A positioning method of a suspended rail immersed tube tunnel inspection platform

Abstract

The application discloses a positioning method of a suspension rail type immersed tube tunnel inspection platform, and the inspection platform is suspended and installed on a track of a track structure and can walk on the track. The inspection platform has two symmetrical clamping drive wheel mechanisms arranged on two sides of the track, and the clamping drive wheel mechanisms can adjust the wheel diameter of the drive wheels. An auxiliary mark system of the inspection platform 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 the detection point, the absolute position information of the two-dimensional code label and the label information of the detection point are read, 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 the pressure of the drive wheels of the clamping drive wheel mechanisms on the track is adjusted according to the deviation, so that the wheel diameter of the drive wheels is adjusted, 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 application belongs to the technical field of immersed tunnel monitoring, and particularly relates to a positioning method of a suspended rail type immersed tunnel inspection platform. BACKGROUND

[0002] Due to the particularity of the occurrence environment, the underwater immersed tunnel is extremely susceptible to factors such as topography, geology and water occurrence environment and each process of construction and operation; these factors can cause a series of problems in the immersed tunnel, such as tunnel cracks, water leakage, joint deformation of pipe sections and the like, so the monitoring and maintenance of the underwater immersed tunnel state is particularly important.

[0003] The inspection and maintenance work of the immersed tunnel is mainly carried out by manual inspection or vehicle inspection, and the manual inspection needs to be managed by closing the road, which not only is low in efficiency, but also seriously hinders the normal traffic operation; and the vehicle inspection is mainly used for regular inspection, and it is difficult to meet the needs of daily inspection and frequent inspection.

[0004] At present, intelligent inspection platforms have been used to solve the above problems, for example, patent CN202111009819.0 discloses a suspended inspection mobile platform, which comprises a guide rail support part, a power supply slide contact line and an inspection platform design, and can realize accurate positioning and tracking positioning of "intrusion foreign matters"; patent CN202210558760.9 discloses a design of a cable tunnel intelligent inspection platform, which comprises a guide rail assembly, an inspection shell assembly and a rail changing device, and can complete the rail changing action of the intelligent inspection device between the corner guide rails or parallel guide rails, so that the intelligent inspection device can adapt to complex tunnel environments.

[0005] In the process of inspecting the immersed tunnel by the inspection platform, accurate position information is crucial, which is directly related to the accuracy and efficiency of subsequent maintenance work. Although the traditional estimation method based on the rotary encoder and the diameter of the driving wheel can provide position information of the inspection platform to a certain extent, it is easily affected by the wheel diameter measurement error and the change of the tunnel environment (such as the change of the wheel track caused by humidity and temperature), resulting in the decrease of the positioning accuracy of the inspection platform. SUMMARY

[0006] The purpose of the present application is to solve the problems of the prior art, and to provide a positioning method of a suspended rail type immersed tunnel inspection platform.

[0007] The present application is realized by the following technical solutions:

[0008] A positioning method of a suspended rail type immersed tunnel inspection platform, comprising a track structure, an inspection platform and an inspection platform auxiliary marker system;

[0009] The track structure is arranged on the top of the immersed tunnel to be monitored;

[0010] The inspection platform can be suspended and installed on the track of the track structure, which comprises a bearing structure base plate and a suspension support wheel mechanism and a clamping drive wheel mechanism installed on the bearing structure base plate, the suspension support wheel mechanism is used to be suspended on the track; the number of the clamping drive wheel mechanism is two, which is symmetrically arranged on both sides of the track, each clamping drive wheel mechanism comprises a drive wheel, a drive wheel mounting plate, a spring and a telescopic connecting rod assembly, a drive wheel motor and a sliding installation frame, wherein the drive wheel is used to contact the side wall of the track, the drive wheel and the drive wheel motor are installed on the drive wheel mounting plate, the drive wheel motor is used to drive the drive wheel to rotate, and the drive wheel mounting plate is connected to the sliding installation frame through the spring and the telescopic connecting rod assembly; the sliding installation frames of the two clamping drive wheel mechanisms are slidably installed on both sides of the track through two parallel slides, the slides are fixed on the bearing structure base plate, and the two sliding installation frames are installed through a lead screw, the lead screw has two thread segments with opposite rotation directions, one sliding installation frame is matched with one thread segment of the lead screw through a lead screw nut, the other sliding installation frame is matched with the other thread segment of the lead screw through another lead screw nut, one end of the lead screw is connected with a lead screw driving motor, the lead screw driving motor is fixedly installed on the bearing structure base plate, the lead screw is driven to rotate forwardly / reversely by the lead screw driving motor, thereby driving the two sliding installation frames to move synchronously away from / against each other, and thereby making the drive wheels on the two sliding installation frames clamp / separate the track; a pressure sensor is further arranged between the spring of the spring and telescopic connecting rod assembly and the sliding installation frame, the spring force of the spring is monitored through the pressure sensor to represent the pressure of the drive wheel on the track; a rotary encoder is arranged on the output shaft of the drive wheel motor of the inspection platform;

[0011] The auxiliary sign system of the inspection platform comprises 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, and one 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 sequentially arranged at the detection points 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 to obtain the absolute position information represented by the two-dimensional code label and the label information of the detection point;

[0012] The positioning method of the suspended track type immersed tunnel inspection platform comprises the following steps:

[0013] 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 the calculation formula is as follows:

[0014] ;

[0015] wherein R is the encoder resolution, d is the wheel diameter of the driving wheel, n is the encoder reading;

[0016] Step 2, when the inspection platform runs to the detection point, read the absolute position information of the two-dimensional code label and the label information of the detection point;

[0017] Step 3, calculate the deviation between the absolute position obtained by reading the two-dimensional code label and the current displacement amount obtained according to the rotary encoder data ;

[0018] Step 4, according to 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;

[0019] The pressure of the driving wheel of the clamping driving wheel mechanism on the track can be calculated by the following formula:

[0020] ;

[0021] ;

[0022] wherein, is the pressure of the driving wheel of the clamping driving wheel mechanism on the track after adjustment, is the pressure of the driving wheel of the clamping driving wheel mechanism on the track before adjustment, k is the stiffness coefficient of the material of the driving wheel, is the deformation amount of the driving wheel due to clamping.

[0023] In the above technical solution, the driving wheel is made of rubber.

[0024] In the above technical solution, the track structure includes an aluminum profile track and a steel track hanger, wherein the notch of the track faces upwards, the track hanger is installed in the slot, and one end of the track hanger is embedded in the slot at one end of the top end of the immersed tunnel to suspend the track at the top of the immersed tunnel.

[0025] In the above technical solution, the number of suspension support wheel mechanisms is four, two in each group, and the two suspension support wheel mechanisms in each group are symmetrically arranged on both sides of the track. Each suspension support wheel mechanism includes a support wheel and a support wheel mounting bracket, the support wheel is mounted on the support wheel mounting bracket, the bottom end of the support wheel mounting bracket is fixedly installed on the load-bearing structure base plate, and the support wheel is suspended on the track.

[0026] In the above technical solution, the support wheel adopts a nylon plastic-coated bearing, which has strong wear resistance, corrosion resistance and high load capacity.

[0027] In the above technical solution, the clamping drive wheel mechanism is located at a middle position between the two groups of suspension support wheel mechanisms.

[0028] In the above technical solution, the spring and telescopic connecting rod assembly comprises a telescopic rod and a spring, one end of the telescopic rod is connected to the drive wheel mounting plate, the other end is mounted on the sliding mounting frame, and the spring is sleeved on the telescopic rod, so that the drive wheel can provide flexible pressure on the track.

[0029] The advantages and beneficial effects of the present application are:

[0030] The present application suspends and installs the inspection platform on the track of the track structure, the inspection platform has two symmetrical clamping drive wheel mechanisms arranged on both sides of the track, the clamping drive wheel mechanism can adjust the wheel diameter of the drive wheel, and the present application designs an auxiliary marking system of the inspection platform, 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 the detection point, the absolute position information of the two-dimensional code label and the label information of the detection point are read, 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 the pressure of the drive wheel of the clamping drive wheel mechanism on the track is adjusted according to the deviation, so as to adjust the wheel diameter of the drive wheel, so as to correct the moving position of the inspection platform, thereby significantly improving the positioning accuracy of the inspection platform. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic view of the installation structure of the inspection platform and the track of the present application.

[0032] Figure 2 It is a schematic view of the structure of the inspection platform of the present application.

[0033] Figure 3 It is a flow chart of the positioning method of the suspended track type immersed tunnel inspection platform of the present application.

[0034] For ordinary skilled persons in the art, other related drawings can be obtained according to the above drawings without creative labor. DETAILED DESCRIPTION

[0035] In order to enable the personnel in the technical field to better understand the present application scheme, the technical scheme of the present application will be further described below in combination with specific embodiments.

[0036] A positioning method of a suspended track type immersed tunnel inspection platform, comprising a track structure, an inspection platform and an auxiliary marking system of the inspection platform.

[0037] The track structure is arranged on the top of the immersed tunnel to be monitored, comprising an aluminum track and a steel track hanger, wherein the notch of the track faces upward, the track hanger is installed in the notch, and one end of the track hanger is embedded in the notch at one end of the top of the immersed tunnel to suspend the track on the top of the immersed tunnel.

[0038] The inspection platform 1 can be suspended and installed on the track 100 of the track structure, the inspection platform 1 comprises a bearing structure base plate 101, a suspension supporting wheel mechanism 102 and a clamping driving wheel mechanism 103 installed on the bearing structure base plate 101, wherein the bearing structure base plate 101 serves as the installation base of the suspension supporting wheel mechanism 102 and the clamping driving wheel mechanism 103; the number of the suspension supporting wheel mechanism 102 is four, two as a group, the two suspension supporting wheel mechanisms 102 of each group are symmetrically arranged on the two sides of the track 100, each suspension supporting wheel mechanism 102 comprises a supporting wheel 1021 and a supporting wheel mounting rack 1022, the supporting wheel 1021 is installed on the supporting wheel mounting rack 1022, the bottom end of the supporting wheel mounting rack 1022 is fixedly installed on the bearing structure base plate 101, and the supporting wheel 1021 is suspended on the track 100, so that the whole inspection platform can be stably suspended on the track 100 through the two groups of suspension supporting wheel mechanisms 102. Further, the supporting wheel 1021 adopts a nylon plastic bearing, has strong wear resistance, corrosion resistance and high load capacity, the supporting wheel 1021 does not provide power and only serves to suspend the inspection platform on the track 100; in order to prevent the inspection platform from sliding off the track 100, the spacing of the supporting wheels 1021 of the two suspension supporting wheel mechanisms 102 of each group does not exceed one third of the track width.The number of the clamping drive wheel mechanisms 103 is two, symmetrically arranged on both sides of the track 100, and the clamping drive wheel mechanisms 103 are located in the middle position between the two groups of suspension support 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 installation 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 installation frame 1035 through the spring and telescopic connecting rod assembly 1033; the sliding installation frames 1035 of the two clamping drive wheel mechanisms 103 are slidingly installed on both sides of the track 100 through two parallel slides 1036, the slides 1036 are fixed on the bearing structure base plate 101, and the two sliding installation frames 1035 are installed through a lead screw 1037 having two thread segments with opposite rotation directions symmetrically arranged, one sliding installation frame 1035 is matched with one thread segment of the lead screw 1037 through a lead screw nut, the other sliding installation frame 1035 is matched with the other thread segment of the lead screw 1037 through another lead screw nut, one end of the lead screw 1037 is connected with a lead screw drive motor, the lead screw drive motor is fixedly installed on the bearing structure base plate 101, the lead screw 1037 is driven to rotate forward / reverse by the lead screw drive motor, thereby driving the two sliding installation frames 1035 to move synchronously relative to / against each other, thereby making the drive wheels 1031 on the two sliding installation frames 1035 clamp / separate the track 100. Further, 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 drive wheel mounting plate 1032, the other end is installed on the sliding installation frame 1035, and the spring is sleeved on the telescopic rod, thereby enabling the drive wheel 1031 to provide flexible pressure to the track 100; still further, a pressure sensor (i.e. the end of the spring contacts the pressure sensor) is arranged between the spring of the spring and telescopic connecting rod assembly 1033 and the sliding installation frame 1035, the pressure sensor can monitor the spring force of the spring, thereby indicating the pressure of the drive wheel 1031 to the track 100. Further, a rotary encoder is arranged on the output shaft of the drive wheel motor 1034 of the inspection platform, the number of revolutions of the drive wheel is detected through the rotary encoder, the circumference of the wheel is calculated according to the wheel spacing of the drive wheel, and thereby the moving position of the inspection platform can be calculated.

[0039] The inspection platform auxiliary sign system comprises 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, and one 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 sequentially arranged at the detection points 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 for scanning the two-dimensional code label on the track to obtain the absolute position information represented by the two-dimensional code label and the label information (the label represents the detection point of the immersed tunnel) of the detection point.

[0040] In the process of inspecting the immersed tunnel by the inspection platform, accurate position information is very important, which is directly related to the accuracy and efficiency of subsequent maintenance work. Although the traditional estimation method based on a rotary encoder and the diameter of a driving wheel can provide position information of the inspection platform to a certain extent, the method is easily affected by wheel diameter measurement error and tunnel environment changes (such as wheel track changes caused by humidity and temperature), resulting in a decrease in positioning accuracy of the inspection platform.

[0041] Therefore, the inspection platform auxiliary sign system is designed, and the clamping driving wheel mechanism 103 capable of adjusting the diameter of the driving wheel is designed, so that the positioning accuracy of the inspection platform is significantly improved. Specifically, the pressure of the driving wheel 1031 of the clamping driving wheel mechanism 103 on the track 100 is controlled to adjust the diameter of the driving wheel (here, the diameter refers to twice the distance from the center of the driving wheel to the side wall of the track), and the absolute position information provided by the two-dimensional code label is used to enable the inspection platform to correct its position in real time.

[0042] Next, referring to the accompanying drawings, Figure 3 , the positioning process of the inspection platform will be specifically introduced, which comprises the following steps:

[0043] Step 1, during the operation of the inspection platform, the current displacement of the inspection platform is calculated in real time by the rotary encoder data x

[0044] The calculation formula is as follows:

[0045] ;

[0046] Wherein, R is the resolution of the encoder, for example, the resolution of the encoder in the embodiment is 1000 PPR (pulse number per revolution), d is the diameter of the driving wheel, n is the reading of the encoder.

[0047] Step 2, 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.

[0048] Step 3: Calculate the deviation between the absolute position obtained from reading the QR code label and the current displacement obtained from the rotary encoder data. .

[0049] Step 4: Calculate the deviation based on the deviation obtained in Step 3. The pressure of the drive wheel 1031 of the clamping drive wheel mechanism 103 on the track 100 is adjusted to adjust the wheel diameter of the drive wheel, so as to correct the movement position of the inspection platform.

[0050] For rubber drive wheels, under the operating conditions of the inspection platform, the deformation of the drive wheels follows Hooke's Law. Therefore, the pressure of the drive wheel on the track when adjusting the clamping mechanism can be calculated using the following formula:

[0051] ;

[0052] ;

[0053] in, The pressure of the drive wheel on the track is adjusted to control the clamping drive wheel mechanism. The pressure of the drive wheel on the track is adjusted to the clamping drive wheel mechanism before adjustment. k The stiffness coefficient of the material (rubber) of the drive wheel. This refers to the deformation of the drive wheel caused by clamping.

[0054] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. A method for positioning a suspended rail tunnel inspection platform, the method comprising: The application relates to a track structure, an inspection platform and an inspection platform auxiliary sign system. ​ The track structure is arranged on the top of a immersed tunnel to be monitored. The inspection platform is suspendedly arranged on the track of the track structure and comprises a bearing structure base plate, a suspension supporting wheel mechanism and a clamping driving wheel mechanism which are arranged on the bearing structure base plate, the suspension supporting wheel mechanism is used for being suspended on the track, the clamping driving wheel mechanism is arranged on the two sides of the track and comprises 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, the driving wheel is used for contacting the side wall of the track, the driving wheel and the driving wheel motor are arranged on the driving wheel mounting plate, the driving wheel motor is used for driving the driving wheel to rotate, the driving wheel mounting plate is connected to the sliding mounting frame through the spring and the telescopic connecting rod assembly, the two clamping driving wheel mechanisms are slidingly arranged on the two sides of the track through two parallel slides, the slides are fixed on the bearing structure base plate, and the two sliding mounting frames are installed through a screw rod which is provided with two thread segments with opposite rotation directions, one sliding mounting frame is matched with one thread segment of the screw rod through a screw nut, the other sliding mounting frame is matched with the other thread segment of the screw rod through another screw nut, one end of the screw rod is connected to a screw rod driving motor which is fixedly arranged on the bearing structure base plate, the screw rod is driven to rotate in the positive direction / negative direction by the screw rod driving motor, the two sliding mounting frames are synchronously moved towards each other / away from each other, the driving wheels on the two sliding mounting frames are clamped to the track / are separated from the track, a pressure sensor is arranged between the spring of the spring and the telescopic connecting rod assembly and the sliding mounting frame, the spring force of the spring is monitored through the pressure sensor, and the pressure of the driving wheel on the track is indicated, a rotary encoder is arranged on the output shaft of the driving wheel motor of the inspection platform, and the clamping driving wheel mechanism is arranged at the middle position between the two suspension supporting wheel mechanisms. The inspection platform auxiliary sign system comprises 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, one two-dimensional code label is arranged on the bottom surface of the track at each detection point in sequence, each two-dimensional code label corresponds to a label, the labels are sequentially arranged at the detection points along the inspection route of the inspection platform, and each two-dimensional code label represents an absolute position information. The positioning method of the suspension track immersed tunnel inspection platform comprises the following steps. Step 1, the current displacement x of the inspection platform is calculated in real time through the rotary encoder data during the operation of the inspection platform, The calculation formula is as follows: x = R * d * n, ； wherein R is the resolution of the encoder, d is the wheel diameter of the driving wheel, and n is the reading of the encoder. Step 2, when the inspection platform reaches the detection point, the absolute position information of the two-dimensional code label and the label information of the detection point are read. Step 3, calculate the deviation between the absolute position obtained by reading the two-dimensional code label and the current displacement amount obtained according to the rotary encoder data ; Step 4, the deviation calculated according to step 3 adjusting the pressure of the driving wheel of the clamping driving wheel mechanism to 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 of the clamping driving wheel mechanism on the track is calculated by the following formula: ； ； wherein, is the pressure of the track by the drive wheel of the adjusted clamping drive wheel mechanism, is the pressure of the track by the drive wheel of the unadjusted clamping drive wheel mechanism, and k is the stiffness coefficient of the material of the drive wheel, is the amount of deformation of the drive wheel due to clamping.

2. The method of positioning a suspended rail tunnel inspection platform of claim 1, wherein: The driving wheel is made of rubber.

3. The method of positioning a suspended rail tunnel inspection platform of claim 1, wherein: The track structure comprises an aluminum track and a steel track hanger, wherein the notch of the track faces upward, the track hanger is installed in the groove, and one end of the track hanger is embedded in the groove at one end of the top end of the immersed tunnel to suspend the track on the top of the immersed tunnel.

4. The method of positioning a suspended rail tunnel inspection platform of claim 1, wherein: The number of the suspension supporting wheel mechanisms is four, two of which form a group, and the two suspension supporting wheel mechanisms in each group are symmetrically arranged on the two sides of the track.

5. The method of positioning a suspended rail tunnel inspection platform of claim 4, wherein: The supporting wheel is made of a nylon plastic-coated bearing.

6. The method of positioning a suspended rail tunnel inspection platform of claim 1, wherein: 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, the other end is mounted on the sliding mounting frame, and the spring is sleeved on the telescopic rod.

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