A shield tunnel folding track bicycle

Abstract

This invention discloses a folding rail bicycle for shield tunneling, relating to the field of rail bicycle technology. It includes a main frame with a drive axle sleeve at its bottom and a seat tube inserted at its top, top of which is fitted with a seat. A retractable connecting tube is located on one side of the main frame, with a head tube at one end. A shock-absorbing front fork arm is located at the bottom of the head tube, and a foldable handlebar is located at the top. A distance measuring and positioning box is located on one side of the foldable handlebar, and a display device is located at the top of the handlebar. A foldable triangular frame is fitted outside the drive axle sleeve, with a rear wheel crossarm on one side of the foldable triangular frame. A rear folding upright is located at the top of the foldable triangular frame, and an auxiliary wheel mounting base is located at the top of the rear folding upright. This invention, through innovative design, improves the ease of operation, safety, and intelligence level in shield tunnel construction, and has a significant positive impact on improving the working environment and increasing work efficiency for workers.

Description

Technical Field

[0001] This invention relates to the field of rail bicycle technology, and more specifically, to a folding rail bicycle for tunnel boring machines. Background Technology

[0002] Shield tunneling is a tunnel construction method used in underground engineering. Its main characteristic is the simultaneous excavation of the strata and tunnel support by using a tunnel boring machine (TBM) to advance underground. Shield tunneling is suitable for various geological conditions, including soft soil and hard rock, and is widely used in urban subways, transportation tunnels, and water conservancy projects. During shield tunnel construction, the TBM advances continuously, simultaneously excavating the strata and supporting the tunnel walls. This typically involves a cutterhead at the TBM head for cutting the strata, while the rear handles the excavated soil and installs the tunnel support structure. The TBM's operating track usually follows the designed tunnel trajectory to ensure accuracy and efficiency. The TBM's track system plays a crucial role in ensuring the TBM advances stably along the predetermined trajectory while providing access for construction personnel.

[0003] A shield tunnel track refers to the track system installed inside a shield tunnel. Its function is not only to support the propulsion of the tunnel boring machine (TBM), but also to provide traffic channels and potential transportation systems during construction. The track is typically laid along the length of the tunnel, guiding the TBM and maintaining stability during tunnel construction. The track system can also be used to transport construction materials, equipment, and personnel into and out of the tunnel, improving construction efficiency.

[0004] With the widespread application of tunnel boring machine (TBM) technology in China, especially in small-diameter TBM construction, limited tunnel space has become a significant challenge. In such a construction environment, workers often need to perform complex operations within confined spaces, including walking from the shaft opening to the center of the TBM. Due to the small tunnel diameter, long-distance walking within a confined space becomes extremely difficult, especially when carrying load-bearing tools. This significantly impacts workers' physical strength and work efficiency.

[0005] Workers need to frequently move through the confined tunnel space, from the shaft opening to the center of the tunnel boring machine, a process that can be time-consuming and physically demanding. Due to the restricted freedom of movement, workers not only have to contend with the inconvenience of walking in the narrow space, but also with the difficulty of carrying tools and equipment. Under these circumstances, workers are prone to fatigue, and prolonged walking can significantly reduce work efficiency.

[0006] No effective solutions have yet been proposed to address the problems in the relevant technologies. Summary of the Invention

[0007] In view of the problems in related technologies, the present invention proposes a folding rail bicycle for shield tunnels to overcome the above-mentioned technical problems existing in the existing related technologies.

[0008] Therefore, the specific technical solution adopted by the present invention is as follows:

[0009] A folding rail bicycle for tunnel boring machines includes a main frame with a drive shaft sleeve at the bottom and a seat tube at the top. A seat is located at the top of the seat tube. A telescopic connecting tube is located on one side of the main frame, with a head tube at one end. A shock-absorbing front fork arm is located at the bottom of the head tube, and a foldable handlebar is located at the top of the head tube. A distance measuring and positioning box is located on one side of the foldable handlebar, and a display device is located at the top of the foldable handlebar. A foldable triangular frame is fitted outside the drive shaft sleeve, with a rear wheel cross arm on one side of the foldable triangular frame. A rear folding upright is located at the top of the foldable triangular frame, and an auxiliary wheel mounting seat is located at the top of the rear folding upright. A foldable and adjustable auxiliary wheel mechanism is located on one side of the auxiliary wheel mounting seat, and a rear support locking mechanism is located at the top of the other side of the main frame.

[0010] Furthermore, in order to change the distance between the head tube and the main frame through the adjustment sleeve, and thus the distance between the seat and the foldable handlebars to meet the needs of different users and make it more user-friendly, the telescopic connecting tube includes an upper fixed sleeve and a lower fixed sleeve set on the top of one side of the main frame. One end of the upper fixed sleeve is fitted with the adjustment sleeve and is threaded. The other end of the adjustment sleeve is equipped with an upper adjusting rod. The adjustment sleeve and the upper adjusting rod are in an I-shaped movable engagement. The upper adjusting rod and the upper fixed sleeve are on the same axis, and the outer circumference of the adjustment sleeve is provided with friction-increasing texture. One end of the lower fixed sleeve is inserted with a lower inner inserting rod, which is always parallel to the upper adjusting rod.

[0011] Furthermore, in order to achieve the opposite folding of the bicycle frame using the frame fastening mechanism, and to achieve the downward folding of the foldable handlebars using the handlebar fastening mechanism, the bicycle is driven by its own drive derailleur and pedals. A frame fastening mechanism is set between the same end of the upper adjustment link and the lower inner insertion link and the head tube, and a handlebar fastening mechanism is set between the top of the head tube and the foldable handlebars. The front wheel is set at the bottom of the shock-absorbing front fork arm, and the rear wheel is set at the bottom of the rear wheel crossarm. Both the front and rear wheels are conical structures that cooperate with the rail. A rear wheel derailleur is set on one side of the rear wheel, and a drive derailleur is set on one side of the drive shaft sleeve. Pedals are set on both sides of the drive derailleur. The bottom of the foldable triangle frame is connected to the drive shaft sleeve by a pivot. A rear wheel shock-absorbing spring is set between the top of the rear folding upright and the top of the rear wheel crossarm.

[0012] Furthermore, in order to use the locking buckle to limit and lock the fixed locking plate at the top of the rear folding pole, ensuring that the rear wheel will not wobble during use and can be ridden normally, a fixed locking plate is set between the tops of the two rear folding poles; the rear bracket locking mechanism includes a lock seat set at the top of one side of the main frame, a lock groove is opened at the bottom of the lock seat, a locking rod is inserted inside the lock groove, a handle is set at the top of the locking rod, a buckle is set at the bottom of the locking rod, and a locking spring is sleeved on the outside of the locking rod.

[0013] Furthermore, in order to utilize structures such as the X-axis rotating fixing rod and the Y-axis rotating fixing rod to achieve fixed support for the auxiliary wheel and form a stable support structure with the rear wheel, enabling the bicycle to move stably on the track, the foldable and adjustable auxiliary wheel mechanism includes a mounting block set inside the auxiliary wheel mounting seat. An X-axis rotating fixing rod is located on one side of the mounting block, and the other end of the X-axis rotating fixing rod is movably connected to one end of the X-axis rotating telescopic rod. The other end of the X-axis rotating telescopic rod is connected to one end of the Y-axis rotating fixing rod via a connecting shaft. The other end of the Y-axis rotating fixing rod is movably connected to one end of the Y-axis rotating telescopic rod, and an auxiliary wheel is located at the other end of the Y-axis rotating telescopic rod. All four components—the X-axis rotating fixing rod, the X-axis rotating telescopic rod, the Y-axis rotating fixing rod, and the Y-axis rotating telescopic rod—are C-shaped steel structures. Both the X-axis and Y-axis rotating fixing rods have several equidistantly arranged positioning holes, each containing a positioning spring pin. A limit spring pin is located inside the connecting shaft. The auxiliary wheel is a conical structure that mates with the track, and its direction is opposite to that of the front and rear wheels.

[0014] Furthermore, the ranging and positioning box is equipped with an optical signal receiving module, a vehicle attitude monitoring module, a vehicle detection and positioning module, a vehicle trajectory recording module, a tunnel obstacle detection module, a remote wireless communication module, and a power supply module.

[0015] Among them, the optical signal receiving module is used to receive the optical signals emitted by the measurement base station arranged inside the shield tunnel, and to determine the current location of the transmitting base station by identifying the information of the optical signal;

[0016] The vehicle attitude monitoring module is used to acquire real-time vehicle attitude information during on-orbit travel by integrating different sensors;

[0017] The vehicle detection and positioning module is used to calculate the real-time vehicle position information by calculating the distance between the current vehicle and different measurement base stations, and to update the position in conjunction with GIS technology;

[0018] The vehicle trajectory recording module is used to determine the movement trajectory of the bicycle body based on the vehicle body position information and to record it in real time in conjunction with the construction environment of the shield tunnel track.

[0019] The tunnel obstacle detection module is used to detect obstacles located in front of a bicycle in a shield tunnel using the principle of ultrasonic ranging, and to perform collision avoidance warnings.

[0020] The remote wireless communication module is used to establish a wireless communication connection with the display device or mobile terminal and synchronize the detected vehicle position information to the display device.

[0021] The power supply module is used to provide an independent power supply to drive the device.

[0022] Furthermore, the optical signal receiving module includes a photosensitive element unit, a timing reference unit, and an error calculation and elimination unit;

[0023] Among them, the photosensitive element unit is used to acquire the laser emitted by the measurement base station as an optical signal using a photoelectric sensor. The optical signals emitted by different measurement base stations have different pulse amplitudes and widths.

[0024] The timing reference unit is used to convert the received optical signal into voltage pulses, measure the time difference between the pulses, and calculate the distance between the vehicle body and the measurement base station.

[0025] Furthermore, the tunnel obstacle detection module includes an ultrasonic sensor module unit, a distance detection and calculation unit, a collision avoidance and early warning unit, and an intelligent decision-making and obstacle avoidance unit;

[0026] Among them, the ultrasonic sensor module unit is used to detect obstacles in front of the bicycle using ultrasonic sensors, so as to quickly and accurately detect objects that are close to each other in the shield tunnel and provide real-time data for collision avoidance.

[0027] The distance detection calculation unit is used to analyze and process the data collected by the ultrasonic sensor module using real-time data processing and algorithms, and to identify potential collision risks through algorithms;

[0028] The collision avoidance warning unit is used to trigger the collision avoidance warning system based on detected obstacles, and to issue a warning signal to the user or perform corresponding preventive measures.

[0029] The intelligent decision-making obstacle avoidance unit is used to analyze the output of the collision avoidance warning system using intelligent decision-making algorithms and implement obstacle avoidance and collision avoidance control strategies.

[0030] Furthermore, real-time vehicle location information is calculated by determining the distance between the current vehicle and different measurement base stations, and location updates are performed using GIS technology, including:

[0031] The system acquires optical signals emitted by different measurement base stations received during the bicycle's movement, calculates the distance difference between the different optical signals and the current bicycle body, and then uses the difference calculation formula to calculate the distance difference between different measurement base stations.

[0032] Taylor series expansion is performed on the initial coordinates of the vehicle body, while ignoring components of order two and above to obtain the Taylor series expansion model, and iterative calculation is performed.

[0033] The least squares estimate is calculated by applying a weighted least squares algorithm to the Taylor series expansion model, and then substituted into the difference calculation formula for the next round of Taylor series expansion.

[0034] Repeat the iteration until the difference between the actual coordinates of the bicycle body and the iterated value is less than a specified threshold, thus obtaining high-precision bicycle body position information;

[0035] The vehicle's location information is imported into a shield tunnel construction map model based on GIS technology, and the current vehicle location information is visualized by dynamically updating it in real time.

[0036] The beneficial effects of this invention are as follows:

[0037] 1. By adopting a design featuring retractable connecting tubes and a foldable tripod, the bicycle becomes more portable and flexible within the limited space of a shield tunnel, effectively alleviating the difficulties workers face in walking and improving work efficiency. Simultaneously, the application of foldable and adjustable auxiliary wheels provides stable support for the bicycle, ensuring greater safety and reliability in complex construction environments. Furthermore, the inclusion of a distance measuring and positioning box and display equipment provides workers with real-time distance information and navigation guidance, enhancing the bicycle's intelligence level. Overall, through innovative design, the bicycle improves operational convenience, safety, and intelligence in shield tunnel construction, significantly and positively impacting the improvement of workers' working environment and work efficiency.

[0038] 2. The combination of rotating and telescopic rods on the X and Y axes enables multi-dimensional adjustment of the auxiliary wheels, allowing for flexible adjustments based on actual construction conditions and terrain changes, thus improving the bicycle's adaptability in complex tunnel environments. Secondly, the tapered design of the auxiliary wheels allows them to mesh with the track and provides more stable support during construction, enhancing the bicycle's stability and safety. Furthermore, precise positioning is achieved through the use of positioning holes and corresponding spring pins, making the adjustment process more accurate and reliable. This allows the bicycle to better cope with construction environments in confined spaces and complex terrains, improving worker convenience and work efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the application state structure of a folding rail bicycle in a shield tunnel according to an embodiment of the present invention;

[0041] Figure 2 yes Figure 1 Enlarged view of a portion of point A in the middle;

[0042] Figure 3 This is a schematic diagram of the overall structure of a shield tunnel folding rail bicycle according to an embodiment of the present invention;

[0043] Figure 4 yes Figure 3 Enlarged view of a section at point B in the middle;

[0044] Figure 5 yes Figure 3 Enlarged view of a section at point C;

[0045] Figure 6 This is a front view of a folding rail bicycle for tunnel boring machines according to an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the folded state of a shield tunnel folding rail bicycle according to an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of a foldable and adjustable auxiliary wheel mechanism in a shield tunnel folding rail bicycle according to an embodiment of the present invention;

[0048] Figure 9 This is a schematic diagram of a partial structure of the main frame of a folding rail bicycle used in a shield tunnel according to an embodiment of the present invention;

[0049] Figure 10 yes Figure 9 Enlarged view of a section at point D;

[0050] Figure 11 yes Figure 9 Enlarged view of a section at point E in the middle;

[0051] Figure 12 This is a system principle block diagram of the distance measuring and positioning box inside a shield tunnel folding rail bicycle according to an embodiment of the present invention.

[0052] In the picture:

[0053] 1. Main frame; 2. Drive shaft sleeve; 3. Seat post; 4. Seat; 5. Telescopic connecting tube; 501. Upper fixed sleeve; 502. Lower fixed sleeve; 503. Adjustable sleeve; 504. Upper adjusting link; 505. Lower inner insertion link; 6. Head tube; 7. Shock-absorbing front fork arm; 8. Foldable handlebar; 9. Distance measuring and positioning box; 901. Optical signal receiving module; 902. Vehicle attitude monitoring module; 903. Vehicle detection and positioning module; 904. Vehicle trajectory recording module; 905. Tunnel obstacle detection module; 906. Remote wireless communication module; 907. Power supply module; 10. Display device; 11. Foldable tripod; 12. Rear wheel crossarm; 13. Rear folding upright; 14. Auxiliary wheel mounting base; 15. Foldable... 1501. Adjustable auxiliary wheel mechanism; 1502. Mounting block; 1503. X-axis rotating fixed rod; 1504. X-axis rotating telescopic rod; 1505. Connecting shaft; 1506. Y-axis rotating fixed rod; 1507. Y-axis rotating telescopic rod; 1508. Auxiliary wheel; 1509. Positioning hole; 1510. Positioning spring pin; 16. Limiting spring pin; 16. Rear bracket locking mechanism; 1601. Lock seat; 1602. Lock groove; 1603. Locking lifting rod; 1604. Handle; 1605. Locking buckle; 1606. Locking spring; 17. Body fastening mechanism; 18. Handlebar fastening mechanism; 19. Front wheel; 20. Rear wheel; 21. Drive gearbox; 22. Pedals; 23. Rear wheel shock absorber spring; 24. Fixed lock plate. Detailed Implementation

[0054] To further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention. These drawings are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementation methods and the advantages of the present invention. The components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0055] According to an embodiment of the present invention, a folding rail bicycle for shield tunnels is provided.

[0056] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments, such as... Figures 1-12As shown, the shield tunnel folding rail bicycle according to an embodiment of the present invention includes a main frame 1, a drive shaft sleeve 2 at the bottom of the main frame 1, a seat tube 3 inserted at the top of the main frame 1, a seat 4 at the top of the seat tube 3, a telescopic connecting tube 5 at one side of the main frame 1, a head tube 6 at one end of the telescopic connecting tube 5, a shock-absorbing front fork arm 7 at the bottom of the head tube 6, a foldable handlebar 8 at the top of the head tube 6, a distance measuring and positioning box 9 at one side of the foldable handlebar 8, and a display device 10 at the top of the foldable handlebar 8; a foldable triangular frame 11 is fitted on the outside of the drive shaft sleeve 2, a rear wheel cross arm 12 is provided on one side of the foldable triangular frame 11, a rear folding upright 13 is provided at the top of the foldable triangular frame 11, an auxiliary wheel mounting seat 14 is provided at the top of the rear folding upright 13, a foldable and adjustable auxiliary wheel mechanism 15 is provided on one side of the auxiliary wheel mounting seat 14, and a rear support locking mechanism 16 is provided at the top of the other side of the main frame 1.

[0057] By employing the aforementioned technical solutions, including the use of a retractable connecting tube 5 and a foldable tripod 11, the bicycle becomes more portable and flexible within the limited space of a shield tunnel, effectively alleviating the difficulties workers face in walking and improving work efficiency. Simultaneously, the application of the foldable and adjustable auxiliary wheel mechanism 15 provides stable support for the bicycle, ensuring greater safety and reliability in complex construction environments. Furthermore, the inclusion of a distance measuring and positioning box 9 and a display device 10 provides workers with real-time distance information and navigation guidance, enhancing the bicycle's intelligence level. Overall, through innovative design, the bicycle's ease of operation, safety, and intelligence level in shield tunnel construction have been improved, significantly and positively impacting the improvement of workers' working environment and work efficiency.

[0058] In one embodiment, the retractable connecting tube 5 includes an upper fixed sleeve 501 and a lower fixed sleeve 502 located on the top side of the main frame 1. One end of the upper fixed sleeve 501 is fitted with an adjustable sleeve 503 and is threadedly connected. The other end of the adjustable sleeve 503 is provided with an upper adjusting rod 504. The adjustable sleeve 503 and the upper adjusting rod 504 are engaged in an I-shaped movable engagement. The upper adjusting rod 504 and the upper fixed sleeve 501 are on the same axis, and the outer circumference of the adjustable sleeve 503 is provided with friction-increasing textures. One end of the lower fixed sleeve 502 is provided with a lower inner inserting rod 505, which is always parallel to the upper adjusting rod 504. Thus, the distance between the head tube 6 and the main frame 1 can be changed by the action of the adjustable sleeve 503, thereby changing the distance between the seat 4 and the foldable handlebar 8, meeting the usage needs of different users, and making it more user-friendly.

[0059] The working principle of the telescopic connecting tube 5: The outer side of the upper fixed sleeve 501 has an external thread structure, while the adjusting sleeve 503 has a mating internal thread structure. Simultaneously, the other end of the adjusting sleeve 503 is engaged with the upper adjusting connecting rod 504 using an I-beam clamp. The relative distance between the two remains constant, but the adjusting sleeve 503 can rotate independently, thereby changing the relative distance between the adjusting sleeve 503 and the upper fixed sleeve 501, i.e., the distance between the head tube 6 and the main frame 1. During this process, the lower fixed sleeve 502 and the lower inner insert connecting rod 505 are telescopically connected, forming upper and lower limits to prevent rotation.

[0060] In one embodiment, for the aforementioned upper adjusting link 504, a vehicle body fastening mechanism 17 is provided between the same end of the upper adjusting link 504 and the lower inner insert link 505 and the head tube 6, and a handlebar fastening mechanism 18 is provided between the top end of the head tube 6 and the foldable handlebar 8; a front wheel 19 is provided at the bottom of the shock-absorbing front fork arm 7, and a rear wheel 20 is provided at the bottom of the rear wheel cross arm 12. Both the front wheel 19 and the rear wheel 20 are tapered structures that cooperate with the rail, and a rear wheel derailleur is provided on one side of the rear wheel 20, and a drive shaft sleeve 2 is provided on one side. The drive gearbox 21 has pedals 22 on both sides. The bottom of the foldable triangle frame 11 is connected to the drive shaft sleeve 2. The top of the rear folding upright 13 is connected to the top of the rear wheel cross arm 12. The rear wheel shock absorber spring 23 is provided between the top of the rear folding upright 13 and the top of the rear wheel cross arm 12. The bicycle body can be folded in opposite directions by using the frame fastening mechanism 17. The foldable handlebars 8 can be folded downward by the handlebar fastening mechanism 18. The bicycle is driven by the drive gearbox 21 and pedals 22.

[0061] In one embodiment, for the aforementioned rear folding uprights 13, a fixing locking plate 24 is provided between the tops of the two rear folding uprights 13; the rear bracket locking mechanism 16 includes a lock seat 1601 provided at the top of one side of the main frame 1, a lock groove 1602 is provided at the bottom of the lock seat 1601, a locking lifting rod 1603 is inserted inside the lock groove 1602, a handle 1604 is provided at the top of the locking lifting rod 1603, a buckle 1605 is provided at the bottom of the locking lifting rod 1603, and a locking spring 1606 is sleeved on the outside of the locking lifting rod 1603, so that the fixing locking plate 24 at the top of the rear folding uprights 13 can be limited and locked by the action of the buckle 1605, ensuring that the rear wheel 20 will not wobble during use and can be ridden normally.

[0062] The working principle of the rear bracket locking mechanism 16 is as follows: The upward movement of the handle 1604 causes the latch 1605 to move upward, disengaging it from the fixed locking plate 24 until the latch 1605 is fully retracted into the locking groove 1602. The fixed locking plate 24 can then be manually rotated downwards, causing the foldable tripod 11 to rotate around the drive shaft sleeve 2 until it is fully stowed. After stowage, releasing the handle 1604 causes the latch 1605 to automatically fall down under the action of the locking spring 1606.

[0063] In one embodiment, the foldable and adjustable auxiliary wheel mechanism 15 includes a mounting block 1501 disposed inside the auxiliary wheel mounting base 14. An X-axis rotating fixing rod 1502 is disposed on one side of the mounting block 1501. The other end of the X-axis rotating fixing rod 1502 is movably connected to one end of an X-axis rotating telescopic rod 1503. The other end of the X-axis rotating telescopic rod 1503 is connected to one end of a Y-axis rotating fixing rod 1505 via a connecting shaft 1504. The other end of the Y-axis rotating fixing rod 1505 is movably connected to one end of a Y-axis rotating telescopic rod 1506. An auxiliary wheel 1507 is disposed at the other end of the Y-axis rotating telescopic rod 1506. The X-axis rotating fixing rod 1502 and the X-axis rotating telescopic rod 1506... 503, the Y-axis rotating fixing rod 1505 and the Y-axis rotating telescopic rod 1506 are all C-shaped steel structures, and the X-axis rotating fixing rod 1502 and the Y-axis rotating fixing rod 1505 are both provided with several equidistantly arranged positioning holes 1508. The positioning holes 1508 are provided with positioning spring pins 1509, and the connecting shaft 1504 is provided with limit spring pins 1510. The auxiliary wheel 1507 is a conical structure that cooperates with the track, and the auxiliary wheel 1507 is opposite in direction to the front wheel 19 and the rear wheel 20. Thus, the X-axis rotating fixing rod 1502 and the Y-axis rotating fixing rod 1505 and other structures can be used to achieve fixed support for the auxiliary wheel 1507, forming a stable support structure with the rear wheel 20, so that the bicycle can move stably on the track.

[0064] The working principle of the foldable and adjustable auxiliary wheel mechanism 15 is as follows: The mounting block 1501 is installed inside the auxiliary wheel mounting base 14. The X-axis rotating fixed rod 1502 and the Y-axis rotating fixed rod 1505 are rotated to a vertical angle and then locked using the limit spring pin 1510. Then, according to the track spacing, the length and distance of the X-axis rotating fixed rod 1502 and the Y-axis rotating fixed rod 1505 are adjusted. After the distance between the X-axis rotating fixed rod 1502 and the X-axis rotating telescopic rod 1503 is adjusted, it is fixed and locked using the positioning spring pin 1509. Similarly, the Y-axis rotating fixed rod 1505 and the Y-axis rotating telescopic rod 1506 are fixed.

[0065] In one embodiment, the ranging and positioning box 9 is equipped with an optical signal receiving module 901, a vehicle attitude monitoring module 902, a vehicle detection and positioning module 903, a vehicle trajectory recording module 904, a tunnel obstacle detection module, a remote wireless communication module 906, and a power supply module 907.

[0066] Among them, the optical signal receiving module 901 is used to receive the optical signal emitted by the measuring base station arranged inside the shield tunnel, and to determine the current position of the transmitting base station by identifying the information of the optical signal;

[0067] In this system, each measurement base station is located on the inner wall of the tunnel. When the system is working, the motor drives the rotating part to rotate, and the laser and cylindrical mirror installed on the rotating head generate two fan-shaped laser beams. The system uses inductive coupling power transmission for power supply. The base station frame is divided into two parts: the rotating part is fixed to the frame and connected to the power supply; the connecting part is fixed to the rotating part and supplies power to the laser on the rotating head, thus achieving the power transmission function and finally emitting laser signals with different light signals into the tunnel.

[0068] The vehicle attitude monitoring module 902 is used to acquire real-time vehicle attitude information during the vehicle's on-orbit movement by integrating different sensors;

[0069] The vehicle detection and positioning module 903 is used to calculate the real-time vehicle position information by calculating the distance between the current vehicle and different measurement base stations, and to update the position in combination with GIS technology;

[0070] The vehicle trajectory recording module 904 is used to determine the movement trajectory of the bicycle body based on the vehicle body position information and to record it in real time in conjunction with the construction environment of the shield tunnel track.

[0071] The tunnel obstacle detection module 905 is used to detect obstacles located in front of a bicycle in a shield tunnel using the principle of ultrasonic ranging, and to perform collision avoidance warnings.

[0072] The remote wireless communication module 906 is used to establish a wireless communication connection with the display device 10 or a mobile terminal and synchronize the detected vehicle position information to the display device 10.

[0073] The power supply module 907 is used to provide an independent power supply to drive the device.

[0074] In one embodiment, the optical signal receiving module 901 includes a photosensitive element unit, a timing reference unit, and an error calculation and elimination unit;

[0075] Among them, the photosensitive element unit is used to acquire the laser emitted by the measurement base station as an optical signal using a photoelectric sensor. The optical signals emitted by different measurement base stations have different pulse amplitudes and widths.

[0076] The timing reference unit is used to convert the received optical signal into voltage pulses, measure the time difference between the pulses, and calculate the distance between the vehicle body and the measurement base station.

[0077] In one embodiment, the tunnel obstacle detection module 905 includes an ultrasonic sensor module unit, a distance detection and calculation unit, a collision warning unit, and an intelligent decision-making obstacle avoidance unit.

[0078] Among them, the ultrasonic sensor module unit is used to detect obstacles in front of the bicycle using ultrasonic sensors, so as to quickly and accurately detect objects that are close to each other in the shield tunnel and provide real-time data for collision avoidance.

[0079] The distance detection calculation unit is used to analyze and process the data collected by the ultrasonic sensor module using real-time data processing and algorithms, and to identify potential collision risks through algorithms;

[0080] The collision avoidance warning unit is used to trigger the collision avoidance warning system based on detected obstacles, and to issue a warning signal to the user or perform corresponding preventive measures.

[0081] The intelligent decision-making obstacle avoidance unit is used to analyze the output of the collision avoidance warning system using intelligent decision-making algorithms and implement obstacle avoidance and collision avoidance control strategies.

[0082] In one embodiment, calculating real-time vehicle location information by calculating the distance between the current vehicle body and different measurement base stations, and updating the location using GIS technology includes:

[0083] The system acquires optical signals emitted by different measurement base stations received during the bicycle's movement, calculates the distance difference between the different optical signals and the current bicycle body, and then uses the difference calculation formula to calculate the distance difference between different measurement base stations.

[0084] The formula for calculating the difference is as follows:

[0085]

[0086] In the formula, This represents the difference between the distance from the bicycle to the i-th measurement base station and the distance to the j-th measurement base station;

[0087] This represents the distance from the bicycle to the i-th measurement base station;

[0088] This represents the distance from the bicycle to the j-th measurement station;

[0089] Represents the coordinates of the i-th measurement base station;

[0090] Indicates the coordinates of the bicycle's position;

[0091] c represents the speed of light;

[0092] This indicates the time difference between the bicycle's arrival at different measurement base stations;

[0093] Taylor series expansion is performed on the initial coordinates of the vehicle body, while ignoring components of order two and above to obtain the Taylor series expansion model, and iterative calculation is performed.

[0094] The weighted least squares algorithm is used to calculate the least squares estimate of the Taylor series expansion model, and then the estimate is substituted into the difference calculation formula for the next round of Taylor series expansion.

[0095] Repeat the iteration until the difference between the actual coordinates of the bicycle body and the iterated value is less than a specified threshold, thus obtaining high-precision bicycle body position information;

[0096] The Taylor series expansion model is constructed as follows: ;

[0097] In the formula, , , ;

[0098] This represents the iterative value of the distance from the bicycle to the i-th measurement base station during each iteration;

[0099] This represents the difference between the actual coordinates of the bicycle and the iterative value.

[0100] right We obtain the weighted least squares algorithm. The least squares estimate is:

[0101]

[0102] In the formula, Q represents the covariance matrix of the TDOA measurements. The initial value for the next iteration can be obtained through the above formula. Substituting this initial value into... Perform the next round of Taylor series expansion, with the initial value for the next iteration being: ;

[0103] Repeat the above steps until... If the value is less than the specified threshold, the coordinates of the bicycle body position information that meet the accuracy requirements are obtained.

[0104] The vehicle location information is imported into a shield tunnel construction map model based on GIS technology, and the current vehicle location information is visualized by dynamically updating it in real time.

[0105] To facilitate understanding of the above technical solutions of the present invention, the working principle or operation method of the present invention in actual process will be described in detail below.

[0106] In practical applications, unfold the folding rail bicycle from its folded state where needed. Ensure that the main frame 1, seat post 4, telescopic connecting tube 5, foldable handlebars 8, and training wheels are all correctly unfolded. Adjust the telescopic connecting tube 5 to achieve the appropriate height and length for the bicycle structure according to the working environment. Then, adjust the training wheels using the X-axis and Y-axis rotating telescopic rods, depending on the terrain and construction environment. Ensure the training wheels align with the track to provide stable support. The position of the training wheels can be fine-tuned using the corresponding adjustment devices via the positioning holes 1508 on the X-axis and Y-axis rotating fixing rods to ensure optimal stability. Adjust the height and angle of the seat 4 to ensure riding comfort and stability. Adjust the position and angle of the foldable handlebars 8 according to personal preference for better control and riding experience. Activate the distance measuring and positioning box 9 and ensure it can obtain accurate distance information. Activate the display device 10 and check the display of navigation and related information. The rider can propel the bicycle forward using the drive shaft sleeve via the pedals. During operation, real-time distance information within the tunnel is obtained through a ranging and positioning box and display device, improving the driver's perception of obstacles. After use, the bicycle is folded and stowed to minimize its footprint, making it easy to carry and store.

[0107] In summary, by employing the above-mentioned technical solution of this invention, and through the design of structures such as the retractable connecting tube 5 and the foldable tripod 11, the bicycle becomes more portable and flexible in the limited space of the shield tunnel, effectively alleviating the difficulty of walking for workers and improving work efficiency. Simultaneously, the application of the foldable and adjustable auxiliary wheel mechanism 15 provides stable support for the bicycle, ensuring greater safety and reliability in complex construction environments. Furthermore, the inclusion of the distance measuring and positioning box 9 and the display device 10 provides workers with real-time distance information and navigation guidance, enhancing the bicycle's intelligence level. Overall, through innovative design, the ease of operation, safety, and intelligence level in shield tunnel construction are improved, significantly and positively impacting the improvement of the workers' working environment and work efficiency. The combination of rotating fixed rods and telescopic rods on the X and Y axes enables multi-dimensional adjustment of the auxiliary wheels, allowing for flexible adjustments based on actual construction conditions and terrain changes, thus improving the bicycle's adaptability in complex tunnel environments. Secondly, the tapered design of the auxiliary wheels allows them to mesh with the track and provides more stable support during construction, enhancing the bicycle's stability and safety. Furthermore, precise positioning is achieved through the placement of positioning holes 1508 and corresponding positioning spring pins 1509, making the adjustment process more accurate and reliable. This allows the bicycle to better cope with construction environments in confined spaces and complex terrains, improving worker convenience and work efficiency.

[0108] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A folding rail bicycle for shield tunnels, comprising a main frame (1), a drive shaft sleeve (2) provided at the bottom end of the main frame (1), a seat tube (3) inserted at the top end of the main frame (1), and a seat (4) provided at the top end of the seat tube (3), characterized in that, The main frame (1) has a telescopic connecting tube (5) on one side top, a head tube (6) on one end of the telescopic connecting tube (5), a shock-absorbing front fork arm (7) on the bottom of the head tube (6), a foldable handle (8) on the top of the head tube (6), a distance measuring and positioning box (9) on one side of the foldable handle (8), and a display device (10) on the top of the foldable handle (8). The drive shaft sleeve (2) is fitted with a foldable triangular frame (11) on the outside. A rear wheel cross arm (12) is provided on one side of the foldable triangular frame (11). A rear folding upright (13) is provided on the top of the foldable triangular frame (11). An auxiliary wheel mounting seat (14) is provided on the top of the rear folding upright (13). A foldable and adjustable auxiliary wheel mechanism (15) is provided on one side of the auxiliary wheel mounting seat (14). A rear support locking mechanism (16) is provided on the top of the other side of the main frame (1). The telescopic connecting tube (5) includes an upper fixed sleeve (501) and a lower fixed sleeve (502) disposed on the top of one side of the main frame (1). One end of the upper fixed sleeve (501) is fitted with an adjusting sleeve (503) and is threaded. The other end of the adjusting sleeve (503) is provided with an upper adjusting rod (504). The adjusting sleeve (503) and the upper adjusting rod (504) are engaged in an I-shaped movable snap. The upper adjusting rod (504) and the upper fixed sleeve (501) are on the same axis. The outer circumference of the adjusting sleeve (503) is provided with friction-increasing texture. A lower inner insert connecting rod (505) is inserted through one end of the lower fixed sleeve (502), and the lower inner insert connecting rod (505) and the upper adjusting connecting rod (504) always remain parallel.

2. A folding rail bicycle for shield tunnels according to claim 1, characterized in that, A vehicle body fastening mechanism (17) is provided between the same end of the upper adjusting link (504) and the lower inner insert link (505) and the head tube (6), and a handlebar fastening mechanism (18) is provided between the top end of the head tube (6) and the foldable handle (8). The front wheel (19) is provided at the bottom of the shock-absorbing front fork arm (7), and the rear wheel (20) is provided at the bottom of the rear wheel cross arm (12). Both the front wheel (19) and the rear wheel (20) are tapered structures that cooperate with the track. The rear wheel (20) is provided with a rear wheel derailleur on one side, and a drive derailleur (21) is provided on one side of the drive shaft sleeve (2). Both sides of the drive derailleur (21) are provided with pedals (22). The bottom of the foldable triangle frame (11) is connected to the drive shaft sleeve (2) with a rotating shaft. The top of the rear folding upright (13) is provided with a rear wheel shock-absorbing spring (23) between the top of the rear wheel cross arm (12) and the top of the rear wheel cross arm (12).

3. A folding rail bicycle for shield tunnels according to claim 2, characterized in that, A fixing plate (24) is provided between the tops of the two rear folding uprights (13). The rear support locking mechanism (16) includes a lock seat (1601) located at the top of one side of the main frame (1). A lock groove (1602) is provided at the bottom of the lock seat (1601). A locking rod (1603) is inserted inside the lock groove (1602). A handle (1604) is provided at the top of the locking rod (1603). A buckle (1605) is provided at the bottom of the locking rod (1603). A locking spring (1606) is sleeved on the outside of the locking rod (1603).

4. A folding rail bicycle for shield tunnels according to claim 3, characterized in that, The foldable and adjustable auxiliary wheel mechanism (15) includes a mounting block (1501) disposed inside the auxiliary wheel mounting base (14). An X-axis rotating fixing rod (1502) is provided on one side of the mounting block (1501). The other end of the X-axis rotating fixing rod (1502) is movably connected to one end of the X-axis rotating telescopic rod (1503). The other end of the X-axis rotating telescopic rod (1503) is connected to one end of the Y-axis rotating fixing rod (1505) through a connecting shaft (1504). The other end of the Y-axis rotating fixing rod (1505) is movably connected to one end of the Y-axis rotating telescopic rod (1506). An auxiliary wheel (1507) is provided at the other end of the Y-axis rotating telescopic rod (1506).

5. A folding rail bicycle for shield tunnels according to claim 4, characterized in that, The X-axis rotating fixed rod (1502), the X-axis rotating telescopic rod (1503), the Y-axis rotating fixed rod (1505), and the Y-axis rotating telescopic rod (1506) are all C-shaped steel structures. The X-axis rotating fixed rod (1502) and the Y-axis rotating fixed rod (1505) are each provided with a plurality of equidistantly arranged positioning holes (1508). Positioning spring pins (1509) are provided inside the positioning holes (1508), and limiting spring pins (1510) are provided inside the connecting shaft (1504). The auxiliary wheel (1507) is a conical structure that cooperates with the track, and the auxiliary wheel (1507) is in the opposite direction to the front wheel (19) and the rear wheel (20).

6. A folding rail bicycle for shield tunnels according to claim 1, characterized in that, The ranging and positioning box (9) is equipped with an optical signal receiving module (901), a vehicle attitude monitoring module (902), a vehicle detection and positioning module (903), a vehicle trajectory recording module (904), a tunnel obstacle detection module, a remote wireless communication module (906), and a power supply module (907). The optical signal receiving module (901) is used to receive the optical signal emitted by the measuring base station arranged inside the shield tunnel, and to determine the current position of the transmitting base station by identifying the information of the optical signal. The vehicle attitude monitoring module (902) is used to acquire real-time vehicle attitude information during the vehicle's on-track movement by integrating different sensors; The vehicle detection and positioning module (903) is used to calculate the real-time vehicle position information by calculating the distance between the current vehicle and different measurement base stations, and to update the position in conjunction with GIS technology; The vehicle trajectory recording module (904) is used to determine the movement trajectory of the bicycle body based on the vehicle body position information and to record it in real time in conjunction with the construction environment of the shield tunnel track. The tunnel obstacle detection module (905) is used to detect obstacles located in front of the bicycle body in the shield tunnel using the ultrasonic ranging principle and to perform collision avoidance warning. The remote wireless communication module (906) is used to establish a wireless communication connection with the display device (10) or mobile terminal and synchronize the detected vehicle position information to the display device (10). The power supply module (907) is used to provide an independent power supply to enable device driving.

7. A folding rail bicycle for shield tunnels according to claim 6, characterized in that, The optical signal receiving module (901) includes a photosensitive element unit, a timing reference unit, and an error calculation and elimination unit; The photosensitive element unit is used to acquire the laser emitted by the measurement base station as an optical signal using a photoelectric sensor. The optical signals emitted by different measurement base stations have different pulse amplitudes and widths. The timing reference unit is used to convert the received optical signal into voltage pulses, measure the time difference between the pulses, and calculate the distance between the vehicle body and the measuring base station.

8. A folding rail bicycle for shield tunnels according to claim 6, characterized in that, The tunnel obstacle detection module (905) includes an ultrasonic sensor module unit, a distance detection and calculation unit, an anti-collision warning unit, and an intelligent decision-making obstacle avoidance unit; The ultrasonic sensor module unit is used to detect obstacles in front of the bicycle using ultrasonic sensors, enabling rapid and accurate detection of objects that are close to the bicycle inside the shield tunnel, and providing real-time data for collision avoidance. The distance detection calculation unit is used to analyze and process the data collected by the ultrasonic sensor module using real-time data processing and algorithms, and to identify potential collision risks through algorithms. The collision avoidance warning unit is used to trigger the collision avoidance warning system based on the detected obstacle, and issue a warning signal to the user or perform corresponding preventive measures. The intelligent decision-making obstacle avoidance unit is used to analyze the output of the collision avoidance warning system using intelligent decision-making algorithms and to implement obstacle avoidance and collision avoidance control strategies.

9. A folding rail bicycle for shield tunnels according to claim 6, characterized in that, The process of calculating the real-time vehicle location information by calculating the distance between the current vehicle body and different measurement base stations, and updating the location using GIS technology, includes: The system acquires optical signals emitted by different measurement base stations received during the bicycle's movement, calculates the distance difference between the different optical signals and the current bicycle body, and then uses the difference calculation formula to calculate the distance difference between the different measurement base stations. Taylor series expansion is performed on the initial coordinates of the vehicle body, while ignoring components of order two and above to obtain the Taylor series expansion model, and iterative calculation is performed. The weighted least squares algorithm is used to calculate the least squares estimate of the Taylor series expansion model, and then the estimate is substituted into the difference calculation formula for the next round of Taylor series expansion. Repeat the iteration until the difference between the actual coordinates of the bicycle body and the iterated value is less than a specified threshold, thus obtaining high-precision bicycle body position information; The vehicle location information is imported into a shield tunnel construction map model based on GIS technology, and the current vehicle location information is visualized by dynamically updating it in real time.

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