Mobile scanning equipment carrying platform

Abstract

The utility model discloses a mobile scanning equipment carrying platform, which solves the problems that scanning equipment in a limited space of a small-diameter curve pipe roof is difficult to move, and the carrying platform is difficult to be smoothly butted when pipe joints are connected, and the like. The utility model relates to a mobile scanning equipment carrying platform, which comprises a chained mobile platform and a track arranged in a pipe joint, the chained mobile platform is arranged on the track and can move along the track, and scanning equipment is carried on the chained mobile platform; the tracks in every two adjacent pipe joints are in butt joint through a socket and spigot joint structure. According to the utility model, the chain type mobile platform, the butt joint type track, the standardized mobile platform and the track design are adopted, so that the device can adapt to the working conditions of different pipe lengths, different pipe diameters and different curvature radiuses, and is strong in applicability and high in measurement precision. The chain-type mobile platform is matched with the track, stable movement of the chain-type mobile platform is ensured, the tandem-type scanning equipment carries the mobile platform and moves along the set track, internal power traction is not needed, movement is convenient and fast, and operation is reliable.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection and tunnel construction, in particular to a mobile scanning equipment carrying platform. Background Art

[0002] With the development of underground space in cities in my country, the problems faced by underground construction have changed from the initial relatively simple boundary conditions to complex and changeable construction conditions. Specifically, underground construction is restricted by buildings within the site, interchanges and pipelines within the road, and conventional open-cut construction cannot be used. As a trenchless construction method for advance support, the pipe curtain method is widely used in large-span underground chambers and municipal pipe networks because of its advantages such as small cross-section, small stratum disturbance and flexible construction methods. The excavation and support technology of pipe curtains is relatively mature. The posture positioning of pipe curtain machines is currently mainly carried out by traditional methods such as total stations or laser collimators. There is currently no better way to guide the excavation of pipe curtain machines with small diameters and small curvatures.

[0003] In the existing technology, as mentioned in the paper "Mobile LiDAR Point Cloud Intensity Correction and Application Research for Shield Tunnels", due to the limitations of fixed scanners in collecting environmental data in shield tunnels, improvements have been made to a mobile laser scanning system suitable for narrow and long scenes to automatically collect data for shield tunnels and enhance the speed and efficiency of scanning. The mobile laser scanning system is mainly composed of a rail trolley and a three-dimensional laser scanner. The carrying platform is a self-developed rail trolley, and its speed can be adjusted according to measurement needs. During data collection, the rail trolley moves forward in the shield tunnel, and the laser scanner mounted on the mobile platform (rail trolley) synchronously emits lasers to perform high-density scanning of the surrounding scenes to obtain the three-dimensional point cloud coordinate data and reflection intensity information of the internal surface of the tunnel.

[0004] The paper "Shield Tunneling Inertial Navigation Automatic Guidance System" mentioned that small-diameter shield tunneling machines are increasingly being used in urban municipal underground engineering construction. Traditional laser guidance systems require a larger line of sight, while the line of sight that can be reserved for small-diameter shield tunneling machines is limited. In order to solve the problems of traditional laser guidance systems in the application of small-diameter shield tunneling machines, a shield tunneling inertial navigation automatic guidance system was designed. In view of the characteristics of shield tunneling machines in tunnel construction, the guidance system was designed as a whole, the position and attitude algorithm of the inertial navigation system was studied, the software and hardware system of the inertial navigation automatic guidance system was developed, and the designed inertial navigation automatic system was used for field guidance experiments on straight and curved segments.

[0005] For example, the Chinese patent with publication number CN107916938A discloses a carrying device for guiding a curved pipe curtain machine; and the Chinese patent with application number 202210245510.X discloses a real-time measurement method for guiding small-diameter and long-distance pipe curtain jacking. However, the above method is a laser target chain and physical adjustment type guidance system, which has low pipeline applicability and guidance accuracy. From the perspective of measurement accuracy, equipment reliability and ease of operation, the laser scanning type has more obvious advantages in the construction of small-diameter and small-curvature pipe curtains. However, there are still many problems in applying mobile platforms to small pipe curtains, such as poor reliability and low guidance accuracy. It is necessary to propose a new scanning equipment carrying platform to solve the above problems. Utility Model Content

[0006] In view of the deficiencies in the above-mentioned background technology, the utility model proposes a mobile scanning equipment carrying platform to solve the problems of difficulty in moving the scanning equipment in the confined space of a small-diameter curved pipe curtain and difficulty in smoothly docking the carrying platform when connecting pipe sections.

[0007] The technical solution of the utility model is implemented as follows: a mobile scanning equipment carrying platform includes a chain-type moving platform and a track arranged in a pipe section, the chain-type moving platform is arranged on the track and can move along the track, and the chain-type moving platform is equipped with a scanning device; the tracks in two adjacent pipe sections are docked by a socket structure.

[0008] Further preferably, the chain-type mobile platform includes a plurality of platform trolleys articulated head-to-tail, the track is a semi-enclosed cavity track, and the platform trolley is located in the semi-enclosed cavity track. The platform trolleys articulated head-to-tail form a chain structure, and the forward or backward force of the moving platform is applied by the driving structure at the end.

[0009] Preferably, the front end of the platform trolley is provided with a tenon and the rear end is provided with a groove, the tenon is plugged into and matched with the groove of the adjacent platform trolley and is hinged through a hinge. The front and rear mobile platforms are hingedly connected through the tenon and the groove to achieve smooth movement of the curved path.

[0010] Further preferably, the platform trolley is a wheeled trolley, and the wheel system of the wheeled trolley is in rolling contact with the semi-wrapped cavity track to limit the position of the platform trolley; the platform trolley is provided with a connecting socket and / or a line card for carrying the scanning equipment.

[0011] Preferably, at least one platform trolley is arranged on the track in a pipe section. The standardized mobile platform and track design can adapt to working conditions of different pipe lengths, different pipe diameters and different curvature radii, and has strong applicability.

[0012] Further preferably, the track is fixed in the pipe section via a support bridge, and the support bridge and the inner wall of the pipe section form a pipeline cavity. Preferably, the support bridge is arranged at the bottom of the track in an "eight" shape.

[0013] Further preferably, the cross section of the track is a box-type frame with an upper opening, and a semi-enclosed cavity track is formed in the box-type frame. The box-type frame is a U-shaped structure, and an inward-turning baffle is provided at the upper opening of the box-type frame to form a vertical limiter for the chain-type moving platform.

[0014] Further preferably, the socket structure includes a connector provided on the rail near the end of the pipe section; the connector is used for plugging between two adjacent rails.

[0015] Further preferably, the connecting piece is a sleeve structure matching the track structure, and the connecting piece is in socket fit with the corresponding end of the adjacent track.

[0016] The beneficial effects of the utility model are as follows: the utility model adopts a chain-type mobile platform and a docking track, and the standardized mobile platform and track design can adapt to working conditions with different pipe lengths, different pipe diameters and different curvature radii, and has strong applicability and high measurement accuracy. The coordination between the chain-type mobile platform and the track ensures the stable movement of the chain-type mobile platform, and the serial scanning equipment carries the mobile platform and moves along the established track without the need for internal power traction, making it easy to move and reliable in operation. The plug-in design of the pipe section and the track ensures a smooth and reliable connection of the track, reducing the risk of derailment or jamming of the mobile platform; ensuring that during the excavation of the pipe curtain, the equipment can scan back and forth in real time, further improving measurement accuracy and construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the utility model showing the movement of a mobile platform along a curved pipe section;

[0019] Figure 2 for Figure 1 Middle AA section view;

[0020] Figure 3 for Figure 1 Middle BB section view;

[0021] Figure 4 for Figure 1 Middle CC section view;

[0022] Figure 5for Figure 1 Middle DD section view;

[0023] Figure 6 This is a vertical section view of a single mobile platform;

[0024] Figure 7 It is a plan cross-sectional view of a single mobile platform;

[0025] Figure 8 It is a vertical section view of the combined mobile platform;

[0026] Fig. 9 It is a plan cross-sectional view of the combined mobile platform;

[0027] Fig.10 It is a structural schematic diagram before the adjacent pipe sections are connected;

[0028] Fig.11 This is a schematic diagram of the structure after adjacent pipe sections are connected. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] like Figure 1 As shown, Example 1, a mobile scanning equipment carrying platform, includes a chain-type moving platform 1 and a track 2 arranged in a pipe section 5; the chain-type moving platform 1 is a chain-type structure, which can adapt to working conditions with different pipe lengths, different pipe diameters and different curvature radii, and has strong applicability. The chain-type moving platform 1 is arranged on the track 2 and can move along the track 2; the track 2 has a certain limiting effect on the chain-type moving platform 1, restricting it to only move axially along the track 2. The chain-type moving platform 1 is equipped with a scanning device 4; the scanning device 4 can adopt a scanning camera; the tracks 2 in two adjacent pipe sections 5 are connected by a socket structure; the track is ensured to be smoothly and reliably connected, reducing the risk of the mobile platform derailing or getting stuck.

[0031] As a preferred solution, Figure 2 , 3 As shown, the chain-type mobile platform 1 includes a plurality of platform trolleys 1-1 that are articulated at the head and tail. The number of platform trolleys 1-1 can be set as needed, so that the mobile platform 1 can move smoothly along a curved path. The track 2 is a semi-wrapped cavity track, and the platform trolley 1-1 is located in the semi-wrapped cavity track to prevent rollover and overturning when traveling in a pipeline with a large inclination angle, and can achieve vertical travel in extreme cases.

[0032] like Figure 6 , 7 9, Example 2, a mobile scanning device carrying platform, based on Example 1, the front end of the platform trolley 1-1 is provided with a tenon 1-3, and the rear end is provided with a groove 1-4, the tenon 1-3 is plugged with the groove 1-4 of the adjacent platform trolley 1-1 and is hinged through a hinge 1-5. The hinge can be a pin, and the tenon 1-3 and the groove 1-4 are plugged together to realize the chain connection of the platform trolley 1-1, so as to adapt to the working conditions of different pipe lengths, different pipe diameters and different curvature radii, improve the adaptability and improve the measurement accuracy.

[0033] In this embodiment, as a preferred solution, the platform trolley 1-1 is a wheeled trolley, preferably a four-wheeled trolley, and the wheel system 1-2 of the wheeled trolley is in rolling contact with the semi-wrapped cavity track to limit the platform trolley 1-1; it is restricted to move only along the length direction of the track (i.e., axial direction), avoiding unnecessary shaking and improving measurement accuracy. Figure 8 As shown, the platform trolley 1-1 of this embodiment is provided with a connection seat 1-7 and / or a line card 1-6 for carrying the scanning device 4; the line card is used to clamp the cables connected to the rear of the scanning device 4, and the cables 6 include scanning device signal lines, power lines, wire ropes, etc. At least one platform trolley 1-1 is provided on the track 2 in a section of the pipe segment 5. Preferably, 3 to 6 platform trolleys 1-1 can be provided on the track 2 in a section of the pipe segment 5. The platform trolleys articulated at the head and tail form a chain structure, and the forward or backward force of the moving platform is applied by the driving structure at the end. The driving structure at the end can adopt a winch or other telescopic driving device; no internal power traction is required, the movement is convenient, and the operation is reliable.

[0034] like Figure 4 , 5 As shown, Example 2 is a mobile scanning equipment mounting platform. On the basis of Example 1 or 2, the track 2 is fixed in the pipe segment 5 by a supporting bridge 3 to improve the stability of the track; the supporting bridge 3 and the inner wall of the pipe segment 5 form a pipeline cavity 3-1; which can be used for the passage of other wire harnesses or pipelines.

[0035] As a preferred solution, the support bridge 3 described in this embodiment is arranged in an "eight" shape at the bottom of the track 2; that is, the lower fixed bracket 2-2 forms a fixed space through the legs of the fixed bracket and the outer pipe section to provide support and fix the supporting pipelines in the pipeline, and restrict the power lines, mud and water pipes, etc. in the pipeline to the fixed bracket to avoid movement during construction, prevent the scanning points inside the pipe wall from being damaged and interfere with the guide vehicle's reciprocating scanning.

[0036] As a preferred solution, the cross section of the track 2 described in this embodiment is a box-type frame with an upper opening, and a semi-enclosed cavity track is formed in the box-type frame, that is, the track of the platform trolley 1-1 is U-shaped, and the mobile platform 1 is located inside the U-shaped track. Specifically, the box-type frame is a U-shaped structure, and an inward-turned baffle 2-2 is provided at the upper opening of the box-type frame to form a vertical limiter for the chain-type mobile platform 1, and the lower end of the wheel train 1-2 contacts the bottom of the track 2, and the two sides of the mobile platform 1 are constrained by the track 2, limiting it to move only along the axial direction of the track 2.

[0037] As a preferred solution, Fig.10 , 11 As shown, the socket structure of this embodiment includes a connector 2-1 provided at the end of the track 2 near the pipe section 5; the connector 2-1 is used for plugging between two adjacent tracks 2; the track 1 is provided with a connector 2-1 near the end of the pipe section 5, and the connector 2-1 can connect the tracks 2 on the front and rear pipe sections 5 with sockets, ensuring a quick connection. The connector 2-1 is a sleeve structure that matches the structure of the track 2, that is, the cross section of the sleeve structure is also a corresponding U-shaped structure, and the connector is in socket-fit with the corresponding end of the adjacent track 2 to achieve quick and accurate docking of the two adjacent tracks.

[0038] During the specific implementation, a track 2 is pre-set in each pipe section 5, and the track 2 is fixed by a supporting bridge 3. A connector 2-1 is set on the track 1 near the end of the pipe section 5. The two adjacent pipe sections are first connected by the socket of the track 2 through the connector 2-1, and then the pipe section 5 is welded to ensure that the track and the pipe section can be smoothly and reliably connected. After that, the multiple platform carts assembled and connected in series are inserted from the track 2 on the last pipe section 5, and are pushed forward along the track 2 in sequence by manual or mechanical means. After the scanning device 4 reaches the designed position at the front end of the pipe section, the scanning device 4 is pulled back to the end of the pipe section. According to the scanning function requirements, reciprocating scanning can be selectively performed. According to the construction process requirements, the platform cart can be pre-connected in series at one time, or it can be connected in series while being pushed. The serial scanning device is equipped with a mobile platform and moves along the established track. It does not require internal power traction, is easy to move, and has reliable operation.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile scanning device carrying platform, characterized in that: The invention comprises a chain-type moving platform (1) and a track (2) arranged in a pipe section (5); the chain-type moving platform (1) is arranged on the track (2) and can move along the track (2); a scanning device (4) is mounted on the chain-type moving platform (1); and the tracks (2) in two adjacent pipe sections (5) are butted together by means of a socket structure.

2. The mobile scanning device carrying platform according to claim 1, characterized in that: The chain-type mobile platform (1) comprises a plurality of platform trolleys (1-1) that are hinged at the head and tail, the track (2) is a semi-enclosed cavity track, and the platform trolleys (1-1) are located in the semi-enclosed cavity track.

3. The mobile scanning device carrying platform according to claim 2, characterized in that: The front end of the platform trolley (1-1) is provided with a tenon (1-3), and the rear end is provided with a groove (1-4); the tenon (1-3) is plug-fitted with the groove (1-4) of an adjacent platform trolley (1-1) and is hinged via a hinge (1-5).

4. The mobile scanning device carrying platform according to claim 2 or 3, characterized in that: The platform trolley (1-1) is a wheeled trolley, and the wheel system (1-2) of the wheeled trolley is in rolling contact with the semi-wrapped cavity track to limit the position of the platform trolley (1-1); the platform trolley (1-1) is provided with a connecting seat (1-7) and / or a line card (1-6) for carrying a scanning device (4).

5. The mobile scanning device carrying platform according to claim 4, characterized in that: At least one platform trolley (1-1) is provided on the track (2) within a pipe section (5).

6. The mobile scanning device carrying platform according to claim 1, characterized in that: The track (2) is fixed in the pipe section (5) via a supporting bridge (3), and the supporting bridge (3) and the inner wall of the pipe section (5) form a pipeline cavity (3-1).

7. The mobile scanning device carrying platform according to claim 6, characterized in that: The supporting bridge frame (3) is arranged in an "eight" shape at the bottom of the track (2); the cross section of the track (2) is a box-type frame with an upper opening, and a semi-enclosed cavity track is formed inside the box-type frame.

8. The mobile scanning device carrying platform according to claim 7, characterized in that: The box-type frame is a U-shaped structure, and an inward-turning baffle (2-2) is provided at the upper opening of the box-type frame to form a vertical limit piece for the chain-type moving platform (1).

9. The mobile scanning device carrying platform according to claim 1 or 7, characterized in that: The socket structure comprises a connector (2-1) provided on the rail (2) near the end of the pipe section (5); the connector (2-1) is used for plugging two adjacent rails (2).

10. The mobile scanning device carrying platform according to claim 9, characterized in that: The connecting piece (2-1) is a sleeve structure that matches the structure of the track (2), and the connecting piece is in socket-and-socket fit with the corresponding end of the adjacent track (2).

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