Positioning and tracking device for maintenance equipment in subway tunnel

Abstract

The invention belongs to the field of subway tunnel maintenance equipment, and provides a subway tunnel maintenance equipment positioning and tracking device which comprises a bottom plate, a moving mechanism is arranged at the bottom of the bottom plate, and a power supply mechanism and a controller are arranged on the two sides of the surface of the bottom plate respectively. The driving mechanism is installed at the center of the top of the bottom plate, a circular truncated cone is installed at the top end of the driving mechanism, and rectangular openings are formed in the surface of the circular truncated cone at equal intervals; a supporting rod is mounted in the center of the surface of the circular truncated cone, and the ultrasonic detection mechanism is mounted on the surface of the supporting rod; the pushing mechanism is mounted on the inner wall of the rectangular opening; the ultrasonic detection mechanism is arranged to carry out ultrasonic detection, the ultrasonic detection penetrability is high, the ultrasonic detection range is large, all-directional detection is carried out through the spherical transducer probe, detection within a certain angle range is carried out through the cylindrical transducer probes distributed on the outer side at equal intervals, and detection is more accurate through combination of the spherical transducer probe and the cylindrical transducer probes.

Description

Technical Field

[0001] The present invention belongs to the field of subway tunnel maintenance equipment, specifically a positioning and tracking device for maintenance equipment in subway tunnels. Background Art

[0002] The subway refers to the rail transit built in cities, which is fast, has a large passenger capacity, and is electrically powered. Subways usually run in underground tunnels. The inside of the subway tunnels needs to be regularly maintained to ensure tunnel safety and facilitate subway operation. Therefore, a positioning and tracking device for maintenance equipment in subway tunnels is required.

[0003] In the Chinese patent with the publication number CN114856653A, a device for maintenance in tunnels is mentioned, which belongs to the technical field of tunnel maintenance. It includes a vehicle body. A through hole is opened on the vehicle body. A collecting hopper is installed at the bottom of the vehicle body. The bottom of the collecting hopper is provided with an opening on the side facing the front of the vehicle head. A scraper with a sharp edge is fixed at the bottom end of the opening of the collecting hopper, and the sharp edge of the scraper contacts the ground. The top of the collecting hopper is located above the vehicle body and is fixed with an annular mounting plate. This application has the effects of extending the service life of the scraper and improving the cleaning effect of the tunnel floor.

[0004] However, the above device only has the effect of cleaning the inside of the tunnel, and cannot monitor the internal environment of the tunnel, nor can it locate and track abnormal areas inside the tunnel, resulting in the inability to timely feedback and handle abnormalities inside the tunnel, affecting the subsequent passage of the subway.

[0005] Therefore, those skilled in the art have proposed a positioning and tracking device for maintenance equipment in subway tunnels to solve the problems raised in the background art. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention provides a positioning and tracking device for maintenance equipment in subway tunnels to solve the problems that the internal environment of the tunnel cannot be monitored and the abnormal areas inside the tunnel cannot be located and tracked in the prior art.

[0007] The positioning and tracking device for maintenance equipment in subway tunnels includes:

[0008] A bottom plate. A moving mechanism is provided at the bottom of the bottom plate, and a power supply mechanism and a controller are respectively provided on both sides of the surface of the bottom plate;

[0009] A driving mechanism. The driving mechanism is installed at the center of the top of the bottom plate. A frustum is installed at the top of the driving mechanism, and rectangular openings are equidistantly distributed on the surface of the frustum;

[0010] An ultrasonic detection mechanism. A support rod is installed at the center of the surface of the frustum, and the ultrasonic detection mechanism is installed on the surface of the support rod;

[0011] The pushing mechanism is installed on the inner wall of the rectangular opening. Monitoring mechanisms and infrared detection mechanisms are respectively installed on the upper and lower sides of the output end of the pushing mechanism.

[0012] Preferably, the moving mechanism drives the device to move on the surface of the railway track. The power supply mechanism includes a cabinet body and a storage battery. The cabinet body is installed on the surface of the bottom plate, the storage battery is fixed inside the cabinet body, and the controller is connected to an external computer device.

[0013] Preferably, the driving mechanism includes a frame. The frame is fixedly installed at the center of the outer wall of the top of the bottom plate through bolts. A motor is fixedly installed on the inner wall of the bottom of the frame through bolts. A speed reducer is installed above the motor on the inner wall of the frame. One end of the motor is connected to the speed reducer. A shaft rod fixing seat one is sleeved on the output end of the speed reducer. The shaft rod fixing seat one is fixedly installed on the outer wall of the bottom of the frustum.

[0014] Preferably, the ultrasonic detection mechanism includes a fixing plate. The fixing plate is installed on the outer wall of the top of the support rod. An ultrasonic distance measuring instrument is fixedly installed at the center of the outer wall of the top of the fixing plate. A spherical transducer probe is arranged on the outer wall of the top of the ultrasonic distance measuring instrument. Side plates are equidistantly distributed and installed at the edge of the outer wall of the top of the fixing plate. Columnar transducer probes are inserted into one end of the ultrasonic distance measuring instrument close to the side plates. One end of the columnar transducer probe passes through the side plate and is located directly above the corresponding pushing mechanism.

[0015] Preferably, the pushing mechanism includes a motor and a shaft rod fixing seat two. The motor is installed on one side of the inner wall of the rectangular opening close to the center of the frustum. The shaft rod fixing seat two is installed on one side of the inner wall of the rectangular opening close to the edge of the frustum. One end of the output shaft of the motor is connected to a screw rod through a key. The other end of the screw rod is rotatably inserted into the inner wall of the shaft rod fixing seat two. A nut sleeve is sleeved on the outer wall of the screw rod. A connecting block is fixedly installed on the outer wall of the top of the nut sleeve. Clamping blocks are fixed on the outer walls of both sides of the connecting block. The two clamping blocks are slidably clamped on the inner walls of both sides of the rectangular opening.

[0016] Preferably, the monitoring mechanism includes a horizontal plate. The horizontal plate is fixedly installed on the outer wall of the top of the connecting block. A connecting rod one is fixedly installed on one side of the outer wall of the horizontal plate. One end of the connecting rod one is fixed with a mounting plate. A camera is installed on one side of the outer wall of the mounting plate.

[0017] Preferably, the infrared detection mechanism includes a connecting rod two. The connecting rod two is fixedly installed on the outer wall of the bottom of the nut sleeve. An infrared thermal imager is installed at one end of the connecting rod two. The infrared thermal imager is located directly below the camera.

[0018] Preferably, it further includes a blast mechanism and a smoke alarm. The smoke alarm is fixedly installed on one side of the outer wall of the top of the frustum through bolts. There are multiple blast mechanisms, and each blast mechanism includes a vertical plate. The vertical plates are fixedly installed on the outer wall of the top of the frustum at equal intervals, and a fan is installed at the center of the outer wall on one side of the vertical plate.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. In the present invention, an ultrasonic detection mechanism is provided for ultrasonic detection. Ultrasonic detection has strong penetrability and a large range. The spherical transducer probe is used for omnidirectional detection, and the cylindrical transducer probes evenly distributed on the outside are used for detection within a certain angular range. The combination of the two makes the detection more accurate and facilitates the transmission of detection data to the computer. The driving mechanism drives the entire frustum to rotate, facilitating omnidirectional detection. When an abnormal area inside the tunnel is detected, it will be photographed and recorded by the camera. After marking the area, the device is driven by the moving mechanism to track to the abnormal area. Then, the monitoring mechanism and the infrared detection mechanism are further pushed by the pushing mechanism, and then the camera more intuitively takes pictures of the scene and transmits them to the computer, which is convenient for subsequent dispatch of a maintenance vehicle for fixed-point maintenance. Further detection by the infrared thermal imager can detect whether there are living things at the scene, so as to determine the maintenance or rescue plan.

[0021] 2. In the present invention, by setting a smoke alarm and a fan, the smoke situation inside the tunnel is monitored in real time by the smoke alarm. If smoke is detected and the threshold set by the smoke alarm is triggered, a signal will be transmitted to the controller, which will then control the fan to blow air to disperse the smoke. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0023] Figure 2 is Figure 1 a schematic diagram of the structure from another angle;

[0024] Figure 3 is a schematic diagram of the driving mechanism and the frustum structure of Embodiment 1 of the present invention;

[0025] Figure 4 is a schematic diagram of the pushing mechanism, the monitoring mechanism and the infrared detection mechanism of Embodiment 1 of the present invention;

[0026] Figure 5 is a schematic diagram of the ultrasonic detection mechanism of Embodiment 1 of the present invention;

[0027] Figure 6 is a schematic diagram of the overall structure of Embodiment 2 of the present invention.

[0028] In the figure:

[0029] 1. Bottom plate; 2. Driving mechanism; 3. Moving mechanism; 4. Power supply mechanism; 5. Frustum; 6. Monitoring mechanism; 7. Pushing mechanism; 8. Ultrasonic detection mechanism; 9. Support rod; 10. Rectangular opening; 11. Infrared detection mechanism; 12. Controller; 13. Blowing mechanism; 14. Smoke alarm

[0030] 201. Frame; 202. Motor; 203. Reducer; 204. First shaft rod fixing seat

[0031] 601. Horizontal plate; 602. First connecting rod; 603. Mounting plate; 604. Camera

[0032] 701. Motor; 702. Screw; 703. Nut sleeve; 704. Second shaft rod fixing seat; 705. Block; 706. Connecting block

[0033] 801. Fixed plate; 802. Side plate; 803. Cylindrical transducer probe; 804. Spherical transducer probe; 805. Ultrasonic rangefinder

[0034] 1101. Second connecting rod; 1102. Infrared thermal imager

[0035] 1301. Vertical plate; 1302. Fan Detailed implementation mode

[0036] The following further describes the implementation mode of the present invention in detail with reference to the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0037] As shown in the attached Figure 1 to the attached Figure 5 shown

[0038] Embodiment 1: The present invention provides a positioning and tracking device for maintenance equipment in a subway tunnel, including:

[0039] A bottom plate 1, a moving mechanism 3 is arranged at the bottom of the bottom plate 1, and a power supply mechanism 4 and a controller 12 are respectively arranged on both sides of the surface of the bottom plate 1;

[0040] A driving mechanism 2, the driving mechanism 2 is installed at the center of the top of the bottom plate 1, a frustum 5 is installed at the top end of the driving mechanism 2, and rectangular openings 10 are equidistantly distributed on the surface of the frustum 5;

[0041] An ultrasonic detection mechanism 8, a support rod 9 is installed at the center of the surface of the frustum 5, and the ultrasonic detection mechanism 8 is installed on the surface of the support rod 9;

[0042] A pushing mechanism 7, the pushing mechanism 7 is installed on the inner wall of the rectangular opening 10, and a monitoring mechanism 6 and an infrared detection mechanism 11 are respectively installed on the upper and lower sides of the output end of the pushing mechanism 7.

[0043] As can be seen from the above, the device is placed inside the subway tunnel. The moving mechanism 3 drives the device to move on the surface of the rail, and it enters the deep part of the tunnel for daily maintenance and inspection to locate and track abnormal areas. The driving mechanism 2 drives the rotating platform 5 and the device above to rotate, and then the ultrasonic detection mechanism 8 detects and transmits the detection data to the outside. After the ultrasonic detection mechanism 8 detects a specific area, the pushing mechanism 7 is activated to push the monitoring mechanism 6 and the infrared detection mechanism 11 to a position closer to the scene, and then take pictures and records and conduct infrared thermal imaging detection to facilitate the subsequent maintenance work.

[0044] Specifically, the moving mechanism 3 drives the device to move on the surface of the rail. The power supply mechanism 4 includes a cabinet body and a storage battery. The cabinet body is installed on the surface of the bottom plate 1, and the storage battery is fixed inside the cabinet body. The controller 12 is connected to an external computer device.

[0045] As can be seen from the above, the moving mechanism 3 drives the device to move on the surface of the rail, and it enters the deep part of the tunnel for daily maintenance and inspection. The device is powered by the storage battery.

[0046] Specifically, the driving mechanism 2 includes a frame 201. The frame 201 is fixedly installed at the center position of the outer wall of the top of the bottom plate 1 through bolts. A motor 202 is fixedly installed on the inner wall of the bottom of the frame 201 through bolts. A speed reducer 203 is installed above the motor 202 on the inner wall of the frame 201. One end of the motor 202 is connected to the speed reducer 203. The output end of the speed reducer 203 is sleeved with a shaft rod fixing seat one 204. The shaft rod fixing seat one 204 is fixedly installed on the outer wall of the bottom of the rotating platform 5.

[0047] As can be seen from the above, the motor 202 is started, and the rotation speed of the motor 202 is controlled by the speed reducer 203, thereby driving the rotating platform 5 to rotate to facilitate the all-round detection of the device.

[0048] Specifically, the ultrasonic detection mechanism 8 includes a fixing plate 801. The fixing plate 801 is installed on the outer wall of the top of the support rod 9. A ultrasonic distance meter 805 is fixedly installed at the center position of the outer wall of the top of the fixing plate 801. A spherical transducer probe 804 is arranged on the outer wall of the top of the ultrasonic distance meter 805. Side plates 802 are equidistantly distributed at the edge of the outer wall of the top of the fixing plate 801. Columnar transducer probes 803 are inserted into one end of the ultrasonic distance meter 805 close to the side plates 802. One end of the columnar transducer probe 803 passes through the side plate 802 and is located directly above the corresponding pushing mechanism 7.

[0049] As can be seen from the above, by setting up the ultrasonic detection mechanism 8 for ultrasonic detection, the ultrasonic detection has strong penetration and a large range. The spherical transducer probe 804 is used for all-round detection, and the cylindrical transducer probes 803 evenly distributed on the outside are used for detection within a certain angular range. The combination of the two makes the detection more accurate and facilitates the transmission of detection data to the computer.

[0050] Specifically, the pushing mechanism 7 includes a motor 701 and a second shaft rod fixing seat 704. The motor 701 is installed on one side of the inner wall of the rectangular opening 10 close to the center of the frustum 5, and the second shaft rod fixing seat 704 is installed on one side of the inner wall of the rectangular opening 10 close to the edge of the frustum 5. One end of the output shaft of the motor 701 is key-connected to a screw rod 702, and the other end of the screw rod 702 is rotatably inserted into the inner wall of the second shaft rod fixing seat 704. A nut sleeve 703 is sleeved on the outer wall of the screw rod 702. A connecting block 706 is fixedly installed on the top outer wall of the nut sleeve 703, and clamping blocks 705 are fixed on the outer walls on both sides of the connecting block 706. The two clamping blocks 705 are slidably clamped on the inner walls on both sides of the rectangular opening 10.

[0051] As can be seen from the above, when the device reaches the accident site, the monitoring mechanism 6 and the infrared detection mechanism 11 are pushed forward by the pushing mechanism 7. After starting the motor 701, the screw rod 702 is driven to rotate, causing the nut sleeve 703 to move. The nut sleeve 703 makes stable linear movement under the restriction of the clamping blocks 705, thereby pushing the monitoring mechanism 6 and the infrared detection mechanism 11 forward, facilitating further detection and the subsequent maintenance work.

[0052] Specifically, the monitoring mechanism 6 includes a cross plate 601. The cross plate 601 is fixedly installed on the top outer wall of the connecting block 706. A first connecting rod 602 is fixedly installed on one side outer wall of the cross plate 601. One end of the first connecting rod 602 is fixed with a mounting plate 603, and a camera 604 is installed on one side outer wall of the mounting plate 603.

[0053] As can be seen from the above, the camera 604 takes and records some information at the scene and transmits it to the computer, and the staff formulates a maintenance plan based on the on-site information.

[0054] Specifically, the infrared detection mechanism 11 includes a second connecting rod 1101. The second connecting rod 1101 is fixedly installed on the bottom outer wall of the nut sleeve 703. One end of the second connecting rod 1101 is installed with an infrared thermal imager 1102, and the infrared thermal imager 1102 is located directly below the camera 604.

[0055] As can be seen from the above, the infrared thermal imager 1102 is used to detect whether there are people, animals or other living things at the scene. If there are people trapped at the scene, it is convenient for the staff to quickly carry out rescue work.

[0056] In use, the device is driven to move on the surface of the railway track by the moving mechanism 3, and it enters the deep part of the tunnel for daily maintenance and inspection. The device is powered by a storage battery. The ultrasonic detection mechanism 8 is set up for ultrasonic detection. Ultrasonic detection has strong penetrability and a large range. The spherical transducer probe 804 is used for omnidirectional detection, and the cylindrical transducer probes 803 evenly distributed on the outside are used for detection within a certain angular range. The combination of the two makes the detection more accurate and facilitates the transmission of detection data to the computer. The driving mechanism 2 drives the entire frustum 5 to rotate for omnidirectional detection. When an abnormal area inside the tunnel is detected, it will be photographed and recorded by the camera 604. After marking the area, the device is driven by the moving mechanism 3 to track the abnormal area. Then, the monitoring mechanism 6 and the infrared detection mechanism 11 are further pushed forward by the pushing mechanism 7. Then, the scene is photographed more intuitively by the camera 604 and transmitted to the computer, which is convenient for subsequent dispatch of a maintenance vehicle for fixed-point maintenance. Further detection is carried out by the infrared thermal imager 1102 to detect whether there are living things on the site, so as to determine the maintenance or rescue plan.

[0057] Embodiment 2:

[0058] Referring to Figure 6 As shown, this embodiment is basically the same as the previous embodiment. The difference is that it further includes a blast mechanism 13 and a smoke alarm 14. The smoke alarm 14 is fixedly installed on one side of the outer wall of the top of the frustum 5 by bolts. There are multiple blast mechanisms 13. The blast mechanism 13 includes a vertical plate 1301, and the vertical plates 1301 are fixedly installed on the outer wall of the top of the frustum 5 at equal intervals. A fan 1302 is installed at the center of the outer wall on one side of the vertical plate 1301.

[0059] As can be seen from the above, by setting the smoke alarm 14 and the fan 1302, the smoke situation inside the tunnel is monitored in real time by the smoke alarm 14. If smoke is detected and the threshold set by the smoke alarm 14 is triggered, a signal will be transmitted to the controller 12, and then the fan 1302 will be controlled to perform the blast work to disperse the smoke.

[0060] The embodiments of the present invention are given for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A device for positioning and tracking maintenance equipment in a subway tunnel, characterized in that: include: A base plate (1), wherein a moving mechanism (3) is arranged at the bottom of the base plate (1), and a power supply mechanism (4) and a controller (12) are respectively arranged on both sides of the surface of the base plate (1); A driving mechanism (2), the driving mechanism (2) being mounted at the top center of the bottom plate (1), a truncated platform (5) being mounted on the top of the driving mechanism (2), and rectangular openings (10) being equidistantly distributed on the surface of the truncated platform (5); An ultrasonic detection mechanism (8), a support rod (9) is installed at the center of the surface of the truncated table (5), and the ultrasonic detection mechanism (8) is installed on the surface of the support rod (9); A pushing mechanism (7) is installed on the inner wall of the rectangular opening (10), and a monitoring mechanism (6) and an infrared detection mechanism (11) are respectively installed on the upper and lower sides of the output end of the pushing mechanism (7).

2. The subway tunnel maintenance equipment positioning and tracking device according to claim 1, characterized in that: The moving mechanism (3) drives the device to move on the surface of the rail, the power supply mechanism (4) includes a cabinet and a battery, the cabinet is installed on the surface of the bottom plate (1), the battery is fixed inside the cabinet, and the controller (12) is connected to an external computer device.

3. The subway tunnel maintenance equipment positioning and tracking device according to claim 1, characterized in that: The driving mechanism (2) comprises a frame (201), the frame (201) being fixedly mounted at the center position of the top outer wall of the base plate (1) by means of bolts, a motor (202) being fixedly mounted on the bottom inner wall of the frame (201) by means of bolts, a reducer (203) being mounted on the inner wall of the frame (201) near the top of the motor (202), one end of the motor (202) being connected to the reducer (203), an output end of the reducer (203) being sleeved with a shaft fixing seat (204), and the shaft fixing seat (204) being fixedly mounted on the bottom outer wall of the truncated table (5).

4. The subway tunnel maintenance equipment positioning and tracking device according to claim 1, characterized in that: The ultrasonic detection mechanism (8) comprises a fixing plate (801), wherein the fixing plate (801) is mounted on the top outer wall of the support rod (9), an ultrasonic rangefinder (805) is fixedly mounted at the center position of the top outer wall of the fixing plate (801), a spherical transducer probe (804) is arranged on the top outer wall of the ultrasonic rangefinder (805), side plates (802) are mounted at equal intervals on the edge of the top outer wall of the fixing plate (801), a cylindrical transducer probe (803) is inserted at one end of the ultrasonic rangefinder (805) close to the side plate (802), and one end of the cylindrical transducer probe (803) passes through the side plate (802) and is located directly above the corresponding pushing mechanism (7).

5. The subway tunnel maintenance equipment positioning and tracking device according to claim 1, characterized in that: The pushing mechanism (7) comprises a motor (701) and a second shaft fixing seat (704), wherein the motor (701) is mounted on a side of the inner wall of the rectangular opening (10) close to the center of the truncated cone (5), and the second shaft fixing seat (704) is mounted on a side of the inner wall of the rectangular opening (10) close to the edge of the truncated cone (5). One end of the output shaft of the motor (701) is connected to a screw rod (702) via a key, and the other end of the screw rod (702) is rotatably inserted into the inner wall of the second shaft fixing seat (704). A screw sleeve (703) is sleeved on the outer wall of the screw rod (702), and a connecting block (706) is fixedly mounted on the top outer wall of the screw sleeve (703). Blocks (705) are fixed on the outer walls on both sides of the connecting block (706), and the two blocks (705) are slidably clamped on the inner walls on both sides of the rectangular opening (10).

6. The subway tunnel maintenance equipment positioning and tracking device according to claim 5, characterized in that: The monitoring mechanism (6) comprises a transverse plate (601), wherein the transverse plate (601) is fixedly mounted on the top outer wall of the connecting block (706), a connecting rod (602) is fixedly mounted on one side outer wall of the transverse plate (601), a mounting plate (603) is fixed to one end of the connecting rod (602), and a camera (604) is mounted on one side outer wall of the mounting plate (603).

7. The subway tunnel maintenance equipment positioning and tracking device according to claim 5, characterized in that: The infrared detection mechanism (11) comprises a second connecting rod (1101), wherein the second connecting rod (1101) is fixedly mounted on the bottom outer wall of the screw sleeve (703), and an infrared thermal imager (1102) is mounted on one end of the second connecting rod (1101), wherein the infrared thermal imager (1102) is located directly below the camera (604).

8. The subway tunnel maintenance equipment positioning and tracking device according to claim 1, characterized in that: The device also comprises an air blowing mechanism (13) and a smoke alarm (14), wherein the smoke alarm (14) is fixedly mounted on one side of the top outer wall of the truncated table (5) by means of bolts, and the air blowing mechanism (13) is provided in a plurality, wherein the air blowing mechanism (13) comprises vertical plates (1301), wherein the vertical plates (1301) are fixedly mounted on the top outer wall of the truncated table (5) at equal intervals, and a fan (1302) is mounted at the center of the outer wall of one side of the vertical plates (1301).

Images