High-precision walking positioning system and walking positioning method for secondary lining trolley

Abstract

The invention discloses a high-precision walking positioning system and method for a secondary lining trolley, and the system comprises a walking mechanism, a steering mechanism, an air switch group, a walking drive controller, a steering drive controller, a laser distance measurement sensor, a data processor, and an informatization platform. The steering mechanism adjusts the advancing direction of the secondary lining trolley, the laser distance measuring sensor measures the distance between the secondary lining trolley and a tunnel primary supporting face, and the data processor is connected with the walking driving controller, the steering driving controller and the laser distance measuring sensor and controls the secondary lining trolley to walk based on preset position data. And the informatization platform is used for storing tunnel mileage and construction design process data and is in communication connection with the data processor. Accurate positioning of the secondary lining trolley is achieved in an automatic and intelligent mode, and the positioning accuracy and construction efficiency of the secondary lining trolley are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction, and in particular relates to a high-precision walking positioning system and a walking positioning method for a secondary lining trolley. Background Art

[0002] In the ordinary secondary lining construction process, after the second lining of the current plate is demolded, the second lining trolley needs to be moved to the position of the next plate second lining for construction. The existing technology mainly relies on the surveying team to measure and mark the positioning to provide an accurate position reference for the movement of the second lining trolley. After the positioning is completed, the operator uses remote control to move the second lining trolley to the target position based on the data provided by the surveying team. However, this process requires the operator to concentrate highly and relies on manual judgment and control, making it difficult to ensure the stability and accuracy of the operation. In addition, in order to ensure the accurate positioning of the second lining trolley, repeated verification is often required, which is time-consuming and labor-intensive, and the overall process is relatively cumbersome.

[0003] The existing technology has the following defects: First, the measurement and positioning process is complicated and overly dependent on the measurement and marking of the surveying team, which increases the complexity of the process and the requirements for measurement accuracy. Once there is an error or delay in the measurement, it will directly affect the accuracy of the positioning of the secondary lining trolley and the construction progress. Secondly, manual control has great uncertainty and subjectivity. The skill levels and operating habits of different operators lead to inconsistent positioning results, and errors are difficult to avoid. Manual operation is also prone to fatigue of operators, reducing work efficiency, and requires repeated review of positioning, further increasing working time and labor intensity. In addition, the entire positioning process involves multiple links and personnel participation, communication and coordination are difficult, and there is a lack of automation. The construction efficiency and quality are difficult to meet the high standards of modern engineering. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention proposes a high-precision walking positioning system and walking positioning method for a secondary lining trolley, which realizes precise positioning of the secondary lining trolley through automated and intelligent technical means, reduces dependence on surveying teams and manual control, and improves the accuracy of positioning of the secondary lining trolley and construction efficiency.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A high-precision walking and positioning system for a secondary lining trolley, comprising a walking mechanism, a steering mechanism, an air switch group, a walking drive controller, a steering drive controller, a laser ranging sensor, a data processor, and an information platform, wherein the walking mechanism is used to drive the second lining trolley to walk, the steering mechanism is used to adjust the travel direction of the second lining trolley, the air switch group is used to provide power to the walking drive controller and the steering drive controller, the walking drive controller controls the walking action of the walking mechanism, the steering drive controller controls the steering action of the steering mechanism, the laser ranging sensor is used to measure the distance between the second lining trolley and the initial support surface of the tunnel, the data processor is connected to the walking drive controller, the steering drive controller and the laser ranging sensor, and is used to control the travel of the second lining trolley based on preset position data, and adjust the travel direction of the second lining trolley according to the measurement data fed back by the laser ranging sensor, and the information platform is used to store tunnel mileage and construction design process data and is communicatively connected with the data processor.

[0007] Preferably, the travel drive controller is driven by a frequency converter and used in conjunction with a travel encoder, and the travel encoder is used to collect the travel distance data of the travel mechanism in real time and feed the data back to the data processor; the steering drive controller is driven by a frequency converter and used in conjunction with a steering encoder, and the steering encoder is used to collect the steering angle data of the steering mechanism in real time and feed the data back to the data processor.

[0008] Preferably, the travel drive controller and the steering drive controller are servo controllers.

[0009] Preferably, the laser ranging sensors are symmetrically arranged on both sides of the second lining trolley to measure the distance between the two sides of the second lining trolley and the initial support surface of the tunnel, and determine whether the second lining trolley is centered by calculating the error of the ranging data on both sides.

[0010] Preferably, the data processor sends instructions to the steering drive controller to adjust the travel direction of the secondary lining trolley based on the measurement data of the laser ranging sensor when the secondary lining trolley is not centered.

[0011] Preferably, it also includes a human-machine interactive touch screen, which is used to display the walking status and real-time parameters of the secondary lining trolley and receive operation instructions.

[0012] Preferably, it also includes a control cabinet, in which the air switch group, the walking drive controller, the steering drive controller and the data processor are installed, and the human-machine interactive touch screen is installed on the box body of the control cabinet.

[0013] Preferably, the information platform is a network cloud platform, supports login via PC and mobile phone, and has a pouring construction status simulation function.

[0014] Preferably, the system is provided with ten sets of traveling mechanisms and ten sets of steering mechanisms, each set of traveling mechanisms and steering mechanisms is driven by an independent traveling drive controller and steering drive controller, respectively, to achieve stable traveling and precise steering control of the secondary lining trolley.

[0015] On the other hand, the present invention also discloses a walking positioning method based on the high-precision walking positioning system for the secondary lining trolley, which is characterized by comprising the following steps:

[0016] S1, the tunnel mileage and construction design process data are stored in the information platform through the information platform, and the current position information of the secondary lining trolley and the next target position data are obtained through the data processor communicating with the information platform;

[0017] S2, according to the target position data obtained in step S1, the data processor calculates the distance that the secondary lining trolley needs to travel, generates control instructions, and sends the control instructions to the travel drive controller respectively;

[0018] S3, the travel drive controller drives the travel mechanism to make the secondary lining trolley move along the tunnel, the steering drive controller drives the steering mechanism to adjust the travel direction of the secondary lining trolley, the laser ranging sensors on both sides illuminate the initial support surface of the tunnel in real time, collect the distance data between the two sides of the secondary lining trolley and the initial support surface, and feed the collected data back to the data processor;

[0019] S4, the data processor calculates the distance error based on the data fed back by the laser ranging sensors on both sides;

[0020] S5, if the secondary lining trolley is centered, continue to drive the travel mechanism until it reaches the target position, and send a stop command to the travel drive controller and the steering drive controller to control the travel mechanism and the steering mechanism to stop running, and at the same time record the current position of the secondary lining trolley to the information platform;

[0021] S6, if it is detected that the trolley is not centered during the walking process, the data processor generates a steering instruction according to the distance error, sends an instruction to the steering drive controller to control the steering mechanism to adjust the travel direction of the secondary lining trolley, and monitors the steering angle data of each steering mechanism during the steering process. If an error is found in the steering angle, a correction instruction is generated and sent to the steering drive controller to drive the steering mechanism to correct the steering angle until the secondary lining trolley is centered. After the secondary lining trolley reaches the target position, the laser ranging sensor is used to confirm again whether the secondary lining trolley meets the preset positioning accuracy requirements. If the positioning accuracy is insufficient, the jacking and transverse movement mechanism will fine-tune the position of the secondary lining trolley in the left and right directions to finally complete high-precision positioning.

[0022] The beneficial effects of the present invention are as follows:

[0023] (1) Through the coordinated action of the traveling mechanism, steering mechanism, data processor and information platform, the positioning error of the secondary lining trolley can be controlled within a very small range, ensuring that the secondary lining trolley can accurately reach the target position, significantly improving the positioning accuracy and quality of the secondary lining construction. At the same time, the system can adjust the traveling direction and steering error of the secondary lining trolley in real time to ensure that the secondary lining trolley remains centered during travel, avoiding the positioning deviation problem in traditional manual operation.

[0024] (2) This high-precision walking positioning system collects and analyzes real-time data through a data processor, automatically plans the optimal walking path, and reduces the moving time and energy consumption of the secondary lining trolley. Compared with traditional manual operation, this system greatly improves the operating efficiency of the secondary lining trolley, reduces the time waste and safety risks caused by human operation errors, effectively shortens the construction period, and improves production efficiency.

[0025] (3) This high-precision travel positioning system realizes real-time monitoring of the position, status and operating parameters of the secondary lining trolley through the information cloud platform. The operator can grasp the travel status of the secondary lining trolley at any time to ensure the stability and controllability of the construction process. In addition, the system and cloud platform have high stability and reliability, and can operate continuously and stably, reducing production interruptions caused by equipment failures or human factors, ensuring the continuity of the secondary lining construction, and further improving the safety and overall efficiency of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a front view of the secondary lining trolley structure of an embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of a walking mechanism and a steering mechanism of an embodiment of the present invention;

[0028] Figure 3 Schematic diagram of the structure and connection of a high-precision walking positioning system according to an embodiment of the present invention;

[0029] Figure 4 is a communication connection diagram of a data processor according to an embodiment of the present invention;

[0030] Figure 5 is a side view of the secondary lining trolley structure of an embodiment of the present invention;

[0031] Figure 6 It is a flowchart of the walking positioning method according to an embodiment of the present invention.

[0032] Figure numerals: 1-walking mechanism; 2-steering mechanism; 3-air switch group; 4-walking drive controller; 5-steering drive controller; 6-laser ranging sensor; 7-data processor; 8-information platform; 9-walking encoder; 10-steering encoder; 11-human-computer interaction touch screen; 12-control cabinet; 13-lifting and transverse movement mechanism. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention belong to the present invention.

[0034] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0035] See also Figure 1-5 , this embodiment provides a high-precision walking and positioning system for a secondary lining trolley, including a walking mechanism 1, a steering mechanism 2, an air switch group 3, a walking drive controller 4, a steering drive controller 5, a laser ranging sensor 6, a data processor 7, and an information platform 8. Among them, the walking mechanism 1 is used to drive the secondary lining trolley to walk, the steering mechanism 2 is used to adjust the travel direction of the secondary lining trolley, the air switch group 3 is used to provide power to the walking drive controller 4 and the steering drive controller 5, the walking drive controller 4 controls the walking action of the walking mechanism 1, and the steering drive controller 5 controls the steering action of the steering mechanism 2. The walking mechanism 1 is controlled by the walking drive controller 4, so that the secondary lining trolley can walk smoothly along the set path according to the instructions, ensuring the accuracy and stability of the walking action. The walking mechanism 1 can be designed as a plurality of independent drive components, which are respectively controlled by the walking drive controller 4. The separate driving can ensure that the power distribution of the secondary lining trolley is uniform during a longer stroke, reducing the walking error of the system.

[0036] Specifically, the system is provided with ten groups of walking mechanisms 1 and ten groups of steering mechanisms 2, and each group of walking mechanisms 1 and steering mechanisms 2 is driven by an independent walking drive controller 4 (such as walking drive controllers 1, 2, 3, 4, 5, ...) and a steering drive controller 5 (such as steering drive controllers 1, 2, 3, 4, 5, ...) to achieve stable walking and precise steering control of the second lining trolley. This independent control design enables the ten groups of walking mechanisms 1 and the ten groups of steering mechanisms 2 to work together. The system can not only dynamically adjust the speed and power distribution of each group of walking mechanisms 1 according to actual needs, but also independently control the angle of each group of steering mechanisms 2, effectively improving the walking stability and steering accuracy of the second lining trolley. This design is particularly suitable for complex tunnel construction environments, effectively solving the instability problem of the second lining trolley caused by uneven ground or deviation of the walking path, and ensuring the positioning accuracy and walking stability during the second lining construction process. In addition, one walking drive controller 4 can also be used to control multiple walking mechanisms 1, and the driving efficiency and the balance of power distribution can be improved through synchronous control. Likewise, one steering drive controller 5 may be used to control multiple steering mechanisms 2, and the consistency and stability of the overall steering action may be ensured through coordinated control.

[0037] During the movement of the secondary lining trolley, the laser ranging sensor 6 is used to measure the distance between the secondary lining trolley and the initial support surface of the tunnel, and the measurement data is fed back to the data processor 7 in real time. The data processor 7 is connected to the travel drive controller 4, the steering drive controller 5 and the laser ranging sensor 6, and is used to control the movement of the secondary lining trolley based on the preset position data, and adjust the movement direction of the secondary lining trolley according to the measurement data fed back by the laser ranging sensor 6. The data processor 7 determines whether the secondary lining trolley is moving in the center by calculating the error between the distance measurement data on both sides. If it is not in the center, the data processor 7 will generate a correction instruction and send it to the steering drive controller 5 to drive the steering mechanism 2 to adjust the angle to ensure the accuracy of the movement direction of the secondary lining trolley. In this process, the data processor 7, as the core of the system, automatically analyzes and processes real-time data, and controls the travel mechanism 1 and the steering mechanism 2 to work together in combination with the preset walking path to ensure that the secondary lining trolley can be accurately positioned to the target position.

[0038] The information platform 8 is used to store tunnel mileage and construction design process data, and communicates with the data processor 7. The specific communication means include network port and serial port, among which the network port communication method is the preferred solution. The following communication methods all use network port communication by default. The information platform 8 can monitor the position, status and operating parameters of the secondary lining trolley through real-time data feedback, and can display the relevant information on the human-machine interactive touch screen 11 of the control system. The human-machine interactive touch screen 11 is used to display the walking status and real-time parameters of the secondary lining trolley and receive operation instructions. The operator can view the walking status, positioning parameters and system operation of the secondary lining trolley through the human-machine interactive touch screen 11, so as to perform necessary monitoring and operation on the secondary lining trolley to ensure the stability of the construction process.

[0039] After determining the position where the next plate secondary lining needs to walk, the operator can operate through the human-machine interactive touch screen 11 to trigger the system to start automatic walking and positioning. In addition, the information platform 8 can also directly operate the walking and positioning, and issue the control instructions of walking and positioning to the data processor 7 through network communication. In this process, the information platform 8 generates and sends the optimal path planning instructions through the data processor 7 based on the stored construction design process data, the current position of the secondary lining trolley and the next target position, controls the walking drive controller 4 and the steering drive controller 5, drives the walking mechanism 1 and the steering mechanism 2 to perform high-precision walking and steering operations, thereby completing the automatic walking and positioning of the secondary lining trolley.

[0040] Through this system, the travel positioning of the secondary lining trolley is automatically controlled, and the positioning error can be controlled within a very small range, ensuring the high precision of the positioning of the secondary lining trolley and the construction quality. Compared with the traditional method that relies on manual operation, this system automatically plans the optimal travel path, reduces travel time and energy consumption, and significantly improves the operating efficiency of the secondary lining trolley. In addition, through real-time monitoring and feedback, the system can adjust the travel status of the secondary lining trolley in time, reducing the safety risks caused by human errors and ensuring the stable travel of the secondary lining trolley and the continuity of construction.

[0041] In one embodiment, the travel drive controller 4 is driven by a frequency converter and used in conjunction with a travel encoder 9. The travel encoder 9 is used to collect the travel distance data of the travel mechanism 1 in real time and feed the data back to the data processor 7. After receiving the travel distance data, the data processor 7 will compare it with the preset travel path and target position, generate an adjustment instruction, and control the travel action of the travel mechanism 1 through the travel drive controller 4, thereby ensuring the accuracy and stability of the travel positioning. Since the travel encoder 9 collects the travel data in real time and feeds back, the system can effectively correct the errors generated during the walking process, further improve the walking accuracy of the secondary lining trolley, and reduce the work of repeated positioning.

[0042] Similarly, the steering drive controller 5 uses a frequency converter in conjunction with a steering encoder 10, which is used to collect the steering angle data of the steering mechanism 2 in real time and feed the data back to the data processor 7. The data processor 7 determines whether the actual steering angle of the steering mechanism 2 meets the requirements of the predetermined path by performing real-time analysis on the steering angle data. If a deviation is detected, the data processor 7 will generate a correction instruction and send it to the steering drive controller 5 to drive the steering mechanism 2 to adjust the angle to ensure that the secondary lining trolley can maintain precise direction control during travel. By using a frequency converter and an encoder in conjunction, the system can achieve high-precision travel positioning and steering control to ensure the quality and accuracy of the secondary lining construction.

[0043] In another embodiment, the travel drive controller 4 and the steering drive controller 5 use servo controllers, and there is no need to use travel encoders 9 and steering encoders 10. The servo controller directly controls the actions of the travel mechanism 1 and the steering mechanism 2 through an internal feedback system to achieve precise position and direction control. Compared with the solution of frequency converter and encoder cooperation, the use of servo controller simplifies the structure of the system, reduces the configuration of sensors and the data transmission process, and can improve the response speed and stability of the system while maintaining high precision. It is suitable for scenarios with higher requirements for the simplicity of system structure. In this embodiment, the data processor 7 still generates control instructions through real-time calculation and adjustment and sends them to the servo controller to ensure that the travel mechanism 1 and the steering mechanism 2 work together to achieve high-precision automatic positioning of the second lining trolley.

[0044] In this embodiment, the laser ranging sensors 6 are symmetrically arranged on both sides of the second lining trolley to measure the distance between the two sides of the second lining trolley and the initial support surface of the tunnel. The laser ranging sensor 6 collects the ranging data on both sides in real time and feeds the measurement results back to the data processor 7. The data processor 7 compares the ranging data on both sides and calculates the error between the distances on both sides, thereby judging whether the second lining trolley is in a centered state. When the second lining trolley is centered, the error of the ranging data is close to zero, and the second lining trolley can continue to move in the current direction of travel. However, if the second lining trolley is not centered, the data processor 7 will generate an adjustment instruction based on the measurement data fed back by the laser ranging sensor 6, and send a control instruction to the steering drive controller 5. Specifically, when the measurement value between the left side of the second lining trolley and the initial support surface of the tunnel is greater than the measurement value on the right side, the calculated error is a positive value, and the data processor 7 determines that the second lining trolley is biased to the right and needs to be turned to the left for correction; when the measurement value on the right side is greater than the measurement value on the left side, the error is a negative value, and the data processor 7 determines that the second lining trolley is biased to the left and needs to be turned to the right for correction.

[0045] After receiving the adjustment instruction from the data processor 7, the steering drive controller 5 controls the steering mechanism 2 to adjust the angle, so that the second lining trolley gradually corrects the direction of travel until the error of the distance measurement data on both sides of the second lining trolley reaches the preset accuracy requirement, ensuring that the second lining trolley moves in the center again. During this process, the data processor 7 can continuously monitor the feedback data of the laser ranging sensor 6 to ensure that the adjustment action of the steering mechanism 2 is timely and accurate, and further improve the accuracy and stability of the walking and positioning of the second lining trolley. This method of coordinated work between the laser ranging sensor 6 and the data processor 7 realizes the automatic correction of the walking direction of the second lining trolley, avoids errors that are easy to occur in manual judgment and operation, and ensures the high-precision center positioning of the second lining trolley in the tunnel.

[0046] In this embodiment, the system can monitor the steering angle data of multiple steering mechanisms 2 in real time through the data processor 7. When the steering mechanism 2 adjusts the travel direction of the secondary lining trolley, the steering angles of each steering mechanism 2 need to remain consistent to ensure the stable operation and precise positioning of the secondary lining trolley. In actual applications, the data processor 7 will collect and analyze the steering angles of each steering mechanism 2 in real time. For example, if the angle of a steering mechanism 2 is 8° and the angle of another steering mechanism 2 is 10°, the data processor 7 will detect this difference, determine that there may be synchronization problems with each steering mechanism 2, and make adjustments accordingly.

[0047] In this embodiment, a control cabinet 12 is also included. The air switch group 3, the travel drive controller 4, the steering drive controller 5 and the data processor 7 are installed in the control cabinet 12. The control cabinet 12 serves as a centralized control unit of the system, providing a stable power supply and data processing environment for each component to ensure the reliable operation of the system. The control cabinet 12 is also equipped with necessary electrical components such as DC power supply, input and output interface circuits, and contactors in the prior art. These components provide basic support for the power supply and control of the system and ensure the stable operation of the system. They will not be repeated here. The human-computer interaction touch screen 11 is installed on the box of the control cabinet 12. The operator can view the operating status, position parameters and related operation information of the second lining trolley in real time through the human-computer interaction touch screen 11, realize the monitoring and operation of the system, and greatly facilitate the on-site construction management.

[0048] The information platform 8 is a network cloud platform that supports PC and mobile phone login. Operators can remotely view the real-time operation status, location information and construction progress of the secondary lining trolley at any time through the PC or mobile phone. The information platform 8 also has the function of simulating the pouring construction status, which can analyze and process the construction data through the system and present the construction status in a simulated way, providing accurate data support and decision-making reference for on-site operations. This networked data management and display method not only improves the intelligence of the system, but also provides great convenience for the management and monitoring of the construction process, effectively improving construction efficiency and project quality.

[0049] Furthermore, the data processor 7 uses PLC as the central processor, which is installed inside the control cabinet 12, and is used to collect and process data information, and issue drive instructions to control the actions of the travel drive controller 4 and the steering drive controller 5, so as to achieve precise control of the travel mechanism 1 and the steering mechanism 2. The human-machine interactive touch screen 11 uses a 10-inch touch screen of model CMT1107XWV as the display unit of the system to achieve touch control of the travel system of the secondary lining trolley. The touch screen 11 is installed on the box of the control cabinet 12. The operator can intuitively view the operating status, real-time position, travel path and other system parameters of the secondary lining trolley through the touch screen 11, and realize the start and stop, parameter adjustment and status monitoring of the system through touch operation.

[0050] Furthermore, the walking encoder 9, the steering encoder 10 and the laser ranging sensor 6 are connected to the data processor 7 through the RS485 communication format, and the data is transmitted using a RVVP4×0.5² twisted pair shielded cable, which is connected through a HE-5 aviation fast plug. The HE-5 aviation fast plug is divided into a male head and a female head. The male head is respectively connected to the walking encoder 9, the steering encoder 10 and the laser ranging sensor 6. The female head is arranged on the side of the box of the control cabinet 12 and is connected to the data processor 7 and the DC power supply. Among them, the 1st and 2nd cores of the RVVP5×0.5² twisted pair shielded cable are used to transmit RS485A and B data signals, and the 3rd and 4th cores are used as the positive and negative poles of the DC 24V power supply of the walking encoder 9, the steering encoder 10 and the laser ranging sensor 6. The shielding layer copper wire is used as the grounding terminal and connected to the No. 5 pin of the HE-5 aviation fast plug. The walking encoder 9, the steering encoder 10 and the laser ranging sensor 6 are connected in parallel. This connection method can ensure the stability of data transmission and the reliability of power supply, effectively reduce signal interference, and improve the overall performance and operation stability of the system.

[0051] See also Figure 6 Another embodiment of the present invention describes a walking positioning method based on the above-mentioned high-precision walking positioning system for the secondary lining trolley, comprising the following steps:

[0052] S1, the tunnel mileage and construction design process data are stored in the information platform 8 through the information platform 8, and the current position information of the secondary lining trolley and the next target position data are obtained through the data processor 7 communicating with the information platform 8. In this process, the information platform 8, as the data management center, is responsible for storing and providing the design data and mileage information of the tunnel, and the data processor 7 obtains the current position information and the next target position information of the secondary lining trolley from the information platform 8 through network communication, providing data support for subsequent walking positioning.

[0053] S2, according to the target position data obtained in step S1, the data processor 7 calculates the distance that the secondary lining trolley needs to travel, generates control instructions, and sends the control instructions to the travel drive controller 4. The data processor 7, as the core control unit of the system, calculates the difference between the current position and the target position, obtains the travel distance and travel path of the secondary lining trolley, and sends the travel instruction to the travel drive controller 4 to ensure that the travel mechanism 1 travels to the target position according to the set distance.

[0054] S3, the travel drive controller 4 drives the travel mechanism 1 to make the secondary lining trolley walk along the tunnel, and the steering drive controller 5 drives the steering mechanism 2 to adjust the travel direction of the secondary lining trolley; the laser distance sensors 6 on both sides illuminate the initial support surface of the tunnel in real time, collect the distance data between the two sides of the secondary lining trolley and the initial support surface, and feed the collected data back to the data processor 7. During the movement of the secondary lining trolley, the laser distance sensor 6 obtains the distance information on both sides of the secondary lining trolley in real time through non-contact measurement, and transmits these data to the data processor 7, providing a basis for the system to judge the centering state of the secondary lining trolley.

[0055] S4, the data processor 7 calculates the distance error based on the data fed back by the laser distance measuring sensors 6 on both sides. The data processor 7 obtains the error value by comparing the distance data on both sides, and determines whether the secondary lining trolley is centered based on the error value. If the data on both sides are nearly consistent, it indicates that the secondary lining trolley is centered; if there is a difference, it indicates that the secondary lining trolley is off-center and needs to be adjusted.

[0056] S5, if the secondary lining trolley is centered, continue to drive the traveling mechanism 1 until it reaches the target position, and send a stop command to the traveling drive controller 4 and the steering drive controller 5 to control the traveling mechanism 1 and the steering mechanism 2 to stop running, and record the current position of the secondary lining trolley to the information platform 8. When the system determines that the secondary lining trolley has been centered and reached the target position, the data processor 7 generates a stop command, the traveling mechanism 1 and the steering mechanism 2 stop moving, ensure that the secondary lining trolley is stably located at the target position, and store the current position information through the information platform 8 to provide data support for subsequent construction operations.

[0057] S6, if it is detected that the trolley is not centered during the walking process, the data processor 7 generates a steering instruction according to the distance error, sends an instruction to the steering drive controller 5 to control the steering mechanism 2 to adjust the travel direction of the second lining trolley, and monitors the steering angle data of each steering mechanism 2 during the steering process. If an error is found in the steering angle, a correction instruction is generated and sent to the steering drive controller 5 to drive the steering mechanism 2 to correct the steering angle until the second lining trolley is centered. In this process, the data processor 7 continuously receives the data fed back by the laser ranging sensor 6, and adjusts the steering mechanism 2 in combination with the steering angle monitored in real time to ensure that the direction correction action of the second lining trolley is accurate and reliable. When the second lining trolley reaches the target position, the laser ranging sensor 6 is used to confirm again whether the second lining trolley meets the preset positioning accuracy requirements. If the positioning accuracy is insufficient, the lifting and transverse movement mechanism 13 fine-tunes the position of the second lining trolley in the left and right directions. The lifting and transverse movement mechanism 13 adjusts the slight offset of the second lining trolley to achieve accurate positioning of the second lining trolley at the target position, and finally completes high-precision positioning.

[0058] Through the above steps, the method can achieve high-precision automatic walking positioning of the secondary lining trolley, ensure that the secondary lining trolley accurately reaches the target position, and effectively solve the problem of the secondary lining trolley deviating from the center, thereby improving the positioning accuracy and operation efficiency during the construction process.

[0059] In summary, the present invention discloses a high-precision walking positioning system and walking positioning method for a secondary lining trolley, the system comprising a walking mechanism 1, a steering mechanism 2, an air switch group 3, a walking drive controller 4, a steering drive controller 5, a laser ranging sensor 6, a data processor 7, an information platform 8, a human-computer interaction touch screen 11, a control cabinet 12 and other components. The laser ranging sensor 6 collects the distance data between the two sides of the secondary lining trolley and the initial support surface of the tunnel in real time, and the data processor 7 calculates and analyzes the measurement data to determine whether the secondary lining trolley is centered, and sends an adjustment instruction to the steering drive controller 5 according to the error situation, drives the steering mechanism 2 to correct the direction of travel, and ensures the centered walking of the secondary lining trolley. At the same time, the system uses an independent walking drive controller 4 and a steering drive controller 5 to independently control ten groups of walking mechanisms 1 and ten groups of steering mechanisms 2, so as to achieve stable walking and precise steering of the secondary lining trolley.

[0060] The present invention also provides a walking positioning method based on the above system, which stores and obtains the construction design data, the current position and the target position of the second lining trolley through the information platform 8, and the data processor 7 generates a control instruction to drive the walking mechanism 1 and the steering mechanism 2 to perform the walking positioning operation. In the positioning process, the automatic correction and precise positioning of the second lining trolley are realized through the real-time feedback of the laser ranging data and the dynamic adjustment of the steering angle. In addition, when the second lining trolley does not meet the preset accuracy requirements, the jacking and transverse movement mechanism 13 can be fine-tuned in the left and right directions to further ensure the high accuracy of positioning. Compared with traditional manual operation, the present invention realizes the automation and intelligent control of the walking and positioning process of the second lining trolley, reduces human errors, and improves the positioning accuracy and operation efficiency of the second lining trolley. The information platform 8 supports PC and mobile terminal operations, has data storage and pouring construction state simulation functions, and the operator can monitor and operate on-site through the human-computer interactive touch screen 11, or remotely control the system through the information platform 8. The present invention has a simple structure, precise control, and stable operation. It solves the problems of complex procedures, large errors, and low efficiency in the walking positioning process of the traditional second lining trolley, and has high practicality and promotion value.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision walking and positioning system for a secondary lining trolley, characterized in that: The invention comprises a walking mechanism (1), a steering mechanism (2), an air switch group (3), a walking drive controller (4), a steering drive controller (5), a laser distance measuring sensor (6), a data processor (7), and an information platform (8), wherein the walking mechanism (1) is used to drive the secondary lining trolley to walk, the steering mechanism (2) is used to adjust the travel direction of the secondary lining trolley, the air switch group (3) is used to provide power to the walking drive controller (4) and the steering drive controller (5), the walking drive controller (4) controls the walking action of the walking mechanism (1), and the steering mechanism (2) is used to adjust the travel direction of the secondary lining trolley, and the air switch group (3) is used to provide power to the walking drive controller (4) and the steering drive controller (5). The drive controller (5) controls the steering action of the steering mechanism (2); the laser distance sensor (6) is used to measure the distance between the secondary lining trolley and the initial support surface of the tunnel; the data processor (7) is connected to the travel drive controller (4), the steering drive controller (5) and the laser distance sensor (6) and is used to control the travel of the secondary lining trolley based on preset position data and adjust the travel direction of the secondary lining trolley based on the measurement data fed back by the laser distance sensor (6); the information platform (8) is used to store tunnel mileage and construction design process data and is in communication connection with the data processor (7).

2. The high-precision walking positioning system according to claim 1, characterized in that: The travel drive controller (4) is driven by a frequency converter and is used in conjunction with a travel encoder (9). The travel encoder (9) is used to collect travel distance data of the travel mechanism (1) in real time and feed the data back to a data processor (7). The steering drive controller (5) is driven by a frequency converter and is used in conjunction with a steering encoder (10). The steering encoder (10) is used to collect steering angle data of the steering mechanism (2) in real time and feed the data back to a data processor (7).

3. The high-precision walking positioning system according to claim 1, characterized in that: The walking drive controller (4) and the steering drive controller (5) are servo controllers.

4. The high-precision walking positioning system according to claim 2 or 3, characterized in that: The laser distance measuring sensors (6) are symmetrically arranged on both sides of the secondary lining trolley, and are used to measure the distance between the two sides of the secondary lining trolley and the initial support surface of the tunnel, and to determine whether the secondary lining trolley is centered by calculating the error of the distance measurement data on both sides.

5. The high-precision walking positioning system according to claim 4, characterized in that: The data processor (7) sends instructions to the steering drive controller (5) to adjust the travel direction of the secondary lining trolley based on the measurement data of the laser distance measuring sensor (6) when the secondary lining trolley is not centered.

6. The high-precision walking positioning system according to claim 5, characterized in that: It also comprises a human-machine interactive touch screen (11), wherein the human-machine interactive touch screen (11) is used to display the walking state and real-time parameters of the secondary lining trolley and receive operation instructions.

7. The high-precision walking positioning system according to claim 6, characterized in that: It also includes a control cabinet (12), wherein the air switch group (3), the walking drive controller (4), the steering drive controller (5) and the data processor (7) are installed in the control cabinet (12), and the human-machine interactive touch screen (11) is installed on the box body of the control cabinet (12).

8. The high-precision walking positioning system according to claim 7, characterized in that: The information platform (8) is a network cloud platform that supports PC and mobile phone login and has a pouring construction status simulation function.

9. The high-precision walking positioning system according to claim 8, characterized in that: The system is provided with ten sets of walking mechanisms (1) and ten sets of steering mechanisms (2), each set of walking mechanisms (1) and steering mechanisms (2) being driven by an independent walking drive controller (4) and steering drive controller (5) respectively, so as to achieve stable walking and precise steering control of the secondary lining trolley.

10. A walking positioning method for a high-precision walking positioning system for a secondary lining trolley according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, storing tunnel mileage and construction design process data in the information platform (8) through the information platform, and obtaining the current position information of the secondary lining trolley and the next target position data through the data processor (7) communicating with the information platform (8); S2, based on the target position data obtained in step S1, the data processor (7) calculates the distance that the secondary lining trolley needs to travel, generates a control instruction, and sends the control instruction to the travel drive controller (4); S3, the travel drive controller (4) drives the travel mechanism (1) to make the secondary lining trolley move along the tunnel, the steering drive controller (5) drives the steering mechanism (2) to adjust the travel direction of the secondary lining trolley, and the laser distance measuring sensors (6) on both sides illuminate the initial support surface of the tunnel in real time, collect the distance data between the two sides of the secondary lining trolley and the initial support surface, and feed the collected data back to the data processor (7); S4, the data processor (7) calculates the distance error according to the data fed back by the laser ranging sensors on both sides; S5, if the secondary lining trolley is centered, continue to drive the travel mechanism (1) until it reaches the target position, and send a stop command to the travel drive controller (4) and the steering drive controller (5) to control the travel mechanism (1) and the steering mechanism (2) to stop running, and at the same time record the current position of the secondary lining trolley to the information platform (8); S6, if it is detected that the trolley is not centered during the walking process, the data processor (7) generates a steering instruction according to the distance error, sends the instruction to the steering drive controller (5) to control the steering mechanism (2) to adjust the travel direction of the secondary lining trolley, and monitors the steering angle data of each steering mechanism (2) during the steering process. If it is found that there is an error in the steering angle, a correction instruction is generated and sent to the steering drive controller (5), driving the steering mechanism (2) to correct the steering angle until the secondary lining trolley is centered. After the secondary lining trolley reaches the target position, the laser distance measuring sensor is used to confirm again whether the secondary lining trolley meets the preset positioning accuracy requirements. If the positioning accuracy is insufficient, the lifting and lateral movement mechanism (13) is used to fine-tune the position of the secondary lining trolley in the left and right directions, and finally completes high-precision positioning.

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