Subway protection area inspection trolley adaptive to novel mobile measurement system

Abstract

The utility model relates to the field of portable intelligent mobile measurement systems, in particular to a metro protection area inspection trolley matched with a novel mobile measurement system, which comprises a trolley body, a horizontal connecting plate arranged above the tail of the trolley body, and an L-shaped fixing support provided with a through hole on one side far away from the trolley body. One end of the L-shaped fixing bracket penetrates through the through hole of the horizontal connecting plate, and the other end is connected with the tail of the trolley body; one end of the detachable support is used for being inserted into one end, penetrating through the through hole, of the L-shaped fixing support, and the other end of the detachable support is connected with the A-shaped plate; screws with handles are arranged on the outer sides of the L-shaped fixing supports, the screws with the handles are tightened to limit the detachable supports, and the A-shaped plate is used for being connected with a measuring device. The system has the advantages that the defect that an airborne mobile measurement system is insufficient in operation flexibility in a subway protection area scene is overcome; the device is detachable and easy to assemble, and installation does not need too many tools for cooperation.

Description

Technical Field

[0001] The utility model relates to the field of a portable intelligent mobile measurement system, in particular to a subway protection zone inspection vehicle adapted to a novel mobile measurement system. Background Art

[0002] Simultaneous Localization and Mapping (SLAM) is a special term, also known as CML (Concurrent Mapping and Localization) or concurrent positioning and mapping. The problem can be described as: the robot starts to move from an unknown position in an unknown environment, and locates itself according to the position and map during the movement. At the same time, it builds an incremental map based on its own positioning to achieve autonomous positioning and navigation of the robot. This technology requires the cooperation of multiple source sensors such as 3D laser scanning, lidar, panoramic camera, combined inertial navigation, etc. Based on this technology, in the field of surveying and mapping, domestic and foreign instrument manufacturers have independently developed various types of SLAM comprehensive measurement equipment (that is, the mobile measurement system described in this article), which can realize one-stop measurement and mapping of various complex structural topographic maps, site boundaries, structural edges, structural corners, and three-dimensional point cloud models without prior environmental information. It can not only complete the relative measurement of the structure, but also realize the absolute coordinate measurement of various scenes after introducing the absolute coordinates of the control points with differential technologies such as RTK. The point cloud results obtained by this technical operation can generate various types of measurement and mapping results after secondary processing, which greatly reduces the workload of traditional surveying and mapping business. And it has been verified that the measurement accuracy of this method can meet the acceptance requirements of the results of related surveying and mapping work. After a large number of such equipment surveys, the current domestic and foreign instruments and equipment can be divided into two types from the perspective of operation mode: portable and airborne.

[0003] Among them, portable SLAM devices can usually be divided into backpack type and handheld type. Its fundamental logic is to use the operator as a carrier, and perform mobile scanning and measurement by hand-held or back-mounted equipment, which greatly utilizes the advantages of the operator's flexibility, can go deep into the internal space of complex structures for measurement, and the walking path is relatively flexible. It is more suitable for most small-scale and short-operation-time scene applications. For example: small parks, building facades, and underground complex cavity structures. However, for some long line structures or large-scale park measurements, such devices are limited by the power of the equipment and the length of the operation, and cannot meet the measurement applications in large scenes.

[0004] In order to meet the main function of convenient field measurement, the selection of specific components of this type of portable SLAM measurement system can only use some lightweight basic models, such as fisheye cameras with low pixels, combined inertial navigation devices with low accuracy, and scanners with fewer laser threads. Therefore, the equipment can only realize some basic functions, such as point cloud acquisition, coordinate conversion, etc., and the measurement accuracy of the equipment is also limited. With the popularization and application of this technology, various units have put forward higher requirements for the quality of point cloud data results. For example, the point cloud collected by the original equipment has a single color and is not easy to distinguish some areas with unclear textures. It is necessary to color the original point cloud data, and then distinguish the detailed structures with different elevation data or similar textures. The realization of such advanced functions usually requires the use of better sensors, such as collecting high-definition images through cameras, and then identifying color information from the images and assigning point clouds. More sensors are required to cooperate with each other, so the weight of the required sensors is bound to increase, which is contrary to the original intention of the development of portable SLAM equipment, so it is impossible to upgrade such functions on SLAM equipment whose main function is portable.

[0005] In order to realize the function of true color point cloud, sensors with better parameters are needed for multi-source fusion, and then the output of true color point cloud is completed. The weight of the equipment will undoubtedly not meet the requirements of portable operation of operators. Therefore, various technical solutions for carrying power machinery have emerged. For example, airborne SLAM equipment is usually carried by vehicles, drones, unmanned ships, and mobile robots, which are more suitable for scanning operations on roads, waterways, and fixed lines. Due to the use of power carriers to carry equipment, the overall endurance and efficiency have been improved, but compared with portable equipment types, it lacks flexibility, and operations in areas and spaces that cannot be entered by some carriers will inevitably be subject to many restrictions. For example, in the application scenario of subway protection area inspection pointed out in this article, both types of equipment have the disadvantage of being unsuitable. For portable equipment, the weight of the equipment is limited, so the battery capacity is small, which affects the operation time and efficiency; for airborne equipment, the lack of flexibility in some special scenarios limits the application of this technology.

[0006] For example, the scope of the subway protection zone, taking Shanghai as an example:

[0007] The scope of Shanghai Metro Protection Zone mainly includes the following three parts:

[0008] 1. Within 50 meters outside the outer edge of the underground station and the tunnel.

[0009] 2. Within thirty meters outside the outer edge of ground stations, elevated stations and line tracks.

[0010] 3. Within 10 meters outside the outer edge of buildings and structures such as entrances and exits, ventilation booths, and substations

[0011] Areas within these

[0012] The area is set as a protection zone to ensure the safety and normal operation of subway facilities and prevent damage or accidents caused by external factors. Specific operations in the protection zone, such as the construction or demolition of buildings and structures, or piling, excavation, underground jacking, blasting, erection, precipitation, foundation reinforcement and other construction operations, as well as other activities that increase or reduce loads over a large area, need to be approved by relevant departments and take appropriate safety protection measures. Therefore, the related surveying and mapping workload is huge, and more efficient professional equipment is needed to carry out the operation.

[0013] From the perspective of whether vehicles can enter for operations, the above-mentioned areas of the Shanghai Metro Protection Zone have some notable characteristics.

[0014] First of all, as an important part of subway facilities, these areas are designed and constructed for the safe and smooth operation of subway trains. Therefore, structurally speaking, these areas are not suitable for ordinary vehicles to enter. In particular, underground stations and tunnels, due to their space limitations and special design, ordinary vehicles cannot pass through. Although ground stations and elevated stations may allow vehicles to approach to a certain extent, the entry of ordinary vehicles will also be restricted due to the presence of key facilities such as tracks and equipment around them.

[0015] Secondly, from a safety perspective, operations and activities within subway protection zones need to be strictly approved and necessary safety precautions must be taken. The entry of ordinary vehicles may bring safety risks, such as collisions, scratches, etc., causing damage to subway facilities and even affecting the normal operation of the subway. In addition, these areas may have special traffic control measures to restrict the entry of unauthorized vehicles.

[0016] In summary, from the perspective of vehicle access, the areas of Shanghai Metro Protection Zones are not suitable for ordinary vehicles to enter. The design and construction, safety requirements, and possible traffic control measures of these areas restrict the passage of vehicles. Therefore, in order to ensure the safety and normal operation of subway facilities, relevant regulations should be strictly observed and unauthorized vehicles are prohibited from entering the protection zones.

[0017] In addition, from the perspective of operation time, hand-held operation cannot be used. The patrol range of the protected area is large, the hand-held operation efficiency is low, and the power cannot meet the requirements. The regional attributes of the protected area are complex, and neither vehicles nor drones are suitable. However, this lightweight car can enter elevators and operate in underground communication passages and subway entrances and exits, maintaining flexibility while improving operation efficiency.

[0018] From the perspective of the feasibility of drone operations, the area of ​​Shanghai Metro Protection Zone has some significant characteristics, which have a direct impact on the applicability of drone operations.

[0019] First of all, the subway protection zone involves key facilities such as underground stations, tunnels, ground stations, elevated stations, and line tracks. These areas are very sensitive to any form of external interference. UAV operations may generate electromagnetic interference, noise interference, etc., which poses potential risks to the normal operation of subway facilities.

[0020] Secondly, the scope of subway protection zone is wide, including underground, ground and elevated areas, and the environmental conditions and flight restrictions in these areas are different. For example, underground and tunnel areas may have problems such as signal obstruction and space restrictions, while elevated stations and line track areas may be affected by natural factors such as wind and weather conditions. These factors will increase the difficulty and risk of drone operations.

[0021] In addition, from a safety perspective, any operation within the subway protection zone needs to be strictly approved and necessary safety protection measures must be taken. Drone operations are no exception, and it must be ensured that no damage is caused to subway facilities or the normal operation of the subway is affected. This requires drone operators to have a high level of technical skills and responsibility, to be able to master flying skills and comply with relevant regulations. In addition, the current flight airspace of mainstream drones is limited to a very small operating range due to the commercial application of low-altitude flying cars, and is not suitable for surveying operations along the subway protection zone.

[0022] In summary, from the perspective of drone operations, the area of ​​Shanghai Metro Protection Zone is not suitable for drone operations. This is mainly because the area involves key facilities, complex environmental conditions, many flight restrictions and high safety risks. Therefore, in order to ensure the safety and normal operation of subway facilities, drone operations are strictly prohibited in the subway protection zone below a certain airspace altitude.

[0023] The current operating mileage of Shanghai's subway exceeds 831 km, and the inspection tasks of various subway protection areas are huge. There are many edges of subways and their affiliated structures that need to be determined. Therefore, there is an urgent need for a mobile measurement system that can operate efficiently in subway protection area scenarios.

[0024] In summary, the SLAM devices currently on the market have the following obvious shortcomings:

[0025] 1. In order to achieve the output of true color point cloud, a more accurate underlying sensor model is required, but the overall equipment weight will increase significantly, which cannot meet the requirements of portable measurement operations.

[0026] 2. The existing SLAM measurement equipment still has a gap between portable and airborne types, which is inflexible in some business scenarios, limiting the operating efficiency in some business scenarios.

[0027] 3. Compared with portable equipment, electric vehicles are used for field data collection. Due to their better speed and stability, the data obtained are of higher quality, which reduces the chance of field re-survey due to poor data quality. Utility Model Content

[0028] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a subway protection zone inspection vehicle adapted to a new mobile measurement system. Through the integration and combined design of a new mobile measurement system, a connecting bracket, an electric carrier and other devices, it can adapt to the specific needs of patrol and measurement business scenarios in the complex environment of the subway protection zone.

[0029] In order to achieve the above-mentioned purpose, a subway protection zone inspection trolley adapted to a new mobile measurement system is designed, comprising a trolley body, a horizontal connecting plate is provided above the rear end of the trolley body, a through hole is opened on the side of the horizontal connecting plate away from the trolley body, and also comprises an L-shaped fixing bracket, one end of the L-shaped fixing bracket passes through the through hole of the horizontal connecting plate, and the other end is connected to the rear end of the trolley body; a detachable bracket, one end of the detachable bracket is used to insert one end of the L-shaped fixing bracket passing through the through hole, and the other end of the detachable bracket is connected to an A-shaped plate; a screw with a handle is provided on the outside of the L-shaped fixing bracket, and tightening the screw with a handle is used to limit the detachable bracket, and the A-shaped plate is used to connect a measuring device.

[0030] Preferably, the measuring device of the utility model is a mobile SLAM measuring device, which integrates a three-dimensional laser scanning device, a satellite positioning device, an inertial navigation device and a 360° high-definition panoramic camera.

[0031] Preferably, the top of the A-shaped plate of the utility model is provided with a connecting portion protruding upward, one side of the connecting portion is open, and an A-shaped, triangular or trapezoidal connecting groove is formed in the connecting portion, and a connecting block matching the connecting groove is provided at the bottom of the measuring device, and the measuring device is inserted into the connecting groove of the connecting portion of the A-shaped plate through the connecting block.

[0032] Preferably, the outer diameter of the detachable bracket of the utility model is smaller than the inner diameter of the L-shaped fixed bracket.

[0033] Preferably, the L-shaped fixing bracket of the utility model passes through the horizontal connecting plate and is welded to the horizontal connecting plate.

[0034] Preferably, the inspection vehicle of the utility model is a single-person or double-person electric two-wheel, three-wheel or four-wheel vehicle.

[0035] Compared with the prior art, the utility model has the following advantages:

[0036] 1. It makes up for the shortcomings of conventional portable mobile SLAM equipment in subway protection areas, such as short operation time and the need for multiple results stitching, improves data collection efficiency, and improves the quality of point cloud data; it overcomes the defect of insufficient operating flexibility of airborne mobile measurement systems in subway protection areas.

[0037] 2. Flexible loading. There are no excessive restrictions on the vehicle structure. As long as the electric vehicle meets certain installation conditions, it can carry this type of mobile integrated measurement system for operation. It is detachable and easy to assemble, and installation does not require too many tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 , a three-dimensional diagram of the device of the present application;

[0039] Figure 2 , a disassembled stereogram of the device of the present application;

[0040] Figure 3 , a top view of the device of the present application;

[0041] Figure 4 , a front view of the device of the present application;

[0042] Figure 5 , left side view of the device of the present application;

[0043] In the figure: 1 vehicle body; 2 horizontal connecting plate; 3 through hole; 4 L-shaped fixing bracket; 5 detachable bracket; 6 A-shaped plate; 7 screw with handle. DETAILED DESCRIPTION

[0044] In order to make the purpose, principle and structure of the utility model clearer, it is further described below in conjunction with the drawings and specific embodiments.

[0045] This embodiment provides a subway protection zone inspection vehicle adapted to a new mobile measurement system, including a mobile SLAM measurement system, a connecting bracket and an electric carrier.

[0046] The mobile SLAM measurement system consists of a 3D laser scanning module, a satellite positioning module, an inertial navigation module, a 360° high-definition panoramic camera, etc. The main function of the 3D laser scanning module is to obtain the geometric data and image data of terrain or complex objects by non-contact high-speed laser measurement, and finally convert these data into 3D spatial position coordinates in an absolute coordinate system through processing software, or establish a 3D visualization model of a complex and irregular scene. The GPS satellite positioning module can determine the specific location of the device. In order to accurately determine the location, it is usually necessary to receive signals from at least three satellites. After receiving the satellite signals, the built-in algorithm of the GPS satellite positioning module processes these signals and calculates the latitude and longitude, altitude and other information of the device. The functions of the inertial navigation module include: Acceleration measurement: The acceleration of an object in three-dimensional space is measured by an accelerometer. These acceleration signals are then converted into digital signals and filtered to remove noise and interference. Angular velocity measurement: The angular velocity of an object in three-dimensional space is measured using a gyroscope. Similarly, these angular velocity signals are also converted into digital signals and filtered. Attitude solution: Combine the acceleration signal and angular velocity signal, and calculate the attitude angle of the object in three-dimensional space, that is, the direction of the object through integration and operation. Position solution: Combine the initial position information and attitude information of the object, and use the position solver to infer the current position information and velocity information. Map matching (if applicable): In some application scenarios, the inertial navigation module can match the current position information and velocity information with real-time map data to update the position and direction of the object. The main functions of the 360° high-definition panoramic camera include: Panoramic shooting: This camera can capture all scenes within a 360° range at one time, without turning the camera or taking multiple shots and then stitching. High-definition image quality: Panoramic cameras usually have high-resolution lenses and sensors, which can capture delicate pictures and rich details, thereby generating high-quality panoramic images with real colors. The lower part of the base integrated with the measurement system is equipped with an A-type slide to meet the requirements of external splicing. The A-type plate bracket is above the mobile SLAM measurement system, which is not the main scope of this utility model, and is only convenient for understanding with this embodiment.

[0047] The connecting bracket is mainly composed of an A-shaped plate, a detachable bracket, a fixed bracket and a screw with a handle.

[0048] The A-plate serves as a mounting platform for the upper mobile measuring system. It provides a stable connection with the upper mobile measuring system through the A-type wedge and limits the movement of the upper mobile platform in the three directions of XYZ.

[0049] A-type board: The design of A-type board is mainly to match the connection structure of new slam equipment. At the same time, in the processing of mechanical structure, the design of A-type board has many advantages, which makes A-type board the preferred solution in many mechanical structures. The following is a detailed analysis of the advantages of A-type board design: High structural stability: A-type board design usually adopts a stable triangular or trapezoidal structure, which can effectively disperse and resist external forces and improve the stability of the overall structure. This enables the A-type board to maintain good stability under heavy loads or high stress environments, reducing the risk of structural deformation or failure. Strong bearing capacity: The design of A-type board enables it to withstand large vertical and horizontal loads. In mechanical structures that need to bear heavy objects, A-type board can effectively support and disperse the load to ensure the integrity and safety of the structure. Convenient processing: The geometric shape of A-type board is relatively simple and easy to manufacture and process. This makes the production cost of A-type board relatively low and the production efficiency high. At the same time, the simple structure is also convenient for subsequent maintenance and replacement. High space utilization efficiency: The design of A-type board can effectively utilize space, especially in limited space. Through reasonable layout and design, the A-type plate can improve the bearing capacity and stability of the structure without increasing the overall size. Strong adaptability: The A-type plate can be customized according to different usage environments and needs. Whether it is size, material or connection method, it can be adjusted and optimized according to actual needs to meet different mechanical structure requirements. It is mainly connected with the installation slot of the upper mobile measurement system.

[0050] The removable bracket is welded to the A-type plate and fixed and strengthened with triangular reinforcing ribs. The removable bracket can be fixed to the fixed bracket at the bottom by a screw with a handle. The design of the removable bracket is convenient for maintenance and replacement: The design of the removable bracket makes it easier to repair and replace parts. When a part fails or needs to be upgraded, engineers can easily remove the bracket and replace or repair the part without large-scale disassembly of the entire mechanical structure. This not only saves time but also reduces maintenance costs. Improve production efficiency: Since the disassembly and installation process is relatively simple, the production and assembly speed of the machine can be significantly improved. In addition, the design of the removable bracket also allows the machine to quickly resume operation when a failure occurs, reducing downtime and further improving production efficiency. Flexibility and adaptability: The design of the removable bracket provides greater flexibility and adaptability. According to actual needs, engineers can easily adjust the position and number of the bracket to adapt to different mechanical structures and working environments. This flexibility makes the mechanical design more flexible and changeable, and can meet various complex needs. Reduce costs: Since the design of the removable bracket reduces the complexity of repairing and replacing parts, it also reduces related costs. In addition, since the disassembly and installation of the bracket is relatively simple, labor costs are also reduced. Easy to standardize and modularize: The design of the detachable bracket makes it easier to standardize and modularize the mechanical structure. By decomposing the mechanical structure into multiple detachable modules, the design process can be simplified, production efficiency can be improved, and manufacturing costs can be reduced. At the same time, the standardized and modular design also helps to achieve the interchangeability and versatility of the mechanical structure.

[0051] Screws with handles have a series of advantages that make them work well in a variety of application scenarios. Here are some of the main advantages: Convenient operation: The design of screws with handles allows users to easily rotate and tighten through the handles without using additional tools. This design greatly simplifies the operation process, reduces the complexity and difficulty of operation, and improves work efficiency. Improve tightening accuracy: Because the handle provides better torque control, screws with handles can more easily achieve precise tightening. This helps to ensure the stability and security of the connection and avoid loosening or damage due to insufficient or excessive tightening.

[0052] The lower L-shaped fixed bracket provides the function of connecting the whole to the vehicle body. One end of the L-shape is connected to the vehicle body through a preset hole, and the other end of the L-shape has a hollow installation slot, which is connected and fixed to the detachable bracket through a screw with a handle. The horizontal connecting plate is connected to the upper part of the fixed bracket by welding, and the extended part is bolted to the vehicle body to ensure that the connecting bracket is more stable and realize the installation and fixation of the connecting bracket as a whole.

[0053] For mobile vehicles, this application does not limit the model of electric vehicles. The rear end of the vehicle only needs to have the installation conditions of the above-mentioned connection bracket. At the same time, the vehicle provides a certain installation space for the dedicated power supply of the upper mobile measurement equipment to power the upper equipment and provide long-lasting working time. At the same time, due to the heavy weight of the upper mobile measurement SLAM system, the lower part of the electric vehicle body should have a certain counterweight. At present, electric vehicle batteries and special batteries for mobile measurement systems are used for counterweight to meet the stability of the overall vehicle when it is unloaded.

[0054] The above is only a specific implementation method of this utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field within the technical scope disclosed by the utility model, according to the technical solution and new concept of the utility model, shall be covered by the protection scope of the utility model.

Claims

1. A subway protection zone inspection vehicle adapted to a new mobile measurement system, comprising a vehicle body, characterized in that A horizontal connecting plate is provided above the tail of the trolley body. The horizontal connecting plate is provided with a through hole on the side away from the trolley body. Also includes An L-shaped fixing bracket, one end of which passes through the through hole of the horizontal connecting plate, and the other end of which is connected to the rear of the trolley body; A detachable bracket, one end of which is used to be inserted into one end of the L-shaped fixed bracket passing through the through hole, and the other end of the detachable bracket is connected to the A-shaped plate; The outer side of the L-shaped fixing bracket is provided with a screw with a handle, and the screw with a handle is tightened to limit the position of the detachable bracket. The A-shaped plate is used to connect a measuring device.

2. A subway protection zone inspection vehicle adapted to a new mobile measurement system as claimed in claim 1, characterized in that The measuring device is a mobile SLAM measuring device, which integrates a three-dimensional laser scanning device, a satellite positioning device, an inertial navigation device and a 360° high-definition panoramic camera.

3. A subway protection zone inspection vehicle adapted to a new mobile measurement system as claimed in claim 2, characterized in that The top of the A-shaped plate is provided with a connecting portion protruding upward, one side of the connecting portion is open, and an A-shaped, triangular or trapezoidal connecting groove is formed in the connecting portion. The bottom of the measuring device is provided with a connecting block that cooperates with the connecting groove, and the measuring device is inserted into the connecting groove of the connecting portion of the A-shaped plate through the connecting block.

4. A subway protection zone inspection vehicle adapted to a new mobile measurement system as claimed in claim 1, characterized in that The outer diameter of the detachable bracket is smaller than the inner diameter of the L-shaped fixed bracket.

5. A subway protection zone inspection vehicle adapted to a new mobile measurement system as claimed in claim 1, characterized in that The L-shaped fixing bracket passes through the horizontal connecting plate and is welded to the horizontal connecting plate.

6. A subway protection zone inspection vehicle adapted to a new mobile measurement system as claimed in claim 1, characterized in that The inspection vehicle is a single-person or double-person electric two-wheel, three-wheel or four-wheel vehicle.

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