Fitting rack cleaning vehicle and construction method for cleaning high-speed railway

Abstract

The invention relates to the field of high-speed railway line cleaning construction, in particular to a fitting rack cleaning vehicle and a construction method for cleaning a high-speed railway. Comprising a group of cleaning execution racks which are fixed to a carrying flat car in an inserted connection mode, and each cleaning execution rack comprises a 1 # vault rack used for cleaning a tunnel vault and a 2 # vault rack used for cleaning a tunnel vault; the second side wall rack and the third side wall rack are used for cleaning the inner walls of the two sides of the tunnel correspondingly. The 4 # autonomous plumb rack is used for autonomously keeping a plumb state during construction; the fifth track plate rack is used for cleaning the track plate; the high-pressure water system is used for generating high-pressure pulse water flow and spraying the high-pressure pulse water flow for cleaning to the tunnel vault, the inner walls of the two sides of the tunnel and the track plate; the cleaning detection devices are ultrasonic detection receiving devices arranged at the head part, the middle part and the tail part of each arc-shaped spray head frame; and the infrared photosensitive avoiding system comprises infrared distance measuring probes and detection radars which are arranged at the head part, the middle part and the tail part of each arc-shaped spray head frame.

Description

Technical Field

[0001] This invention relates to the field of cleaning construction on high-speed railway lines, specifically a fitting gantry cleaning vehicle and a construction method for cleaning high-speed railways. Background Technology

[0002] my country's high-speed rail industry is developing rapidly. To further improve construction quality, the construction environment, and reduce the harm of dust to construction workers, it is necessary to clean and remove dust from the tunnel arches, sidewalls, track beds, and track slabs. Traditional track cleaning relies heavily on manual labor supplemented by generators and water pumps, resulting in high costs, long construction periods, and severely insufficient efficiency. Currently, track cleaning equipment has reached the level of mechanization and automation required for tunnel cleaning. However, due to the limitations of the cleaning platform, it cannot perfectly conform to the tunnel cross-section, resulting in less than ideal cleaning effects. Although mechanized and automated cleaning equipment represents a significant breakthrough compared to manual cleaning, the cleaning effect is still unsatisfactory, and the cleaning conditions are limited. Summary of the Invention

[0003] To address the problems of low efficiency, high cost, long construction period, and inability of some cleaning equipment to adapt to various cleaning conditions in traditional high-speed rail cleaning processes, this invention provides a fitting gantry cleaning vehicle and a construction method for cleaning high-speed railways.

[0004] This invention adopts the following technical solution: a fitting platform cleaning cart, comprising: A set of cleaning execution platforms, which are fixed to a transport flatbed truck by a plug-in connection, includes: #1 arch platform, used for cleaning the tunnel arch; Side wall scaffold #2 and side wall scaffold #3 are used for cleaning the inner walls of both sides of the tunnel, respectively. #4 Autonomous plumb line, used to maintain a vertical position autonomously during construction; 5# track slab platform, used for cleaning track slabs; The high-pressure water system is used to generate high-pressure pulsed water jets, which are sprayed onto the tunnel arch, the inner walls of both sides of the tunnel, and the track slab for cleaning. The cleaning detection device is an ultrasonic detection receiver installed at the head, middle and tail of each arc-shaped nozzle frame. It is used to receive and record the data of reflected waves from water flow impacting the tunnel wall to determine the cleanliness of the tunnel wall. The infrared photosensitive avoidance system includes infrared ranging probes and detection radars installed at the front, middle and rear of each curved nozzle frame. It avoids line equipment by recording the data of reflected waves.

[0005] In some embodiments, the #1 arch support frame includes: an arch support base, which is installed on a transport flatbed vehicle by plugging in; The arch support adjustment bracket is mounted on the arch support base via a hinged support and an adjusting cylinder. The arch support lifting bracket includes a lower frame and an upper arc-shaped nozzle frame mounted on it, which is mounted on the arch support adjusting bracket via a lifting cylinder; The upper arc-shaped nozzle frame is equipped with multiple high-pressure fan-shaped nozzles and an ultrasonic detection receiver.

[0006] In some embodiments, the #2 sidewall support or the #3 sidewall support includes: The side wall bracket base is fixed to the transport flatbed vehicle by plugging in. The side wall telescopic support is connected to the side wall support base through a telescopic wall lifting cylinder. The middle part is a nested frame and its extension and retraction are controlled by the telescopic cylinder. The side wall support has an arc-shaped nozzle frame on its outer side. The end of the arc-shaped nozzle frame is equipped with multiple high-pressure fan-shaped nozzles and an ultrasonic detection receiver. The side wall support is connected to the side wall telescopic support through an elevation cylinder and is driven to rotate by a rotary motor.

[0007] In some embodiments, the #4 autonomous vertical platform includes: The fixed bracket base is attached to the transport flatbed vehicle via a plug-in connection. Sprayer head holder, the sprayer head holder comprising: The lower support is connected to the fixed support base via a central hinge support and a rotary adjustment motor. An arc-shaped frame, wherein the arc-shaped frame is connected to the lower support via a hydraulic cylinder for telescopic extension; The lower adjustable counterweight device, including a bottom counterweight block and a middle gyroscope, is used to keep the frame vertical under the force of gravity and water flow.

[0008] In some embodiments, the high-pressure water system includes: a water pump, a pulse pump, and a mechanical oscillation device; The water pump is used to transfer water from the storage tank to the pulse pump. The pulse pump generates pulsed water flow by periodically changing the output flow rate of the water. The mechanical oscillation device is installed in the output pipe downstream of the pulse pump and is used to mechanically oscillate and compensate the pulse water flow to enhance the impact force of the water flow.

[0009] In some embodiments, the cleaning detection device includes: an ultrasonic detection receiving device disposed at the head, middle and tail of each arc-shaped nozzle frame, the ultrasonic detection receiving device being used to emit ultrasonic signals and receive echo signals reflected from the tunnel wall, and to determine the degree of cleanliness by analyzing the amplitude attenuation and frequency characteristics of the echo signals; wherein, amplitude attenuation below a threshold indicates the presence of attached contaminants, and frequency shift indicates the presence of rough or heterogeneous contaminants.

[0010] In some embodiments, the infrared photosensitive obstacle avoidance system includes: an infrared ranging probe, a detection radar, and a combined controller; The infrared ranging probe and detection radar are mounted on the head, middle and tail of each arc-shaped nozzle frame via fixed brackets for real-time detection of obstacle distances; The combined controller is electrically connected to the infrared ranging probe and the detection radar, and is configured to process multi-sensor signals, control the movement of the cleaning platform, or trigger the alarm device.

[0011] A method for cleaning high-speed railways using a fitting table cleaning vehicle includes the following steps: Each frame is unfolded from the transport flatbed truck and its posture is adjusted so that the arc-shaped nozzle frame fits the contour of the tunnel cross section. The high-pressure water system is activated to generate high-pressure pulsed water flow and spray it onto the tunnel wall through nozzles on each stand, while simultaneously propelling the equipment at a constant speed. During the cleaning process, the No. 4 autonomous plumb platform autonomously maintains a vertical state. The infrared photosensitive obstacle avoidance system detects the distance to obstacles in real time and performs avoidance operations. The cleaning detection device receives ultrasonic reflected wave data and determines the degree of cleanliness.

[0012] In some embodiments, detecting obstacle distance in real time and performing avoidance operations using an infrared photosensitive obstacle avoidance system includes: The radar performs a preliminary screening of obstacles more than 10 meters ahead. If a potential obstacle is identified, a warning signal is sent to the joint controller. When the obstacle comes within 5 meters, the infrared ranging probe is activated to accurately measure the distance and continuously acquire the real-time distance data of the obstacle. The joint controller sets a first distance threshold and a second distance threshold, and determines the relationship between the real-time distance and the threshold: If the real-time distance is less than the second distance threshold, it is determined to be an emergency avoidance state, and an alarm is immediately triggered and the No. 2 side wall platform and the No. 3 side wall platform are controlled to retract laterally. If the real-time distance is between the first and second distance thresholds, the cleaning platform is controlled to perform a lateral movement to avoid obstacles. If the real-time distance is greater than the first distance threshold, the control device continues to move forward; During the obstacle avoidance process, the joint controller continuously monitors the feedback signals from infrared and radar. If the obstacle disappears or the distance returns to normal, the obstacle avoidance action stops after a delay of 1-3 seconds.

[0013] In some embodiments, receiving ultrasonic reflected wave data and determining the degree of cleanliness through a cleanliness detection device includes: It transmits ultrasonic pulse signals and receives echo signals reflected from the tunnel wall; The echo signal is preprocessed, including amplitude measurement and fast Fourier transform to analyze spectral characteristics; The amplitude of the echo signal is compared with the calibration data. If the amplitude is lower than the threshold, it is determined that there are sound-absorbing pollutants. Analyze the frequency characteristics of the echo signal. If there is a low-frequency shift in the center frequency or spectral broadening, it is determined that there is coarse or heterogeneous contaminant. The degree of cleanliness is determined by a comprehensive analysis of amplitude and frequency characteristics. If the standard is not met, a repeat cleaning instruction is triggered.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention employs a set of pluggable cleaning execution platforms. A hydraulic system controls the extension, pitch, and rotation of the platforms, allowing the arc-shaped nozzle frame to dynamically conform to the tunnel's cross-sectional contours. This enables full-coverage cleaning of the tunnel arch, sidewalls, and track slabs in a single trip. Cleaning speeds can reach 5 km / h, significantly shortening the construction period and increasing efficiency by more than three times compared to traditional manual cleaning.

[0015] The test bench design accommodates various railway, highway, and subway tunnel cross-sections. By independently controlling each test bench (such as the extension and rotation functions of the No. 2 sidewall test bench), high-pressure water valves can be opened and closed individually to create different flushing conditions. In ultra-high-altitude sections, the No. 1 test bench maintains a vertical position by adjusting the hydraulic cylinder, while the No. 4 autonomous vertical test bench uses counterweights and gyroscopes to maintain stability autonomously, avoiding the cleaning blind spots caused by cross-sectional changes in existing equipment.

[0016] The cleaning detection device is based on ultrasonic technology. Ultrasonic detection receivers are installed at the beginning, middle, and end of the curved nozzle frame. By analyzing the amplitude attenuation and frequency characteristics of the echo signal (e.g., amplitude below a threshold indicates contaminants, frequency deviation suggests foreign matter), the system determines the cleanliness level in real time. If the cleanliness level is not met, the system automatically triggers a repeat cleaning command, forming a closed-loop quality control system and reducing the cost of manual re-inspection.

[0017] The infrared-sensing obstacle avoidance system integrates detection radar (long-range screening) and infrared ranging probes (short-range positioning), achieving multi-sensor obstacle avoidance through a joint controller. When the distance to an obstacle is less than a threshold, the system controls the control frame to move laterally or retract and triggers an alarm, avoiding collisions with equipment inside the tunnel and significantly improving construction safety.

[0018] This invention effectively solves the problems of low efficiency, high cost, poor adaptability, and unsatisfactory cleaning results in high-speed railway cleaning construction by integrating an adjustable fitting platform, a high-pressure pulsed water flow system, an intelligent cleaning detection device, and an infrared photosensitive avoidance system. The following details the key advantages of this invention from multiple perspectives, and uses accompanying drawings to enhance understanding. Image embedding strictly follows the original description in the document to ensure technical relevance. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the No. 1 arched platform structure; Figure 2 Schematic diagram of the structure of side wall support frame #2 and side wall support frame #3; Figure 3 This is a schematic diagram of the lower structure of the No. 4 autonomous vertical platform; Figure 4 This is a schematic diagram of the upper structure of the No. 4 autonomous vertical platform; Figure 5 Flowchart of the cleaning detection device; Figure 6 Flowchart of the overall design of the infrared photosensitive obstacle avoidance system; Figure 7 Design a framework diagram for the joint controller; In the diagram, 2-carrying flatbed truck, 101-arch support base, 102-arch support adjusting support, 103-arch support lifting support, 104-lifting cylinder, 105-adjusting cylinder, 201-side wall support base, 202-side wall telescopic support, 203-telescopic wall lifting cylinder, 204-telescopic cylinder, 205-side wall support, 206-tilt / lower cylinder, 207-rotary motor, 401-fixed support base, 402-nozzle frame, 4021-lower support, 4022-arc frame, 403-lower adjusting counterweight device, 4031-bottom counterweight block, 4032-middle gyroscope, 404-rotary adjusting motor, 6-high pressure water system, 601-high pressure fan-shaped nozzle, 7-cleaning detection device, 701-ultrasonic detection receiver, 8-infrared photosensitive avoidance system. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] A fitting-bench cleaning vehicle includes: a set of cleaning execution benches, which are fixed to a transport flatbed vehicle by plugging in; the cleaning execution benches include: a #1 arch bench for cleaning the tunnel arch; a #2 and a #3 sidewall bench for cleaning the inner walls of both sides of the tunnel, respectively; a #4 autonomous vertical bench for autonomously maintaining a vertical state during construction; a #5 track slab bench for cleaning the track slab; a high-pressure water system 6 for generating high-pressure pulsed water flow to spray the tunnel arch, the inner walls of both sides of the tunnel, and the track slab; a cleaning detection device 7, which is an ultrasonic detection receiver 701 installed at the beginning, middle, and end of each arc-shaped nozzle frame to receive and record data of reflected waves from the water flow impacting the tunnel wall to determine the cleanliness of the tunnel wall; and an infrared photosensitive avoidance system 8, including an infrared ranging probe and a detection radar installed at the beginning, middle, and end of each arc-shaped nozzle frame to avoid track equipment by recording data of reflected waves.

[0022] like Figure 1 As shown, the No. 1 arch support frame includes: an arch support base 101, which is installed on the transport flatbed 2 by plugging in; an arch support adjustment bracket 102, which is set on the arch support base 101 by a hinge support and an adjustment cylinder 105; and an arch support lifting bracket 103, which includes a lower frame and an upper arc-shaped nozzle frame set on it, and is set on the arch support adjustment bracket 102 by a lifting cylinder 104; the upper arc-shaped nozzle frame is provided with multiple high-pressure fan-shaped nozzles 601 and an ultrasonic detection receiver 701 at its end.

[0023] When the equipment reaches an elevated section, the hinge on the lower side and the adjusting cylinder on the higher side are disconnected. The adjusting cylinder on the lower side extends to keep the entire platform vertical. The arch support lifting bracket consists of a lower frame and an upper arc-shaped nozzle frame. The bottom support rod of the lower frame is nested in the end sleeve of the arch support adjusting bracket and is externally fixed by two height-adjusting cylinders. The end of the arc-shaped nozzle frame has nine evenly arranged high-pressure fan-shaped nozzles. Inside the arc-shaped nozzle frame behind the high-pressure fan-shaped nozzles is a mechanical oscillating deflector. Ultrasonic detection and infrared avoidance devices are located on both sides and in the middle of the end of the arc-shaped nozzle frame.

[0024] like Figure 2As shown, the #2 or #3 side wall support includes: a side wall support base 201, which is fixed to the transport flatbed 2 by plugging; a side wall telescopic support 202, which is connected to the side wall support base 201 by a telescopic wall lifting cylinder 203, with a nested frame in the middle and telescopic control by a telescopic cylinder 204; and a side wall support 205, on the outside of which an arc-shaped nozzle frame is provided, with multiple high-pressure fan-shaped nozzles 601 and an ultrasonic detection receiver 701 at the end of the arc-shaped nozzle frame. The side wall support 205 is connected to the side wall telescopic support 202 by a pitch cylinder 206 and is driven to rotate by a rotary motor 207.

[0025] The sidewall telescopic support is connected to the sidewall support base via a hinge support, and a telescopic wall lifting cylinder is added to the hinge side to control the raising and lowering of the sidewall telescopic support. The middle part of the sidewall telescopic support is a nested frame, with telescopic cylinders installed on the sides to control the extension and retraction of the sidewall telescopic support; the sidewall support consists of an internal joint and an external arc-shaped nozzle frame. The internal joint is connected and fixed to the sidewall telescopic support via an elevation cylinder and a hinge support. The elevation cylinder is used to control the elevation angle of the internal joint, making the equipment fit more closely to the tunnel wall during operation. The external arc-shaped nozzle frame is connected to the internal joint via a rotary motor, and the rotation angle of the arc-shaped nozzle frame can be adjusted by driving the rotary motor during use. The external arc-shaped nozzle frame has the same structure as the arc-shaped nozzle frame of the No. 1 platform, with nine evenly arranged high-pressure fan-shaped nozzles at the end of the frame, and a mechanical oscillating deflector wheel inside the arc-shaped nozzle frame behind the high-pressure fan-shaped nozzles. Ultrasonic detection and infrared avoidance devices are located on both sides and in the middle of the end of the arc-shaped nozzle frame.

[0026] The No. 3 cleaning platform has the same configuration as the No. 2 platform, but faces the opposite direction. This allows the equipment to simultaneously clean the inner walls of both sides of the tunnel, achieving full coverage cleaning in a single trip.

[0027] like Figure 3 , 4 As shown, the No. 4 autonomous vertical platform includes: a fixed support base 401, which is fixed to the transport flatbed 2 by plugging; a nozzle frame 402, which includes: a lower support 4021, which is connected to the fixed support base 401 through a middle hinge support and a rotary adjustment motor 404; an arc frame 4022, which is connected to the lower support 4021 by a hydraulic cylinder; and a lower adjusting counterweight device 403, which includes a bottom counterweight block 4031 and a middle gyroscope 4032, used to keep the frame vertical under gravity and water flow impact.

[0028] The fixed support base is secured to the square holes on both sides of the N17 transport flatbed truck via a plug-in connection and placed on the transport flatbed. The nozzle frame consists of an upper arc-shaped frame and a lower adjustable counterweight device. The nozzle frame is connected to the fixed support base via a large central hinge support, which houses a rotary adjustment motor to assist in adjusting the nozzle frame's working posture. The lower adjustable counterweight device consists of a bottom counterweight block and a central gyroscope. The gyroscope is used to counteract the reverse impact force of water on the No. 4 platform during construction, solving the problem of the frame not immediately becoming vertical under this force. The bottom counterweight block ensures that the frame remains vertical under the influence of gravity. The upper arc-shaped frame consists of a lower frame and an upper arc-shaped nozzle frame. The bottom support rod of the upper arc-shaped nozzle frame is nested in the end sleeve of the lower frame and is externally fixed by two height-adjusting cylinders. The end of the upper arc-shaped nozzle frame has nine evenly arranged high-pressure fan-shaped nozzles, and the arc-shaped nozzle frame behind the high-pressure fan-shaped nozzles has a mechanical oscillating deflector wheel inside. Ultrasonic detection and infrared avoidance devices are located on both sides and in the middle of the end of the arc-shaped nozzle frame.

[0029] The No. 5 platform, as shown in the figure, consists of a track slab support and a support base. The support base is fixed to the square holes on both sides of the transport flatbed N17 via plug-in connections and rests on the transport flatbed. The track slab support is evenly distributed and fixed to the bottom of the transport flatbed N17 via lower extension rods. Nine evenly arranged high-pressure fan-shaped nozzles are mounted on the track slab support. The equipment water tank and equipment engine unit are also placed on the upper part of the No. 5 platform.

[0030] The high-pressure water system includes a water pump, a pulse pump, and a mechanical oscillation device. The water pump is used to transport water from a storage tank to the pulse pump. The pulse pump generates a pulse water flow by periodically changing the output flow rate of the water. The mechanical oscillation device is installed in the output pipe downstream of the pulse pump and is used to mechanically oscillate and compensate for the pulse water flow to enhance the impact force of the water flow.

[0031] A pulse pump is connected between the water pump and the output pipeline, and a mechanical oscillation device is added to the middle of the output pipeline to compensate for the pulse pump.

[0032] The water pump delivers water to the pulse pump, which periodically changes the water output flow rate to create a pulsed flow. A mechanical oscillation device is then installed in the water flow channel. As the water flows out, the oscillation device continues to strike the water, momentarily accelerating it and creating a powerful impact on the cleaning surface, thus enhancing the cleaning effect.

[0033] The cleaning and testing equipment includes: Ultrasonic detection and receiving devices 701 are installed at the head, middle and tail of each arc-shaped nozzle frame. The ultrasonic detection and receiving devices 701 are used to emit ultrasonic signals and receive echo signals reflected from the tunnel wall. The degree of cleanliness is determined by analyzing the amplitude attenuation and frequency characteristics of the echo signals. Among them, amplitude attenuation below a threshold indicates the presence of attached contaminants, and frequency deviation indicates the presence of rough or heterogeneous contaminants.

[0034] During testing, ultrasonic waves penetrate the air, reach the cleaning surface, and propagate at the interface between the cleaning surface and the air. When the ultrasonic waves encounter contaminants in the cleaning surface and air, phenomena such as reflection and scattering occur. Some of the ultrasonic waves return and are received by the receiver.

[0035] The cleanliness of the ground is determined by analyzing the received signals. The intensity of the reflected waves is compared with the calibration data. If the intensity of the reflected waves is significantly higher than the reference value for a clean wall, it means that there are still many contaminants. If the frequency of the reflected waves has shifted significantly, it suggests that there are different types of contaminants or changes in wiring or equipment on the wall.

[0036] The core of ultrasonic ranging is measuring distance by calculating the travel time of ultrasound waves in the air. The system first emits a brief, high-frequency ultrasonic pulse (40kHz) from a piezoelectric crystal inside the probe. This pulse travels through the air at a speed of 340m / s. When the sound wave encounters an obstacle, some of its energy is reflected back to the probe. After the receiver detects the echo signal, the system uses a timing circuit to precisely measure the time interval t from transmission to reception. Since the sound wave completes a round trip, the one-way distance is half the distance the sound wave travels.

[0037] The formula for calculating the actual distance is: Distance = (Speed ​​of sound × Time t) / 2 Meanwhile, since the speed of sound changes with air temperature, the system needs to compensate for temperature to ensure measurement accuracy (v≈331.4+0.6Tm / s, where T is the temperature in degrees Celsius).

[0038] The core of an ultrasonic ranging system for distance measurement lies in accurately measuring the round-trip time of an ultrasonic wave in a medium. This system forms a complete closed loop of "transmission-propagation-reflection-reception-timing." Its workflow begins with a trigger signal: the system's drive circuit applies a high-frequency electrical pulse to the ultrasonic probe (transducer). The core component of the probe is a piezoelectric ceramic wafer, which exhibits the piezoelectric effect and generates high-frequency mechanical vibrations (typically 40kHz or 200kHz) under the influence of an alternating electric field, thereby exciting a sequence of ultrasonic pulses in the air that are beyond the range of human hearing. This pulse width is extremely narrow to ensure time resolution and prevent the transmitted signal from masking the subsequent received echo. The emitted sound wave propagates in the air at approximately 340m / s in the form of a spherical wave. When the sound wave encounters a medium with different acoustic impedance, some of the acoustic energy is reflected back towards the probe. The intensity of the reflected energy depends on the material, size, and surface smoothness of the obstacle. The piezoelectric crystal inside the probe now functions as a receiver. The weak pressure of the reflected sound wave acts on the crystal, causing it to vibrate mechanically again. Based on the reversibility of the piezoelectric effect, this vibration is converted into a weak alternating voltage signal. Thus, the distance information is encoded in the time difference of sound wave propagation and successfully converted into a processable electrical signal. The ultrasonic transducer is the core component of the system, and its performance directly determines the ranging capability. 40kHz is a common choice because this frequency has moderate attenuation in air, balancing directivity and detection range. The signal generated at the receiving end is extremely weak and accompanied by noise, requiring processing by a signal conditioning circuit. This circuit typically includes: 1) High-frequency amplifier: amplifies echo signals at the microvolt level by tens to hundreds of times.

[0039] 2) Bandpass filter: The center frequency is set to 40kHz, which can effectively filter out environmental noise and interference of different frequencies.

[0040] 3) Voltage comparator: This compares the amplified and filtered analog signal with a precisely set threshold voltage. When the echo signal amplitude exceeds the threshold, it outputs a clear, steep digital square wave as a timing termination signal. This threshold setting is crucial to prevent false triggering.

[0041] The core of the system is a high-precision time measurement unit. At the same moment the transmitted pulse is emitted, a high-resolution timer (typically based on a microcontroller's high-frequency clock) starts counting. When the comparator outputs the echo signal as described earlier, the timer stops counting. The measured time interval t is the total time taken for the ultrasonic wave to travel from transmission to reception. Since time t corresponds to the round trip of the ultrasonic wave from the probe to the obstacle and back to the probe, the one-way distance S from the probe to the obstacle can be calculated using the following basic formula: S = (v × t) / 2, where v is the speed of sound under specific environmental conditions. This formula forms the mathematical model basis for ultrasonic ranging, and its accuracy directly depends on the accuracy of the sound speed v and the measurement accuracy of time t.

[0042] Temperature Compensation: A Key Measure to Improve Accuracy. Under standard conditions, the speed of sound is often estimated using 340 m / s as an approximation. However, the speed of sound in air is not constant; it changes significantly with the temperature of the air medium. The empirical formula is: v≈331.4+0.607×T(m / s) Here, T represents the temperature in degrees Celsius (°C). It is evident that for every 1°C change in temperature, the speed of sound changes by approximately 0.607 m / s. For millisecond-level time measurements, this introduces a significant distance error. When measuring a distance of 10 meters, if the ambient temperature rises from 20°C (v≈343.4 m / s) to 30°C (v≈349.5 m / s), and the system still uses the speed of sound at 20°C for calculation, a measurement error of approximately 17.8 centimeters will occur. Therefore, in applications requiring high precision, temperature compensation is essential. The system needs to integrate a digital temperature sensor (DS18B20) to monitor the ambient temperature T in real time, dynamically calculate the current precise speed of sound v according to the above formula, and substitute it into the distance calculation formula. This effectively overcomes the system error introduced by changes in ambient temperature, improving measurement accuracy to the millimeter level.

[0043] The ultrasonic sensor emits a signal, and then the received signal is preprocessed and transmitted to the system CPU for data analysis. The amplitude attenuation and spectral characteristics of the echo signal are used to determine whether the cleanliness standard has been met.

[0044] First, the system accurately measures the amplitude of the first echo peak. Pollutants absorb and scatter sound wave energy, causing the echo to weaken. If the measured amplitude is lower than the set threshold, it can be directly determined that there are attached pollutants on the wall. Then, the system performs a fast Fourier transform on the echo signal to analyze its spectral characteristics. If the center frequency of the spectrum shifts to a lower frequency or the spectrum width is broadened, it indicates that there are rough pollutants or specific material attachments on the wall that cause sound wave scattering. Finally, the degree of cleanliness is judged by combining the amplitude attenuation and frequency shift.

[0045] like Figure 5As shown, the system first transmits ultrasonic pulses and receives echo signals. After preprocessing, a joint judgment on the cleaning degree is made based on a comprehensive analysis of the echo signal amplitude attenuation and spectral characteristics. This stage performs time-domain and frequency-domain analyses in parallel: the time-domain path measures whether the echo amplitude is below a threshold to determine the presence of sound-absorbing adhering contaminants; the frequency-domain path uses Fast Fourier Transform to detect whether there is a low-frequency shift in the center frequency or spectral broadening in the spectrum, identifying rough or heterogeneous contaminants. Finally, the system integrates the judgment results from these two paths and makes a final judgment on whether the cleanliness level has been achieved based on a comprehensive standard—if the standard is met, the operation continues; if not, a repeat cleaning command is immediately triggered, thus achieving efficient closed-loop quality control.

[0046] During the cleaning process, the device monitors the cleaning effect in real time and feeds back the multi-dimensional analysis results to the control system in an instant, thereby providing an accurate basis for decision-making on whether to start repeated cleaning.

[0047] The infrared photosensitive obstacle avoidance system includes: an infrared ranging probe, a detection radar, and a joint controller; the infrared ranging probe and the detection radar are mounted on the front, middle, and rear of each arc-shaped nozzle frame via fixed brackets for real-time detection of obstacle distances; the joint controller is electrically connected to the infrared ranging probe and the detection radar and is configured to process multi-sensor signals, control the movement of the cleaning platform, or trigger an alarm device.

[0048] The real-time obstacle avoidance system detects the distance to obstacles and performs avoidance operations in real time, including: cyclically acquiring the real-time distance of obstacles ahead using an infrared ranging probe; setting an avoidance distance threshold; determining whether the real-time distance is less than the threshold; if less, controlling the cleaning platform to perform a lateral movement avoidance operation; if not less, controlling the equipment to continue moving forward.

[0049] Infrared photosensitive obstacle avoidance systems operate on the active detection principle of "emission-reflection-reception." The core process involves an infrared LED emitting infrared light of a specific wavelength into the detection area. When the light encounters an object's surface, some energy is reflected, detected by an infrared phototransistor, which converts the light intensity into an electrical signal. The system analyzes the strength of this signal to determine the object's state. Infrared obstacle avoidance devices employ active modulation detection to reduce ambient light interference and improve the signal-to-noise ratio. The emitting end typically uses an infrared LED with a working wavelength of 850nm or 940nm. This wavelength falls within the near-infrared region, effectively avoiding visible light interference and conforming to the optimal response range of silicon-based phototransistors. The emitting LED is usually driven by pulse modulation (PWM), with a modulation frequency typically in the range of 1–40kHz to suppress the influence of low-frequency noise (such as ambient infrared radiation). When the infrared beam encounters an obstacle, some light energy is reflected back through the object's surface. The intensity of this reflection follows Lambert's cosine law, meaning the reflected light intensity is related to the angle of incidence and surface characteristics. For an ideal diffuse reflective surface, the intensity of reflected light can be approximated as: I r =I0⋅ρ⋅cosθ / πD 2 Where I0 is the emitted light intensity, ρ is the object reflectivity (0≤ρ≤1), θ is the incident angle, and D is the detection distance.

[0050] The receiver for photoelectric conversion and signal processing uses a phototransistor as a photosensitive element, and its output current I... C With incident light intensity I r They exhibit an approximately linear relationship: I C =η⋅I r Where η is the photoelectric conversion efficiency, which is affected by device characteristics and operating bias voltage. This current is converted into a voltage signal by a transimpedance amplifier. V out =I C ⋅R f =k⋅I0⋅ρ / D n In the formula, R f Here, k is the feedback resistor, k is the system gain coefficient, and n is the attenuation index (ideally n=2, but in reality there is a slight deviation due to the influence of the optical system).

[0051] The threshold decision and obstacle detection system uses a fixed threshold comparison method to determine obstacles. When the received signal voltage V... out Exceeding the preset threshold V thWhen this threshold is reached, it is determined that an obstacle exists. This threshold needs to be calibrated based on typical reflectivity (e.g., ρ≈0.9 for white paper) and minimum detection distance to avoid false triggering.

[0052] For distance measurement calibration and error analysis, within the short-range (<50cm) range, a voltage-distance calibration curve can be experimentally established, and distance estimation can be achieved using polynomial fitting or table lookup methods. The main sources of error include: Reflectivity dependence: The reflectivity of different materials varies significantly (e.g., white paper ρ≈0.9, black tape ρ≈0.1), leading to distance measurement errors; Ambient light interference: Although modulation detection can suppress the DC component, strong infrared noise can still affect the signal-to-noise ratio; Optical system limitations: The signal attenuation is severe outside the overlapping area of ​​the field of view (FOV) of the transmitter / receiver tubes, resulting in a detection blind zone.

[0053] Sensor avoidance technology such as Figure 6 Detection radar and infrared ranging probes are installed at the front, middle and rear of the arc-shaped nozzle frame. The detection radar is responsible for detecting obstacles 10 meters away in advance, and the infrared ranging probe is responsible for detecting obstacles closer to the target from 0.1 meters to 5 meters away.

[0054] The detection radar performs a preliminary screening and judgment of obstacles. When it is determined that there is an abnormality or obstacle in front, it monitors the approach distance between the side wall support and the obstacle in real time. Within a range of 5 meters, it activates the infrared sensor to accurately locate the obstacle and assists in controlling the continuous movement or extension of the side wall support, so as to realize the multi-angle judgment of surrounding obstacles.

[0055] The system will detect obstacles appearing on the tunnel wall in front of the tunnel cleaning machine in real time. When the infrared ranging probe detects an obstacle, it will calculate the real-time distance between the obstacle and the tunnel cleaning machine to determine whether it will affect the operation of the side wall support. If a collision occurs, the main control terminal will control the side wall telescopic support 202 in the No. 2 or No. 3 side wall platform to move and issue an alarm signal.

[0056] The main control unit will continuously analyze the signals transmitted back by multiple sensors. If the side wall support is outside the safe range, the main control unit will issue a retraction command to control the side wall support to continue moving. When the sensor signal changes from the alarm state to the normal state, the side wall support retraction command will stop retracting after a certain delay time, thereby achieving the purpose of obstacle avoidance.

[0057] With the cooperation of hardware and software, the system can effectively avoid line equipment by recording the data of reflected waves.

[0058] like Figure 7As shown, the design of the joint controller in the intelligent obstacle avoidance system of the cleaning vehicle with multi-sensor fusion is as follows: the main control terminal communicates with each module in real time. The obstacle signals detected by the sensors are transmitted to the main control terminal via USB serial port. The main control terminal determines whether to control the movement of the side wall telescopic bracket 202, whether to activate the alarm system, and displays the relevant information on the display screen. At the same time, it provides manual emergency obstacle avoidance operation to realize information interaction.

[0059] When the joint controller receives obstacle signals from multiple sensors, it immediately determines the distance. These sensors accurately perceive obstacles in the tunnel from different angles, and the acquired signals cover key information such as the relative position and size of the obstacles. This signal is then transmitted to the main control terminal of the joint controller via a USB serial port.

[0060] The main control unit uses the basic information of obstacles detected by multiple sensors and the precise detection of obstacle distance to determine whether the obstacles will affect the side wall support. Then, in conjunction with the alarm system, it precisely controls the extension and retraction of the side wall support to ensure that the side wall support can make the most appropriate adjustments according to the actual situation of the obstacle. At the same time, it quickly triggers the light warning system to remind the construction personnel that an obstacle has been detected ahead, ensuring that the construction personnel can receive the message as soon as possible and confirm whether the equipment should take a forced obstacle avoidance action to avoid collision with the obstacle, thus providing reliable safety and a stable working environment for the construction process.

[0061] A method for cleaning high-speed railways using a fitting table cleaning vehicle includes the following steps: S1: Unfold each frame from the transport flatbed truck and adjust its posture so that the arc-shaped nozzle frame fits the contour of the tunnel cross section. S2: Start the high-pressure water system to generate high-pressure pulse water flow and spray it onto the tunnel wall through nozzles on each stand, while simultaneously propelling the equipment at a constant speed. S3: During the cleaning process, the vertical state is maintained autonomously by the No. 4 autonomous plumb platform; S4: Real-time detection of obstacle distance via infrared photosensitive obstacle avoidance system and execution of avoidance operation; Specifically, it includes: S41: The radar performs a preliminary screening of obstacles more than 10 meters ahead. If a potential obstacle is identified, a warning signal is sent to the joint controller. S42: When an obstacle comes within 5 meters, the infrared ranging probe is activated to accurately measure the distance and continuously acquires the real-time distance data of the obstacle. S43: The joint controller sets a first distance threshold and a second distance threshold, and determines the relationship between the real-time distance and the threshold: If the real-time distance is less than the second distance threshold, it is determined to be an emergency avoidance state, and an alarm is immediately triggered and the No. 2 side wall platform and the No. 3 side wall platform are controlled to retract laterally. If the real-time distance is between the first and second distance thresholds, the cleaning platform is controlled to perform a lateral movement to avoid obstacles. If the real-time distance is greater than the first distance threshold, the control device continues to move forward; During the obstacle avoidance process, the joint controller continuously monitors the feedback signals from infrared and radar. If the obstacle disappears or the distance returns to normal, the obstacle avoidance action stops after a delay of 1-3 seconds.

[0062] S5: Receive ultrasonic reflected wave data through a cleaning detection device and determine the degree of cleanliness.

[0063] Specifically, it includes: S51: Transmits ultrasonic pulse signals and receives echo signals reflected from the tunnel wall; S52: Preprocess the echo signal, including amplitude measurement and fast Fourier transform to analyze spectral characteristics; S53: Compare the amplitude of the echo signal with the calibration data. If the amplitude is lower than the threshold, it is determined that there are sound-absorbing pollutants. S54: Analyze the frequency characteristics of the echo signal. If there is a low-frequency shift in the center frequency or spectral broadening, it is determined that there is coarse or heterogeneous contaminant. S55: Determines the cleanliness level based on a comprehensive analysis of amplitude and frequency characteristics; if the level is not met, a repeat cleaning instruction is triggered.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fitting frame cleaning cart, characterized in that, include: A set of cleaning execution tables, the cleaning execution tables include: #1 arch platform, used for cleaning the tunnel arch; Side wall scaffold #2 and side wall scaffold #3 are used for cleaning the inner walls of both sides of the tunnel, respectively. #4 Autonomous plumb line, used to maintain a vertical position autonomously during construction; 5# track slab platform, used for cleaning track slabs; High-pressure water system (6) is used to generate high-pressure pulse water flow, which sprays high-pressure pulse water flow for cleaning the tunnel arch, the inner walls of both sides of the tunnel and the track slab respectively; The cleaning detection device is an ultrasonic detection receiver (701) installed at the head, middle and tail of each arc-shaped nozzle frame. It is used to receive and record the data of reflected waves from water flow impacting the tunnel wall to determine the cleanliness of the tunnel wall. The infrared photosensitive avoidance system (8) includes infrared ranging probes and detection radars installed at the head, middle and tail of each arc-shaped nozzle frame. By recording the data of reflected waves, it avoids the line equipment.

2. The fitting platform cleaning vehicle according to claim 1, characterized in that, The No. 1 arch support frame includes: The arch support base (101) is installed on the transport flatbed vehicle (2) by plugging in; The arch support adjustment bracket (102) is mounted on the arch support base (101) via a hinge support and an adjustment cylinder (105); The arch support lifting bracket (103) includes a lower frame and an upper arc-shaped nozzle frame mounted thereon, which is mounted on the arch support adjusting bracket (102) via a lifting cylinder (104); The upper arc-shaped nozzle frame is equipped with multiple high-pressure fan-shaped nozzles (601) and an ultrasonic detection receiver (701) at its end.

3. The fitting frame cleaning cart according to claim 1, characterized in that, The #2 or #3 sidewall support includes: The side wall support base (201) is fixed to the transport flatbed vehicle (2) by plugging in. The side wall telescopic support (202) is connected to the side wall support base (201) through the telescopic wall lifting cylinder (203), and the middle part is a nested frame body and the telescopic cylinder (204) controls the extension and retraction; The side wall support (205) is provided with an arc-shaped nozzle frame on the outside of the side wall support (205). The end of the arc-shaped nozzle frame is provided with multiple high-pressure fan-shaped nozzles (601) and an ultrasonic detection receiver (701). The side wall support (205) is connected to the side wall telescopic support (202) through the pitch cylinder (206) and the arc-shaped nozzle frame outside it is driven to rotate by the rotary motor (207).

4. The fitting platform cleaning vehicle according to claim 1, characterized in that, The No. 4 autonomous vertical platform includes: The fixed bracket base (401) is fixed to the transport flatbed vehicle (2) by plugging in. Sprayer head holder (402), the sprayer head holder (402) comprising: The lower support (4021) is connected to the fixed support base (401) via a middle hinge support and a rotary adjustment motor (404); An arc-shaped frame (4022) is connected to the lower support (4021) via a hydraulic cylinder for telescopic connection; The lower adjustable counterweight device (403) includes a bottom counterweight block (4031) and a middle gyroscope (4032) to keep the frame vertical under the force of gravity and water flow impact.

5. The fitting platform cleaning cart according to claim 1, characterized in that, The high-pressure water system includes: a water pump, a pulse pump, and a mechanical oscillation device; The water pump is used to transfer water from the storage tank to the pulse pump. The pulse pump generates pulsed water flow by periodically changing the output flow rate of the water. The mechanical oscillation device is installed in the output pipe downstream of the pulse pump and is used to mechanically oscillate and compensate the pulse water flow to enhance the impact force of the water flow.

6. The fitting platform cleaning cart according to claim 1, characterized in that, The cleaning detection device includes an ultrasonic detection receiving device installed at the head, middle, and tail of each arc-shaped nozzle frame. The ultrasonic detection receiving device is used to emit ultrasonic signals and receive echo signals reflected from the tunnel wall. The degree of cleanliness is determined by analyzing the amplitude attenuation and frequency characteristics of the echo signals. Among them, amplitude attenuation below a threshold indicates the presence of attached contaminants, and frequency deviation indicates the presence of rough or heterogeneous contaminants.

7. The fitting platform cleaning vehicle according to claim 1, characterized in that, The infrared photosensitive avoidance system includes: an infrared ranging probe, a detection radar, and a joint controller; The infrared ranging probe and detection radar are mounted on the head, middle and tail of each arc-shaped nozzle frame via fixed brackets for real-time detection of obstacle distances; The combined controller is electrically connected to the infrared ranging probe and the detection radar, and is configured to process multi-sensor signals, control the movement of the cleaning platform, or trigger the alarm device.

8. A high-speed railway cleaning construction method using a fitting gantry cleaning vehicle as described in any one of claims 1-7, characterized in that, Includes the following steps: Each frame is unfolded from the transport flatbed truck and its posture is adjusted so that the arc-shaped nozzle frame fits the contour of the tunnel cross section. The high-pressure water system is activated to generate high-pressure pulsed water flow and spray it onto the tunnel wall through nozzles on each stand, while simultaneously propelling the equipment at a constant speed. During the cleaning process, the No. 4 autonomous plumb platform autonomously maintains a vertical state. The infrared photosensitive obstacle avoidance system detects the distance to obstacles in real time and performs avoidance operations. The cleaning detection device receives ultrasonic reflected wave data and determines the degree of cleanliness.

9. The high-speed railway cleaning construction method according to claim 8, characterized in that, The infrared photosensitive obstacle avoidance system detects obstacle distance in real time and performs avoidance operations, including: The radar performs a preliminary screening of obstacles more than 10 meters ahead. If a potential obstacle is identified, a warning signal is sent to the joint controller. When the obstacle comes within 5 meters, the infrared ranging probe is activated to accurately measure the distance and continuously acquire the real-time distance data of the obstacle. The joint controller sets a first distance threshold and a second distance threshold, and determines the relationship between the real-time distance and the threshold: If the real-time distance is less than the second distance threshold, it is determined to be an emergency avoidance state, and an alarm is immediately triggered and the No. 2 side wall platform and the No. 3 side wall platform are controlled to retract laterally. If the real-time distance is between the first and second distance thresholds, the cleaning platform is controlled to perform a lateral movement to avoid obstacles. If the real-time distance is greater than the first distance threshold, the control device continues to move forward; During the obstacle avoidance process, the joint controller continuously monitors the feedback signals from infrared and radar. If the obstacle disappears or the distance returns to normal, the obstacle avoidance action stops after a delay of 1-3 seconds.

10. The high-speed railway cleaning construction method according to claim 8, characterized in that, The cleaning detection device receives ultrasonic reflected wave data and determines the degree of cleanliness, including: It transmits ultrasonic pulse signals and receives echo signals reflected from the tunnel wall; The echo signal is preprocessed, including amplitude measurement and fast Fourier transform to analyze spectral characteristics; The amplitude of the echo signal is compared with the calibration data. If the amplitude is lower than the threshold, it is determined that there are sound-absorbing pollutants. Analyze the frequency characteristics of the echo signal. If there is a low-frequency shift in the center frequency or spectral broadening, it is determined that there is coarse or heterogeneous contaminant. The degree of cleanliness is determined by a comprehensive analysis of amplitude and frequency characteristics. If the standard is not met, a repeat cleaning instruction is triggered.

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