Automatic measuring and trowelling system and method for subway base plate

Abstract

The invention relates to the technical field of automation equipment, and provides an automatic measuring and trowelling system and method for a subway base plate, and the system comprises a sliding support which is used for sliding on a running rail surface of a subway tunnel line; a first trowelling mechanism and a second trowelling mechanism are erected downwards on the sliding support and used for trowelling the subway base plate. When the sliding bracket slides on a running rail surface of a subway tunnel line, carrying out three-dimensional coordinate measurement on each section measuring point by utilizing a total station to be matched with a prism and a reflecting mirror which are erected on the sliding bracket, and calculating relative position data of the sliding bracket on a design center line of the current section measuring point; the control parameters are stored as the control parameters of the current section measuring point; and after the measurement of the construction range of the subway tunnel line trowelling is completed, the controller controls the first trowelling mechanism and the second trowelling mechanism to work based on the control parameters so as to complete automatic trowelling.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and more specifically, to a system and method for automatically measuring and leveling a subway base plate. Background Art

[0002] The construction of subway tunnel base plate is a key process in the construction of subway tunnel lines. Its flatness and plane height affect the quality of subsequent processes and the adjustment workload. Therefore, ensuring that the flatness and elevation accuracy of the base plate meet the design requirements is a key indicator to ensure the progress of the project and the quality of subsequent construction. The plane and elevation accuracy of the base plate construction are generally required to be a certain width, symmetrical on both sides of the design center line, and the elevation accuracy is a certain value lower than the design elevation. In the actual construction measurement, the center line of the line must be measured first, and then divided into multiple sections. Two points are measured and set at a certain distance from the left and right sides of the center line. Next, holes are drilled at four points, four steel bars are inserted, and the height is measured. Marks are tied or drawn at the required plane height as an indication of grouting and leveling, and finally smoothed manually according to the marks. This set of procedures is relatively mature, but the links are complex and prone to manual operation errors. At present, during the construction process, it is mainly smoothed by construction personnel using a measuring machine.

[0003] Currently, there are measuring and leveling equipment that uses a prism and a total station to determine the plane position of the equipment, measure and calculate the target point position and elevation, and further control the automated operation through a controller. However, for subway tunnel line construction sites, in order to adapt to the centrifugal force of subway trains, the designed rail surface and leveling surface in the curved part of the tunnel will be designed to be tilted. The tilt angle is the angle of rotation around the center of the train rail. Therefore, it is impossible to obtain accurate positioning data and construction parameters by directly using a total station for measurement. Summary of the invention

[0004] In order to overcome the defect in the prior art that it is difficult to obtain accurate positioning data and construction parameters for the curved part of the tunnel, the present invention provides a system and method for automatically measuring and leveling a subway base plate.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A subway base plate automatic measurement and leveling system, comprising:

[0007] Sliding bracket, used for sliding on the running track surface of the subway tunnel line;

[0008] The sliding bracket is provided with a first smoothing mechanism and a second smoothing mechanism downwardly, which are used to smooth the subway base plate;

[0009] The first smoothing mechanism and the second smoothing mechanism both include a lifting rod, one end of which is connected to the sliding bracket, and the other end is connected to the smoothing roller; a reflector is arranged at one end of the lifting rod and above the smoothing roller;

[0010] A prism is also arranged above the sliding bracket; and the system also includes a total station and a controller.

[0011] Among them, when the sliding bracket slides on the running track surface of the subway tunnel line, the three-dimensional coordinate measurement is performed at each section measuring point using a total station in conjunction with the prism and the reflector, and the relative position data of the sliding bracket on the design center line of the current section measuring point is calculated and saved as the control parameter of the current section measuring point; when the measurement of the leveling construction range of the subway tunnel line is completed, the controller controls the automatic measurement and leveling system based on the control parameters to complete automatic leveling.

[0012] Furthermore, the present invention also proposes a method for automatically measuring and leveling a subway base plate, and applies the automatic measuring and leveling system for a subway base plate proposed in the present invention. The method comprises the following steps:

[0013] S1. According to the preset running track surface, section measuring points are set, and the sliding bracket is controlled to slide on the running track surface of the subway tunnel line to perform measurement operations;

[0014] S2. For any cross-sectional measuring point, three-dimensional coordinate measurement is performed using a total station in conjunction with the prism and the reflector, and the relative position data of the sliding bracket on the design center line of the current cross-sectional measuring point is calculated, and the relative position data is saved as the control parameter of the current cross-sectional measuring point, and then the step S2 is repeated when the next cross-sectional measuring point is moved to, until all cross-sectional measuring points are measured;

[0015] S3, controlling the sliding bracket to return to the starting position, and controlling the automatic measurement and leveling system to work based on the control parameters to complete automatic leveling.

[0016] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0017] The present invention uses the intelligent control and intelligent measurement technology of mechanical automation equipment to measure the preset cross-section measuring points in the subway tunnel line before automatic smoothing, determine the smoothing control parameters of the current cross-section measuring points and save them in terminal control devices such as industrial computers, until all cross-section measuring points are measured, and then the first smoothing mechanism and the second smoothing mechanism are controlled to work according to the saved smoothing control parameters to complete the automatic smoothing operation;

[0018] The present invention can measure and calculate the rotating designed rail surface in the curved part of the tunnel to obtain high-precision smoothing control parameters, which can effectively improve the smoothing accuracy and smoothing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a schematic structural diagram of a subway base plate automatic measurement and leveling system according to an embodiment of the present invention. Figure 2 The figure is a schematic diagram of a subway base plate automatic measurement and leveling system located in a curved section of a tunnel according to an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram showing a subway base plate automatic measurement and leveling system located in a straight section of a tunnel according to an embodiment of the present invention.

[0021] Figure 4 The present invention is a flow chart of a method for automatically measuring and leveling a subway base plate according to one embodiment of the present invention. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0023] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0024] It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0025] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1

[0027] This embodiment provides a subway base plate automatic measurement and leveling system. Figure 1As shown, it is a structural schematic diagram of the subway base plate automatic measurement and leveling system of this embodiment.

[0028] The subway base plate automatic measurement and leveling system proposed in this embodiment includes:

[0029] The sliding bracket 1 is used for sliding on the running track surface of the subway tunnel line;

[0030] The sliding bracket 1 is provided with a first smoothing mechanism 2 and a second smoothing mechanism 3 downwardly, which are used to smooth the subway base plate;

[0031] The first smoothing mechanism 2 and the second smoothing mechanism 3 both include a lifting rod, one end of which is connected to the sliding bracket 1, and the other end is connected to the smoothing roller; a reflector is provided at one end of the lifting rod and above the smoothing roller;

[0032] A prism is also arranged above the sliding bracket 1; the system also includes a total station and a controller.

[0033] When the sliding bracket 1 slides on the running track surface of the subway tunnel line, the three-dimensional coordinate measurement is performed at each section measuring point using a total station in conjunction with the prism and the reflector, and the relative position data of the sliding bracket 1 on the design center line of the current section measuring point is calculated and saved as the control parameter of the current section measuring point. After the measurement of the leveling construction range of the subway tunnel line is completed, the controller controls the automatic measurement and leveling system based on the control parameters to complete the automatic leveling.

[0034] In this embodiment, through the intelligent control and intelligent measurement technology of mechanical automation equipment, the preset cross-section measuring points in the subway tunnel line are measured before automatic smoothing, and the smoothing control parameters of the current cross-section measuring points are determined and saved in the terminal control device such as the industrial computer. After all cross-section measuring points are measured, the first smoothing mechanism 2 and the second smoothing mechanism 3 are controlled according to the saved smoothing control parameters to complete the automatic smoothing operation. In particular, this embodiment can measure and calculate the rotating designed rail surface in the curved part of the tunnel to obtain high-precision smoothing control parameters, which can improve the smoothing accuracy and smoothing efficiency.

[0035] The sliding bracket 1 of this embodiment serves as a carrier of the automatic measuring and leveling system. An optical lens may be optionally provided at the target measuring point to cooperate with a total station to perform distance measurement and obtain coordinate data of each component of the automatic measuring and leveling system itself.

[0036] In an optional embodiment, the sliding bracket 1 is further configured with at least one multifunctional sensor for detecting the operating status of the sliding bracket 1 .

[0037] Further optionally, the sliding bracket 1 is also configured with a horizontal adjustment mechanism for adjusting the bracket width, which is used to adjust the horizontal width of the sliding bracket 1 according to the track gauge of the running rails laid on site.

[0038] For example, during the implementation process, the width of the sliding bracket 1 is adjusted to within the track gauge of 3.2 to 4 meters using the horizontal adjustment mechanism, and further fine-tuning is performed so that the sliding wheels on both sides of the sliding bracket 1 can fully adapt to the auxiliary running rails laid on site.

[0039] In an optional embodiment, a first prism 401 and a second prism 402 are respectively provided on both sides of the upper side of the sliding bracket 1;

[0040] In the first smoothing mechanism 2, a first reflector 501 is provided at one end of the lifting rod thereof, and a second reflector 502 is provided above the smoothing roller thereof;

[0041] In the second smoothing mechanism 3, a third reflector 503 is disposed at one end of the lifting rod thereof, and a fourth reflector 504 is disposed above the smoothing roller.

[0042] In this embodiment, by setting a prism and a reflector at a fixed point on the sliding bracket 1, the measurement is carried out in conjunction with a total station to complete the calibration of the automatic measurement and leveling system of the subway base plate.

[0043] Exemplarily, the first prism 401 and the second prism 402 of this embodiment are symmetrically arranged on the sliding bracket 1 ; the first smoothing mechanism 2 and the second smoothing mechanism 3 are symmetrically arranged on the sliding bracket 1 .

[0044] For the symmetrically arranged first prism 401 and second prism 402, the coordinates of the central axis of the system can be determined by measuring the coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402 using a total station.

[0045] Further, in an optional embodiment, the relative position data includes the deviation distance dS between the system center axis and the design center line of the current section measuring point; the relative distances H1 and H2 in the vertical direction between the smoothing rollers of the first smoothing mechanism 2 and the second smoothing mechanism 3 and the smoothing surface of the base plate respectively; and the relative distances D1 and D2 in the horizontal direction between the smoothing rollers of the first smoothing mechanism 2 and the second smoothing mechanism 3 and the smoothing surface of the base plate respectively.

[0046] Exemplarily, in this embodiment, the measurement is performed by a total station and / or an elevation measurement device 6, and in conjunction with terminal equipment such as an industrial computer, the measurement and calculation of relative position data are completed.

[0047] During the implementation process, the automatic measurement and leveling system is freely set up based on the CPIII (Control Points for III-level) control points. The position of each component of the system in the current construction coordinate system can be determined using a total station, and the relative position of the system on the design line can be determined through the prism set on the sliding bracket 1.

[0048] Further, in an optional embodiment, the system performs the following steps when calculating the relative position data of the sliding bracket 1 on the design center line of the current cross-section measurement point:

[0049] For a section measuring point location, the design center line of the current section measuring point is determined according to the mileage of the current section measuring point;

[0050] Measure the coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402 by a total station;

[0051] Measure the distance S1 between the first prism 401 and the central axis of the system by using a total station;

[0052] Using a total station, measure the distance h1 between the first prism 401 and the second reflector 502, the distance h2 between the second prism 402 and the fourth reflector 504, the distance h3 between the second reflector 502 and the bottom of the smoothing drum, and the distance h4 between the designed rail surface and the smoothing surface of the subway base plate;

[0053] Measure the elevations Z3 and Z4 of the designed rail surfaces corresponding to the first smoothing mechanism 2 and the second smoothing mechanism 3 respectively by a total station;

[0054] Calculate the relative distance H1 between the first smoothing mechanism 2 and the smoothing plane of the base plate in the vertical direction and use it as the target lifting value of the lifting rod of the first smoothing mechanism 2 and save it as a control parameter; its expression is: H1 = Z1-h1-h3-Z3+h4;

[0055] The relative distance H2 between the second smoothing mechanism 3 and the smoothing surface of the base plate in the vertical direction is calculated and used as the target lifting value of the lifting rod of the second smoothing mechanism 3 and saved as a control parameter; its expression is:

[0056] H2=Z2-h2-h3-Z4+h4.

[0057] See also Figure 1 , 2In this embodiment, according to the elevation value Z1 of the first prism 401, the fixed lengths h1 and h3 are subtracted, the elevation value Z3 of the designed rail surface is subtracted, and the distance h4 from the designed rail surface to the smoothing surface is added, and the lifting value H1 of the first smoothing mechanism 2 from the zero position to the smoothing surface can be calculated. Similarly, the lifting value H2 of the second smoothing mechanism 3 from the zero position to the smoothing surface can be calculated.

[0058] The elevations Z3 and Z4 of the design centerline and the design rail surface are determined by the drawings provided by the construction unit, and can be optionally entered into the terminal according to the mileage. During implementation, the mileage of the design line where the system is located is calculated according to the coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402, and the current design centerline and the elevations Z3 and Z4 of the design rail surface can be determined.

[0059] The mileage of the design line where the system is located is calculated by the coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402, and the current design center line is determined according to the mileage, and the elevations Z3 and Z4 of the design rail surface at the current position are obtained according to the mileage. The elevation of the design rail surface is the design elevation of the bottom rollers of the first smoothing mechanism 2 and the second smoothing mechanism 3 descending to the design rail surface. In the straight section of the tunnel, the design elevations of the first smoothing mechanism 2 and the second smoothing mechanism 3 are equal, that is, Z3 = Z4; while in the curved section of the tunnel, the design elevations of the first smoothing mechanism 2 and the second smoothing mechanism 3 need to be calculated separately, and at this time Z3 ≠ Z4.

[0060] See also Figure 2 The dotted line in the figure below indicates the position of the design rail surface and the target base plate in the straight section of the tunnel, and the solid line indicates the position of the design rail surface and the target base plate in the curved section of the tunnel. Obviously, in the curved section of the tunnel, the design elevations of the design rail surfaces on the left and right sides are different.

[0061] In an optional embodiment, the smoothing rollers on the first smoothing mechanism 2 include a first roller 201 and a second roller 202 arranged horizontally, wherein the first roller 201 is located on the outside and the second roller 202 is located on the inside; the smoothing rollers on the second smoothing mechanism 3 include a third roller 301 and a fourth roller 302, wherein the third roller 301 is located on the inside and the fourth roller 302 is located on the outside.

[0062] In this embodiment, two smoothing rollers are arranged in a smoothing mechanism to meet the construction requirements of smoothing the inclined surface of the curved part of the tunnel.

[0063] Furthermore, when the system calculates the relative position data of the sliding bracket 1 on the design center line of the current section measuring point, the system performs the following steps:

[0064] Obtain the plastering widths K1 and K2 of the first plastering mechanism 2 and the second plastering mechanism 3, and the width K of the water tank in the plastering plane of the base plate;

[0065] The distance S2 between the first prism 401 and the design center line is measured by a total station, and the deviation distance dS=|S2-S1| between the design center line and the system center axis is calculated;

[0066] Calculate the relative distances D2 and D3 between the second roller 202 and the third roller 301 and the base plate wiping plane in the horizontal direction, and use them as the target extension amounts of the second roller 202 and the third roller 301, and save them as control parameters; the expression is: D2 = D3 = (S3-K) / 2 + dS;

[0067] Calculate the relative distances D1 and D4 between the first roller 201 and the fourth roller 302 and the base plate wiping plane in the horizontal direction, and use them as the target extension amounts of the first roller 201 and the fourth roller 302, and save them as control parameters; the expressions are: D1=K1-(S2-S3) / 2-D2, D4=K2-(S2-S3) / 2-D3.

[0068] See also Figure 3 The extension amount D1 of the first roller 201 can be obtained by subtracting the length S2-S3 of the second roller 202 from the designed smearing surface width K1 of the first roller 201 and then subtracting the extension amount D2 of the second roller 202.

[0069] The actual extension D2 of the second roller 202 can be obtained by adding the offset dS of the system relative to the center of the design line to the theoretical extension (S3-K) / 2 of the second roller 202, which is the difference between the distance between the two rollers and the width of the water tank. In this embodiment, the extension of the third roller 301 is the same as that of the second roller 202.

[0070] After the calculation of the relative position data is completed, it is automatically saved in the controller as a control parameter, and then the control system moves to the next section and continues measuring. The above steps are repeated until the measurement of all ranges that need to be leveled in this construction is completed.

[0071] During the actual measurement process, the system only needs to walk and slide according to the preset cross-sectional intervals. The controller can optionally interact with the total station via Bluetooth or a radio station to obtain the coordinates of the first prism 401 and the second prism 402 in real time, and perform linear fitting processing on the data according to the above calculation process to obtain the control parameters of the cross-section at any mileage, namely, the lifting value and extension amount of the roller.

[0072] In an optional embodiment, before the automatic smoothing construction, the sliding bracket 1 is controlled according to the control parameters to control the smoothing surface in the first smoothing mechanism 2 and the second smoothing mechanism 3 to descend to the designed rail surface at each section measuring point, and the construction personnel mark the proximity between the smoothing surface of the first smoothing mechanism 2 and the second smoothing mechanism 3 and the water tank mold as a layout indication for pouring concrete paving surface during smoothing.

[0073] In an optional embodiment, the sliding bracket 1 is further provided with at least three elevation measuring devices 6, which are respectively deployed on the lower surface of the sliding bracket 1 and are used for real-time measurement of the distance d between the system and the base plate surface.

[0074] The controller controls the automatic measurement and leveling system based on the control parameters to complete the automatic leveling process, and further performs the following steps:

[0075] Measure the distance h5 between the first prism 401 and the height measuring device 6 by a total station;

[0076] The difference dZ between the measured elevation value and the designed elevation value at the current mileage position is calculated to detect the thickness of the current smoothing material and the smoothing surface of the base plate to evaluate the current smoothing effect; its expression is: dZ = Z1-h5-d.

[0077] In this embodiment, during the automatic leveling process, the elevation measuring device 6 is used to provide real-time feedback on the distance between it and the material on the leveling surface. The thickness of the laid material and the leveling surface is detected by measuring the difference between the actual elevation value and the design elevation value, and it is determined whether the concrete thickness measurement and leveling system can pass the current section.

[0078] Further optionally, laser rangefinders are installed on the outer sides of the first roller 201 and the fourth roller 302 , and on the inner sides of the second roller 202 and the third roller 301 , respectively.

[0079] During the smoothing process, due to certain errors in the manual installation of the water tank mold, laser rangefinders are installed on the outer and inner ends of the drum to detect obstacles when adjusting the extension length of the drum, and to calculate the distance to the edge of the water tank mold and the edge of the tunnel, so as to fine-tune the smoothing width and length of the drum in real time.

[0080] Further optionally, after the automatic measuring and smoothing system completes the smoothing construction, the elevation measuring device 6 is used to sample and measure the elevation of the smoothing surface to evaluate the construction effect.

[0081] For example, the coordinates and elevation of the prism can be obtained by measuring the prism on the leveling system with a total station, and the distance from the system to the leveling surface can be measured with the total station. The actual elevation of the leveling surface can be inferred from the prism elevation value and the distance from the leveling surface measured by laser. The design elevation of the current position can be further calculated based on the prism coordinates. By comparing the actual elevation value with the design elevation value, the error value can be calculated, which can be used to evaluate whether the leveling effect meets expectations.

[0082] Example 2

[0083] This embodiment proposes a method for automatically measuring and leveling a subway base plate, which is applied to the automatic measuring and leveling system for a subway base plate proposed in Embodiment 1. Figure 4 The figure shows a flow chart of the method for automatically measuring and leveling the subway base plate of this embodiment.

[0084] The method for automatically measuring and leveling a subway base plate proposed in this embodiment includes the following steps:

[0085] S1. According to the preset running track surface, the cross-section measuring points are set, and the sliding bracket 1 is controlled to slide on the running track surface of the subway tunnel line to perform the measurement operation;

[0086] S2. For any cross-sectional measuring point, three-dimensional coordinate measurement is performed using a total station in conjunction with the prism and the reflector, and the relative position data of the sliding bracket 1 on the design center line of the current cross-sectional measuring point is calculated and saved as the control parameter of the current cross-sectional measuring point, and then the step S2 is repeated when the next cross-sectional measuring point is moved to, until all cross-sectional measuring points are measured;

[0087] S3, controlling the sliding bracket 1 to return to the starting position, and controlling the automatic measurement and leveling system to work based on the control parameters to complete automatic leveling.

[0088] In an optional embodiment, the first prism 401 and the second prism 402 are respectively provided on both sides above the sliding bracket 1; in the first smoothing mechanism 2, a first reflector 501 is provided at one end of its lifting rod, and a second reflector 502 is provided above the smoothing roller; in the second smoothing mechanism 3, a third reflector 503 is provided at one end of its lifting rod, and a fourth reflector 504 is provided above the smoothing roller. Then, the calculation of the relative position data of the sliding bracket 1 on the design center line of the current cross-section measurement point includes the following steps:

[0089] For a section measuring point location, the design center line of the current section measuring point is determined according to the mileage of the current section measuring point;

[0090] Measure the coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402 by a total station;

[0091] Measure the distance S1 between the first prism 401 and the central axis of the system by using a total station;

[0092] Using a total station, measure the distance h1 between the first prism 401 and the second reflector 502, the distance h2 between the second prism 402 and the fourth reflector 504, the distance h3 between the second reflector 502 and the bottom of the smoothing drum, and the distance h4 between the designed rail surface and the smoothing surface of the subway base plate;

[0093] Measure the elevations Z3 and Z4 of the designed rail surfaces corresponding to the first smoothing mechanism 2 and the second smoothing mechanism 3 respectively by a total station;

[0094] Calculate the relative distance H1 between the first smoothing mechanism 2 and the smoothing plane of the base plate in the vertical direction and use it as the target lifting value of the lifting rod of the first smoothing mechanism 2 and save it as a control parameter; its expression is: H1 = Z1-h1-h3-Z3+h4;

[0095] Calculate the relative distance H2 between the second smoothing mechanism 3 and the smoothing surface of the base plate in the vertical direction and use it as the target lifting value of the lifting rod of the second smoothing mechanism 3, and save it as a control parameter; its expression is: H2 = Z2-h2-h3-Z4+h4.

[0096] In an optional embodiment, the smoothing rollers on the first smoothing mechanism 2 include a first roller 201 and a second roller 202 arranged horizontally, wherein the first roller 201 is located on the outside and the second roller 202 is located on the inside; the smoothing rollers on the second smoothing mechanism 3 include a third roller 301 and a fourth roller 302, wherein the third roller 301 is located on the inside and the fourth roller 302 is located on the outside. Then, the calculation of the relative position data of the sliding bracket 1 on the design center line of the current cross-section measurement point also includes the following steps:

[0097] Obtain the plastering widths K1 and K2 of the first plastering mechanism 2 and the second plastering mechanism 3, and the width K of the water tank in the plastering plane of the base plate;

[0098] The distance S2 between the first prism 401 and the design center line is measured by a total station, and the deviation distance dS=|S2-S1| between the design center line and the system center axis is calculated;

[0099] Calculate the relative distances D2 and D3 between the second roller 202 and the third roller 301 and the base plate wiping plane in the horizontal direction, and use them as the target extension amounts of the second roller 202 and the third roller 301, and save them as control parameters; the expression is: D2 = D3 = (S3-K) / 2 + dS;

[0100] Calculate the relative distances D1 and D4 between the first roller 201 and the fourth roller 302 and the base plate wiping plane in the horizontal direction, and use them as the target extension amounts of the first roller 201 and the fourth roller 302, and save them as control parameters; the expressions are: D1=K1-(S2-S3) / 2-D2, D4=K2-(S2-S3) / 2-D3.

[0101] In an optional embodiment, the sliding bracket 1 is further provided with at least three elevation measuring devices 6, which are respectively deployed on the lower surface of the sliding bracket 1, for real-time measurement of the distance d between the system and the trowel surface of the base plate. Then, when the automatic measurement and troweling system is controlled to work based on the control parameters to complete the automatic troweling, the following steps are also included:

[0102] Measure the distance h5 between the first prism 401 and the height measuring device 6 by a total station;

[0103] The difference dZ between the measured elevation value and the designed elevation value at the current mileage position is calculated to detect the thickness of the current smoothing material and the smoothing surface of the base plate to evaluate the current smoothing effect; its expression is: dZ = Z1-h5-d.

[0104] It can be understood that the method of this embodiment is applied to the system of the above-mentioned embodiment 1, and the options in the above-mentioned embodiment 1 are also applicable to this embodiment, so they will not be described repeatedly here.

[0105] Example 3

[0106] This embodiment applies the subway base plate automatic measurement and leveling system and method proposed in Embodiments 1 and 2, and provides a specific implementation process description.

[0107] The specific steps are as follows:

[0108] Step 1: The system is online. According to the gauge parameters of the running track surface laid on site, the sliding bracket 1 is adjusted to fully adapt to the auxiliary running track, so that the sliding bracket 1 can slide normally on the auxiliary running track, including running, standby, forward, backward, emergency stop, fast and slow walking, etc., and the sliding bracket 1 is parked at the starting position of the leveled construction line segment.

[0109] Step 2: Freely set up the total station based on the eight optical lenses in the four groups of CPIII points in front and behind the sliding bracket 1.

[0110] Step 3: Perform cross-section measurement; set the cross-section interval according to the construction environment, determine the location of the cross-section measuring points, and measure the cross-sections in sequence; for example, if the cross-section interval is set to 2 meters, the first cross-section is tested at the starting point, and after the sliding bracket 1 is controlled to move forward 2 meters, the second cross-section is measured, and so on, until all cross-section measuring points are measured.

[0111] In the measurement process of any section, the three-dimensional coordinate measurement is performed using a total station in conjunction with the prism and reflector to calculate the relative position data of the sliding bracket 1 on the design center line of the current section measuring point and save it as the control parameter of the current section measuring point.

[0112] Step 4: Choose whether auxiliary lofting is needed according to construction requirements; if not, jump to step 5.

[0113] Among them, auxiliary layout is to interact with the remote total station through wireless communication technologies such as Bluetooth and radio stations, set the first prism 401 tracking measurement mode, obtain the mileage of the automatic measurement of the smoothing system in real time, and control the smoothing roller to descend to the target smoothing surface according to the mileage change, and mark the position of the target smoothing surface and the sink mold as a layout indication for pouring concrete paving surface during smoothing.

[0114] Step 5: Perform automatic leveling operation.

[0115] Among them, in the case where there is no layout indication, a laser level can be set on both sides of the smoothing roller, and the reference laser line emitted by it can be used as a layout indication to carry out concrete layout.

[0116] During the automatic leveling operation, the remote total station is interacted with through wireless communication technologies such as Bluetooth and radio stations, and the first prism 401 is set to the tracking measurement mode to obtain the mileage of the automatic measurement leveling system in real time, and the control parameters corresponding to the current mileage are called for real-time lifting and lowering adjustments, and the first leveling mechanism 2 and the second leveling mechanism 3 are controlled to fall on the leveling surface, and the extension and contraction amount of the leveling roller is controlled to adjust the width of the leveling plate and the leveling coverage. After completing the leveling operation of the current section, the sliding bracket 1 is controlled to move forward to the next section and the automatic leveling operation is repeated.

[0117] Step six: Use the elevation measuring device 6 to measure the height of the smoothing surface in real time, and send the measurement data to the host computer through wireless communication technologies such as Bluetooth and radio stations to obtain the difference between the actual smoothing surface and the required smoothing surface, as well as the smoothing accuracy, generate the smoothing operation evaluation results and display them visually.

[0118] Step 7: Finish the construction and export the leveling work report.

[0119] Each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely exemplary, in which the modules described as separate components may or may not be physically separated, and the functions of each module can be implemented in the same or one or more software and / or hardware when implementing the scheme of the present invention. It is also possible to select some or all of the modules according to actual needs to achieve the purpose of the scheme of this embodiment.

[0120] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A subway base plate automatic measurement and leveling system, characterized in that: include: Sliding bracket, used for sliding on the running track surface of the subway tunnel line; The sliding bracket is provided with a first smoothing mechanism and a second smoothing mechanism downwardly, which are used to smooth the subway base plate; The first smoothing mechanism and the second smoothing mechanism both include a lifting rod, one end of which is connected to the sliding bracket, and the other end is connected to the smoothing roller; a reflector is arranged at one end of the lifting rod and above the smoothing roller; A prism is also arranged above the sliding bracket; The system further comprises a total station and a controller; wherein, when the sliding bracket slides on the running track surface of the subway tunnel line, the three-dimensional coordinate measurement is performed at each section measuring point by using the total station in conjunction with the prism and the reflector to calculate the relative position data of the sliding bracket on the design center line of the current section measuring point, and the relative position data is saved as the control parameter of the current section measuring point; After the measurement of the leveling construction range of the subway tunnel line is completed, the controller controls the automatic measurement and leveling system based on the control parameters to complete the automatic leveling.

2. The subway base plate automatic measurement and leveling system according to claim 1 is characterized in that: A first prism and a second prism are respectively provided on both sides above the sliding bracket; In the first smoothing mechanism, a first reflector is arranged at one end of the lifting rod, and a second reflector is arranged above the smoothing roller; In the second smoothing mechanism, a third reflector is arranged at one end of the lifting rod, and a fourth reflector is arranged above the smoothing roller.

3. The subway base plate automatic measurement and leveling system according to claim 2 is characterized in that: The relative position data include the deviation distance dS between the center axis of the system and the design center line of the current section measuring point; the relative distances H1 and H2 between the smoothing rollers of the first smoothing mechanism and the smoothing surface of the base plate in the vertical direction; and the relative distances D1 and D2 between the smoothing rollers of the first smoothing mechanism and the second smoothing mechanism and the smoothing surface of the base plate in the horizontal direction.

4. The subway base plate automatic measurement and leveling system according to claim 3 is characterized in that: When calculating the relative position data of the sliding bracket on the design center line of the current section measuring point, the system performs the following steps: For a section measuring point location, the design center line of the current section measuring point is determined according to the mileage of the current section measuring point; Measuring the coordinates (X1, Y1, Z1) of the first prism and the coordinates (X2, Y2, Z2) of the second prism by a total station; Measure the distance S1 between the first prism and the central axis of the system by a total station; Using a total station, measure the distance h1 between the first prism and the second reflector, the distance h2 between the second prism and the fourth reflector, the distance h3 between the second reflector and the bottom of the smoothing drum, and the distance h4 between the designed rail surface and the smoothing surface of the subway base plate; Measure the elevations Z3 and Z4 of the designed rail surfaces corresponding to the first smoothing mechanism and the second smoothing mechanism respectively by a total station; Calculate the relative distance H1 between the first smoothing mechanism and the smoothing plane of the base plate in the vertical direction and use it as the target lifting value of the lifting rod of the first smoothing mechanism and save it as a control parameter; its expression is: H1 = Z1-h1-h3-Z3+h4; Calculate the relative distance H2 between the second smoothing mechanism and the smoothing surface of the base plate in the vertical direction and use it as the target lifting value of the lifting rod of the second smoothing mechanism and save it as a control parameter; its expression is: H2 = Z2-h2-h3-Z4+h4.

5. The subway base plate automatic measurement and leveling system according to claim 2 is characterized in that: The smoothing rollers on the first smoothing mechanism include a first roller and a second roller arranged horizontally, wherein the first roller is located on the outside and the second roller is located on the inside; the smoothing rollers on the second smoothing mechanism include a third roller and a fourth roller, wherein the third roller is located on the inside and the fourth roller is located on the outside; Then, when calculating the relative position data of the sliding bracket on the design center line of the current section measuring point, the system performs the following steps: Obtain the plastering widths K1 and K2 of the first plastering mechanism and the second plastering mechanism, and the width K of the water tank in the plastering plane of the base plate; The distance S2 between the first prism and the design center line is measured by a total station, and the deviation distance dS=|S2-S1| between the design center line and the center axis of the system is calculated; Calculate the relative distances D2 and D3 between the second roller and the third roller and the wiping plane of the base plate in the horizontal direction, and use them as the target extension amounts of the second roller and the third roller, and save them as control parameters; the expression is: D2 = D3 = (S3-K) / 2 + dS; Calculate the relative distances D1 and D4 between the first roller and the fourth roller and the wiping plane of the base plate in the horizontal direction, and use them as the target extension amounts of the first roller and the fourth roller and save them as control parameters; the expressions are: D1=K1-(S2-S3) / 2-D2, D4=K2-(S2-S3) / 2-D3.

6. The subway base plate automatic measurement and leveling system according to any one of claims 1 to 5, characterized in that: The sliding bracket is also provided with at least three elevation measuring devices, which are respectively deployed on the lower surface of the sliding bracket and are used to measure the distance d between the system and the base plate surface in real time; Then, the controller controls the automatic measurement and leveling system to work based on the control parameters to complete the automatic leveling process, and further performs the following steps: Measuring the distance h5 between the first prism and the height measuring device by a total station; Calculate the difference dZ between the measured elevation value and the designed elevation value at the current mileage position, which is used to detect the thickness of the current leveling material and the leveling surface of the base plate to evaluate the current leveling effect; The expression is: dZ=Z1-h5-d.

7. A method for automatically measuring and leveling a subway base plate, applied to the automatic measuring and leveling system for a subway base plate according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. According to the preset running track surface, section measuring points are set, and the sliding bracket is controlled to slide on the running track surface of the subway tunnel line to perform measurement operations; S2. For any cross-sectional measuring point, three-dimensional coordinate measurement is performed using a total station in conjunction with the prism and the reflector, and the relative position data of the sliding bracket on the design center line of the current cross-sectional measuring point is calculated, and the relative position data is saved as the control parameter of the current cross-sectional measuring point, and then the step S2 is repeated when the next cross-sectional measuring point is moved to, until all cross-sectional measuring points are measured; S3, controlling the sliding bracket to return to the starting position, and controlling the automatic measurement and leveling system to work based on the control parameters to complete automatic leveling.

8. The method for automatically measuring and leveling a subway base plate according to claim 7 is characterized in that: A first prism and a second prism are respectively provided on both sides above the sliding bracket; in the first smoothing mechanism, a first reflector is provided at one end of its lifting rod, and a second reflector is provided above the smoothing roller; in the second smoothing mechanism, a third reflector is provided at one end of its lifting rod, and a fourth reflector is provided above the smoothing roller; Then, the calculation of the relative position data of the sliding bracket on the design center line of the current section measuring point includes the following steps: For a section measuring point location, the design center line of the current section measuring point is determined according to the mileage of the current section measuring point; Measuring the coordinates (X1, Y1, Z1) of the first prism and the coordinates (X2, Y2, Z2) of the second prism by a total station; Measure the distance S1 between the first prism and the central axis of the system by a total station; Using a total station, measure the distance h1 between the first prism and the second reflector, the distance h2 between the second prism and the fourth reflector, the distance h3 between the second reflector and the bottom of the smoothing drum, and the distance h4 between the designed rail surface and the smoothing surface of the subway base plate; Measure the elevations Z3 and Z4 of the designed rail surfaces corresponding to the first smoothing mechanism and the second smoothing mechanism respectively by a total station; Calculate the relative distance H1 between the first smoothing mechanism and the smoothing plane of the base plate in the vertical direction and use it as the target lifting value of the lifting rod of the first smoothing mechanism and save it as a control parameter; its expression is: H1 = Z1-h1-h3-Z3+h4; Calculate the relative distance H2 between the second smoothing mechanism and the smoothing surface of the base plate in the vertical direction and use it as the target lifting value of the lifting rod of the second smoothing mechanism and save it as a control parameter; its expression is: H2 = Z2-h2-h3-Z4+h4.

9. The method for automatically measuring and leveling a subway base plate according to claim 8, characterized in that: The smoothing rollers on the first smoothing mechanism include a first roller and a second roller arranged horizontally, wherein the first roller is located on the outside and the second roller is located on the inside; the smoothing rollers on the second smoothing mechanism include a third roller and a fourth roller, wherein the third roller is located on the inside and the fourth roller is located on the outside; then, the calculation of the relative position data of the sliding bracket on the design center line of the current section measuring point also includes the following steps: Obtain the plastering widths K1 and K2 of the first plastering mechanism and the second plastering mechanism, and the width K of the water tank in the plastering plane of the base plate; The distance S2 between the first prism and the design center line is measured by a total station, and the deviation distance dS=|S2-S1| between the design center line and the center axis of the system is calculated; Calculate the relative distances D2 and D3 between the second roller and the third roller and the wiping plane of the base plate in the horizontal direction, and use them as the target extension amounts of the second roller and the third roller, and save them as control parameters; the expression is: D2 = D3 = (S3-K) / 2 + dS; Calculate the relative distances D1 and D4 between the first roller and the fourth roller and the wiping plane of the base plate in the horizontal direction, and use them as the target extension amounts of the first roller and the fourth roller and save them as control parameters; the expressions are: D1=K1-(S2-S3) / 2-D2, D4=K2-(s2-S3) / 2-D3.

10. The method for automatically measuring and leveling a subway base plate according to claim 8, characterized in that: The sliding bracket is also provided with at least three elevation measuring devices, which are respectively deployed on the lower surface of the sliding bracket and are used to measure the distance d between the system and the base plate surface in real time; Then, the automatic measurement and leveling system is controlled based on the control parameters to complete the automatic leveling, and further comprises the following steps: Measuring the distance h5 between the first prism and the height measuring device by a total station; The difference dZ between the measured elevation value and the designed elevation value at the current mileage position is calculated to detect the thickness of the current smoothing material and the smoothing surface of the base plate to evaluate the current smoothing effect; its expression is: dZ = Z1-h5-d.

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