An automatic measurement and smoothing system and method for subway base plates

Abstract

This invention relates to the field of automation equipment technology, and proposes an automatic measurement and leveling system and method for subway base plates. The system includes a sliding bracket for sliding on the running track of the subway tunnel line; a first leveling mechanism and a second leveling mechanism are mounted downwards on the sliding bracket for leveling the subway base plate. When the sliding bracket slides on the running track of the subway tunnel line, a total station is used in conjunction with a prism and a reflector mounted on the sliding bracket to perform three-dimensional coordinate measurements at each section measuring point. 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 parameters of the current section measuring point. After the measurement of the leveling construction area of ​​the subway tunnel line is completed, the controller controls the first and second leveling mechanisms to work based on the control parameters to complete the automatic leveling.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically, to an automatic measurement and smoothing system and method for subway base plates. Background Technology

[0002] The construction of the base slab for subway tunnels is a crucial step in subway line construction. Its flatness and elevation directly impact the quality and adjustment workload of subsequent processes. Therefore, ensuring the flatness and elevation accuracy of the base slab meet design requirements is a key indicator for guaranteeing project progress and subsequent construction quality. The required flatness and elevation accuracy of the base slab generally include a certain width, symmetrical alignment with the design centerline, and an elevation accuracy that is a certain value lower than the design elevation. In actual construction surveying, the centerline of the line is first measured. Then, the tunnel is divided into multiple sections. Two points are measured at a certain distance from the centerline on each side of the section. Next, holes are drilled at the four points, four reinforcing bars are inserted, and their heights are measured. Marks are tied or drawn at the required flatness level as indicators for grouting and leveling. Finally, the surface is manually leveled according to the marks. This process is relatively mature, but it is complex and prone to human error. Currently, during construction, leveling is mainly done by construction workers using surveying machines.

[0003] Currently, there are measuring and leveling equipment. The planar position of the equipment is determined by the combined measurement of a prism and a total station. The target point location and elevation are measured and calculated, and then automated operations are controlled by a controller. However, for subway tunnel construction sites, to accommodate the centrifugal force of subway trains, the rail surface and leveling surface in the curved sections of the tunnel are designed to be inclined. The inclination angle is the angle of rotation around the center of the train's rails. Therefore, directly using a total station for measurement cannot obtain accurate positioning data and construction parameters. Summary of the Invention

[0004] To overcome the shortcomings of the prior art in obtaining accurate positioning data and construction parameters for curved sections of tunnels, this invention provides an automatic measurement and smoothing system and method for subway base plates.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] An automatic measurement and leveling system for subway base plates includes:

[0007] Sliding brackets are used to slide on the running rails of subway tunnel lines;

[0008] The sliding bracket is equipped with a first smoothing mechanism and a second smoothing mechanism for smoothing the subway base plate.

[0009] Both the first and second smoothing mechanisms include a lifting rod, one end of which is connected to the sliding bracket and the other end of which is connected to the smoothing roller; a reflector is provided at one end of the lifting rod and above the smoothing roller.

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

[0011] When the sliding support slides on the running track of the subway tunnel, a total station is used in conjunction with the prism and reflector to perform three-dimensional coordinate measurements at each section measuring point. The relative position data of the sliding support on the design center line of the current section measuring point is calculated and saved as the control parameters of the current section measuring point. After the measurement of the leveling construction area of ​​the subway tunnel is completed, the controller controls the automatic measurement and leveling system to complete the automatic leveling based on the control parameters.

[0012] Furthermore, this invention also proposes an automatic measurement and leveling method for subway base plates, applying the automatic measurement and leveling system for subway base plates proposed in this invention. The method includes the following steps:

[0013] S1. Set up cross-sectional measuring points according to the preset running track surface, and control the sliding bracket to slide on the running track surface of the subway tunnel line to perform the measurement operation;

[0014] S2. For any cross-section measuring point, use a total station in conjunction with the prism and reflector to perform three-dimensional coordinate measurement, calculate the relative position data of the sliding support on the design center line of the current cross-section measuring point, and save it as the control parameter of the current cross-section measuring point. Then move to the next cross-section measuring point and repeat step S2 until all cross-section measuring points are measured.

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

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

[0017] This invention utilizes intelligent control and intelligent measurement technology of mechanical automation equipment to measure preset cross-sectional measuring points in the subway tunnel line before automatic smoothing, determine the smoothing control parameters of the current cross-sectional measuring points and save them in terminal control equipment such as industrial control computers, until all cross-sectional measuring points have been measured, and then control the first and second smoothing mechanisms to work according to the saved smoothing control parameters to complete the automatic smoothing operation;

[0018] This invention can measure and calculate the rotating design rail surface in the curved section of the tunnel to obtain high-precision smoothing control parameters, which can effectively improve smoothing accuracy and efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the automatic measurement and smoothing system for subway base plates according to an embodiment of the present invention. Figure 2 This is a schematic diagram of an automatic measurement and smoothing system for subway base plates located on a curved section of a tunnel, according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of an automatic measurement and smoothing system for subway base plates, according to an embodiment of the present invention, located on a straight section of a tunnel.

[0021] Figure 4 This is a flowchart illustrating an automatic measurement and smoothing method for subway base plates according to an embodiment of the present invention. Detailed Implementation

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0023] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

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

[0025] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0026] Example 1

[0027] This embodiment proposes an automatic measurement and leveling system for subway base plates, such as... Figure 1The diagram shown is a structural schematic of the automatic measurement and smoothing system for subway base plates in this embodiment.

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

[0029] Sliding bracket 1 is used to slide on the running rail 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, which are used to smooth the subway base plate.

[0031] Both the first smoothing mechanism 2 and the second smoothing mechanism 3 include a lifting rod. One end of the lifting rod 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 mounted above the sliding support 1; the system also includes a total station and a controller.

[0033] When the sliding support 1 slides on the running track of the subway tunnel, a total station, in conjunction with the prism and reflector, performs three-dimensional coordinate measurements at each cross-section measuring point. The relative position data of the sliding support 1 on the design centerline of the current cross-section measuring point is calculated and saved as the control parameters for that point. After the measurement of the subway tunnel leveling construction area is completed, the controller, based on the control parameters, controls the automatic measurement and leveling system to complete the automatic leveling process.

[0034] In this embodiment, through intelligent control and intelligent measurement technology of mechanical automation equipment, pre-set cross-sectional measuring points in the subway tunnel line are measured before automatic smoothing. The smoothing control parameters of the current cross-sectional measuring points are determined and saved in terminal control equipment such as industrial control computers. After all cross-sectional measuring points have been 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. This embodiment is particularly effective for measuring and calculating the rotating design rail surface in the curved sections of the tunnel to obtain high-precision smoothing control parameters, thereby improving smoothing accuracy and efficiency.

[0035] In this embodiment, the sliding bracket 1 serves as the carrier of the automatic measurement and smoothing system. Optionally, an optical lens can be set at the target measurement point to cooperate with the total station for distance measurement and obtain the coordinate data of each component of the automatic measurement and smoothing system.

[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] Optionally, the sliding bracket 1 is further equipped with a horizontal adjustment mechanism for adjusting the width of the bracket, which is used to adjust the horizontal width of the sliding bracket 1 according to the gauge of the track laid on site.

[0038] For example, during implementation, the width of the sliding support 1 is adjusted to a track gauge of 3.2 to 4 meters using a horizontal adjustment mechanism, and further fine-tuning is performed so that the sliding wheels on both sides of the sliding support 1 can be fully adapted 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 above the sliding bracket 1;

[0040] 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.

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

[0042] In this embodiment, by setting prisms and reflectors at fixed points on the sliding bracket 1, and using a total station for measurement, the calibration of the automatic measurement and leveling system for subway base plates is completed.

[0043] For example, in this embodiment, the first prism 401 and the second prism 402 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 central axis 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 2 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 2 and the smoothing surface of the base plate in the horizontal direction.

[0046] For example, in this embodiment, the measurement is performed using a total station and / or an elevation measuring device 6, and in conjunction with terminal equipment such as an industrial control computer, the relative position data is measured and calculated.

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

[0048] Furthermore, in an optional embodiment, when calculating the relative position data of the sliding support 1 on the design center line of the current section measuring point, the system performs the following steps:

[0049] For a given section measuring point location, the design centerline of the current section measuring point is determined based on the current section measuring point mileage;

[0050] The coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402 were measured using a total station.

[0051] The distance S1 between the first prism 401 and the central axis of the system is measured using a total station.

[0052] 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 roller, and the distance h4 between the designed rail surface and the smoothing surface of the subway base plate are measured using a total station.

[0053] The elevations Z3 and Z4 of the designed rail surfaces corresponding to the first smoothing mechanism 2 and the second smoothing mechanism 3 were measured using a total station.

[0054] Calculate the relative distance H1 between the first smoothing mechanism 2 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 first smoothing mechanism 2, and save it as a control parameter; its expression is: H1=Z1-h1-h3-Z3+h4;

[0055] Calculate the vertical relative distance H2 between the second smoothing mechanism 3 and the smoothing surface of the base plate 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:

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

[0057] Please see Figure 1 , 2In this embodiment, based on the elevation value Z1 of the first prism 401, subtracting the fixed lengths h1 and h3, then subtracting the designed rail surface elevation value Z3, and adding the distance h4 from the designed rail surface to the smoothing surface, the rise and fall value H1 of the first smoothing mechanism 2 descending from the zero position to the smoothing surface can be calculated. Similarly, the rise and fall value H2 of the second smoothing mechanism 3 descending from the zero position to the smoothing surface can be calculated.

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

[0059] The mileage of the designed line where the system is located is calculated using the coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402. Based on the mileage, the current designed centerline is determined, and the elevations Z3 and Z4 of the designed rail surface at the current location are obtained. This designed rail surface elevation is the design elevation of the bottom rollers of the first smoothing mechanism 2 and the second smoothing mechanism 3 as they descend to the designed rail surface. In straight sections of the tunnel, the design elevations of the first smoothing mechanism 2 and the second smoothing mechanism 3 are equal, i.e., Z3 = Z4. However, in curved sections of the tunnel, the design elevations of the first smoothing mechanism 2 and the second smoothing mechanism 3 need to be calculated separately, in which case Z3 ≠ Z4.

[0060] Please see Figure 2 The dotted lines at the bottom of the diagram represent the positions of the design rail surface and the target base plate on the straight sections of the tunnel, while the solid lines represent the positions on the curved sections. Clearly, on the curved sections, 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 outer side and the second roller 202 is located on the inner side; 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 inner side and the fourth roller 302 is located on the outer side.

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

[0063] Furthermore, when calculating the relative position data of the sliding support 1 on the design centerline of the current section measuring point, the system performs the following steps:

[0064] Obtain the troweling widths K1 and K2 of the first troweling mechanism 2 and the second troweling mechanism 3, as well as the water groove width K within the troweling 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 between the design center line and the system center axis is calculated as |S2-S1|.

[0066] Calculate the relative distances D2 and D3 between the second roller 202 and the third roller 301 and the base plate troweling surface in the horizontal direction, respectively, and use them as the target extension amount 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 troweling surface in the horizontal direction, respectively, and use them as the target extension amount of the first roller 201 and the fourth roller 302, and save them as control parameters; their expressions are: D1=K1-(S2-S3) / 2-D2, D4=K2-(S2-S3) / 2-D3.

[0068] Please see 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 width K1 of the wiping surface designed by 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 taking half the difference between the distance between the two rollers and the width of the water tank, i.e., the theoretical extension of the second roller 202 (S3-K) / 2, and adding the offset dS of the system relative to the design line center. In this embodiment, the extension of the third roller 301 is the same as that of the second roller 202.

[0070] After the relative position data is calculated, it is automatically saved to the controller as a control parameter. Then the control system moves to the next section and continues to measure, repeating the above steps until all areas that need to be leveled for this construction are measured.

[0071] In the actual measurement process, the system only needs to slide and move according to the preset cross-sectional intervals. The controller can optionally interact with the total station via Bluetooth or radio to obtain the coordinates of the first prism 401 and the second prism 402 in real time. Based on the above calculation process, the system performs linear fitting of the data to obtain the control parameters of the cross-section at any mileage, namely the lifting and extending values ​​of the roller.

[0072] In an optional embodiment, before the automatic smoothing construction, the sliding bracket 1 is controlled to lower the smoothing plane of the first smoothing mechanism 2 and the second smoothing mechanism 3 to the designed rail surface at each cross-section measuring point according to the control parameters. The construction personnel mark the area where the smoothing plane of the first smoothing mechanism 2 and the second smoothing mechanism 3 is close to the water tank mold as a layout indicator for pouring concrete pavement 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, for measuring the distance d between the system and the base plate surface in real time.

[0074] Based on the control parameters, the controller controls the automatic measuring and smoothing system to complete the automatic smoothing process, and also performs the following steps:

[0075] The distance h5 between the first prism 401 and the elevation measuring device 6 is measured using a total station.

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

[0077] In this embodiment, during the automatic smoothing process, the elevation measuring device 6 provides real-time feedback on the distance between itself and the material on the smoothing surface. By measuring the difference between the measured elevation value and the designed elevation value, the thickness of the laid material and the smoothing surface is detected, and it is determined whether the concrete thickness measurement and smoothing system can pass through the current cross section.

[0078] Alternatively, laser rangefinders may be 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 the inherent errors in the manual installation of the water trough mold, laser rangefinders are installed at both ends of the outer and inner sides of the roller. These rangefinders are used for obstacle avoidance detection when adjusting the roller's extension and retraction length, as well as to calculate the distance to the edge of the water trough mold and the edge of the tunnel. This allows for real-time fine-tuning of the smoothing width and length of the roller.

[0080] Alternatively, after the automatic measurement and smoothing system completes the smoothing construction, it uses the elevation measurement device 6 to sample and measure the elevation of the smoothing surface to evaluate the construction effect.

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

[0082] Example 2

[0083] This embodiment proposes an automatic measurement and leveling method for subway base plates, applied to the automatic measurement and leveling system for subway base plates proposed in Embodiment 1. For example... Figure 4 The diagram shown is a flowchart of the automatic measurement and smoothing method for the subway base plate in this embodiment.

[0084] The automatic measurement and leveling method for subway base plates proposed in this embodiment includes the following steps:

[0085] S1. Set cross-sectional measuring points according to the preset running track surface, and control the sliding bracket 1 to slide on the running track surface of the subway tunnel line to perform the measurement operation;

[0086] S2. For any cross-section measuring point, use a total station in conjunction with the prism and reflector to perform three-dimensional coordinate measurement, calculate the relative position data of the sliding support 1 on the design center line of the current cross-section measuring point, and save it as the control parameter of the current cross-section measuring point. Then move to the next cross-section measuring point and repeat step S2 until all cross-section measuring points are measured.

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

[0088] In an optional embodiment, a first prism 401 and a 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, calculating the relative position data of the sliding bracket 1 on the design centerline of the current section measuring point includes the following steps:

[0089] For a given section measuring point location, the design centerline of the current section measuring point is determined based on the current section measuring point mileage;

[0090] The coordinates (X1, Y1, Z1) of the first prism 401 and the coordinates (X2, Y2, Z2) of the second prism 402 were measured using a total station.

[0091] The distance S1 between the first prism 401 and the central axis of the system is measured using a total station.

[0092] 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 roller, and the distance h4 between the designed rail surface and the smoothing surface of the subway base plate are measured using a total station.

[0093] The elevations Z3 and Z4 of the designed rail surfaces corresponding to the first smoothing mechanism 2 and the second smoothing mechanism 3 were measured using a total station.

[0094] Calculate the relative distance H1 between the first smoothing mechanism 2 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 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 horizontally arranged, wherein the first roller 201 is located on the outer side and the second roller 202 is located on the inner side; 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 inner side and the fourth roller 302 is located on the outer side. Therefore, calculating the relative position data of the sliding bracket 1 on the design centerline of the current section measuring point further includes the following steps:

[0097] Obtain the troweling widths K1 and K2 of the first troweling mechanism 2 and the second troweling mechanism 3, as well as the water groove width K within the troweling 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 between the design center line and the system center axis is calculated as |S2-S1|.

[0099] Calculate the relative distances D2 and D3 between the second roller 202 and the third roller 301 and the base plate troweling surface in the horizontal direction, respectively, and use them as the target extension amount 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 troweling surface in the horizontal direction, respectively, and use them as the target extension amount of the first roller 201 and the fourth roller 302, and save them as control parameters; their 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, respectively deployed on the lower surface of the sliding bracket 1, for real-time measurement of the distance d between the system and the base plate smoothing surface. Then, when the automatic smoothing system is controlled to complete the automatic smoothing based on the control parameters, the following steps are also included:

[0102] The distance h5 between the first prism 401 and the elevation measuring device 6 is measured using a total station.

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

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

[0105] Example 3

[0106] This embodiment applies the automatic measurement and smoothing system and method for subway base plates proposed in Embodiments 1 and 2, and provides a detailed implementation process description.

[0107] The specific steps are as follows:

[0108] Step 1: The system goes online. Based on the track gauge parameters of the track surface laid on site, adjust the sliding bracket 1 to fully adapt to the auxiliary track so that the sliding bracket 1 can slide normally on the auxiliary track, including running, standby, forward, backward, emergency stop, fast and slow movement, etc., and park the sliding bracket 1 at the starting position of the leveling construction section.

[0109] Step 2: Set up the total station freely using the eight optical lenses of the four sets 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, test the first cross-section at the starting point, control the sliding support 1 to advance 2 meters, and then measure the second cross-section, and so on, until all cross-section measuring points are measured.

[0111] During the measurement of any section, a total station is used in conjunction with the prism and reflector to perform three-dimensional coordinate measurement, calculate the relative position data of the sliding support 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: Select whether auxiliary layout is needed based on construction requirements; if not, proceed to Step 5.

[0113] Among them, the auxiliary layout interacts with the remote total station through wireless communication technologies such as Bluetooth and radio. It is set to the tracking measurement mode of the first prism 401, which obtains the mileage of the automatic measurement smoothing system in real time, and controls the smoothing roller to descend to the target smoothing surface according to the mileage change. The position of the target smoothing surface and the water trough mold is marked as a layout indicator for pouring concrete pavement during smoothing.

[0114] Step 5: Perform automatic smoothing operation.

[0115] In cases where there are no layout instructions, a laser level can be installed on both sides of the smoothing roller, and the reference laser line emitted by the leveling roller can be used as a layout instruction for concrete layout.

[0116] During the automatic leveling operation, the system interacts with a remote total station via wireless communication technologies such as Bluetooth and radio. It is set to the tracking measurement mode of the first prism 401 to acquire the mileage of the automatic leveling system in real time. The system then calls upon the control parameters corresponding to the current mileage for real-time lifting and lowering adjustments, controlling the first leveling mechanism 2 and the second leveling mechanism 3 to rest on the leveling surface. Simultaneously, the extension and retraction of the leveling rollers are controlled to adjust the width of the leveling plate and the leveling coverage area. After completing the leveling operation of the current section, the sliding support 1 is controlled to advance to the next section, repeating the automatic leveling operation.

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

[0118] Step 7: Finish the construction and export the smoothing operation report.

[0119] The various embodiments in this invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The device embodiments described above are merely exemplary. The modules described as separate components may or may not be physically separate. When implementing the present invention, the functions of each module can be implemented in one or more software and / or hardware. Alternatively, some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic measuring and smoothing system for subway base plates, characterized in that, include: Sliding brackets are used to slide on the running rails of subway tunnel lines; The sliding bracket is equipped with a first smoothing mechanism and a second smoothing mechanism for smoothing the subway base plate. Both the first and second smoothing mechanisms include a lifting rod, one end of which is connected to the sliding bracket and the other end of which is connected to the smoothing roller; a reflector is provided at one end of the lifting rod and above the smoothing roller. A prism is also mounted above the sliding bracket; a first prism and a second prism are respectively mounted on both sides above the sliding bracket. In the first smoothing mechanism, a first reflector is provided at one end of the 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 the lifting rod, and a fourth reflector is provided above the smoothing roller; The system also includes a total station and a controller; wherein, when the sliding support slides on the running track of the subway tunnel line, the total station, in conjunction with the prism and the reflector, performs three-dimensional coordinate measurement at each section measuring point to calculate the relative position data of the sliding support on the design center line of the current section measuring point, and saves it as the control parameter of the current section measuring point; The relative position data includes the deviation distance between the system's central axis and the design centerline of the current cross-section measuring point. The relative vertical distances between the smoothing rollers of the first and second smoothing mechanisms and the smoothing surface of the base plate. , The relative horizontal distances D1 and D2 between the smoothing rollers of the first and second smoothing mechanisms and the smoothing surface of the base plate, respectively. After the measurement of the leveling construction area of ​​the subway tunnel line is completed, the controller controls the automatic measurement and leveling system to complete the automatic leveling based on the control parameters.

2. The automatic measurement and leveling system for subway base plates according to claim 1, characterized in that, When calculating the relative position data of the sliding support on the design centerline of the current section measuring point, the system performs the following steps: For a given section measuring point location, the design centerline of the current section measuring point is determined based on the current section measuring point mileage; The coordinates of the first prism were measured using a total station. Coordinates of the second prism ; The distance between the first prism and the system's central axis was measured using a total station. ; The distance between the first prism and the second reflecting mirror was measured using a total station. The distance between the second prism and the fourth reflecting mirror The distance between the second reflector and the bottom of the smoothing roller And the distance between the design rail surface and the surface of the subway base plate. ; The elevations of the design rail surfaces corresponding to the first and second smoothing mechanisms were measured using a total station. and ; Calculate the relative distance in the vertical direction between the first smoothing mechanism and the smoothing surface of the base plate. And save it as the target lifting value of the lifting rod of the first smoothing mechanism as a control parameter; Its expression is: ; Calculate the relative distance in the vertical direction between the second smoothing mechanism and the smoothing surface of the base plate. And save it as the target lifting value of the second smoothing mechanism lifting rod as a control parameter; Its expression is: .

3. The automatic measurement and leveling system for subway base plates according to claim 1, 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 outer side and the second roller is located on the inner side; the smoothing rollers on the second smoothing mechanism include a third roller and a fourth roller, wherein the third roller is located on the inner side and the fourth roller is located on the outer side. Then, when calculating the relative position data of the sliding support on the design center line of the current section measuring point, the system performs the following steps: Obtain the smoothing width of the first smoothing mechanism and the second smoothing mechanism and and the width of the water trough within the base plate's surface. ; The distance between the first prism and the design center line was measured using a total station. The deviation distance between the design centerline and the system center axis was calculated. ; Calculate the relative horizontal distances between the second and third rollers and the troweling surface of the base plate. and And save it as the target extension amount of the second and third rollers as a control parameter; Its expression is: ; Calculate the relative horizontal distances between the first roller, the fourth roller, and the troweling surface of the base plate. and And save it as the target extension amount of the first and fourth rollers as control parameters; Its expression is: , .

4. The automatic measurement and leveling system for subway base plates according to any one of claims 1 to 3, characterized in that, The sliding support is also equipped with at least three elevation measuring devices, which are respectively deployed on the lower surface of the sliding support for real-time measurement of the distance between the system and the smooth surface of the base plate. ; Then, during the automatic smoothing process, the controller, based on the control parameters, also performs the following steps: The distance between the first prism and the elevation measuring device was measured using a total station. ; Calculate the difference between the measured elevation and the design elevation at the current mileage location. It is used to detect the thickness of the current smoothing material and the smoothing surface of the base plate in order to evaluate the current smoothing effect; Its expression is: .

5. An automatic measurement and leveling method for subway base plates, applied to the automatic measurement and leveling system for subway base plates as described in any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Set up cross-sectional measuring points according to the preset running track surface, and control the sliding bracket to slide on the running track surface of the subway tunnel line to perform the measurement operation; S2. For any cross-section measuring point, use a total station in conjunction with the prism and reflector to perform three-dimensional coordinate measurement, calculate the relative position data of the sliding support on the design center line of the current cross-section measuring point, and save it as the control parameter of the current cross-section measuring point. Then move to the next cross-section measuring point and repeat step S2 until all cross-section measuring points are measured. S3. Control the sliding bracket to return to the starting position, and control the automatic measurement and smoothing system to complete the automatic smoothing based on the control parameters.

6. The automatic measurement and leveling method for subway base plates according to claim 5, characterized in that, The sliding bracket is provided with a first prism and a second prism on its upper sides respectively; 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. The calculation of the relative position data of the sliding support on the design center line of the current section measuring point includes the following steps: For a given section measuring point location, the design centerline of the current section measuring point is determined based on the current section measuring point mileage; The coordinates of the first prism were measured using a total station. Coordinates of the second prism ; The distance between the first prism and the system's central axis was measured using a total station. ; The distance between the first prism and the second reflecting mirror was measured using a total station. The distance between the second prism and the fourth reflecting mirror The distance between the second reflector and the bottom of the smoothing roller And the distance between the design rail surface and the surface of the subway base plate. ; The elevations of the design rail surfaces corresponding to the first and second smoothing mechanisms were measured using a total station. and ; Calculate the relative distance in the vertical direction between the first smoothing mechanism and the smoothing surface of the base plate. This value is then used as the target lifting value of the first leveling mechanism's lifting rod and saved as a control parameter; its expression is: ; Calculate the relative distance in the vertical direction between the second smoothing mechanism and the smoothing surface of the base plate. This value is then used as the target lifting value of the second smoothing mechanism's lifting rod and saved as a control parameter; its expression is: .

7. The automatic measurement and smoothing method for subway base plates according to claim 6, 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 outer side and the second roller is located on the inner side; the smoothing rollers on the second smoothing mechanism include a third roller and a fourth roller, wherein the third roller is located on the inner side and the fourth roller is located on the outer side; therefore, calculating the relative position data of the sliding bracket on the design center line of the current section measuring point further includes the following steps: Obtain the smoothing width of the first smoothing mechanism and the second smoothing mechanism and and the width of the water trough within the base plate's surface. ; The distance between the first prism and the design center line was measured using a total station. The deviation distance between the design centerline and the system center axis was calculated. ; Calculate the relative horizontal distances between the second and third rollers and the troweling surface of the base plate. and This is used as the target extension amount of the second and third rollers and saved as a control parameter; its expression is: ; Calculate the relative horizontal distances between the first roller, the fourth roller, and the troweling surface of the base plate. and This is used as the target extension amount of the first and fourth rollers and saved as a control parameter; its expression is: , .

8. The automatic measurement and smoothing method for subway base plates according to claim 7, characterized in that, The sliding support is also equipped with at least three elevation measuring devices, which are respectively deployed on the lower surface of the sliding support for real-time measurement of the distance between the system and the smooth surface of the base plate. ; Then, the automatic leveling system controlled by the control parameters to complete the automatic leveling also includes the following steps: The distance between the first prism and the elevation measuring device was measured using a total station. ; Calculate the difference between the measured elevation and the design elevation at the current mileage location. This is used to detect the thickness of the currently smoothed material relative to the base plate's smoothing surface, in order to evaluate the current smoothing effect; its expression is: .

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