Tunnel detection and maintenance platform without interrupting traffic

Abstract

The invention discloses a tunnel detection and maintenance platform without interrupting traffic, which comprises an operation platform and a walking device, the operation platform can carry various tunnel detection and maintenance equipment, and the walking device is fixedly connected with two ends of the operation platform through bolts before the tunnel detection and maintenance platform runs; the tunnel detection and maintenance platform further comprises an automatic driving system, the automatic driving system comprises a centralized control unit, a laser sensor assembly and a camera assembly, and the centralized control unit receives and processes data from the laser sensor assembly and the camera assembly and controls the walking posture of the tunnel detection and maintenance platform. The tunnel detection and maintenance platform can carry various kinds of automatic equipment for tunnel detection and maintenance, and therefore unmanned and intelligent operation tunnel management and maintenance are achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent tunnel transportation management, and in particular to a tunnel inspection and maintenance platform without interrupting traffic. Background Art

[0002] After the tunnel entered the operation and maintenance period, with the increase in tunnel service life and traffic volume, the daily maintenance and upkeep of the tunnel became increasingly heavy, and the operation and management unit faced many challenges. On the one hand, the tunnel structure is complex, involving multiple systems and facilities, and requires regular and comprehensive inspection and maintenance to ensure its safety and stability; on the other hand, as an important traffic channel, the tunnel's maintenance work must be carried out without interrupting traffic to reduce the impact on public travel.

[0003] Traditional tunnel maintenance methods often require closed construction at night or during low traffic hours, which not only increases maintenance costs and time costs, but also easily causes traffic congestion and safety hazards. Therefore, a platform that can maintain tunnels without interrupting traffic has become a real need for operation and management units.

[0004] Therefore, it is urgent to develop a tunnel inspection and maintenance platform that does not interrupt traffic, and use modern scientific and technological means, such as robots, artificial intelligence, new energy, etc., to carry out various maintenance operations on the tunnel without interrupting traffic, such as cleaning, repairing, inspection, etc., to ensure the long-term safe operation of the tunnel; at the same time, the platform can be equipped with tunnel intelligent monitoring equipment to realize real-time monitoring and data analysis of the tunnel operation status, provide a scientific basis for maintenance decisions, and is of great significance to improving the level of tunnel maintenance and ensuring traffic safety. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a tunnel inspection and maintenance platform without interrupting traffic, which can realize civil structure inspection, electromechanical facilities maintenance and other tasks in the upper part of the tunnel without interrupting normal traffic flow. The lower control device drives the platform to automatically run along the existing inspection road of the tunnel. The reserved installation holes can be equipped with various automated equipment for tunnel inspection and maintenance, thereby realizing unmanned and intelligent management and maintenance of operating tunnels.

[0006] The present invention provides a tunnel inspection and maintenance platform without interrupting traffic, comprising an operating platform and a walking device, wherein the operating platform can carry various tunnel inspection and maintenance equipment, and the walking device is connected and fixed to both ends of the operating platform by bolts before the tunnel inspection and maintenance platform is operated;

[0007] It also includes an automatic driving system, which includes a centralized control unit, a laser sensor assembly and a camera assembly. The centralized control unit receives and processes data from the laser sensor assembly and the camera assembly to control the walking posture of the tunnel detection maintenance platform. The laser sensor assembly is arranged on the operating platform and the walking device near the tunnel side wall, and the camera assembly is arranged on the walking device support column.

[0008] Furthermore, when the tunnel inspection and maintenance platform is not in operation, the operating platform can be fixed to the tunnel entrance by a fixed bracket, and the fixed bracket can be fixed to the tunnel lining by chemical anchor bolts or expansion bolts. The fixed bracket includes a vault bracket, a tunnel side wall bracket and a safety rope hook;

[0009] The tunnel side wall bracket is used to fix the operating platform when the tunnel inspection and maintenance platform is not in operation, the arch bracket can hold up the operating platform, and the safety rope hook hangs the safety rope to prevent accidental falling.

[0010] Furthermore, the operating platform comprises an arched beam and an operating platform docking mechanism.

[0011] Furthermore, the lower edge of the cross beam of the operating platform arched beam is greater than 5 meters above the road surface to ensure that the height direction does not infringe upon the tunnel construction boundary and affect the tunnel traffic. The cross beam of the arched beam is also provided with a reserved installation hole, a platform moving button and a safety rope;

[0012] The reserved installation holes can be equipped with various automated equipment for tunnel inspection and maintenance. The platform movement button can drive the travel drive wheels of the travel device to move when the tunnel inspection and maintenance platform is in operation. The safety rope is located at both ends of the arched beam and is bound to the safety rope hook when the tunnel inspection and maintenance platform is not in operation to prevent accidental falling.

[0013] Furthermore, the operating platform docking mechanism consists of two docking surfaces, which can be respectively connected and fixed to the tunnel side wall bracket and the walking device operating platform docking mechanism by bolts.

[0014] Furthermore, the walking device includes a walking drive wheel, a lithium battery, a support column and a walking device docking mechanism. The walking devices are grouped in two. The walking devices are retracted when the tunnel inspection and maintenance platform is not in operation and can be repeatedly used in different tunnels.

[0015] Furthermore, the travel drive wheel includes an encoder, which is used to collect travel drive wheel signal data and is located under the base of the travel device.

[0016] Furthermore, the lithium battery is located on the base of the walking device and has AC220V and DC48V power output interfaces, which can provide power for external devices.

[0017] Furthermore, the walking device docking mechanism is located at the top of the supporting column and is connected to the operating platform docking mechanism by bolts, and the height of the operating platform can be adjusted by bolts and gaskets.

[0018] Furthermore, the centralized control unit is located on one side of the walking device and adjacent to the lithium battery, and the centralized control unit also includes a visual perception system, a laser ranging system and a walking drive system;

[0019] The visual perception system uses a camera as sensor input to identify targets such as the outline of the maintenance tunnel, on-site personnel, obstacles, etc., and outputs information such as their category, distance, and direction. Through image segmentation and recognition technology, the drivable maintenance road area is separated from the background to ensure that the platform can accurately drive on the predetermined route.

[0020] The laser ranging system uses a laser sensor as a sensor input and can achieve high-precision measurement at the millimeter level, ensuring that the contour edge of the maintenance platform is maintained at a predetermined safe distance from the tunnel wall.

[0021] The travel drive system receives the feedback signal of the travel wheel encoder in real time, and outputs the real-time position information after being processed by the centralized control unit. The travel drive system can also use these encoder data to perform fault diagnosis and performance optimization, such as eccentric load slip, speed correction, etc., thereby realizing high-precision closed-loop control and safe operation.

[0022] Beneficial effects of the present invention: A tunnel inspection and maintenance platform without interrupting traffic of the present invention can realize various maintenance operations on the tunnel without interrupting traffic, such as cleaning, repairing, and inspection, so as to ensure the long-term safe operation of the tunnel. At the same time, the platform can be equipped with tunnel intelligent monitoring equipment to realize real-time monitoring and data analysis of the tunnel operation status, provide a scientific basis for maintenance decisions, and is of great significance to improving the tunnel maintenance level and ensuring traffic safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0024] Figure 1 It is a schematic diagram of the structure of the present invention. DETAILED DESCRIPTION

[0025] Figure 1 The schematic diagram of the structure of the present invention is shown in the figure: a tunnel inspection and maintenance platform without interrupting traffic in this embodiment includes an operating platform 2 and a walking device 3. The operating platform 2 can carry various tunnel inspection and maintenance equipment. The walking device 3 is connected and fixed to both ends of the operating platform by bolts before the tunnel inspection and maintenance platform is operated;

[0026] It also includes an automatic driving system 4, which includes a centralized control unit 43, a laser sensor component 41 and a camera component 42. The centralized control unit 43 receives and processes data from the laser sensor component 41 and the camera component 42 to control the walking posture of the tunnel detection maintenance platform. The laser sensor component 41 is arranged on the operating platform and the walking device near the tunnel side wall, and the camera component 42 is arranged on the walking device support column.

[0027] In this embodiment, the operating platform 2 can be fixed to the tunnel entrance by a fixing bracket 1 when the tunnel inspection and maintenance platform is not in operation. The fixing bracket 1 can be fixed to the tunnel lining by chemical anchor bolts or expansion bolts. The fixing bracket 1 includes a vault bracket 13, a tunnel side wall bracket 11 and a safety rope hook 12.

[0028] The tunnel side wall bracket 11 is used to fix the operating platform 2 when the tunnel inspection and maintenance platform is not in operation, the arch bracket 13 can hold up the operating platform 2, and the safety rope hook 12 is hung with a safety rope 24 to prevent accidental falling.

[0029] In this embodiment, the operating platform 2 includes an arched beam 21 and an operating platform docking mechanism 25 .

[0030] In this embodiment, the lower edge of the cross beam of the operating platform arched beam 21 is greater than 5 meters above the road surface to ensure that the height direction does not infringe upon the tunnel building boundary and affect the tunnel traffic. The cross beam of the arched beam is also provided with a reserved installation hole 22, a platform moving button 23 and a safety rope 24;

[0031] The reserved installation hole 22 can be equipped with various automated equipment for tunnel detection and maintenance. The platform moving button 23 can drive the walking driving wheel 34 of the walking device to move when the tunnel detection and maintenance platform is running. The safety rope 24 is located at both ends of the crossbeam of the arched beam 21 and is bound to the safety rope hook 12 when the tunnel detection and maintenance platform is not running to prevent accidental falling.

[0032] In this embodiment, the operating platform docking mechanism 25 is composed of two docking surfaces, which can be respectively connected and fixed to the tunnel side wall bracket and the walking device operating platform docking mechanism 31 by bolts.

[0033] In this embodiment, the walking device 3 includes a walking drive wheel 34, a lithium battery 33, a support column 32 and a walking device docking mechanism 31. The walking devices 3 are grouped in two. The walking devices 3 are retracted when the tunnel inspection and maintenance platform is not in operation and can be repeatedly used in different tunnels.

[0034] In this embodiment, the travel driving wheel 34 includes an encoder, which is used to collect travel driving wheel signal data and is located under the base of the travel device 3 .

[0035] In this embodiment, the lithium battery 33 is located on the base of the walking device and has AC220V and DC48V power output interfaces, which can provide power for external devices.

[0036] In this embodiment, the walking device docking mechanism 31 is located on the top of the supporting column 32 and is connected to the operating platform docking mechanism 25 by bolts, and the height of the operating platform 2 can be adjusted by bolts and gaskets.

[0037] In this embodiment, the centralized control unit 43 is located on one side of the walking device and adjacent to the lithium battery 33. The centralized control unit 43 also includes a visual perception system, a laser ranging system and a walking drive system.

[0038] The visual perception system uses the camera 42 as a sensor input to identify targets such as the outline of the maintenance tunnel, on-site personnel, obstacles, etc., and outputs information such as their category, distance, direction, etc. Through image segmentation and recognition technology, the drivable maintenance road area is separated from the background to ensure that the platform can accurately travel on the predetermined route.

[0039] The laser distance measurement system uses the laser sensor 41 as the sensor input, and can achieve high-precision measurement at the millimeter level, ensuring that the contour edge of the maintenance platform is kept at a predetermined safe distance from the tunnel wall.

[0040] The travel drive system receives the feedback signal of the encoder of the travel drive wheel 34 in real time, and outputs the real-time position information after being processed by the centralized control unit. The travel drive system can also use these encoder data to perform fault diagnosis and performance optimization, such as eccentric load slip, speed correction, etc., thereby realizing high-precision closed-loop control and safe operation.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A tunnel inspection and maintenance platform without interrupting traffic, characterized by: It includes an operating platform and a walking device. The operating platform can carry various tunnel inspection and maintenance equipment. The walking device is connected and fixed to both ends of the operating platform by bolts before the tunnel inspection and maintenance platform is operated. It also includes an automatic driving system, which includes a centralized control unit, a laser sensor assembly and a camera assembly. The centralized control unit receives and processes data from the laser sensor assembly and the camera assembly to control the walking posture of the tunnel detection maintenance platform. The laser sensor assembly is arranged on the operating platform and the walking device near the tunnel side wall, and the camera assembly is arranged on the walking device support column.

2. The tunnel inspection and maintenance platform without interrupting traffic according to claim 1, characterized in that: When the tunnel inspection and maintenance platform is not in operation, the operating platform can be fixed to the tunnel entrance by a fixed bracket, and the fixed bracket can be fixed to the tunnel lining by chemical anchors or expansion bolts. The fixed bracket includes a vault bracket, a tunnel side wall bracket and a safety rope hook.

3. The tunnel inspection and maintenance platform without interrupting traffic according to claim 1, characterized in that: The operating platform comprises an arched beam and an operating platform docking mechanism.

4. The tunnel inspection and maintenance platform without interrupting traffic according to claim 3, characterized in that: The lower edge of the crossbeam of the operating platform arched beam is greater than 5 meters above the road surface to ensure that the height direction does not infringe upon the tunnel building boundary and affect tunnel traffic. The crossbeam of the arched beam is also provided with a reserved installation hole, a platform moving button and a safety rope.

5. The tunnel inspection and maintenance platform without interrupting traffic according to claim 3, characterized in that: The operating platform docking mechanism consists of two docking surfaces, which can be respectively connected and fixed to the tunnel side wall bracket and the walking device operating platform docking mechanism by bolts.

6. The tunnel inspection and maintenance platform without interrupting traffic according to claim 1, characterized in that: The walking device comprises a walking drive wheel, a lithium battery, a supporting column and a walking device docking mechanism. The walking devices are grouped in two. The walking devices are retracted when the tunnel inspection and maintenance platform is not in operation and can be repeatedly used in different tunnels.

7. The tunnel inspection and maintenance platform without interrupting traffic according to claim 6, characterized in that: The travel drive wheel comprises an encoder, which is used to collect travel drive wheel signal data and is located under the base of the travel device.

8. The tunnel inspection and maintenance platform without interrupting traffic according to claim 6, characterized in that: The lithium battery is located on the base of the walking device and has AC220V and DC48V power output interfaces, which can provide power for external devices.

9. The tunnel inspection and maintenance platform without interrupting traffic according to claim 6, characterized in that: The walking device docking mechanism is located on the top of the supporting column and is connected to the operating platform docking mechanism through bolts, and the height of the operating platform can be adjusted through bolts and gaskets.

10. The tunnel inspection and maintenance platform without interrupting traffic according to claim 1, characterized in that: The centralized control unit is located on one side of the walking device and adjacent to the lithium battery, and the centralized control unit also includes a visual perception system, a laser ranging system and a walking drive system; The visual perception system uses a camera as sensor input to identify targets such as the outline of the maintenance tunnel, on-site personnel, obstacles, etc., and outputs information such as their category, distance, and direction. Through image segmentation and recognition technology, the drivable maintenance road area is separated from the background to ensure that the platform can accurately drive on the predetermined route. The laser ranging system uses a laser sensor as a sensor input and can achieve high-precision measurement at the millimeter level, ensuring that the contour edge of the maintenance platform is maintained at a predetermined safe distance from the tunnel wall. The travel drive system receives the feedback signal of the travel wheel encoder in real time, and outputs the real-time position information after being processed by the centralized control unit. The travel drive system can also use these encoder data to perform fault diagnosis and performance optimization, such as eccentric load slip, speed correction, etc., thereby realizing high-precision closed-loop control and safe operation.

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