display terminal of the controller is connected to the touchscreen display terminal. After unlocking the touchscreen display, trolley parameters can be set via the touchscreen display. The system has the advantages of fully automated functions, timely water heating for spraying, a wide spraying range, excellent concrete curing effects, and secure parameter settings.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel lining maintenance, and in particular to a digital information system for a fully automatic tunnel maintenance trolley controlled by multi-variable fusion. Background Art

[0002] Tunnel construction currently accounts for a significant portion of large-scale highway and high-speed railway construction projects, often requiring long construction cycles and tight deadlines. Tunnel trolley parameters are pre-set, and these can be modified if the touchscreen display is unlocked. Summary of the Invention

[0003] The present invention aims to at least solve the technical problems existing in the prior art. In particular, it innovatively proposes a fully automatic tunnel maintenance trolley based on steering and traction combined drive, with automatic steering and traction driving, high automatic spray maintenance efficiency, and flexible regulation of heating and humidification. It solves the problems of the existing tunnel lining maintenance trolley, in which the left and right wheels of the traveling device have the same speed, resulting in limited travel direction of the trolley and inability to flexibly avoid obstacles, and the lack of temperature control of the spray water in the spray maintenance, resulting in poor maintenance effect and low maintenance efficiency.

[0004] In order to achieve the above-mentioned object of the present invention, the present invention provides a digital information system for a fully automatic tunnel maintenance trolley with multivariable fusion control, comprising a fully automatic tunnel maintenance trolley including a trolley body, an electric control cabinet arranged on a workbench on the side of the tunnel maintenance frame of the trolley body;

[0005] A PCB circuit board fixing mounting seat for fixing the PCB circuit board is provided in the electric control cabinet. The PCB circuit board is fixedly installed on the PCB circuit board fixing mounting seat. A controller and a trolley Bluetooth module are provided on the PCB circuit board. The Bluetooth transceiver data end of the controller is connected to the data end of the trolley Bluetooth module.

[0006] A touch screen fixing mounting base for fixing the touch screen is provided on the front of the electric control cabinet. The touch screen is fixedly mounted on the touch screen fixing mounting base. The touch display end of the controller is connected to the touch display end of the touch screen.

[0007] After unlocking the touch screen, set the trolley parameters through the touch screen.

[0008] The present invention also discloses a working method for digital information of a fully automatic tunnel maintenance trolley controlled by multivariable fusion, comprising the following steps:

[0009] S1, the trolley parameters are displayed on the touch screen, including spraying distance, secondary lining temperature, secondary lining humidity, water tank level, initial preheating water tank water temperature, tunnel-trolley left front distance, tunnel-trolley right front distance, tunnel-trolley left rear distance, tunnel-trolley right rear distance, or any combination thereof;

[0010] S2, unlock the touch screen;

[0011] S3, after unlocking the touch screen, set the trolley parameters.

[0012] In a preferred embodiment of the present invention, step S1 includes one or any combination of the following steps:

[0013] S11, the controller obtains the number of revolutions of the encoder device and obtains the spraying distance of the trolley according to the number of revolutions of the encoder device; the calculation method of the spraying distance is:

[0014] S=n*N*π*d,

[0015] S represents the spray distance;

[0016] S12, the controller obtains the second lining temperature measured by the infrared temperature sensor, and determines the relationship between the second lining temperature measured by the infrared temperature sensor and the preset second lining temperature threshold range:

[0017] If the second lining temperature measured by the infrared temperature sensor is lower than the preset second lining temperature lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at the first set temperature; the first set temperature is higher than the preset second lining temperature lower limit threshold;

[0018] If the second lining temperature measured by the infrared temperature sensor is greater than the preset second lining temperature upper limit threshold, and the preset second lining temperature upper limit threshold is greater than the preset second lining temperature lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at a second set temperature; the second set temperature is less than the preset second lining temperature lower limit threshold; the second lining temperature measured by the infrared temperature sensor is within the preset second lining temperature threshold range, the lower limit value of the preset second lining temperature threshold range is the preset second lining temperature lower limit threshold, and the upper limit value of the preset second lining temperature threshold range is the preset second lining temperature upper limit threshold;

[0019] S13, the controller obtains the second lining humidity measured by the humidity sensor, and determines the relationship between the second lining humidity measured by the humidity sensor and the preset second lining humidity threshold range:

[0020] If the second lining humidity measured by the humidity sensor is lower than the preset second lining humidity lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at the first set spray volume;

[0021] If the second lining humidity measured by the humidity sensor is greater than the preset second lining humidity upper limit threshold, and the preset second lining humidity upper limit threshold is greater than the preset second lining humidity lower limit threshold, then the nozzle on the automatic spraying device is controlled to spray the spray liquid to the second set spray amount; the second set spray amount is less than the first set spray amount; so that the second lining humidity measured by the humidity sensor is less than the preset second lining humidity over-limit threshold, the preset second lining humidity over-limit threshold is greater than the preset second lining humidity upper limit threshold, the lower limit value of the preset second lining humidity threshold range is the preset second lining humidity lower limit threshold, and the upper limit value of the preset second lining humidity threshold range is the preset second lining humidity upper limit threshold;

[0022] S14, the controller obtains the water level depth of the water tank measured by the water level sensor, and determines the difference between the water level depth of the water tank measured by the water level sensor and the preset water level threshold range:

[0023] If the water level depth of the water tank measured by the water level sensor is greater than the preset water level upper limit threshold, then stop adding water to the water tank;

[0024] If the water level depth of the water tank measured by the water level sensor is less than the preset water level upper limit threshold, and the preset water level upper limit threshold is greater than the preset water level lower limit threshold, water is added to the water tank; until the water level depth of the water tank measured by the water level sensor is greater than or equal to the preset water level stability threshold, and the preset water level stability threshold is less than the preset water level upper limit threshold and greater than the preset water level lower limit threshold; the upper limit value of the preset water level threshold range is the preset water level upper limit threshold, and the lower limit value of the preset water level threshold range is the preset water level lower limit threshold;

[0025] S15: The controller obtains the water temperature in the initial preheating water tank measured by the first water temperature sensor, and determines the relationship between the water temperature in the initial preheating water tank measured by the first water temperature sensor and a preset preheating water temperature threshold range:

[0026] If the water temperature in the primary preheating water tank measured by the first water temperature sensor is lower than the preset preheating water temperature lower limit threshold, the water temperature in the primary preheating water tank is controlled to be heated to the preset preheating water temperature first threshold, and the preset preheating water temperature first threshold is greater than the preset preheating water temperature lower limit threshold;

[0027] If the water temperature in the primary preheating water tank measured by the first water temperature sensor is higher than the preset preheating water temperature upper limit threshold, water is controlled to be added to the primary preheating water tank so that the water temperature is reduced to the preset preheating water temperature second threshold, the preset preheating water temperature second threshold is greater than the preset preheating water temperature first threshold, and the preset preheating water temperature second threshold is less than the preset preheating water temperature upper limit threshold;

[0028] S16: The controller obtains the water temperature in the secondary constant temperature heater measured by the second water temperature sensor, and determines the difference between the water temperature in the secondary constant temperature heater measured by the second water temperature sensor and a preset constant temperature water temperature threshold:

[0029] If the water temperature in the secondary constant temperature heater measured by the second water temperature sensor is lower than the preset constant temperature water temperature threshold, the water temperature in the secondary constant temperature heater is controlled to be heated to the preset constant temperature water temperature threshold, which is lower than the preset preheated water temperature upper limit threshold and higher than the preset preheated water temperature second threshold;

[0030] S17, the controller obtains the tunnel-trolley left front distance measured by infrared ranging device 1, infrared ranging device 2, infrared ranging device 3, and infrared ranging device 4, and measures the tunnel-trolley left rear distance, tunnel-trolley right front distance, and tunnel-trolley right rear distance.

[0031] In a preferred embodiment of the present invention, the method for unlocking the touch screen display in step S2 includes the following steps:

[0032] S21, after logging into the cloud trolley control platform using a smart handheld mobile terminal, download the authorization code from the cloud trolley control platform;

[0033] S22, transmit the authorization code downloaded from the cloud trolley control platform to the trolley via Bluetooth:

[0034] If the authorization code sent by the smart handheld mobile terminal received by the trolley exists in the authorization code set, the touch screen will be unlocked;

[0035] If the authorization code sent by the smart handheld mobile terminal received by the trolley does not exist in the authorization code set, the authorization code is downloaded again from the cloud trolley control platform and the process returns to step S22.

[0036] In a preferred embodiment of the present invention, in step S21, the method of logging into the cloud trolley control platform using a smart handheld mobile terminal includes the following steps:

[0037] S211, the platform login account set Account = {Account1, Account2, Account3, ..., Account M}, where Account1 represents the account on the first platform, Account2 represents the account on the second platform, and Account3 represents the account on the third platform. M Indicates the Mth platform account, where M represents the number of platform login accounts stored in the cloud-based vehicle control platform. Each platform login account uniquely corresponds to a platform login password.

[0038] S212, obtaining the mobile phone number PhoneNumber of the smart handheld mobile terminal during login, and executing the next step after obtaining the mobile phone number of the smart handheld mobile terminal;

[0039] S213, obtaining the device identification code IMEI of the smart handheld mobile terminal, and executing the next step after obtaining the device identification code IMEI of the smart handheld mobile terminal;

[0040] S214: Process the phone number of the smart handheld mobile terminal obtained in step S212 and the device identification code IMEI of the smart handheld mobile terminal obtained in step S213 and send them to the cloud trolley control platform;

[0041] S215, the cloud trolley control platform processes the received data and obtains the platform account code and platform login code; determines whether the platform account code exists in the platform login account set Account:

[0042] If the platform account code exists in the platform login account set Account, proceed to the next step;

[0043] If the platform account code does not exist in the platform login account set Account, it will prompt that the mobile phone number PhoneNumber of the smart handheld mobile terminal or the device identification code IMEI of the smart handheld mobile terminal does not match;

[0044] S216, query the platform account code to obtain the platform login password, and determine whether the platform login code is consistent with the platform login password:

[0045] If the platform login code and platform login password are the same, the smart handheld mobile terminal successfully logs into the cloud trolley control platform;

[0046] If the platform login code is inconsistent with the platform login password, it will prompt that the mobile phone number of the smart handheld mobile terminal or the device identification code IMEI of the smart handheld mobile terminal does not match.

[0047] In a preferred embodiment of the present invention, in step S214, the method for processing the mobile phone number PhoneNumber of the smart handheld mobile terminal obtained in step S212 is:

[0048] PhoneNumber′=Security handlerMethod(PhoneNumber),

[0049] Among them, PhoneNumber′ represents the processed mobile phone number of the smart handheld mobile terminal;

[0050] Security handlerMethod() represents the method for processing the phone number PhoneNumber of the smart handheld mobile terminal;

[0051] PhoneNumber represents the mobile phone number of the smart handheld mobile terminal;

[0052] The method for processing the device identification code IMEI of the smart handheld mobile terminal obtained in step S213 is as follows:

[0053] IMEI′=Security handlerMethod′(IMEI),

[0054] Wherein, IMEI′ represents the processed device identification code IMEI of the smart handheld mobile terminal;

[0055] Security handlerMethod′() represents the method for processing the device identification code IMEI of the smart handheld mobile terminal;

[0056] IMEI represents the device identification code IMEI of the smart handheld mobile terminal;

[0057] The processed mobile phone number PhoneNumber′ of the smart handheld mobile terminal and the processed device identification code IMEI of the smart handheld mobile terminal are sent to the cloud trolley control platform.

[0058] In a preferred embodiment of the present invention, in step S215, the method for obtaining the platform account code is:

[0059] PhoneNumber″′=Security handlerMethod″(PhoneNumber″),

[0060] Among them, PhoneNumber″′ represents the platform account code;

[0061] Security handlerMethod″() represents the processing method for the account PhoneNumber″ received by the cloud vehicle control platform;

[0062] PhoneNumber″ indicates the account number received by the cloud trolley control platform;

[0063] The method for obtaining the platform login code in step S215 is:

[0064] IMEI″′=Security handlerMethod″′(IMEI″),

[0065] Among them, IMEI″′ represents the platform login code;

[0066] Security handlerMethod″′() represents the method for processing the password IMEI″ received by the cloud vehicle control platform;

[0067] IMEI″ indicates the password received by the cloud vehicle control platform;

[0068] The processed mobile phone number PhoneNumber′ of the smart handheld mobile terminal and the processed device identification code IMEI of the smart handheld mobile terminal are sent to the cloud trolley control platform.

[0069] In a preferred embodiment of the present invention, the method for calculating the authorization code in step S21 is:

[0070] Authorization Number=Security handlerMethod″″(PhoneNumber″′-IMEI″′-date)

[0071] horization Number represents the authorization code;

[0072] Security handlerMethod″″() indicates the calculation method of the authorization code;

[0073] PhoneNumber″′ represents the platform account code;

[0074] - indicates the upper and lower link of characters;

[0075] IMEI″′ represents the platform login code;

[0076] date indicates date.

[0077] In a preferred embodiment of the present invention, in step S3, the trolley parameters are set to include an alarm of one or any combination of the water tank liquid level, the water temperature of the initial preheating water tank, the tunnel-trolley left front distance, the tunnel-trolley right front distance, the tunnel-trolley left rear distance, and the tunnel-trolley right rear distance.

[0078] In a preferred embodiment of the present invention, step S3 is followed by step S4, in which a warning alarm is provided by a warning light.

[0079] The present invention also discloses a fully automatic tunnel maintenance trolley based on steering and traction combined drive, comprising an automatic spraying device, a tunnel maintenance platform, an automatic walking device located at the bottom of the tunnel maintenance platform, and an electric control cabinet located on a workbench on the side of the tunnel maintenance platform. A PCB circuit board fixing mounting seat for fixing and installing a PCB circuit board is provided in the electric control cabinet, the PCB circuit board is fixedly installed on the PCB circuit board fixing mounting seat, a controller and a wireless data real-time transceiver module are provided on the PCB circuit board, the wireless transceiver data end of the controller is connected to the data end of the wireless data real-time transceiver module, a touch screen fixing mounting seat for fixing and installing a touch screen is provided on the front of the electric control cabinet, the touch screen is fixedly installed on the touch screen fixing mounting seat, the touch display end of the controller is connected to the touch display end of the touch screen; the automatic walking device comprises a walking mechanism fixedly mounted on the two front corners of the bottom of the main frame on the left and right, and a steering mechanism rotatably mounted on the two rear corners of the bottom of the main frame on the left and right, the walking mechanism comprises a walking drive reducer motor, a walking wheel mounting frame, and walking wheels mounted on the walking wheel mounting frame, a walking drive control end of the controller The steering mechanism includes a steering drive reducer motor, a steering wheel mounting frame and a steering wheel mounted on the steering wheel mounting frame. The steering drive control end of the controller is connected to the control end of the steering drive reducer motor. The front side of the walking wheel mounting frame and the rear side of the steering wheel mounting frame are both provided with obstacle avoidance warning components. The automatic sprinkler device includes an arched mounting frame erected along the circumferential direction of the tunnel maintenance platform, a water supply pipeline arranged along the arched mounting frame, a temperature and humidity measuring component vertically installed on the top platform, and a water supply pipeline installed on the top platform and connected to the water supply pipeline. Heating assembly, the water supply pipeline is provided with nozzles facing the inner wall of the tunnel at intervals, the water heating assembly includes a water storage tank, a primary preheating water tank and a secondary constant temperature heater connected in sequence, the preheating control end of the controller is connected to the control end of the primary preheating water tank, and the constant temperature control end of the controller is connected to the control end of the secondary constant temperature heater, the temperature and humidity measuring assembly can detect the temperature and humidity of the tunnel lining concrete, and heat and humidify the tunnel lining concrete through the water heating assembly and the nozzle; when the fully automatic tunnel maintenance trolley encounters an obstacle, the tunnel maintenance trolley uses the automatic walking device to realize automatic driving obstacle avoidance and turning.

[0080] In a preferred embodiment of the present invention, the tunnel maintenance platform includes a main frame, multiple side workbenches located on the left and right sides of the main frame, and a top platform located on the top of the main frame. The multiple side workbenches located on the left and right sides of the main frame ensure that the staff can have an all-round operating space without dead angles on the tunnel side walls. The top platform provides an installation space for the water heating component, which is convenient for the heated spray water to be directly injected from the water supply pipe arch, and the gantry structure is reasonably designed; the side of the main frame corresponding to the tunnel side wall is provided with a side wall ranging component, which can detect the distance to the tunnel side wall in real time with high sensitivity, thereby providing data support for automatic driving obstacle avoidance; except for the bottom layer, the side workbenches are all provided with ladder installation channels and are equipped with ladders for staff to move up and down, which is convenient and quick to move.

[0081] In a preferred embodiment of the present invention, the side wall ranging assembly includes an "L"-shaped support bracket, a ranging mounting frame, and an ultrasonic radar device and an infrared ranging device respectively located at the upper and lower corners of the far end of the ranging mounting frame. The radar data acquisition end of the controller is connected to the data output end of the ultrasonic radar device, and the infrared ranging acquisition end of the controller is connected to the data output end of the infrared ranging device. The sensitivity of ranging from the tunnel side wall is ensured by ultrasonic radar and infrared ranging. The proximal end of the "L"-shaped support bracket is bolted to the main frame, and the distal end is connected to the proximal end of the ranging mounting frame. The structural design is reasonable.

[0082] In a preferred embodiment of the present invention, a small sprocket is installed at the output end of the travel drive reducer motor, and a large sprocket is provided at the end of the travel wheel center axis extending out of the travel wheel mounting frame. The large sprocket and the small sprocket are on the same side and are equipped with a chain, thereby realizing chain transmission, having a reasonable transmission structure, and saving time and effort.

[0083] In a preferred embodiment of the present invention, the top of the steering wheel mounting frame is connected to the main frame through a bearing assembly, and the bearing assembly includes a slewing bearing outer ring docked with the main frame and a slewing bearing inner ring docked with the top of the steering wheel mounting frame. The steering drive reducer motor is installed on the slewing bearing outer ring, and the output end passes through the slewing bearing outer ring and docks with the slewing bearing inner ring, so that the steering wheel mounting frame can be driven to rotate by pushing the slewing bearing inner ring. The design is ingenious, the steering function of the steering wheel is realized by driving the reducer motor, and the structure is stable.

[0084] In a preferred embodiment of the present invention, an encoder device for recording driving data is installed on the walking wheel mounting frame on one side, the rotation circle acquisition end of the controller is connected to the data output end of the encoder device, and the walking drive reducer motor on this side adopts a double-output shaft reducer motor, and the output end of the double-output shaft reducer motor away from the small sprocket is connected to the encoder device, and an anti-collision travel switch is installed on the walking wheel mounting frame on the other side, and the anti-collision acquisition end of the controller is connected to the data output end of the anti-collision travel switch, so that the automatic driving journey and the stopping of driving when encountering obstacles can be recorded in real time. The functional design is reasonable. The anti-collision travel switch adopts a photoelectric travel switch to detect in real time whether there is an obstacle in front to prevent the platform from colliding with the obstacle.

[0085] In a preferred embodiment of the present invention, the obstacle avoidance warning assembly includes a warning mounting post mounted on the running wheel mounting frame and / or the steering wheel mounting frame, a radar ranging sensor located on the warning mounting post, and a warning light. The controller's ranging acquisition terminal is connected to the radar ranging sensor's data output terminal, and the controller's lighting control terminal is connected to the warning light's control terminal. This assembly can detect obstacles blocking the platform's travel direction and illuminate a red light to alert on-site personnel, thereby preventing accidents.

[0086] In a preferred embodiment of the present invention, a frame-type water tank mounting seat is provided at the bottom of the water storage tank, and a plate-type primary preheating water tank mounting seat is provided at the bottom of the primary preheating water tank. The frame-type water tank mounting seat is higher than the plate-type primary preheating water tank mounting seat, so that the bottom of the water storage tank is higher than the bottom of the primary preheating water tank. With the help of the height difference, after the water storage tank switch is turned on, the water can actively flow into the primary preheating water tank for primary preheating, which is an ingenious design; the water outlet of the secondary constant temperature heater is connected to the water inlet at the top of the water supply pipeline through a pump pipe, and the pump control end of the controller is connected to the control end of the pump pipe, so that the temperature-adjusted spray water can enter the water supply pipeline, and the structure is interconnected.

[0087] In a preferred embodiment of the present invention, the temperature and humidity measurement assembly includes a sensor mounting frame and a humidity sensor and an infrared temperature sensor respectively installed on the left and right sides above the sensor mounting frame. The humidity data acquisition end of the controller is connected to the data output end of the humidity sensor, and the infrared temperature acquisition end of the controller is connected to the data output end of the infrared temperature sensor. The temperature and humidity of the concrete poured in the tunnel lining are accurately detected by the humidity sensor and the infrared temperature sensor, thereby performing automatic regulation, and the sensor installation is reasonable; the sensor mounting frame includes a vertical slot and an "L"-shaped mounting seat symmetrically installed on the left and right side panels of the vertical slot, and the humidity sensor and the infrared temperature sensor are installed on the "L"-shaped mounting seat on the corresponding side.

[0088] In a preferred embodiment of the present invention, the left and right side panels of the vertical groove and the side panels of the "L"-shaped mounting seat are provided with threaded holes arranged at equal intervals, and are equipped with bolts to fix the vertical groove and the "L"-shaped mounting seat, so that the installation position of the "L"-shaped mounting seat on the side panels of the vertical groove can be flexibly adjusted, thereby flexibly adjusting the distance between the vertical groove and the tunnel arch.

[0089] Beneficial effects of the present invention:

[0090] (1) Compared with the existing tunnel lining maintenance trolley, the four wheels of the walking device have the same driving direction. The walking mechanism is symmetrically located on the front side of the bottom of the tunnel lining maintenance automatic driving trolley to generate the driving force and torque for the automatic driving of the trolley. The steering mechanism is symmetrically located on the rear side of the bottom of the tunnel lining maintenance automatic driving trolley to generate lateral torque, realizing the automatic driving steering function. Moreover, there is no distinction between the head and the tail, and there is no need to turn around. Only the driving direction needs to be set. The automatic driving turning or reversing operation is more sensitive and convenient, the operation is flexible, the functional division of labor is detailed, and the structural design is reasonable.

[0091] (2) Compared with the existing tunnel lining maintenance which adopts manual maintenance and lacks temperature control of spray water, this scheme adopts water heating components to preheat the spray water for the first time and then for the second time. Since water heating requires a certain amount of time, preheating the spray water can effectively shorten the water heating time, thereby ensuring the timely heating of the spray water, ensuring rapid heating and timely response, and ensuring the timely maintenance of the tunnel lining concrete.

[0092] (3) The water supply pipeline is laid out along the arch mounting frame to form an arc structure. Nozzles facing the inner wall of the tunnel are arranged at intervals along the water supply pipeline, so that the nozzles can be aimed at the tunnel lining in all directions, thereby achieving comprehensive spraying and a wide spraying range.

[0093] (4) The temperature and humidity measurement component can detect the temperature and humidity of the tunnel lining concrete, and heat and humidify the tunnel lining concrete through the water heating component and nozzle, automatically avoid obstacles, and automatically spray and humidify, so as to realize fully automatic tunnel spray maintenance. When it is detected that the temperature and humidity of the concrete are lower than the set threshold range, the spraying is automatically started; when the concrete is within the set temperature and humidity range, it is beneficial to the initial setting and solidification of the concrete, and can also better guarantee the mechanical properties of the concrete after solidification, thereby making the concrete maintenance effect better. It has great application prospects and application value and is highly practical.

[0094] In summary, it has the advantages of fully automated functions, timely heating of spraying water, wide spraying range, good concrete curing effect, and safe parameter setting.

[0095] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0097] Figure 1 It is a schematic block diagram of the system composition of the present invention.

[0098] Figure 2 It is a schematic flow diagram of the present invention.

[0099] Figure 3 It is a schematic diagram of the initial interface of the system of the present invention.

[0100] Figure 4 It is a schematic diagram of the directory menu interface of the present invention.

[0101] Figure 5 It is a schematic diagram of the automatic sprinkler parameter setting interface of the present invention.

[0102] Figure 6 It is a schematic diagram of the information real-time monitoring interface of the present invention.

[0103] Figure 7 Schematic diagram of the driving assistance interface of the present invention.

[0104] Figure 8 It is a structural schematic diagram of the present invention.

[0105] Figure 9 yes Figure 8 A partial enlarged view of point c.

[0106] Figure 10 It is a schematic diagram of the walking mechanism structure equipped with an anti-collision travel switch.

[0107] Figure 11 This is a schematic diagram of the walking mechanism structure with an encoder device installed.

[0108] Figure 12 It is a structural diagram of the steering mechanism.

[0109] Figure 13 It is a structural diagram of the side wall ranging component.

[0110] Figure 14 It is a structural diagram of the automatic sprinkler device (temperature and humidity measurement components are not shown).

[0111] Figure 15 It is a structural diagram of the temperature and humidity measurement component. DETAILED DESCRIPTION

[0112] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0113] The present invention provides a digital information system for a fully automatic tunnel maintenance trolley with multivariable fusion control, comprising a fully automatic tunnel maintenance trolley including a trolley body, an electric control cabinet arranged on a side workbench 22 of a tunnel maintenance frame 2 of the trolley body;

[0114] A PCB circuit board fixing mounting seat for fixing the PCB circuit board is provided in the electric control cabinet. The PCB circuit board is fixedly installed on the PCB circuit board fixing mounting seat. A controller and a trolley Bluetooth module are provided on the PCB circuit board. The Bluetooth transceiver data end of the controller is connected to the data end of the trolley Bluetooth module.

[0115] A touch screen fixing mounting base for fixing the touch screen is provided on the front of the electric control cabinet. The touch screen is fixedly mounted on the touch screen fixing mounting base. The touch display end of the controller is connected to the touch display end of the touch screen.

[0116] After unlocking the touch screen, set the trolley parameters through the touch screen.

[0117] The present invention also discloses a working method for digital information of a fully automatic tunnel maintenance trolley controlled by multivariable fusion, comprising the following steps:

[0118] S1, the trolley parameters are displayed on the touch screen, including spraying distance, secondary lining temperature, secondary lining humidity, water tank level, initial preheating water tank water temperature, tunnel-trolley left front distance, tunnel-trolley right front distance, tunnel-trolley left rear distance, tunnel-trolley right rear distance, or any combination thereof;

[0119] S2, unlock the touch screen;

[0120] S3, after unlocking the touch screen, set the trolley parameters.

[0121] In a preferred embodiment of the present invention, step S1 includes one or any combination of the following steps:

[0122] S11, the controller obtains the number of rotations of the encoder device and obtains the trolley spraying distance according to the number of rotations of the encoder device;

[0123] S12, the controller obtains the second lining temperature measured by the infrared temperature sensor, and determines the relationship between the second lining temperature measured by the infrared temperature sensor and the preset second lining temperature threshold range:

[0124] If the second lining temperature measured by the infrared temperature sensor is lower than the preset second lining temperature lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at the first set temperature; the first set temperature is higher than the preset second lining temperature lower limit threshold;

[0125] If the second lining temperature measured by the infrared temperature sensor is greater than the preset second lining temperature upper limit threshold, and the preset second lining temperature upper limit threshold is greater than the preset second lining temperature lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at a second set temperature; the second set temperature is less than the preset second lining temperature lower limit threshold; the second lining temperature measured by the infrared temperature sensor is within the preset second lining temperature threshold range, the lower limit value of the preset second lining temperature threshold range is the preset second lining temperature lower limit threshold, and the upper limit value of the preset second lining temperature threshold range is the preset second lining temperature upper limit threshold;

[0126] S13, the controller obtains the second lining humidity measured by the humidity sensor, and determines the relationship between the second lining humidity measured by the humidity sensor and the preset second lining humidity threshold range:

[0127] If the second lining humidity measured by the humidity sensor is lower than the preset second lining humidity lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at the first set spray volume;

[0128] If the second lining humidity measured by the humidity sensor is greater than the preset second lining humidity upper limit threshold, and the preset second lining humidity upper limit threshold is greater than the preset second lining humidity lower limit threshold, then the nozzle on the automatic spraying device is controlled to spray the spray liquid to the second set spray amount; the second set spray amount is less than the first set spray amount; so that the second lining humidity measured by the humidity sensor is less than the preset second lining humidity over-limit threshold, the preset second lining humidity over-limit threshold is greater than the preset second lining humidity upper limit threshold, the lower limit value of the preset second lining humidity threshold range is the preset second lining humidity lower limit threshold, and the upper limit value of the preset second lining humidity threshold range is the preset second lining humidity upper limit threshold;

[0129] S14, the controller obtains the water level depth of the water tank measured by the water level sensor, and determines the difference between the water level depth of the water tank measured by the water level sensor and the preset water level threshold range:

[0130] If the water level depth of the water tank measured by the water level sensor is greater than the preset water level upper limit threshold, then stop adding water to the water tank;

[0131] If the water level depth of the water tank measured by the water level sensor is less than the preset water level upper limit threshold, and the preset water level upper limit threshold is greater than the preset water level lower limit threshold, water is added to the water tank; until the water level depth of the water tank measured by the water level sensor is greater than or equal to the preset water level stability threshold, and the preset water level stability threshold is less than the preset water level upper limit threshold and greater than the preset water level lower limit threshold; the upper limit value of the preset water level threshold range is the preset water level upper limit threshold, and the lower limit value of the preset water level threshold range is the preset water level lower limit threshold;

[0132] S15: The controller obtains the water temperature in the initial preheating water tank measured by the first water temperature sensor, and determines the relationship between the water temperature in the initial preheating water tank measured by the first water temperature sensor and a preset preheating water temperature threshold range:

[0133] If the water temperature in the primary preheating water tank measured by the first water temperature sensor is lower than the preset preheating water temperature lower limit threshold, the water temperature in the primary preheating water tank is controlled to be heated to the preset preheating water temperature first threshold, and the preset preheating water temperature first threshold is greater than the preset preheating water temperature lower limit threshold;

[0134] If the water temperature in the primary preheating water tank measured by the first water temperature sensor is higher than the preset preheating water temperature upper limit threshold, water is controlled to be added to the primary preheating water tank so that the water temperature is reduced to the preset preheating water temperature second threshold, the preset preheating water temperature second threshold is greater than the preset preheating water temperature first threshold, and the preset preheating water temperature second threshold is less than the preset preheating water temperature upper limit threshold;

[0135] S16: The controller obtains the water temperature in the secondary constant temperature heater measured by the second water temperature sensor, and determines the difference between the water temperature in the secondary constant temperature heater measured by the second water temperature sensor and a preset constant temperature water temperature threshold:

[0136] If the water temperature in the secondary constant temperature heater measured by the second water temperature sensor is lower than the preset constant temperature water temperature threshold, the water temperature in the secondary constant temperature heater is controlled to be heated to the preset constant temperature water temperature threshold, which is lower than the preset preheated water temperature upper limit threshold and higher than the preset preheated water temperature second threshold;

[0137] S17, the controller obtains the tunnel-trolley left front distance measured by infrared ranging device 1, infrared ranging device 2, infrared ranging device 3, and infrared ranging device 4, and measures the tunnel-trolley left rear distance, tunnel-trolley right front distance, and tunnel-trolley right rear distance.

[0138] In a preferred embodiment of the present invention, the method for unlocking the touch screen display in step S2 includes the following steps:

[0139] S21, after logging into the cloud trolley control platform using a smart handheld mobile terminal, download the authorization code from the cloud trolley control platform;

[0140] S22, transmit the authorization code downloaded from the cloud trolley control platform to the trolley via Bluetooth:

[0141] If the authorization code sent by the smart handheld mobile terminal received by the trolley exists in the authorization code set, the touch screen will be unlocked;

[0142] If the authorization code sent by the smart handheld mobile terminal received by the trolley does not exist in the authorization code set, the authorization code is downloaded again from the cloud trolley control platform and the process returns to step S22.

[0143] In a preferred embodiment of the present invention, in step S21, the method of logging into the cloud trolley control platform using a smart handheld mobile terminal includes the following steps:

[0144] S211, the platform login account set Account = {Account1, Account2, Account3, ..., Account M}, where Account1 represents the account on the first platform, Account2 represents the account on the second platform, and Account3 represents the account on the third platform. M Indicates the Mth platform account, where M represents the number of platform login accounts stored in the cloud-based vehicle control platform. Each platform login account uniquely corresponds to a platform login password.

[0145] S212, obtaining the mobile phone number PhoneNumber of the smart handheld mobile terminal during login, and executing the next step after obtaining the mobile phone number of the smart handheld mobile terminal;

[0146] S213, obtaining the device identification code IMEI of the smart handheld mobile terminal, and executing the next step after obtaining the device identification code IMEI of the smart handheld mobile terminal;

[0147] S214: Process the phone number of the smart handheld mobile terminal obtained in step S212 and the device identification code IMEI of the smart handheld mobile terminal obtained in step S213 and send them to the cloud trolley control platform;

[0148] S215, the cloud trolley control platform processes the received data and obtains the platform account code and platform login code; determines whether the platform account code exists in the platform login account set Account:

[0149] If the platform account code exists in the platform login account set Account, proceed to the next step;

[0150] If the platform account code does not exist in the platform login account set Account, it will prompt that the mobile phone number PhoneNumber of the smart handheld mobile terminal or the device identification code IMEI of the smart handheld mobile terminal does not match;

[0151] S216, query the platform account code to obtain the platform login password, and determine whether the platform login code is consistent with the platform login password:

[0152] If the platform login code and platform login password are the same, the smart handheld mobile terminal successfully logs into the cloud trolley control platform;

[0153] If the platform login code is inconsistent with the platform login password, it will prompt that the mobile phone number of the smart handheld mobile terminal or the device identification code IMEI of the smart handheld mobile terminal does not match.

[0154] In a preferred embodiment of the present invention, in step S214, the method for processing the mobile phone number PhoneNumber of the smart handheld mobile terminal obtained in step S212 is:

[0155] PhoneNumber′=Security handlerMethod(PhoneNumber),

[0156] Among them, PhoneNumber′ represents the processed mobile phone number of the smart handheld mobile terminal;

[0157] Security handlerMethod() represents the method for processing the phone number PhoneNumber of the smart handheld mobile terminal; MD5 is preferably used;

[0158] PhoneNumber represents the mobile phone number of the smart handheld mobile terminal;

[0159] The method for processing the device identification code IMEI of the smart handheld mobile terminal obtained in step S213 is as follows:

[0160] IMEI′=Security handlerMethod′(IMEI),

[0161] Wherein, IMEI′ represents the processed device identification code IMEI of the smart handheld mobile terminal;

[0162] Security handlerMethod'() represents the method for processing the device identification code IMEI of the smart handheld mobile terminal; preferably, MD5 is used;

[0163] IMEI represents the device identification code IMEI of the smart handheld mobile terminal;

[0164] The processed mobile phone number PhoneNumber′ of the smart handheld mobile terminal and the processed device identification code IMEI of the smart handheld mobile terminal are sent to the cloud trolley control platform.

[0165] In a preferred embodiment of the present invention, in step S215, the method for obtaining the platform account code is:

[0166] PhoneNumber″′=Security handlerMethod″(PhoneNumber″),

[0167] Among them, PhoneNumber″′ represents the platform account code;

[0168] Security handlerMethod"() represents the processing method for the account PhoneNumber" received by the cloud vehicle control platform; MD5 is preferably used;

[0169] PhoneNumber″ indicates the account number received by the cloud trolley control platform;

[0170] The method for obtaining the platform login code in step S215 is:

[0171] IMEI″′=Security handlerMethod″′(IMEI″),

[0172] Among them, IMEI″′ represents the platform login code;

[0173] Security handlerMethod"'() represents the method for processing the password IMEI" received by the cloud vehicle control platform; MD5 is preferably used;

[0174] IMEI″ indicates the password received by the cloud vehicle control platform;

[0175] The processed mobile phone number PhoneNumber′ of the smart handheld mobile terminal and the processed device identification code IMEI of the smart handheld mobile terminal are sent to the cloud trolley control platform.

[0176] In a preferred embodiment of the present invention, the method for calculating the authorization code in step S21 is:

[0177] Authorization Number=Security handlerMethod″″(PhoneNumber″′-IMEI″′-date)

[0178] horization Number represents the authorization code;

[0179] Security handlerMethod""() indicates the method for calculating the authorization code; MD5 is preferred;

[0180] PhoneNumber″′ represents the platform account code;

[0181] - indicates the upper and lower link of characters;

[0182] IMEI″′ represents the platform login code;

[0183] date indicates date.

[0184] In a preferred embodiment of the present invention, in step S3, the trolley parameters are set to include an alarm of one or any combination of the water tank liquid level, the water temperature of the initial preheating water tank, the tunnel-trolley left front distance, the tunnel-trolley right front distance, the tunnel-trolley left rear distance, and the tunnel-trolley right rear distance.

[0185] In a preferred embodiment of the present invention, after step S3, step S4 is further included to implement a warning alarm through a warning light to ensure the safety of the trolley. The method of implementing a warning alarm through a warning light includes the following steps:

[0186] S41, obtaining the distance value monitored by each radar ranging sensor;

[0187] 4S2, judge the relationship between the monitored distance value and the preset distance threshold to ensure the safety of the trolley.

[0188] In a preferred embodiment of the present invention, step S41 includes:

[0189] The controller obtains the distance values ​​monitored by radar ranging sensor one, radar ranging sensor two, radar ranging sensor three, and radar ranging sensor four, which are radar distance value one, radar distance value two, radar distance value three, and radar distance value four respectively; the radar distance value one, radar distance value two, radar distance value three, and radar distance value four are combined to form a radar distance set D, D = {d1, d2, d3, d4}, where d1 represents radar distance value one, d2 represents radar distance value two, d3 represents radar distance value three, and d4 represents radar distance value four.

[0190] In a preferred embodiment of the present invention, step S42 includes:

[0191] The controller determines whether there is a radar distance set D that is less than or equal to the preset radar distance threshold:

[0192] If there is a radar distance in the radar distance set D that is less than or equal to the preset radar distance threshold, the controller sends a lighting control signal to the corresponding warning light; the warning light lights up; and the radar distance set D is updated.

[0193] In a preferred embodiment of the present invention, in step S42, the controller determines whether there is a radar distance set D that is less than or equal to a preset radar warning distance threshold:

[0194] S421, if there is a light that is less than or equal to the preset radar warning distance threshold in the radar distance set D, and the preset radar warning distance threshold is less than the preset radar distance threshold, the controller sends a light-on control signal with a frequency of fHz to the corresponding warning light; the warning light lights up at the frequency of fHz; the radar distance set D is updated; and the process returns to step S4; that is, if d1 is less than or equal to the preset radar warning distance threshold, the controller sends a light-on control signal with a frequency of fHz to warning light one; the warning light one lights up at the frequency of fHz; if d2 is less than or equal to the preset radar warning distance threshold, the controller sends a light-on control signal with a frequency of fHz to warning light two; the warning light two lights up at the frequency of fHz; if d3 is less than or equal to the preset radar warning distance threshold, the controller sends a light-on control signal with a frequency of fHz to warning light three; the warning light three lights up at the frequency of fHz; if d4 is less than or equal to the preset radar warning distance threshold, the controller sends a light-on control signal with a frequency of fHz to warning light four; the warning light four lights up at the frequency of fHz;

[0195] If there is no radar distance set D that is less than or equal to the preset radar warning distance threshold, proceed to the next step;

[0196] S422: The controller determines whether there is a radar distance set D that is less than or equal to a preset radar distance threshold:

[0197] If there is a light control signal with a frequency of (f-f1) Hz to the corresponding warning light in the radar distance set D that is less than or equal to the preset radar distance threshold, the controller sends a light control signal with a frequency of (f-f1) Hz to the corresponding warning light; the warning light lights up at a frequency of (f-f1) Hz; the radar distance set D is updated; and the process returns to step S4; that is, if d1 is less than or equal to the preset radar distance threshold, the controller sends a light control signal with a frequency of (f-f1) Hz to the warning light 1; the warning light 1 lights up at a frequency of (f-f1) Hz; if d2 is less than or equal to the preset radar distance threshold, the controller sends a light control signal with a frequency of (f-f1) Hz to the warning light 2. (f-f1) Hz lighting control signal; warning light 2 lights up at a frequency of (f-f1) Hz; if d3 is less than or equal to the preset radar distance threshold, the controller sends a lighting control signal with a frequency of (f-f1) Hz to warning light 3; warning light 3 lights up at a frequency of (f-f1) Hz; if d4 is less than or equal to the preset radar distance threshold, the controller sends a lighting control signal with a frequency of (f-f1) Hz to warning light 4; warning light 4 lights up at a frequency of (f-f1) Hz; where f-f1 is 5 to 10, f is 30 to 70, and f1 is a positive number.

[0198] If there is no radar distance less than or equal to the preset radar distance threshold in the radar distance set D, the radar distance set D is updated; and the process returns to step S4.

[0199] Warning light 1 includes: a first end of a resistor R51 connected to a first end of a light-on control of a controller, a second end of the resistor R51 connected to a base of a fifth transistor, a base collector of the fifth transistor connected to a first end of a resistor R52, a second end of the resistor R52 connected to a first end of a first red light, a second end of the first red light connected to a +12V power supply, an emitter of the fifth transistor connected to a first end of a resistor R53, and a second end of the resistor R53 connected to a power ground;

[0200] Warning light 2 includes: a first end of a resistor R61 connected to the second end of the controller's light control, a second end of the resistor R61 connected to the base of a sixth transistor, a base collector of the sixth transistor connected to a first end of a resistor R62, a second end of the resistor R62 connected to the first end of a second red light, a second end of the second red light connected to a +12V power supply, an emitter of the sixth transistor connected to a first end of a resistor R63, and a second end of the resistor R63 connected to a power ground;

[0201] Warning light three includes: a first end of a resistor R71 connected to the third end of the controller's light control, a second end of the resistor R71 connected to the base of a seventh transistor, a base collector of the seventh transistor connected to a first end of a resistor R72, a second end of the resistor R72 connected to a first end of a third red light, a second end of the third red light connected to a +12V power supply, an emitter of the seventh transistor connected to a first end of a resistor R73, and a second end of the resistor R73 connected to a power ground;

[0202] Warning light four includes: a first end of resistor R81 is connected to the fourth end of the controller's lighting control, a second end of resistor R81 is connected to the base of the eighth transistor, the base collector of the eighth transistor is connected to the first end of resistor R82, the second end of resistor R82 is connected to the first end of the fourth red light, the second end of the fourth red light is connected to the +12V power supply, the emitter of the eighth transistor is connected to the first end of resistor R83, and the second end of resistor R83 is connected to the power ground.

[0203] 1.1 Initial Interface

[0204] like Figure 3 The figure shows the initial interface of the digital trolley human-machine interface. Click the "Enter System" button on the system initial interface (the bold frame part in the figure) to enter the directory interface of the human-machine interface.

[0205] 1.2 Directory Interface

[0206] like Figure 4 The table of contents on the HMI (Human Machine Interface) is shown. The table of contents contains three jump buttons (marked in bold in the figure): "Automatic Sprinkler Parameter Settings," "Real-time Information Monitoring," and "Driver Assistance Window." These three buttons jump to the HMI's automatic sprinkler parameter settings, real-time information monitoring, and driver assistance window, enabling parameter settings, information monitoring, and driver assistance functions for the spray maintenance trolley.

[0207] 1.3 Automatic spray parameter setting interface

[0208] like Figure 5 The figure shows the automatic spray parameter setting interface of the human-machine interface. The interface consists of a return button (the symbol button in bold) in the upper left corner and several value input buttons (the bold part) in the middle. By using the value input buttons, the setting of some key parameters of the spray maintenance trolley is completed. Among them,

[0209] Automatic spray distance is the distance that the spray maintenance trolley travels automatically during spraying. The default value is 12000mm and the setting range is 0~20000mm.

[0210] The secondary lining temperature threshold is the allowable value of the tunnel secondary lining temperature in °C. The default value is 10 °C and the configurable range is 0 to 100 °C.

[0211] Secondary lining humidity threshold is the allowable value of the secondary lining humidity in the tunnel, unit is RH, the default value is 50RH, and the configurable range is 0~100RH.

[0212] The water tank level threshold is the safe value of the water level in the water tank in mm. The default value is 300mm and the configurable range is 0 to 3000mm.

[0213] The water tank temperature threshold is the safe value of the water temperature in the initial preheating water tank in °C. The default value is 20 °C and the configurable range is 0 to 100 °C.

[0214] Every time the user starts the automatic spray maintenance trolley, the user should first complete the setting of the automatic spray parameters according to the usage requirements. The setting of different parameters will have a great impact on the display of the real-time information monitoring interface and the operation mode of the spray maintenance trolley.

[0215] When the user has completed the parameter settings for the spray curing trolley, they can return to the directory interface by clicking the return button (the blue button with a bold frame in the upper left corner). At this point, they can jump to the real-time information monitoring interface of the human-machine interface by clicking the "Real-time Information Monitoring" button.

[0216] 1.4 Real-time information monitoring interface

[0217] like Figure 6 The figure shows the real-time information monitoring interface of the human-computer interface. The interface consists of a return button in the upper left corner, several histograms in the middle, and a warning bar at the bottom (all in bold red frames).

[0218] The histogram is the primary information carrier for the real-time monitoring interface. It consists of bars, target values, and a scale at the bottom. The target value is the threshold set in the automatic sprinkler parameter settings interface. The length of the bar is positively correlated with the value collected by the sensor, and the scale at the bottom of the histogram allows for accurate reading of these values.

[0219] Therefore, the several histograms in the middle can display the data collected by several sensors on the spray curing trolley in real time.

[0220] Secondary lining temperature is the temperature of the secondary lining of the tunnel collected by the sensor.

[0221] Second lining humidity: the humidity of the second lining of the tunnel collected by the sensor.

[0222] The water tank liquid level is the water level in the water tank collected by the sensor.

[0223] The water tank temperature is the water temperature in the initial preheating water tank collected by the sensor.

[0224] The automatic spraying progress is the ratio of the current spraying distance to the preset automatic spraying distance. When the automatic spraying progress reaches 100%, the spraying maintenance trolley will automatically stop.

[0225] The warning bar at the bottom of the real-time information monitoring interface is also an important component. It is not displayed under normal operating conditions. Only when the buzzer sounds will the screen display the cause of the buzzer alarm in real time. Users can use the information in the warning bar to troubleshoot the cause of the buzzer alarm.

[0226] Finally, the return button is still retained in the upper left corner of the real-time information monitoring interface, and users can use this button to return to the directory interface.

[0227] 1.5 Driving Assistance Window Interface

[0228] like Figure 7 The figure shows the driver assistance window interface of the human-machine interface. The interface consists of a return button in the upper left corner, several histograms in the middle, and a warning bar at the bottom (all with bold frames).

[0229] The histogram is the primary information carrier for the driver assistance interface. It consists of bars, distance measurement directions, and a scale at the bottom. The distance measurement parameters are the distance measurement directions around the vehicle. The length of the bars is positively correlated with the values ​​collected by the sensors, and the scale at the bottom of the histogram allows for accurate reading of these values.

[0230] Therefore, the several histograms in the middle can display the data collected by several sensors on the spray curing trolley in real time.

[0231] The present invention discloses a fully automatic tunnel maintenance trolley based on steering and traction combined drive, such as Figures 8 to 15As shown, it is composed of an automatic spraying device 3, a tunnel maintenance platform 2 and an automatic walking device 1 located at the bottom of the tunnel maintenance platform 2. Among them, in the electric control cabinet located on the workbench 22 on the side of the tunnel maintenance platform 2, a PCB circuit board fixing mounting seat for fixing the PCB circuit board is provided in the electric control cabinet, the PCB circuit board is fixedly mounted on the PCB circuit board fixing mounting seat, a controller and a wireless data real-time transceiver module or / and a trolley Bluetooth module are provided on the PCB circuit board, the wireless transceiver data end of the controller is connected to the data end of the wireless data real-time transceiver module, the wireless data real-time transceiver module is used to communicate with the cloud platform, the Bluetooth transceiver data end of the controller is connected to the data end of the trolley Bluetooth module, the trolley Bluetooth module is used to communicate with other Bluetooth modules on the trolley and the smart handheld mobile terminal, a touch screen fixing mounting seat for fixing the touch screen is provided on the front of the electric control cabinet, the touch screen is fixedly mounted on the touch screen fixing mounting seat, and the touch display end of the controller is connected to the touch display end of the touch display.

[0232] The automatic running device 1 is composed of a running mechanism a fixedly mounted at the two front corners of the bottom of the main frame 21 symmetrically and a steering mechanism b rotatably mounted at the two rear corners of the bottom of the main frame 21 symmetrically.

[0233] The walking mechanism a is mainly composed of a walking drive reducer motor 11, a walking wheel mounting frame 12, and a walking wheel 13 mounted on the walking wheel mounting frame 12. The walking drive reducer motor includes a walking drive reducer motor 1 and a walking drive reducer motor 2, which are respectively installed on the corresponding walking mechanism. In this case, the first walking drive control terminal of the controller is connected to the control terminal of the walking drive reducer motor 1, and the second walking drive control terminal of the controller is connected to the control terminal of the walking drive reducer motor 2.

[0234] A small sprocket 111 is installed at the output end of the travel drive reducer motor 11, and a large sprocket 131 is provided at the end where the central axis of the travel wheel 13 extends out of the travel wheel mounting frame 12.

[0235] The large sprocket 131 and the small sprocket 111 are on the same side and are equipped with a chain, thereby realizing chain transmission.

[0236] The steering mechanism b is primarily composed of a steering drive reducer motor 14, a steering wheel mounting frame 15, and a steering wheel 16 mounted on the steering wheel mounting frame 15. The steering drive reducer motor includes a steering drive reducer motor 1 and a steering drive reducer motor 2, each of which is mounted on a corresponding steering mechanism. The first steering drive control terminal of the controller is connected to the control terminal of the steering drive reducer motor 1, and the second steering drive control terminal of the controller is connected to the control terminal of the steering drive reducer motor 2.

[0237] Obstacle avoidance warning components 19 are provided on the front side of the walking wheel mounting frame 12 and the rear side of the steering wheel mounting frame 15.

[0238] The obstacle avoidance warning assembly 19 is composed of a warning mounting post 191 mounted on the running wheel mounting frame 12 and / or the steering wheel mounting frame 15 , a radar ranging sensor 192 located on the warning mounting post 191 , and a warning light 193 . The radar ranging sensor includes radar ranging sensor 1 (measuring the distance between the obstacle and the left front wheel), radar ranging sensor 2 (measuring the distance between the obstacle and the left rear wheel), radar ranging sensor 3 (measuring the distance between the obstacle and the right front wheel), and radar ranging sensor 4 (measuring the distance between the obstacle and the right rear wheel). The warning lights include warning light 1, warning light 2, warning light 3, and warning light 4, which are respectively arranged on corresponding warning mounting columns. At this time, the first end of the distance measurement acquisition of the controller is connected to the data output end of the radar ranging sensor 1, and the first end of the light control of the controller is connected to the control end of the warning light 1; the second end of the distance measurement acquisition of the controller is connected to the data output end of the radar ranging sensor 2, and the second end of the light control of the controller is connected to the control end of the warning light 2; the third end of the distance measurement acquisition of the controller is connected to the data output end of the radar ranging sensor 3, and the third end of the light control of the controller is connected to the control end of the warning light 3; the fourth end of the distance measurement acquisition of the controller is connected to the data output end of the radar ranging sensor 4, and the fourth end of the light control of the controller is connected to the control end of the warning light 4.

[0239] The top of the steering wheel mounting frame 15 is connected to the main frame 21 through a bearing assembly.

[0240] The bearing assembly is composed of a slewing bearing outer ring 151 that is docked with the main frame 21 and a slewing bearing inner ring 152 that is docked with the top of the steering wheel mounting frame 15 .

[0241] The steering drive reducer motor 14 is mounted on the slewing bearing outer ring 151 , and the output end passes through the slewing bearing outer ring 151 and docks with the slewing bearing inner ring 152 , thereby driving the steering wheel mounting frame 15 to rotate by pushing the slewing bearing inner ring 152 .

[0242] An encoder device 17 for recording driving data is installed on the walking wheel mounting frame 12 on one side (it can be used to measure the distance traveled by the trolley for automatic spraying. During spraying, the number of rotations is obtained, and the distance traveled by the spraying can be calculated through the conversion formula, S=n*N*π*d, S represents the spraying distance; n represents one rotation of the encoder device and n rotations of the walking wheel; N represents the number of rotations of the encoder device during spraying; d represents the diameter of the walking wheel). The rotation number collection end of the controller is connected to the data output end of the encoder device 17, and the walking drive reducer motor 11 on this side adopts a double-output shaft reducer motor, and the output end of the double-output shaft reducer motor away from the small sprocket 111 is connected to the encoder device 17.

[0243] An anti-collision travel switch 18 is installed on the travel wheel mounting frame 12 on the other side. The anti-collision acquisition end of the controller is connected to the data output end of the anti-collision travel switch 18. The anti-collision travel switch 18 adopts a photoelectric travel switch.

[0244] The automatic walking device can also be composed of bottom longitudinal beams installed on the left and right sides of the bottom of the tunnel spray maintenance gantry, wheel assemblies located at the front and rear ends of the bottom longitudinal beams, and a drive motor assembly connecting the wheel assemblies.

[0245] The wheel assembly consists of a wheel mounting cover bolted to the bottom plate of the bottom longitudinal beam and a wheel mounted within the wheel mounting cover. The wheels include a left wheel and a right wheel. A first angular velocity sensor for monitoring the angular velocity of the left wheel and a second angular velocity sensor for monitoring the angular velocity of the right wheel are installed within the corresponding wheel mounting covers. A first angular velocity acquisition terminal of a controller is connected to a data output terminal of the first angular velocity sensor, and a second angular velocity acquisition terminal of the controller is connected to a data output terminal of the second angular velocity sensor.

[0246] The drive motor assembly consists of a reducer mounted on the same side of the wheel mounting cover at the same height, a motor reducer mounting base centrally mounted at the bottom of the bottom longitudinal beam, and a dual-shaft motor reducer mounted on the motor reducer mounting base. The dual-shaft motor reducer includes dual-shaft motor reducer 1 and dual-shaft motor reducer 2, each mounted on a corresponding motor reducer mounting base. The first motor control terminal of the controller is connected to the control terminal of dual-shaft motor reducer 1, and the second motor control terminal of the controller is connected to the control terminal of dual-shaft motor reducer 2.

[0247] The output shaft ends on both sides of the double-output shaft motor reducer are connected to the corresponding reducers through horizontal connecting rods.

[0248] The motor of the double-output shaft motor reducer provides the driving force and torque for the tunnel spray maintenance gantry to move longitudinally along the tunnel.

[0249] By making the left and right dual-output shaft motor reducers have different motor speeds, the left and right wheel speeds are different, resulting in a speed difference, thereby achieving single-sided differential drive obstacle avoidance.

[0250] The horizontal connecting rod preferably adopts a floating shaft, and the reducer preferably adopts a wheel-side reducer. The horizontal connecting rod is connected to the double-output shaft motor reducer and the corresponding end shaft of the reducer through a coupling.

[0251] A motor protection cover is installed directly above the motor reducer mounting seat corresponding to the double-output shaft motor reducer.

[0252] The turning model of the wheel assembly is:

[0253]

[0254] in, Indicates the x-axis speed of the trolley;

[0255] ψ represents the attitude angle of the trolley;

[0256] V c represents the linear velocity of the trolley's center of mass;

[0257] d represents the wheel diameter;

[0258] ω L represents the left wheel angular velocity;

[0259] ω R Indicates the right wheel angular velocity;

[0260] Indicates the trolley's y-axis speed;

[0261] Indicates the rate of change of the trolley's attitude angle;

[0262] ω c represents the angular velocity of the center of mass of the trolley;

[0263] b represents the wheelbase;

[0264] The tunnel maintenance platform 2 consists of a main frame 21 , multiple side workbenches 22 located on the left and right sides of the main frame 21 , and a top platform 23 located on the top of the main frame 21 .

[0265] Except for the bottom layer, the side work platforms 22 are all provided with ladder installation channels 221 and are equipped with ladders for workers to move up and down.

[0266] A side wall distance measuring assembly 24 is provided on one side of the main frame 21 corresponding to the tunnel side wall.

[0267] The side wall ranging assembly 24 consists of an "L"-shaped support bracket 241, a ranging mounting frame 242, and an ultrasonic radar device 243 and an infrared ranging device 244 respectively located at the upper and lower corners of the far end of the ranging mounting frame 242. The ultrasonic radar device includes ultrasonic radar device 1, ultrasonic radar device 2, ultrasonic radar device 3, and ultrasonic radar device 4. The infrared ranging device includes infrared ranging device 1 (measuring the distance between the tunnel and the left front of the trolley), infrared ranging device 2 (measuring the distance between the tunnel and the left rear of the trolley), infrared ranging device 3 (measuring the distance between the tunnel and the right front of the trolley), and infrared ranging device 4 (measuring the distance between the tunnel and the right rear of the trolley), which are respectively arranged at the upper and lower corners of the far end of the ranging mounting frame. At this time, the first end of the radar data acquisition of the controller is connected to the data output end of the ultrasonic radar device 1, and the first end of the infrared ranging acquisition of the controller is connected to the data output end of the ultrasonic radar device 1. The data output end of the infrared ranging device one is connected; the second end of the radar data acquisition of the controller is connected to the data output end of the ultrasonic radar device two, and the second end of the infrared ranging acquisition of the controller is connected to the data output end of the infrared ranging device two; the third end of the radar data acquisition of the controller is connected to the data output end of the ultrasonic radar device three, and the third end of the infrared ranging acquisition of the controller is connected to the data output end of the infrared ranging device three; the fourth end of the radar data acquisition of the controller is connected to the data output end of the ultrasonic radar device four, and the fourth end of the infrared ranging acquisition of the controller is connected to the data output end of the infrared ranging device four.

[0268] The proximal end of the “L”-shaped support bracket 241 is bolted to the main frame 21 , and the distal end is connected to the proximal end of the ranging mounting bracket 242 .

[0269] When the fully automated tunnel maintenance vehicle encounters an obstacle, the tunnel maintenance platform 2 uses the automatic travel device 1 to automatically avoid the obstacle and turn. Bluetooth modules and microcontrollers can be installed in the temperature and humidity measurement component 36, the automatic sprinkler 3, the automatic travel device 1, the obstacle avoidance warning component 19, and the side wall distance measurement component 24 to reduce wiring constraints.

[0270] When the tunnel lining maintenance automatic driving trolley moves forward or backward in the tunnel, the automatically controlled steering and traction device starts turning to avoid obstacles.

[0271] The travel drive reducer motor 11 provides forward driving force for the travel wheel 13, and the steering drive reducer motor 14 provides lateral force and torque for the steering wheel 16. The steering wheel 16 changes the direction of the force, causing the direction of movement of the trolley to change, realizing steering adjustment, avoiding the trolley from colliding with the tunnel wall, and returning to the correct travel range.

[0272] Then when you need to reverse, you don't need to turn around as a whole, you just need to change the driving direction. The walking wheels 13 serve as the front wheels of the platform, and the steering wheels 16 serve as the rear wheels of the platform, which still does not affect the automatic driving effect.

[0273] The automatic sprinkler device 3 mainly consists of an arched mounting frame 31 erected in a circumferential direction along the tunnel maintenance platform 2, a water supply pipeline 32 laid along the arched mounting frame 31, a temperature and humidity measuring component 36 vertically installed on the top platform 23, and a water heating component installed on the top platform 23 and connected to the water supply pipeline 32.

[0274] The water supply pipe 32 is provided with nozzles 321 facing the inner wall of the tunnel at intervals.

[0275] The water heating assembly consists of a water storage tank 33, a primary preheating water tank 34, and a secondary constant-temperature heater 35, which are connected in sequence. The preheating control terminal of the controller is connected to the control terminal of the primary preheating water tank 34, and the constant-temperature control terminal of the controller is connected to the control terminal of the secondary constant-temperature heater 35. Preferably, a water level sensor for measuring the water level in the water storage tank is provided in the water storage tank 33, and the water level data acquisition terminal of the controller is connected to the data output terminal of the water level sensor. A first water temperature sensor for measuring the water temperature in the primary preheating water tank 34 is provided in the primary preheating water tank 34, and the first water temperature data acquisition terminal of the controller is connected to the data output terminal of the first water temperature sensor. A second water temperature sensor for measuring the water temperature in the secondary constant-temperature heater 35 is provided in the secondary constant-temperature heater 35, and the second water temperature data acquisition terminal of the controller is connected to the data output terminal of the second water temperature sensor.

[0276] The temperature and humidity measuring component 36 can detect the temperature and humidity of the tunnel lining concrete, and heat and humidify the tunnel lining concrete through the water heating component and the nozzle 321.

[0277] A frame-type water tank mounting seat 331 is provided at the bottom of the water tank 33 .

[0278] A plate-type primary preheating water tank mounting seat 341 is provided at the bottom of the primary preheating water tank 34 .

[0279] The frame-type water storage tank mounting seat 331 is higher than the plate-type primary preheating water tank mounting seat 341 , so that the bottom of the water storage tank 33 is higher than the bottom of the primary preheating water tank 34 .

[0280] The water outlet of the secondary constant temperature heater 35 is connected to the water inlet at the top of the water supply pipeline 32 via a pump pipe 351 ; the pump control end of the controller is connected to the control end of the pump pipe 351 .

[0281] The temperature and humidity measurement component 36 mainly consists of a sensor mounting frame and a humidity sensor 361 (for measuring the humidity of the second lining) and an infrared temperature sensor 362 (for measuring the temperature of the second lining) respectively installed on the left and right sides above the sensor mounting frame; the humidity data acquisition end of the controller is connected to the data output end of the humidity sensor 361, and the infrared temperature acquisition end of the controller is connected to the data output end of the infrared temperature sensor 362.

[0282] The sensor mounting frame consists of a vertical slot 363 and an L-shaped mounting seat 364 symmetrically mounted on the left and right side panels of the vertical slot.

[0283] The humidity sensor 361 and the infrared temperature sensor 362 are mounted on the corresponding side "L"-shaped mounting base 364.

[0284] The left and right side plates of the vertical slot 363 and the side plates of the "L"-shaped mounting seat 364 are both provided with threaded holes arranged at equal intervals, and are equipped with bolts to fix the vertical slot 363 and the "L"-shaped mounting seat 364.

[0285] The values ​​detected by the temperature and humidity measurement component 36 are transmitted back to the controller system in real time and compared with the temperature and humidity parameters set in the system. The set concrete humidity parameter range is 80% to 90%, and the set concrete temperature parameter range is 15°C to 25°C. The mechanical properties of concrete in this range are the best after initial setting or solidification.

[0286] When the temperature and humidity measuring component 36 detects that the temperature and humidity of the tunnel lining concrete are lower than the set range, the spray water heated by the water heating component is sprayed through the nozzle 321 to humidify and heat the concrete until the temperature and humidity reach the set range.

[0287] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A method for digitizing information of a fully automatic tunnel maintenance vehicle using multivariable fusion control, characterized in that: The following steps are involved: S1, the trolley parameters are displayed on the touch screen, and the trolley parameters include spraying distance, secondary lining temperature, secondary lining humidity, water tank level, initial preheating water tank water temperature, tunnel-trolley left front distance, tunnel-trolley right front distance, tunnel-trolley left rear distance, tunnel-trolley right rear distance, or any combination thereof; Step S1 includes: S11, the controller obtains the number of revolutions of the encoder device and obtains the spraying distance of the trolley according to the number of revolutions of the encoder device; the calculation method of the spraying distance is: S=n*N*π*d, S represents the spraying distance; n represents that the encoder device rotates one circle and the travel wheel rotates n circles; N represents the number of circles the encoder device rotates during spraying; d represents the diameter of the travel wheel; S12, the controller obtains the second lining temperature measured by the infrared temperature sensor, and determines the relationship between the second lining temperature measured by the infrared temperature sensor and the preset second lining temperature threshold range: If the second lining temperature measured by the infrared temperature sensor is lower than the preset second lining temperature lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at the first set temperature; the first set temperature is higher than the preset second lining temperature lower limit threshold; If the second lining temperature measured by the infrared temperature sensor is greater than the preset second lining temperature upper limit threshold, and the preset second lining temperature upper limit threshold is greater than the preset second lining temperature lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid at a second set temperature; the second set temperature is less than the preset second lining temperature lower limit threshold; the second lining temperature measured by the infrared temperature sensor is within the preset second lining temperature threshold range, the lower limit value of the preset second lining temperature threshold range is the preset second lining temperature lower limit threshold, and the upper limit value of the preset second lining temperature threshold range is the preset second lining temperature upper limit threshold; S13, the controller obtains the second lining humidity measured by the humidity sensor, and determines the relationship between the second lining humidity measured by the humidity sensor and the preset second lining humidity threshold range: If the second lining humidity measured by the humidity sensor is lower than the preset second lining humidity lower limit threshold, the nozzle on the automatic spraying device is controlled to spray the spray liquid to the first set spray amount; If the second lining humidity measured by the humidity sensor is greater than the preset second lining humidity upper limit threshold, and the preset second lining humidity upper limit threshold is greater than the preset second lining humidity lower limit threshold, then the nozzle on the automatic spraying device is controlled to spray the spray liquid to the second set spray amount; the second set spray amount is less than the first set spray amount; so that the second lining humidity measured by the humidity sensor is less than the preset second lining humidity over-limit threshold, the preset second lining humidity over-limit threshold is greater than the preset second lining humidity upper limit threshold, the lower limit value of the preset second lining humidity threshold range is the preset second lining humidity lower limit threshold, and the upper limit value of the preset second lining humidity threshold range is the preset second lining humidity upper limit threshold; S14, the controller obtains the water level depth of the water tank measured by the water level sensor, and determines the difference between the water level depth of the water tank measured by the water level sensor and the preset water level threshold range: If the water level depth of the water tank measured by the water level sensor is greater than the preset water level upper limit threshold, then stop adding water to the water tank; If the water level depth of the water tank measured by the water level sensor is less than the preset water level upper limit threshold, and the preset water level upper limit threshold is greater than the preset water level lower limit threshold, water is added to the water tank; until the water level depth of the water tank measured by the water level sensor is greater than or equal to the preset water level stability threshold, and the preset water level stability threshold is less than the preset water level upper limit threshold and greater than the preset water level lower limit threshold; the upper limit value of the preset water level threshold range is the preset water level upper limit threshold, and the lower limit value of the preset water level threshold range is the preset water level lower limit threshold; S15: The controller obtains the water temperature in the initial preheating water tank measured by the first water temperature sensor, and determines the relationship between the water temperature in the initial preheating water tank measured by the first water temperature sensor and a preset preheating water temperature threshold range: If the water temperature in the primary preheating water tank measured by the first water temperature sensor is lower than the preset preheating water temperature lower limit threshold, the water temperature in the primary preheating water tank is controlled to be heated to the preset preheating water temperature first threshold, and the preset preheating water temperature first threshold is greater than the preset preheating water temperature lower limit threshold; If the water temperature in the primary preheating water tank measured by the first water temperature sensor is higher than the preset preheating water temperature upper limit threshold, water is controlled to be added to the primary preheating water tank so that the water temperature is reduced to the preset preheating water temperature second threshold, the preset preheating water temperature second threshold is greater than the preset preheating water temperature first threshold, and the preset preheating water temperature second threshold is less than the preset preheating water temperature upper limit threshold; S16: The controller obtains the water temperature in the secondary constant temperature heater measured by the second water temperature sensor, and determines the difference between the water temperature in the secondary constant temperature heater measured by the second water temperature sensor and a preset constant temperature water temperature threshold: If the water temperature in the secondary constant temperature heater measured by the second water temperature sensor is lower than the preset constant temperature water temperature threshold, the water temperature in the secondary constant temperature heater is controlled to be heated to the preset constant temperature water temperature threshold, which is lower than the preset preheated water temperature upper limit threshold and higher than the preset preheated water temperature second threshold; S17, the controller obtains the tunnel-trolley left front distance measured by the infrared ranging device 1, the infrared ranging device 2, the infrared ranging device 3, and the infrared ranging device 4, and measures the tunnel-trolley left rear distance, the tunnel-trolley right front distance, and the tunnel-trolley right rear distance; S2, unlock the touch screen; S3, after unlocking the touch screen, set the trolley parameters.

2. The method for digitizing information of a fully automatic tunnel maintenance vehicle controlled by multivariable fusion according to claim 1 is characterized in that: The method for unlocking the touch display screen in step S2 includes the following steps: S21, after logging into the cloud trolley control platform using a smart handheld mobile terminal, download the authorization code from the cloud trolley control platform; S22, transmit the authorization code downloaded from the cloud trolley control platform to the trolley via Bluetooth: If the authorization code sent by the smart handheld mobile terminal received by the trolley exists in the authorization code set, the touch screen will be unlocked; If the authorization code sent by the smart handheld mobile terminal received by the trolley does not exist in the authorization code set, the authorization code is downloaded again from the cloud trolley control platform and the process returns to step S22.

3. The method for digitizing information of a fully automatic tunnel maintenance vehicle controlled by multivariable fusion according to claim 2 is characterized in that: In step S21, the method of logging into the cloud trolley control platform using a smart handheld mobile terminal includes the following steps: S211, the platform login account set Account = {Account1, Account2, Account3, ..., Account M }, where Account1 represents the account on the first platform, Account2 represents the account on the second platform, and Account3 represents the account on the third platform. M Indicates the Mth platform account, where M represents the number of platform login accounts stored in the cloud trolley control platform. Each platform login account uniquely corresponds to a platform login password; S212, obtaining the mobile phone number PhoneNumber of the smart handheld mobile terminal during login, and executing the next step after obtaining the mobile phone number of the smart handheld mobile terminal; S213, obtaining the device identification code IMEI of the smart handheld mobile terminal, and executing the next step after obtaining the device identification code IMEI of the smart handheld mobile terminal; S214: Process the phone number of the smart handheld mobile terminal obtained in step S212 and the IMEI of the smart handheld mobile terminal obtained in step S213 and send them to the cloud trolley control platform; S215, the cloud trolley control platform processes the received data and obtains the platform account code and platform login code; determines whether the platform account code exists in the platform login account set Account: If the platform account code exists in the platform login account set Account, proceed to the next step; If the platform account code does not exist in the platform login account set Account, it will prompt that the mobile phone number PhoneNumber of the smart handheld mobile terminal or the device identification code IMEI of the smart handheld mobile terminal does not match; S216, query the platform account code to obtain the platform login password, and determine whether the platform login code is consistent with the platform login password: If the platform login code and platform login password are the same, the smart handheld mobile terminal successfully logs into the cloud trolley control platform; If the platform login code is inconsistent with the platform login password, it will prompt that the mobile phone number of the smart handheld mobile terminal or the device identification code IMEI of the smart handheld mobile terminal does not match.

4. The method for digitizing information of a fully automatic tunnel maintenance vehicle controlled by multivariable fusion according to claim 3 is characterized in that: In step S214, the method for processing the mobile phone number PhoneNumber of the smart handheld mobile terminal obtained in step S212 is: PhoneNumber′=Security handlerMethod(PhoneNumber), Among them, PhoneNumber′ represents the processed mobile phone number of the smart handheld mobile terminal; Security handlerMethod() represents the method for processing the phone number PhoneNumber of the smart handheld mobile terminal; PhoneNumber represents the mobile phone number of the smart handheld mobile terminal; The method for processing the device identification code IMEI of the smart handheld mobile terminal obtained in step S213 is as follows: IMEI′=Security handlerMethod′(IMEI), Wherein, IMEI′ represents the processed device identification code IMEI of the smart handheld mobile terminal; Security handlerMethod′() represents the method for processing the device identification code IMEI of the smart handheld mobile terminal; IMEI represents the device identification code IMEI of the smart handheld mobile terminal; The processed mobile phone number PhoneNumber′ of the smart handheld mobile terminal and the processed device identification code IMEI of the smart handheld mobile terminal are sent to the cloud trolley control platform.

5. The method for digitizing information of a fully automatic tunnel maintenance vehicle controlled by multivariable fusion according to claim 3 is characterized in that: In step S215, the method for obtaining the platform account code is: PhoneNumber″′=Security handlerMethod″(PhoneNumber″), Among them, PhoneNumber″′ represents the platform account code; Security handlerMethod″() represents the processing method for the account PhoneNumber″ received by the cloud vehicle control platform; PhoneNumber″ indicates the account number received by the cloud trolley control platform; The method for obtaining the platform login code in step S215 is: IMEI″′=Security handlerMethod″′(IMEI″), Among them, IMEI″′ represents the platform login code; Security handlerMethod″′() represents the method for processing the password IMEI″ received by the cloud vehicle control platform; IMEI″ indicates the password received by the cloud vehicle control platform; The processed mobile phone number PhoneNumber′ of the smart handheld mobile terminal and the processed device identification code IMEI of the smart handheld mobile terminal are sent to the cloud trolley control platform.

6. The method for digitizing information of a fully automatic tunnel maintenance vehicle controlled by multivariable fusion according to claim 3 is characterized in that: The calculation method of the authorization code in step S21 is: Authorization Number=Security handlerMethod″″(PhoneNumber″′-IMEI″′-date) horization Number represents the authorization code; Security handlerMethod″″() indicates the calculation method of the authorization code; PhoneNumber″′ represents the platform account code; - indicates the upper and lower link of characters; IMEI″′ represents the platform login code; date indicates date.

7. The method for digitizing information of a fully automatic tunnel maintenance vehicle controlled by multivariable fusion according to claim 1 is characterized in that: In step S3, the trolley parameters are set to include one or any combination of alarms including the water tank level, the water temperature of the initial preheating water tank, the tunnel-trolley left front distance, the tunnel-trolley right front distance, the tunnel-trolley left rear distance, and the tunnel-trolley right rear distance.

8. The method for digitizing information of a fully automatic tunnel maintenance vehicle with multivariable fusion control according to claim 1 is characterized in that: After step S3, the method further includes step S4, in which a warning alarm is implemented by a warning light.

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