Positioning method of suspension rail type immersed tunnel inspection platform

Abstract

The invention discloses a positioning method of a suspension rail type immersed tunnel inspection platform, which is characterized in that the inspection platform is suspended on a rail of a rail structure in a walking manner, the inspection platform is provided with two clamping driving wheel mechanisms symmetrically arranged on two sides of the rail, and the clamping driving wheel mechanisms can adjust the wheel diameters of driving wheels; an inspection platform auxiliary marking system is designed, and a two-dimensional code label is arranged on the bottom surface of the track corresponding to each detection point; when the inspection platform runs to a detection point position, reading absolute position information of the two-dimensional code label and label information of the detection point position, calculating a deviation between an absolute position obtained by reading the two-dimensional code label and a current displacement amount obtained according to data of the rotary encoder, and then according to the deviation, determining whether the detection point position is a detection point position or not; the wheel diameter of the driving wheel is adjusted by adjusting the pressure of the driving wheel of the clamping driving wheel mechanism on the rail, so that the moving position of the inspection platform is corrected, and the positioning precision of the inspection platform is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of immersed tube tunnel monitoring, and in particular relates to a positioning method for a suspended rail type immersed tube tunnel inspection platform. Background Art

[0002] Due to the particularity of the environment, underwater immersed tube tunnels are extremely susceptible to factors such as topography, geology and water environment, as well as various processes of construction and operation; these factors can cause a series of problems in immersed tube tunnels, such as tunnel cracks, water leakage, deformation of pipe joints, etc. Therefore, the monitoring and maintenance of the status of underwater immersed tube tunnels is particularly important.

[0003] The inspection and maintenance of immersed tube tunnels are mainly carried out by manual inspection or vehicle inspection. Manual inspection requires road closure management, which is not only inefficient but also seriously hinders normal traffic operations. Vehicle inspection is mainly used for regular inspection and it is difficult to take into account the needs of daily inspection and regular inspection.

[0004] At present, there are intelligent patrol inspection platforms to solve the above problems. For example, patent CN202111009819.0 discloses a suspended patrol mobile platform, including a guide rail support, a power supply busbar and a patrol platform design, which can realize the accurate positioning and tracking of "invading foreign objects"; patent CN202210558760.9 discloses a design of an intelligent patrol inspection platform for a cable tunnel, including a guide rail assembly, a patrol shell assembly, and a track changing device, which can change the track of the intelligent patrol device between angled guide rails or parallel guide rails, so that the intelligent patrol device can adapt to complex tunnel environments.

[0005] During the inspection of immersed tube tunnels by inspection platforms, accurate location information is crucial, as it is directly related to the accuracy and efficiency of subsequent maintenance work. Although the traditional estimation method based on rotary encoders and drive wheel diameters can provide location information of the inspection platform to a certain extent, it is easily affected by wheel diameter measurement errors and tunnel environment changes (such as wheelbase changes caused by humidity and temperature), resulting in a decrease in the positioning accuracy of the inspection platform. Summary of the invention

[0006] The purpose of the present invention is to solve the deficiencies of the prior art and to provide a positioning method for a suspended rail type immersed tube tunnel inspection platform.

[0007] The present invention is achieved through the following technical solutions: A positioning method for a suspended track type immersed tube tunnel inspection platform, comprising a track structure, an inspection platform and an inspection platform auxiliary marking system; The track structure is arranged on the top of the immersed tube tunnel to be monitored; The inspection platform can be walked and suspended on the track of the track structure. The inspection platform includes a bearing structure base plate and a suspension supporting wheel mechanism and a clamping driving wheel mechanism installed on the bearing structure base plate, and the suspension supporting wheel mechanism is used to be suspended on the track; the number of the clamping driving wheel mechanisms is two, which are symmetrically arranged on both sides of the track, and each clamping driving wheel mechanism includes a driving wheel, a driving wheel mounting plate, a spring and a telescopic connecting rod assembly, a driving wheel motor and a sliding mounting frame, wherein the driving wheel is used to contact the side wall of the track, the driving wheel and the driving wheel motor are installed on the driving wheel mounting plate, the driving wheel motor is used to drive the driving wheel to rotate, and the driving wheel mounting plate is connected to the sliding mounting frame through a spring and a telescopic connecting rod assembly; the sliding mounting frames of the two clamping driving wheel mechanisms are slidably installed on both sides of the track through two parallel slideways, and the slideways are fixed on the bearing structure base plate. The two sliding mounting frames are penetrated by a lead screw, which has two symmetrically arranged threaded sections with opposite rotation directions, one of the sliding mounting frames cooperates with one of the threaded sections of the lead screw through a lead screw nut, and the other sliding mounting frame cooperates with the other threaded section of the lead screw through another lead screw nut, one end of the lead screw is connected to a lead screw driving motor, and the lead screw driving motor is fixedly mounted on the bearing structure substrate, and the lead screw is driven by the lead screw driving motor to rotate forward / reversely, thereby driving the two sliding mounting frames to move synchronously relative / toward each other, thereby causing the driving wheels on the two sliding mounting frames to clamp / separate the track; a pressure sensor is also arranged between the spring of the spring and telescopic connecting rod assembly and the sliding mounting frame, and the elastic force of the spring is monitored by the pressure sensor to indicate the pressure of the driving wheel on the track; a rotary encoder is arranged on the output shaft of the driving wheel motor of the inspection platform; The inspection platform auxiliary marking system includes a two-dimensional code positioning sensor and a two-dimensional code label. The two-dimensional code label is attached to the bottom surface of the track. A two-dimensional code label is arranged on the bottom surface of the track corresponding to each detection point; each two-dimensional code label corresponds to a label, and the labels are arranged in sequence at each detection point along the inspection route of the inspection platform, and each two-dimensional code label represents an absolute position information; the two-dimensional code positioning sensor is arranged on the inspection platform, and is used to scan the two-dimensional code label on the track, so as to obtain the absolute position information represented by the two-dimensional code label and the label information of the detection point; The positioning method of the suspended rail type immersed tube tunnel inspection platform comprises the following steps: Step 1: During the operation of the inspection platform, the current displacement of the inspection platform is calculated in real time through the rotary encoder data. x , and its calculation formula is as follows: ; Where R is the encoder resolution, d is the wheel diameter of the driving wheel, n is the encoder reading; Step 2: When the inspection platform runs to the detection point, read the absolute position information of the QR code label and the label information of the detection point; Step 3: Calculate the deviation between the absolute position obtained by reading the QR code label and the current displacement obtained based on the rotary encoder data ; Step 4: The deviation calculated in step 3 , adjust the pressure of the driving wheel of the clamping driving wheel mechanism on the track to adjust the wheel diameter of the driving wheel to realize the correction of the moving position of the inspection platform; The pressure of the driving wheel on the track of the clamping driving wheel mechanism can be calculated by the following formula: ; ; in, The pressure of the driving wheel of the clamping driving wheel mechanism on the track after adjustment, To adjust the pressure of the driving wheel of the clamping driving wheel mechanism on the track before k is the stiffness coefficient of the material of the driving wheel, is the deformation of the driving wheel caused by clamping.

[0008] In the above technical solution, the driving wheel is made of rubber.

[0009] In the above technical solution, the track structure includes an aluminum profile track and a steel track hanger, wherein the groove of the track faces upward, the track hanger is installed in the groove, one end of the track hanger is installed at the top of the immersed tube tunnel and the other end is embedded in the groove, so that the track is suspended on the top of the immersed tube tunnel.

[0010] In the above technical solution, the number of the suspended supporting wheel mechanisms is four, two in a group, and the two suspended supporting wheel mechanisms in each group are symmetrically arranged on both sides of the track. Each suspended supporting wheel mechanism includes a supporting wheel and a supporting wheel mounting frame, and the supporting wheel is mounted on the supporting wheel mounting frame. The bottom end of the supporting wheel mounting frame is fixedly mounted on the bearing structure base plate, and the supporting wheel is suspended on the track.

[0011] In the above technical solution, the supporting wheel adopts nylon plastic-coated bearings, which have strong wear resistance, corrosion resistance and high load-bearing capacity.

[0012] In the above technical solution, the clamping drive wheel mechanism is located in the middle position between the two sets of suspension supporting wheel mechanisms.

[0013] In the above technical solution, the spring and telescopic connecting rod assembly includes a telescopic rod and a spring, one end of the telescopic rod is connected to the driving wheel mounting plate, and the other end is installed on the sliding mounting frame. The spring is sleeved on the telescopic rod, so that the driving wheel can provide flexible pressure on the track.

[0014] The advantages and beneficial effects of the present invention are: The present invention installs an inspection platform in a movable manner by hanging it on a track of a track structure. The inspection platform has two clamping drive wheel mechanisms symmetrically arranged on both sides of the track. The clamping drive wheel mechanisms can adjust the wheel diameter of the drive wheel. In addition, the present invention designs an auxiliary marking system for the inspection platform, and arranges a two-dimensional code label on the bottom surface of the track corresponding to each detection point. When the inspection platform runs to the detection point, the absolute position information of the two-dimensional code label and the label information of the detection point are read, and the deviation between the absolute position obtained by reading the two-dimensional code label and the current displacement obtained according to the rotary encoder data is calculated, and then according to the deviation, the pressure of the drive wheel of the clamping drive wheel mechanism on the track is adjusted to adjust the wheel diameter of the drive wheel, so as to realize the correction of the moving position of the inspection platform, thereby achieving a significant improvement in the positioning accuracy of the inspection platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the installation structure of the inspection platform and the track of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the inspection platform of the present invention.

[0017] Figure 3 It is a flow chart of a positioning method of a suspended rail type immersed tube tunnel inspection platform of the present invention.

[0018] For ordinary technicians in this field, other relevant drawings can be obtained based on the above drawings without any creative work. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with specific embodiments.

[0020] A positioning method for a suspended track type immersed tube tunnel inspection platform comprises a track structure, an inspection platform and an auxiliary marking system for the inspection platform.

[0021] The track structure is arranged at the top of the immersed tube tunnel to be monitored, and includes an aluminum profile track and a steel track hanger, wherein the notch of the track faces upward, the track hanger is installed in the notch, one end of the track hanger is installed at the top of the immersed tube tunnel and the other end is embedded in the notch, so that the track is suspended at the top of the immersed tube tunnel.

[0022] The inspection platform 1 can be suspended and installed on the track 100 of the track structure in a walkable manner. The inspection platform 1 includes a bearing structure substrate 101 and a suspension supporting wheel mechanism 102 and a clamping driving wheel mechanism 103 installed on the bearing structure substrate 101, wherein the bearing structure substrate 101 serves as a mounting base for the suspension supporting wheel mechanism 102 and the clamping driving wheel mechanism 103; the number of the suspension supporting wheel mechanisms 102 is four, two in a group, and the two suspension supporting wheel mechanisms 102 in each group are symmetrically arranged on both sides of the track 100, each suspension supporting wheel mechanism 102 includes a supporting wheel 1021 and a supporting wheel mounting frame 1022, the supporting wheel 1021 is installed on the supporting wheel mounting frame 1022, the bottom end of the supporting wheel mounting frame 1022 is fixedly installed on the bearing structure substrate 101, and the supporting wheel 1021 is suspended on the track 100, and then the entire inspection platform can be stably suspended on the track 100 through the above-mentioned two groups of suspension supporting wheel mechanisms 102. Furthermore, the supporting wheel 1021 adopts nylon coated bearings, which have strong wear resistance, corrosion resistance and high load-bearing capacity. The supporting wheel 1021 does not provide power and its function is only to suspend the inspection platform on the track 100; in order to prevent the inspection platform from sliding off the track 100, the spacing between the supporting wheels 1021 of the two suspended supporting wheel mechanisms 102 in each group shall not exceed one third of the track width.There are two clamping drive wheel mechanisms 103, which are symmetrically arranged on both sides of the track 100, and the clamping drive wheel mechanism 103 is located in the middle position between the two groups of suspension supporting wheel mechanisms 102 mentioned above; each clamping drive wheel mechanism 103 includes a drive wheel 1031, a drive wheel mounting plate 1032, a spring and telescopic connecting rod assembly 1033, a drive wheel motor 1034 and a sliding mounting frame 1035, wherein the drive wheel 1031 is used to contact the side wall of the track 100, the drive wheel 1031 and the drive wheel motor 1034 are installed on the drive wheel mounting plate 1032, the drive wheel motor 1034 is used to drive the drive wheel 1031 to rotate, and the drive wheel mounting plate 1032 is connected to the sliding mounting frame 1035 through a spring and a telescopic connecting rod assembly 1033; the sliding mounting frames 1035 of the two clamping drive wheel mechanisms 103 are connected to the sliding mounting frame 1035 through two parallel slideways. 1036 is slidably installed on both sides of the track 100, the slide 1036 is fixed on the bearing structure substrate 101, and a lead screw 1037 is installed through the two sliding mounting frames 1035, the lead screw 1037 has two symmetrically arranged threaded segments with opposite rotation directions, one of the sliding mounting frames 1035 is matched with one of the threaded segments of the lead screw 1037 through a lead screw nut, and the other sliding mounting frame 1035 is matched with the other threaded segment of the lead screw 1037 through another lead screw nut, one end of the lead screw 1037 is connected to a lead screw drive motor, and the lead screw drive motor is fixedly installed on the bearing structure substrate 101, and the lead screw 1037 is driven by the lead screw drive motor to rotate forward / reverse, thereby driving the two sliding mounting frames 1035 to move synchronously relative / toward each other, thereby making the driving wheels 1031 on the two sliding mounting frames 1035 clamp / separate the track 100. Furthermore, the spring and telescopic connecting rod assembly 1033 includes a telescopic rod and a spring, one end of the telescopic rod is connected to the driving wheel mounting plate 1032, and the other end is mounted on the sliding mounting frame 1035. The spring is sleeved on the telescopic rod, so that the driving wheel 1031 can provide flexible pressure to the track 100; further, a pressure sensor (i.e., the end of the spring contacts the pressure sensor) is also provided between the spring and telescopic connecting rod assembly 1033 and the sliding mounting frame 1035, and the pressure sensor can monitor the elastic force of the spring, and further indicate the pressure of the driving wheel 1031 on the track 100. Further, a rotary encoder is provided on the output shaft of the driving wheel motor 1034 of the inspection platform, and the rotary encoder is used to detect the number of circles of the driving wheel, and the wheel circumference is calculated according to the wheelbase of the driving wheel, so as to calculate the moving position of the inspection platform.

[0023] The inspection platform auxiliary marking system includes a QR code positioning sensor and a QR code label. The QR code label is attached to the bottom surface of the track, and a QR code label is arranged on the bottom surface of the track corresponding to each detection point; each QR code label corresponds to a number, and the numbers are arranged in sequence at each detection point along the inspection route of the inspection platform, and each QR code label represents an absolute position information; the QR code positioning sensor is arranged on the inspection platform, and is used to scan the QR code label on the track, and then obtain the absolute position information represented by the QR code label and the label information of the detection point (the label represents the number of the immersed tube tunnel).

[0024] During the inspection of immersed tube tunnels by inspection platforms, accurate location information is crucial, as it is directly related to the accuracy and efficiency of subsequent maintenance work. Although the traditional estimation method based on rotary encoders and drive wheel diameters can provide location information of the inspection platform to a certain extent, it is easily affected by wheel diameter measurement errors and tunnel environment changes (such as wheelbase changes caused by humidity and temperature), resulting in a decrease in the positioning accuracy of the inspection platform.

[0025] To this end, the present invention designs the above-mentioned inspection platform auxiliary marking system, and combines the clamping driving wheel mechanism 103 designed by the present invention that can adjust the wheel diameter of the driving wheel, thereby significantly improving the positioning accuracy of the inspection platform. Specifically, the present invention adjusts the wheel diameter of the driving wheel (the wheel diameter here refers to 2 times the distance from the center of the driving wheel to the side wall of the track) by controlling the pressure of the driving wheel 1031 of the clamping driving wheel mechanism 103 on the track 100, and at the same time, uses the absolute position information provided by the QR code label to enable the inspection platform to correct its own position in real time.

[0026] See below for details. Figure 3 , specifically introduces the positioning process of the inspection platform, including the following steps: Step 1: During the operation of the inspection platform, the current displacement of the inspection platform is calculated in real time through the rotary encoder data. x , and its calculation formula is as follows: ; Wherein, R is the encoder resolution. For example, in this embodiment, the encoder resolution is 1000 PPR (pulses per revolution). d is the wheel diameter of the driving wheel, n is the encoder reading.

[0027] Step 2: When the inspection platform runs to the detection point, read the absolute position information of the QR code label and the label information of the detection point.

[0028] Step 3: Calculate the deviation between the absolute position obtained by reading the QR code label and the current displacement obtained based on the rotary encoder data .

[0029] Step 4: The deviation calculated in step 3 , adjust the pressure of the driving wheel 1031 of the clamping driving wheel mechanism 103 on the track 100 to adjust the wheel diameter of the driving wheel to achieve the correction of the moving position of the inspection platform.

[0030] For the driving wheel made of rubber, under the operating conditions of the inspection platform, the deformation of the driving wheel satisfies Hooke's law. Therefore, the pressure of the driving wheel on the track by adjusting the clamping driving wheel mechanism can be calculated by the following formula: ; ; in, The pressure of the driving wheel of the clamping driving wheel mechanism on the track after adjustment, To adjust the pressure of the driving wheel of the clamping driving wheel mechanism on the track before adjustment, k is the stiffness coefficient of the driving wheel material (the material is rubber), is the deformation of the driving wheel caused by clamping.

[0031] The present invention is described above by way of example. It should be noted that, without departing from the core of the present invention, any simple deformation, modification or other equivalent replacement that can be made by those skilled in the art without inventive effort falls within the protection scope of the present invention.

Claims

1. A method for positioning a suspended rail type immersed tube tunnel inspection platform, characterized in that: It includes track structure, inspection platform and inspection platform auxiliary marking system; The track structure is arranged on the top of the immersed tube tunnel to be monitored; The inspection platform can be walked and suspended on the track of the track structure. The inspection platform includes a bearing structure base plate and a suspension supporting wheel mechanism and a clamping driving wheel mechanism installed on the bearing structure base plate, and the suspension supporting wheel mechanism is used to be suspended on the track; the number of the clamping driving wheel mechanisms is two, which are symmetrically arranged on both sides of the track, and each clamping driving wheel mechanism includes a driving wheel, a driving wheel mounting plate, a spring and a telescopic connecting rod assembly, a driving wheel motor and a sliding mounting frame, wherein the driving wheel is used to contact the side wall of the track, the driving wheel and the driving wheel motor are installed on the driving wheel mounting plate, the driving wheel motor is used to drive the driving wheel to rotate, and the driving wheel mounting plate is connected to the sliding mounting frame through a spring and a telescopic connecting rod assembly; the sliding mounting frames of the two clamping driving wheel mechanisms are slidably installed on both sides of the track through two parallel slideways, and the slideways are fixed on the bearing structure base plate. The two sliding mounting frames are provided with a lead screw which has two symmetrically arranged threaded sections with opposite rotation directions, one of the sliding mounting frames cooperates with one of the threaded sections of the lead screw through a lead screw nut, and the other sliding mounting frame cooperates with the other threaded section of the lead screw through another lead screw nut, one end of the lead screw is connected with a lead screw driving motor, and the lead screw driving motor is fixedly mounted on the bearing structure substrate, and the lead screw is driven by the lead screw driving motor to rotate forward / reversely, driving the two sliding mounting frames to move synchronously relative / toward each other, so that the driving wheels on the two sliding mounting frames clamp / separate the track; a pressure sensor is also provided between the spring of the spring and telescopic connecting rod assembly and the sliding mounting frame, and the elastic force of the spring is monitored by the pressure sensor to indicate the pressure of the driving wheel on the track; a rotary encoder is provided on the output shaft of the driving wheel motor of the inspection platform; The inspection platform auxiliary marking system includes a two-dimensional code positioning sensor and a two-dimensional code label. The two-dimensional code label is attached to the bottom surface of the track. A two-dimensional code label is arranged on the bottom surface of the track corresponding to each detection point; each two-dimensional code label corresponds to a label, and the labels are arranged in sequence at each detection point along the inspection route of the inspection platform, and each two-dimensional code label represents an absolute position information; the two-dimensional code positioning sensor is arranged on the inspection platform, and is used to scan the two-dimensional code label on the track, so as to obtain the absolute position information represented by the two-dimensional code label and the label information of the detection point; The positioning method of the suspended rail type immersed tube tunnel inspection platform comprises the following steps: Step 1: During the operation of the inspection platform, the current displacement of the inspection platform is calculated in real time through the rotary encoder data. x , and its calculation formula is as follows: ； Where R is the encoder resolution, d is the wheel diameter of the driving wheel, n is the encoder reading; Step 2: When the inspection platform runs to the detection point, read the absolute position information of the QR code label and the label information of the detection point; Step 3: Calculate the deviation between the absolute position obtained by reading the QR code label and the current displacement obtained based on the rotary encoder data ; Step 4: The deviation calculated in step 3 , adjust the pressure of the driving wheel of the clamping driving wheel mechanism on the track to adjust the wheel diameter of the driving wheel to realize the correction of the moving position of the inspection platform; The pressure of the driving wheel on the track of the clamping driving wheel mechanism is calculated by the following formula: ； ； in, The pressure of the driving wheel of the clamping driving wheel mechanism on the track after adjustment, To adjust the pressure of the driving wheel of the clamping driving wheel mechanism on the track before k is the stiffness coefficient of the material of the driving wheel, is the deformation of the driving wheel caused by clamping.

2. The positioning method of the suspended rail type immersed tube tunnel inspection platform according to claim 1 is characterized by: The driving wheel is made of rubber.

3. The positioning method of the suspended track immersed tube tunnel inspection platform according to claim 1 is characterized in that: The track structure includes an aluminum profile track and a steel track hanger, wherein the track groove faces upward, the track hanger is installed in the groove, one end of the track hanger is installed at the top of the immersed tube tunnel and the other end is embedded in the groove, so that the track is suspended on the top of the immersed tube tunnel.

4. The positioning method of the suspended rail type immersed tube tunnel inspection platform according to claim 1 is characterized in that: There are four hanging supporting wheel mechanisms, two in a group, and the two hanging supporting wheel mechanisms in each group are symmetrically arranged on both sides of the track. Each hanging supporting wheel mechanism includes a supporting wheel and a supporting wheel mounting frame, and the supporting wheel is mounted on the supporting wheel mounting frame. The bottom end of the supporting wheel mounting frame is fixedly mounted on the bearing structure base plate, and the supporting wheel is suspended on the track.

5. The positioning method of the suspended track immersed tunnel inspection platform according to claim 4 is characterized in that: The supporting wheel adopts nylon plastic-coated bearing.

6. The positioning method of the suspended track immersed tunnel inspection platform according to claim 4 is characterized in that: The clamping driving wheel mechanism is located in the middle between the two sets of suspension supporting wheel mechanisms.

7. The positioning method of the suspended track immersed tube tunnel inspection platform according to claim 1 is characterized by: The spring and telescopic connecting rod assembly comprises a telescopic rod and a spring. One end of the telescopic rod is connected to the driving wheel mounting plate, and the other end is mounted on the sliding mounting frame. The spring is sleeved on the telescopic rod.

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