An intelligent mobile construction platform and its control system for tunnel engineering

Abstract

The present invention relates to the technical field of tunnel engineering, and specifically discloses an intelligent mobile construction platform for tunnel engineering and a control system thereof, comprising: a scissor lift; a moving mechanism is installed at the bottom end of the scissor lift, two supporting mechanisms are installed on the moving mechanism, an extension mechanism is installed at the top end of the scissor lift, and a control panel is installed at the lower part of the outer wall of the scissor lift; the moving mechanism comprises a moving base, a crawler chassis, a mounting plate, a supporting gear, a supporting frame and a camera; the present invention can enhance the grip through the crawler chassis, so that it can move stably on a slippery or muddy tunnel floor to avoid slipping or losing control, can capture image information in the tunnel through the camera, and build a three-dimensional model of the tunnel in combination with the equipment thereon, so that the construction platform can avoid obstacles such as potholes, protrusions, inclined ground in the tunnel, and improve the stability and safety of the construction platform during movement.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel engineering, and in particular relates to an intelligent mobile construction platform for tunnel engineering and a control system thereof. Background Art

[0002] Tunnel engineering involves a series of construction work such as building buildings underground, underwater or in mountains, laying railways, building roads, etc. These works are mainly divided into several stages such as tunnel planning, surveying, design, penetration control measurement and construction. According to the location of the tunnel, tunnels can be divided into three categories: mountain tunnels, underwater tunnels and urban tunnels. Among them, mountain tunnels are built in the largest number. When carrying out tunnel construction, it is usually necessary to use a construction platform so that construction personnel can carry out various operations more conveniently.

[0003] In the Chinese patent with publication number CN213088009U, a tunnel engineering excavation work bench is mentioned. The protective plate is provided with reinforcing ribs to prevent the rocks above the bracket from falling and injuring the construction workers on the tunnel excavation bench when the construction or surrounding rock produces rock burst. The safety performance is high, and the setting of the moving device facilitates the movement of the equipment. When the equipment is fixed, the universal wheel can be moved into the slide slot, which has strong flexibility.

[0004] The work platform moves in the tunnel via universal wheels, but the grip of the universal wheels is insufficient on the slippery or muddy tunnel floor, making it prone to slipping or loss of control. In addition, uneven conditions such as potholes, bumps or inclinations on the tunnel floor may also cause the platform to tilt or shake during movement, affecting its stability and safety. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent mobile construction platform and a control system for tunnel engineering, which has the functions of stable grip and intelligent obstacle avoidance to solve the problem that the platform is prone to slipping and tilting.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An intelligent mobile construction platform for tunnel engineering, comprising:

[0008] Scissor lifts;

[0009] A moving mechanism is installed at the bottom end of the scissor lift, two supporting mechanisms are installed on the moving mechanism, an extension mechanism is installed at the top end of the scissor lift, and a control panel is installed at the lower part of the outer wall of the scissor lift;

[0010] The mobile mechanism includes a mobile base, a crawler chassis, a mounting plate, a support gear, a support frame and a camera. The mobile base is installed at the bottom end of the scissors lift, and the crawler chassis is installed at the bottom end of the mobile base. Two mounting plates, support gears, support frames and cameras are provided. Both mounting plates can be installed on the top of the mobile base by bolts, and the two support gears are respectively installed on the top of the two mounting plates. The two support frames are respectively installed on the top of the two support gears through bearings, and the two cameras are respectively installed between the inner walls on both sides of the two support frames through bearings.

[0011] Preferably, a laser radar and a Beidou positioning terminal are respectively installed on the top of the two cameras, a first motor is installed on the upper part of the outer wall of the two support frames, a second motor is installed on the lower part of the outer surface of the two support frames, and the output ends of the two second motors are installed with adjusting gears.

[0012] Preferably, the adjusting gear is meshed with the supporting gear, the bottom end surface of the adjusting gear is higher than the top end surface of the mounting plate, the supporting frame is configured as a convex structure, and the moving mechanism and the scissors lift are both electrically connected to the control panel.

[0013] Preferably, the supporting mechanism includes a supporting frame, a driver, a double-headed screw, an adjusting block, a supporting rod and a supporting seat, the supporting frame is installed at the bottom end of the movable base, the driver is installed on the outer wall of the supporting frame, the double-headed screw is installed between the inner walls on both sides of the supporting frame through a bearing, two adjusting blocks are provided, and the two adjusting blocks are respectively installed on both sides of the outer surface of the double-headed screw, four supporting rods are provided, and the four support rods are respectively installed on the bottom ends of the two adjusting blocks, and the supporting seat is installed on the bottom ends of the four support rods.

[0014] Preferably, the driver is electrically connected to the control panel, and connecting seats are installed on the upper and lower parts of the outer surfaces of the four support rods, and the support seats are configured as prism structures.

[0015] Preferably, the extension mechanism includes a platform body, a driving mechanism, left and right extension plates, front and rear extension plates, limiting grooves, left and right baffles, an extension frame, front and rear baffles and a protective frame, the platform body is installed at the top end of the scissors lift, the driving mechanism is installed inside the platform body, the left and right extension plates, the front and rear extension plates, the left and right baffles and the front and rear baffles are each provided with two pieces, the two left and right extension plates are respectively installed in the middle of the two ends of the platform body, the two front and rear extension plates are respectively installed in the middle of the two side outer walls of the platform body, the limiting grooves are provided with multiple pieces, the multiple limiting grooves are respectively opened on the two side outer walls of the two left and right extension plates and the two ends of the two front and rear extension plates, the two left and right baffles are respectively installed at the top ends of the two left and right extension plates, the two front and rear baffles are respectively installed at the top ends of the two front and rear extension plates, the extension frames and the protective frames are each provided with four pieces, the four extension frames are respectively installed on the two side outer walls of the two left and right baffles, and the four protective frames are all installed on the top end of the platform body.

[0016] Preferably, the driving mechanism includes a fixed frame, forward and reverse screw rods, an adjusting screw, small bevel gears, a motor and large bevel gears. The fixed frame is installed between the top inner wall and the bottom inner wall of the stand body, the forward and reverse screw rods are installed between the inner walls on both sides of the fixed frame through bearings, two adjusting screws are provided, and the two adjusting screws are respectively installed at the two ends of the fixed frame through bearings, three small bevel gears are provided, and the three small bevel gears are respectively installed in the middle of the outer surface of the forward and reverse screw rods and the opposite surfaces of the two adjusting screws, the motor is installed at the bottom end of the stand body, the large bevel gears are installed at the output end of the motor, and the large bevel gears are installed on the bottom inner wall of the stand body through bearings.

[0017] Preferably, the motor is electrically connected to the control panel, the large bevel gear is meshed with three small bevel gears, the extension frame and the protective frame are both arranged as L-shaped structures, and the extension frame is movably connected with the corresponding protective frame, and a dovetail block matching the multiple limit grooves is arranged inside the stand body.

[0018] A control system for an intelligent mobile construction platform for tunnel engineering, comprising:

[0019] Monitoring end, processing end, communication and control end and power supply end;

[0020] The monitoring end includes a displacement sensing unit, a speed sensing unit, an acceleration sensing unit and a temperature and humidity sensing unit; the processing end includes a data processing and analysis unit, a central control unit and an actuator unit; the communication and control end includes a communication unit, a monitoring and alarm unit and a human-computer interaction unit; and the power supply end includes a power management unit;

[0021] The displacement sensing unit is used to monitor the displacement of the platform during the tunnel construction process to ensure its stability and safety. The speed sensing unit is used to monitor the moving speed of the platform to ensure that it operates stably within the specified range. The acceleration sensing unit is used to monitor the acceleration change of the platform to evaluate its dynamic performance. The temperature and humidity sensing unit is used to monitor the temperature and humidity in the tunnel construction environment to ensure that the construction conditions meet the specifications.

[0022] The data processing and analysis unit is used to process and analyze the data collected by the monitoring end and extract useful information. The central control unit is used to be the core of the entire control system and is responsible for receiving, processing and issuing control instructions. The actuator unit is used to perform specific control operations according to the instructions of the central control unit.

[0023] Preferably, the communication unit is responsible for data transmission and communication between various units, the monitoring and alarm unit is used to monitor the operating status of the system in real time and issue an alarm when an abnormal situation occurs, and the human-computer interaction unit is used to provide an interactive interface between the user and the system;

[0024] The power management unit is used to provide a stable and reliable power supply for the entire control system.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention sets a moving mechanism at the bottom end of the scissor lift, which can enhance the grip through the crawler chassis, so that it can move stably on the slippery or muddy tunnel floor to avoid slipping or loss of control. The camera can capture image information in the tunnel, and build a three-dimensional model of the tunnel in combination with the equipment thereon, so that the construction platform can avoid obstacles such as potholes, protrusions, and inclined ground in the tunnel, thereby improving the stability and safety of the construction platform during movement.

[0027] (2) The present invention sets a support structure on the outer surface of the moving mechanism, and drives the double-headed screw to rotate through the driver to straighten the support rod, and then push the support seat downward to contact the ground, so as to support and fix the bottom of the construction platform. In this way, it can be ensured that the construction platform will not shake or tilt during the construction process, thereby improving the stability of the construction platform.

[0028] (3) The present invention sets an extension mechanism at the top of the scissors lift. Through the drive of the motor and the meshing transmission between the large bevel gear and the small bevel gear, the forward and reverse screws drive the two front and rear extension plates thereon to unfold. At the same time, the two adjusting screws also drive their respective left and right extension plates to unfold. This design facilitates flexible adjustment of the space on the top of the construction platform, thereby increasing the operating space of the construction personnel, expanding the operating range of the construction platform, and improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A perspective view of the present invention;

[0030] Figure 2 is a three-dimensional diagram of the mobile mechanism of the present invention;

[0031] Figure 3 For the present invention Figure 2 A magnified view of middle;

[0032] Figure 4 is a cross-sectional view of the support mechanism of the present invention;

[0033] Figure 5 is a three-dimensional diagram of the extension mechanism of the present invention;

[0034] Figure 6 An exploded view of the extension mechanism of the present invention;

[0035] Figure 7 is a cross-sectional view of the driving mechanism of the present invention;

[0036] Figure 8 is a flow chart of the control system of the present invention;

[0037] Fig. 9 A three-dimensional diagram showing a crawler chassis of the present invention being replaced with a rubber wheel chassis;

[0038] In the figure: 1. Scissor lift; 2. Moving mechanism; 3. Support mechanism; 4. Extension mechanism; 5. Control panel;

[0039] 21. Mobile base; 22. Track chassis; 23. Mounting plate; 24. Support gear; 25. Support frame; 26. Camera; 27. Laser radar; 28. Beidou positioning terminal; 29. ​​First motor; 210. Second motor; 211. Adjustment gear;

[0040] 31. Support frame; 32. Driver; 33. Double-headed screw; 34. Adjustment block; 35. Support rod; 36. Support seat;

[0041] 41. Stand body; 42. Driving mechanism; 43. Left and right extension plates; 44. Front and rear extension plates; 45. Limiting grooves; 46. Left and right baffles; 47. Extension frame; 48. Front and rear baffles; 49. Protective frame;

[0042] 421, fixed frame; 422, positive and negative screw rods; 423, adjusting screw rod; 424, small bevel gear; 425, motor; 426, large bevel gear. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Embodiment 1:

[0045] See also Figures 1 to 7 As shown, an intelligent mobile construction platform for tunnel engineering includes:

[0046] Scissor lift 1;

[0047] A moving mechanism 2 is installed at the bottom end of the scissor lift 1, two supporting mechanisms 3 are installed on the moving mechanism 2, an extension mechanism 4 is installed at the top end of the scissor lift 1, and a control panel 5 is installed at the lower part of the outer wall of the scissor lift 1;

[0048] The mobile mechanism 2 includes a mobile base 21, a crawler chassis 22, a mounting plate 23, a support gear 24, a support frame 25 and a camera 26. The mobile base 21 is installed at the bottom end of the scissors lift 1, and the crawler chassis 22 is installed at the bottom end of the mobile base 21. There are two mounting plates 23, two support gears 24, two support frames 25 and two cameras 26. Both mounting plates 23 can be installed on the top of the mobile base 21 by bolts, and the two support gears 24 are respectively installed on the top of the two mounting plates 23. The two support frames 25 are respectively installed on the top of the two support gears 24 through bearings, and the two cameras 26 are respectively installed between the inner walls on both sides of the two support frames 25 through bearings.

[0049] Depend on Figures 1 to 4 It can be seen that the tops of the two cameras 26 are respectively installed with a laser radar 27 and a Beidou positioning terminal 28, the upper parts of the outer walls of the two support frames 25 are installed with a first motor 29, the lower parts of the outer surfaces of the two support frames 25 are installed with a second motor 210, and the output ends of the two second motors 210 are installed with an adjusting gear 211;

[0050] The supporting mechanism 3 includes a supporting frame 31, a driver 32, a double-headed screw 33, an adjusting block 34, a supporting rod 35 and a supporting seat 36. The supporting frame 31 is installed at the bottom end of the movable base 21, the driver 32 is installed on the outer wall of the supporting frame 31, the double-headed screw 33 is installed between the inner walls on both sides of the supporting frame 31 through bearings, two adjusting blocks 34 are provided, and the two adjusting blocks 34 are respectively installed on both sides of the outer surface of the double-headed screw 33, four supporting rods 35 are provided, and the four supporting rods 35 are respectively installed at the bottom ends of the two adjusting blocks 34, and the supporting seat 36 is installed at the bottom ends of the four supporting rods 35.

[0051] As can be seen from the above, during the use of the construction platform, the crawler chassis 22 can drive the entire construction platform to move in the tunnel. The design of the crawler chassis 22 enhances the grip and traction, effectively avoiding slipping or loss of control, so that the construction platform can move stably on the slippery or muddy tunnel ground, significantly improving its mobility and stability in complex environments. At the same time, the camera 26 can capture image information in the tunnel and use image processing algorithms to detect and identify obstacles. Through advanced technologies such as deep learning, the accuracy and robustness of obstacle detection are improved, thereby achieving more accurate obstacle avoidance decisions. The laser radar 27 can detect obstacles around the construction platform and measure their distance and speed information. These data can not only be used to construct a three-dimensional model of the tunnel, but the positioning information provided by the Beidou positioning terminal 28 provides more accurate environmental data for navigation, allowing the construction platform to avoid potholes in the tunnel. , protrusions, inclined ground and other obstacles, further improving the stability and safety of the construction platform during movement, realizing intelligent movement, and significantly improving construction efficiency; in addition, by starting the first motor 29, the tilt angle of the camera 26 and the laser radar 27 can be adjusted, and the drive of the second motor 210 cooperates with the meshing of the adjusting gear 211 and the supporting gear 24, so that the support frame 25 drives the camera 26 and the laser radar 27 to rotate and adjust, thereby expanding the monitoring range. When the construction platform moves to the target position, the control panel 5 controls the driver 32 to start, and the double-headed screw 33 rotates and drives the two adjustment blocks 34 thereon to move outward, thereby straightening the support rod 35 and pushing the support seat 36 downward until the support seat 36 is against the ground, thereby supporting and fixing the bottom of the construction platform. In this way, it can be ensured that the construction platform will not shake or tilt during the construction process, thereby improving its stability.

[0052] Specifically, refer to Figures 1 to 4 As shown, the adjusting gear 211 is meshed with the supporting gear 24, the bottom end surface of the adjusting gear 211 is higher than the top end surface of the mounting plate 23, the supporting frame 25 is configured as a convex structure, the moving mechanism 2 and the scissors lift 1 are both electrically connected to the control panel 5; the driver 32 is electrically connected to the control panel 5, the upper and lower outer surfaces of the four supporting rods 35 are equipped with connecting seats, and the supporting seat 36 is configured as a prism structure.

[0053] As can be seen from the above, the position of the support frame 25 is rotated and adjusted by transmitting power, so that the adjusting gear 211 and the mounting plate 23 do not contact each other, thus avoiding interference, facilitating the installation of the camera 26 on the support frame 25, and improving the stability of the support frame 25, allowing the control panel 5 to remotely control or monitor the moving mechanism 2 and the scissors lift 1; allowing the control panel 5 to remotely operate the driver 32, and the connecting seat can realize the movable connection between the support rod 35 and the adjusting block 34 and the support seat 36, and the support seat 36 with a prism structure can provide a larger support area and a more stable support effect.

[0054] Embodiment 2:

[0055] refer to Figures 5 to 7 As shown, the extension mechanism 4 includes a platform body 41, a driving mechanism 42, left and right extension plates 43, front and rear extension plates 44, a limiting groove 45, left and right baffles 46, an extension frame 47, front and rear baffles 48 and a protective frame 49. The platform body 41 is installed at the top of the scissor lift 1, and the driving mechanism 42 is installed inside the platform body 41. The left and right extension plates 43, the front and rear extension plates 44, the left and right baffles 46 and the front and rear baffles 48 are each provided with two pieces. The two left and right extension plates 43 are respectively installed at the middle of the two ends of the platform body 41, and the two front and rear extension plates 44 are respectively installed at the middle of the two ends of the platform body 41. Installed in the middle of the outer walls on both sides of the platform body 41, a plurality of limit grooves 45 are provided, and the plurality of limit grooves 45 are respectively opened on the outer walls on both sides of the two left and right extension plates 43 and the two ends of the two front and rear extension plates 44, the two left and right baffles 46 are respectively installed on the top of the two left and right extension plates 43, the two front and rear baffles 48 are respectively installed on the top of the two front and rear extension plates 44, and the extension frames 47 and the protective frames 49 are each provided with four, and the four extension frames 47 are respectively installed on the outer walls on both sides of the two left and right baffles 46, and the four protective frames 49 are all installed on the top of the platform body 41;

[0056] The driving mechanism 42 includes a fixed frame 421, a positive and negative screw rod 422, an adjusting screw rod 423, a small bevel gear 424, a motor 425 and a large bevel gear 426. The fixed frame 421 is installed between the top inner wall and the bottom inner wall of the gantry body 41. The positive and negative screw rods 422 are installed between the inner walls on both sides of the fixed frame 421 through bearings. Two adjusting screw rods 423 are provided, and the two adjusting screw rods 423 are respectively installed at the two ends of the fixed frame 421 through bearings. Three small bevel gears 424 are provided, and the three small bevel gears 424 are respectively installed on the middle part of the outer surface of the positive and negative screw rods 422 and the opposite surfaces of the two adjusting screw rods 423. The motor 425 is installed at the bottom end of the gantry body 41, and the large bevel gear 426 is installed at the output end of the motor 425. The large bevel gear 426 is installed on the bottom inner wall of the gantry body 41 through bearings.

[0057] As can be seen from the above, when construction workers stand on the platform body 41 to work, they can control the motor 425 to start by holding a remote controller connected to the control panel 5. The motor 425 drives the large bevel gear 426 to rotate. Through the meshing transmission of the large bevel gear 426 and the three small bevel gears 424, the positive and negative screw rods 422 drive the two front and rear extension plates 44 thereon to unfold. The protective frame 49 and the front and rear baffles 48 together form a comprehensive protection for the front and rear extension plates 44. In addition, the two adjusting screws 423 also drive the left and right extension plates 43 thereon to unfold. At the same time, the extension frame 47 also extends out from the protective frame 49 and cooperates with the left and right baffles 46 to realize the protection of the sides of the left and right extension plates 43, thereby improving the safety of construction. During the adjustment process, the sliding connection between the dovetail block and the limit groove 45 improves the stability of the left and right extension plates 43 and the front and rear extension plates 44. This design allows the space on the top of the platform body 41 to be flexibly adjusted, thereby increasing the operating space of construction workers, expanding the operating range of the construction platform, and improving construction efficiency.

[0058] Preferably, reference Figures 5 to 7 As shown, the motor 425 is electrically connected to the control panel 5, the large bevel gear 426 is meshed with the three small bevel gears 424, the extension frame 47 and the protective frame 49 are both configured as L-shaped structures, and the extension frame 47 is movably connected with the corresponding protective frame 49, and a dovetail block matching the multiple limit grooves 45 is provided inside the stand body 41.

[0059] As can be seen from the above, the control panel 5 is allowed to remotely operate and control the motor 425 to achieve power transmission, and can simultaneously drive the forward and reverse screws 422 and the two adjusting screws 423 to rotate. The L-shaped structure ensures comprehensive shielding and protection of the surroundings, and also provides additional strength and stability. The interlaced active connection allows the extension frame 47 to adjust its position within a certain range, so that the dovetail block can limit the left and right extension plates 43 and the front and rear extension plates 44 and improve stability.

[0060] Embodiment three:

[0061] refer to Figure 8 As shown, a control system for an intelligent mobile construction platform for tunnel engineering includes:

[0062] Monitoring end, processing end, communication and control end and power supply end;

[0063] The monitoring end includes a displacement sensing unit, a speed sensing unit, an acceleration sensing unit and a temperature and humidity sensing unit; the processing end includes a data processing and analysis unit, a central control unit and an actuator unit; the communication and control end includes a communication unit, a monitoring and alarm unit and a human-computer interaction unit; and the power supply end includes a power management unit;

[0064] The displacement sensing unit is used to monitor the displacement of the platform during the tunnel construction process to ensure its stability and safety. The speed sensing unit is used to monitor the moving speed of the platform to ensure that it operates stably within the specified range. The acceleration sensing unit is used to monitor the acceleration change of the platform to evaluate its dynamic performance. The temperature and humidity sensing unit is used to monitor the temperature and humidity in the tunnel construction environment to ensure that the construction conditions meet the specifications.

[0065] The data processing and analysis unit is used to process and analyze the data collected by the monitoring end and extract useful information. The central control unit is used to be the core of the entire control system and is responsible for receiving, processing and issuing control instructions. The actuator unit is used to perform specific control operations according to the instructions of the central control unit.

[0066] The communication unit is responsible for data transmission and communication between various units, the monitoring and alarm unit is used to monitor the operating status of the system in real time and issue an alarm when an abnormal situation occurs, and the human-computer interaction unit is used to provide an interactive interface between the user and the system;

[0067] The power management unit is used to provide a stable and reliable power supply for the entire control system.

[0068] As can be seen from the above, during the use of the entire control system, the displacement data of the test bench is first measured and recorded in real time through the displacement sensing unit to provide the control system with necessary feedback information so as to adjust the construction strategy in time. The moving speed of the test bench is measured by the speed sensing unit, so that abnormal situations such as overspeeding or unstable speed can be discovered and handled in time, thereby avoiding potential safety hazards. The acceleration data is measured by the acceleration sensing unit, so that the dynamic response of the test bench during startup, acceleration, deceleration, etc. can be understood, providing data support for optimizing the construction strategy. The temperature and humidity sensing unit measures and records the temperature and humidity data in real time, so that abnormal situations in the construction environment, such as excessive temperature or excessive humidity, can be discovered and handled in time, thereby ensuring construction quality and safety. Then, the data processing and analysis unit processes and analyzes the data, so as to understand the operating status of the test bench, the status of the construction environment, etc., and provide decision support for the control system. The central control unit can comprehensively process the data from each monitoring unit, and issue corresponding control instructions according to the preset algorithms and rules to achieve precise control of the test bench and the construction environment, and execute The controller unit can receive control signals from the central control unit and convert them into mechanical or electrical actions to realize control operations such as movement and adjustment of the platform; at the same time, the communication unit can ensure that the data between each monitoring unit, processing unit and execution unit can be transmitted and shared in real time and accurately, so as to realize effective monitoring and management of the entire control system. The monitoring and alarm unit can detect various parameters and indicators of the system in real time. Once an abnormal situation is found, such as equipment failure, data abnormality, etc., an alarm signal can be immediately issued so that timely measures can be taken to deal with it. The human-computer interaction unit enables users to easily understand the operating status of the system, set parameters, view data, etc., and can also receive user instructions and inputs to realize control and adjustment of the system; finally, the power management unit can ensure that the system can obtain sufficient power support under various working conditions, and can also manage and optimize the power supply to improve the energy efficiency and stability of the system. The entire control system can realize intelligent control of the construction platform through the joint cooperation and mutual coordination of various units, and ensure the stable operation and efficient construction of the entire system.

[0069] Embodiment 4:

[0070] refer to Fig. 9As shown, by replacing the crawler chassis 22 at the bottom of the mobile base 21 with a set of advanced rubber-wheel chassis, the flexible operation of the construction platform on the track is achieved. This set of rubber-wheel chassis is not only equipped with an efficient power system and a reliable braking system to ensure its stable walking ability on the rails, but also its special rubber wheel design cleverly avoids any damage to the rails. This improvement means that the construction platform can adapt to standard normal tracks (gauge is 1435mm), so that it can move freely inside the tunnel that has been opened for operation. This innovative design greatly improves the practicality and flexibility of the construction platform, allowing it to efficiently participate in the rectification of defects inside the tunnel. What is more convenient is that the entire construction platform adopts an easy-to-disassemble structural design. The operator can easily disassemble the mobile mechanism 2 and the extension mechanism 4 from the scissor lift 1. The disassembled construction platform is smaller in size and lighter in weight, which greatly facilitates the operator's handling and transportation, thereby enabling the construction platform to more easily enter and exit the operating tunnel, providing strong support for the smooth development of tunnel maintenance work.

[0071] Application examples:

[0072] This design is applied in the tunnel construction environment. Specifically, it is suitable for construction scenarios of various types of tunnels, including but not limited to subway tunnels, highway tunnels, water conservancy tunnels, etc. For example, this design can be applied to the construction of subway tunnels. Subway tunnels are usually located underground in cities, with narrow construction space and need to pass through complex geological structures, such as soft soil and rock layers. At the same time, subway tunnel construction also needs to consider factors such as ground transportation and underground pipelines, and has extremely high requirements for the flexibility and safety of construction equipment;

[0073] This design sets up a mobile mechanism 2, and uses a crawler chassis 22 to increase the grip on the ground, ensuring that the construction platform can move stably under complex geological conditions to avoid slipping or loss of control. The camera 26 and the laser radar 27 can sense the surrounding environment in real time, including tunnel walls, obstacles, etc., to provide data support for the intelligent control of the construction platform, reducing safety hazards. Then, by setting up a supporting mechanism 3, the bottom of the construction platform can be supported and fixed to improve the stability of the platform, ensuring that it will not shake or tilt during the construction process. By setting up an extension mechanism 4, the space on the top of the construction platform can be increased, the scope of use can be expanded, and the construction efficiency can be improved. Then, by controlling the control system of the construction platform, the intelligent control of the construction platform can be realized, including mobile path planning, obstacle avoidance strategy formulation, etc., to ensure that the construction platform can complete the construction task safely and efficiently. Through the combination of intelligent control and mechanized construction, the efficient operation of the construction platform is realized, and the construction efficiency is significantly improved.

[0074] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent mobile construction platform for tunnel engineering, characterized in that: include: Scissor lift (1); A moving mechanism (2) is installed at the bottom end of the scissor lift (1), two supporting mechanisms (3) are installed on the moving mechanism (2), an extension mechanism (4) is installed at the top end of the scissor lift (1), and a control panel (5) is installed at the lower part of the outer wall of the scissor lift (1); The mobile mechanism (2) comprises a mobile base (21), a crawler chassis (22), a mounting plate (23), a support gear (24), a support frame (25) and a camera (26); the mobile base (21) is mounted on the bottom end of the scissor lift (1); the crawler chassis (22) is mounted on the bottom end of the mobile base (21); two of the mounting plates (23), the support gear (24), the support frame (25) and the camera (26) are provided; the two mounting plates (23) can be mounted on the top of the mobile base (21) by bolts; the two support gears (24) are respectively mounted on the top of the two mounting plates (23); the two support frames (25) are respectively mounted on the top of the two support gears (24) by bearings; and the two cameras (26) are respectively mounted between the inner walls on both sides of the two support frames (25) by bearings.

2. The intelligent mobile construction platform for tunnel engineering according to claim 1 is characterized by: A laser radar (27) and a Beidou positioning terminal (28) are respectively installed on the top of the two cameras (26), a first motor (29) is installed on the upper part of the outer wall of the two support frames (25), a second motor (210) is installed on the lower part of the outer surface of the two support frames (25), and an adjusting gear (211) is installed on the output end of the two second motors (210).

3. The intelligent mobile construction platform for tunnel engineering according to claim 2 is characterized in that: The adjusting gear (211) is meshed with the supporting gear (24); the bottom end surface of the adjusting gear (211) is higher than the top end surface of the mounting plate (23); the supporting frame (25) is configured as a convex structure; and the moving mechanism (2) and the scissor lift (1) are both electrically connected to the control panel (5).

4. The intelligent mobile construction platform for tunnel engineering according to claim 1 is characterized by: The support mechanism (3) comprises a support frame (31), a driver (32), a double-headed screw (33), an adjustment block (34), a support rod (35) and a support seat (36); the support frame (31) is mounted at the bottom end of the movable base (21); the driver (32) is mounted on the outer wall of the support frame (31); the double-headed screw (33) is mounted between the inner walls of both sides of the support frame (31) through a bearing; two adjustment blocks (34) are provided, and the two adjustment blocks (34) are respectively mounted on both sides of the outer surface of the double-headed screw (33); four support rods (35) are provided, and the four support rods (35) are respectively mounted on the bottom ends of the two adjustment blocks (34); and the support seat (36) is mounted on the bottom ends of the four support rods (35).

5. The intelligent mobile construction platform for tunnel engineering according to claim 4 is characterized by: The driver (32) is electrically connected to the control panel (5); the upper and lower outer surfaces of the four support rods (35) are provided with connection seats; and the support seats (36) are arranged as a prism structure.

6. The intelligent mobile construction platform for tunnel engineering according to claim 1, characterized in that: The extension mechanism (4) comprises a platform body (41), a driving mechanism (42), left and right extension plates (43), front and rear extension plates (44), a limiting groove (45), left and right baffles (46), an extension frame (47), front and rear baffles (48) and a protective frame (49); the platform body (41) is installed at the top of the scissor lift (1); the driving mechanism (42) is installed inside the platform body (41); the left and right extension plates (43), front and rear extension plates (44), left and right baffles (46) and front and rear baffles (48) are each provided with two pieces; the two left and right extension plates (43) are respectively installed at the middle of the two ends of the platform body (41); the two front and rear extension plates (44) are respectively installed at the middle of the two ends of the platform body (41); ) are respectively installed on the middle part of the outer walls on both sides of the platform body (41), and a plurality of limit grooves (45) are provided. The plurality of limit grooves (45) are respectively opened on the outer walls on both sides of the two left and right extension plates (43) and the two ends of the two front and rear extension plates (44). The two left and right baffles (46) are respectively installed on the top ends of the two left and right extension plates (43), and the two front and rear baffles (48) are respectively installed on the top ends of the two front and rear extension plates (44). The extension frames (47) and the protective frames (49) are each provided with four. The four extension frames (47) are respectively installed on the outer walls on both sides of the two left and right baffles (46), and the four protective frames (49) are all installed on the top ends of the platform body (41).

7. The intelligent mobile construction platform for tunnel engineering according to claim 6, characterized in that: The driving mechanism (42) comprises a fixed frame (421), a forward and reverse screw rod (422), an adjusting screw rod (423), a small bevel gear (424), a motor (425) and a large bevel gear (426); the fixed frame (421) is installed between the top inner wall and the bottom inner wall of the platform body (41); the forward and reverse screw rod (422) is installed between the inner walls on both sides of the fixed frame (421) through a bearing; two adjusting screw rods (423) are provided, and the two adjusting screw rods (423) are connected to each other. The bearings are respectively mounted on both ends of the fixed frame (421); three small bevel teeth (424) are provided; the three small bevel teeth (424) are respectively mounted on the middle of the outer surface of the forward and reverse screw rods (422) and the opposite surfaces of the two adjusting screw rods (423); the motor (425) is mounted on the bottom end of the platform body (41); the large bevel teeth (426) are mounted on the output end of the motor (425); and the large bevel teeth (426) are mounted on the bottom inner wall of the platform body (41) through bearings.

8. The intelligent mobile construction platform for tunnel engineering according to claim 7, characterized in that: The motor (425) is electrically connected to the control panel (5), the large bevel gear (426) is meshed with the three small bevel gears (424), the stretching frame (47) and the protective frame (49) are both configured as L-shaped structures, and the stretching frame (47) is movably connected to the corresponding protective frame (49), and a dovetail block matching the plurality of limit grooves (45) is disposed inside the platform body (41).

9. A control system for an intelligent mobile construction platform for tunnel engineering, applicable to the intelligent mobile construction platform for tunnel engineering according to claims 1 to 8, characterized in that: include: Monitoring end, processing end, communication and control end and power supply end; The monitoring end includes a displacement sensing unit, a speed sensing unit, an acceleration sensing unit and a temperature and humidity sensing unit; the processing end includes a data processing and analysis unit, a central control unit and an actuator unit; the communication and control end includes a communication unit, a monitoring and alarm unit and a human-computer interaction unit; and the power supply end includes a power management unit; The displacement sensing unit is used to monitor the displacement of the platform during the tunnel construction process to ensure its stability and safety. The speed sensing unit is used to monitor the moving speed of the platform to ensure that it operates stably within the specified range. The acceleration sensing unit is used to monitor the acceleration change of the platform to evaluate its dynamic performance. The temperature and humidity sensing unit is used to monitor the temperature and humidity in the tunnel construction environment to ensure that the construction conditions meet the specifications. The data processing and analysis unit is used to process and analyze the data collected by the monitoring end and extract useful information. The central control unit is used to be the core of the entire control system and is responsible for receiving, processing and issuing control instructions. The actuator unit is used to perform specific control operations according to the instructions of the central control unit.

10. The control system of the intelligent mobile construction platform for tunnel engineering according to claim 9, characterized in that: The communication unit is responsible for data transmission and communication between various units, the monitoring and alarm unit is used to monitor the operating status of the system in real time and issue an alarm when an abnormal situation occurs, and the human-computer interaction unit is used to provide an interactive interface between the user and the system; The power management unit is used to provide a stable and reliable power supply for the entire control system.

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