Mobile laser scanning inspection vehicle for subway tunnels

Abstract

The utility model provides a mobile laser scanning inspection vehicle for a subway tunnel, comprising an inspection vehicle body, at least one vehicle body motor arranged on the inspection vehicle body for driving the inspection vehicle body to move, and a short side carrying rod arranged on the inspection vehicle body, wherein the short side carrying rod is extended at a preset angle to the plane of the inspection vehicle body. The short side carrying rod is extended at a preset angle to the plane of the inspection vehicle body, so that the carrying rod exceeds the range of the vehicle body, and can sense the existence of obstacles in advance before the vehicle body contacts the obstacles. Through the special setting of the short side carrying rod, the function of detecting obstacles in advance is realized while ensuring the realization of basic functions, which provides a prerequisite for taking subsequent obstacle avoidance measures.

Description

Technical Field

[0001] The utility model relates to the technical field of subway tunnel detection, in particular to a mobile laser scanning detection vehicle for a subway tunnel. Background Art

[0002] With the rapid development of urban rail transit, the mileage and complexity of subway lines are increasing, which puts higher requirements on the safe operation of subway tunnels. In order to timely discover and eliminate safety hazards, it is necessary to conduct comprehensive inspections of subway tunnels on a regular basis, including clearance measurement, track status monitoring, contact network inspection, etc. Traditional tunnel inspection methods mainly rely on manual inspections or contact measurements, which have disadvantages such as low efficiency, high cost, and high safety risks. In recent years, with the advancement of laser scanning technology and automation technology, mobile tunnel inspection technology based on laser scanning has been increasingly widely used. This technology uses a laser scanner installed on a mobile platform to perform three-dimensional scanning of the tunnel to obtain high-precision point cloud data, and through data processing and analysis, it realizes automated inspection and evaluation of tunnel structure, clearance, track, contact network, etc.

[0003] In order to solve the problems existing in the traditional subway tunnel detection method, some solutions based on mobile platforms and laser scanning technology have been proposed. For example, a Chinese utility model patent (Announcement No.: CN220363341U, hereinafter referred to as "Document 1") discloses a multifunctional subway clearance detection vehicle that can carry people. The detection vehicle includes a body assembly arranged on a subway track, and a plurality of 3D laser radar scanners, industrial cameras and laser scanners installed on the body assembly. By driving the body assembly to move on the subway track and using sensors for synchronous data collection, the subway tunnel clearance, track and contact network can be detected.

[0004] However, the technical solution disclosed in Document 1 has the following technical defects:

[0005] (1) Limited adaptability to different types of obstacles: The inspection vehicle in Reference 1 uses an industrial camera fixed on a lifting column for obstacle avoidance, which can only deal with obstacles in the height direction. When encountering obstacles in non-height directions such as foreign objects on the track and local protrusions on the side walls of the tunnel, the solution cannot effectively avoid obstacles, which may cause data collection interruption, affecting detection efficiency and data integrity.

[0006] (2) Adaptability to curved tunnels needs to be improved: Although the inspection vehicle in Reference 1 can change the scanning range of the 3D laser radar scanner by adjusting the bow-shaped bracket assembly of the truss structure to adapt it to different tunnel curvatures and sizes. However, this only solves the problem of scanning range coverage, and does not solve the problem of how to ensure data synchronization and splicing of various sensors in curved tunnels. Since the movement trajectory and speed of various parts of the inspection vehicle are different when driving in a curved tunnel, if the data synchronization and splicing are not handled properly, the final point cloud data will be biased and distorted, affecting the detection accuracy.

[0007] In summary, it is difficult for the existing technology to simultaneously meet the adaptability requirements for different types of obstacles and for curved tunnels. Therefore, there is an urgent need for a subway tunnel mobile laser scanning inspection vehicle that can overcome the above defects to improve the efficiency, accuracy and safety of subway tunnel inspection. Utility Model Content

[0008] The purpose of the utility model is to overcome the defect of limited adaptability to different types of obstacles in the prior art and to provide a subway tunnel mobile laser scanning detection vehicle which is more adaptable to obstacle environments.

[0009] The utility model solves the above technical problems through the following technical solutions:

[0010] A mobile laser scanning inspection vehicle for subway tunnels includes an inspection vehicle body, at least one vehicle body motor arranged on the inspection vehicle body for driving the inspection vehicle body to move, and a short-side carrying rod arranged on the inspection vehicle body, wherein the short-side carrying rod is extended at a preset angle to the plane of the inspection vehicle body. The short-side carrying rod is extended at a preset angle to the plane of the inspection vehicle body, so that the carrying rod exceeds the range of the vehicle body, and can sense the existence of obstacles in advance before the vehicle body contacts the obstacles. Through the special setting of the short-side carrying rod, the function of detecting obstacles in advance is realized while ensuring the realization of basic functions, which provides a prerequisite for taking subsequent obstacle avoidance measures.

[0011] Preferably, the bottom of the inspection vehicle body is also provided with universal wheels. This further improves the adaptability of the device to different types of obstacles. The setting of universal wheels allows the inspection vehicle to flexibly change the driving direction, thereby more conveniently bypassing obstacles and avoiding collisions, improving the adaptability of the device to different types of obstacles and enhancing the ability to move in narrow spaces.

[0012] Preferably, the vehicle body motors are two sets of vehicle body motors installed at both ends of the main body of the inspection vehicle, which lays the foundation for realizing the subsequent telescopic function.

[0013] Preferably, the vehicle body motor drives the guide rails arranged on the main body of the inspection vehicle to slide relative to each other through the driving mechanism, so that the distance between the two groups of vehicle body motors can be adjusted, thereby realizing the adjustment of the width of the inspection vehicle body, so as to better adapt to different curve radii.

[0014] Preferably, the driving mechanism includes: a screw motor fixed on the main body of the inspection vehicle; a screw connected to the screw motor, the screw thread is bounded by the central axis of the main body of the inspection vehicle, and the threads at both ends are in opposite directions; a screw slide seat mounted on the screw and capable of moving along the screw; and a motor synchronization rod connected to the screw slide seat and driving the guide rail to slide relative to each other. The synchronous extension and retraction of both sides of the telescopic mechanism is achieved, the stability of the posture of the inspection vehicle during the extension and retraction process is ensured, the adaptability of the device to curved tunnels is further improved, and the accuracy of the data is ensured.

[0015] Preferably, the two ends of the motor synchronization rod are respectively fixedly connected to the motor brackets of the two groups of vehicle body motors, which further ensures that the vehicle body motors on both sides are synchronously extended and retracted, thereby improving the stability and reliability of the retractable mechanism.

[0016] Preferably, the motor bracket is slidably connected to the guide rail, which reduces the friction resistance of the telescopic mechanism and improves the stability of the movement.

[0017] Preferably, the guide rail is provided with a round hole for placing the ball, which further reduces the friction resistance and improves the stability of movement and wear resistance.

[0018] Preferably, the main body of the inspection vehicle is also provided with a long side carrying rod, so as to facilitate the movement of the inspection vehicle in narrow passages.

[0019] In summary, the utility model provides a short-side carrying rod extending at a preset angle to the main body of the inspection vehicle, and a universal wheel is provided at the bottom, so that the carrying rod can contact possible obstacles in advance, such as protrusions on the side walls of the tunnel, foreign objects on the track, etc., to remind the operator to adjust the posture of the inspection vehicle or stop moving forward in time, and can flexibly change the driving direction to bypass obstacles, thereby effectively solving the problem of limited adaptability to different types of obstacles in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 , which is a schematic diagram of the three-dimensional structure of a subway tunnel mobile laser scanning and inspection vehicle when it is installed on a track according to an embodiment of the utility model.

[0021] Figure 2 , which is a schematic diagram of the three-dimensional structure of a subway tunnel mobile laser scanning and inspection vehicle according to one embodiment of the utility model.

[0022] Figure 3 , which is a side view of a subway tunnel mobile laser scanning inspection vehicle after removing the outer shell in one embodiment of the utility model.

[0023] Figure 4 , which is a schematic structural diagram of a subway tunnel mobile laser scanning inspection vehicle after removing the outer shell according to one embodiment of the utility model.

[0024] Figure 5 , which is a top view of a subway tunnel mobile laser scanning and inspection vehicle according to one embodiment of the utility model.

[0025] Figure 6 , which is a schematic structural diagram of a subway tunnel mobile laser scanning inspection vehicle according to an embodiment of the utility model when the vehicle body motor is retracted. DETAILED DESCRIPTION

[0026] The present invention will be described more clearly and completely below by way of embodiments in conjunction with the accompanying drawings.

[0027] Figure 1 , is a schematic diagram of the three-dimensional structure of a subway tunnel mobile laser scanning and detection vehicle installed on a track according to an embodiment of the utility model, Figure 2 , is a schematic diagram of the three-dimensional structure of a subway tunnel mobile laser scanning inspection vehicle according to an embodiment of the utility model, Figure 3 , is a side view of a subway tunnel mobile laser scanning inspection vehicle after removing the outer shell according to an embodiment of the utility model, Figure 4 , is a schematic diagram of the structure of a subway tunnel mobile laser scanning inspection vehicle after removing the outer shell according to an embodiment of the utility model, Figure 5 , is a top view of a subway tunnel mobile laser scanning inspection vehicle according to an embodiment of the utility model, Figure 6 , which is a schematic structural diagram of a subway tunnel mobile laser scanning inspection vehicle according to an embodiment of the utility model when the vehicle body motor is retracted.

[0028] like Figure 1 and Figure 2 As shown, the subway tunnel mobile laser scanning inspection vehicle involved in this embodiment mainly includes an inspection vehicle body 1, at least one vehicle body motor 8 arranged on the inspection vehicle body 1 for driving the inspection vehicle body 1 to move, and a short side carrying rod 4 arranged on the inspection vehicle body 1, and the short side carrying rod 4 is extended at a preset angle to the plane of the inspection vehicle body 1.

[0029] The main body 1 of the inspection vehicle is in the shape of a rectangular parallelepiped and is made of 6061 aluminum alloy material. It provides load bearing and support for the entire device and is provided with mounting holes and connection structures for mounting other components.

[0030] The short side carrying rod 4 is in a "C" shape, at a 45° angle to the plane of the inspection vehicle body 1, and extends outward from the vehicle body. Figure 1 and Figure 2This design makes it convenient for operators to carry the inspection vehicle in narrow passages. More importantly, the design of the short side carrying rod 4 can also touch obstacles before the inspection vehicle body 1, reminding operators to avoid them, thereby improving the adaptability of the device to different types of obstacles.

[0031] In order to further improve the adaptability of the device to different types of obstacles and move more flexibly in narrow spaces, such as Figure 3 As shown, universal wheels 7 are respectively provided at the four corners of the bottom of the inspection vehicle body 1, so as to facilitate the movement of the inspection vehicle body during transportation. The setting of the universal wheels also enables the inspection vehicle to flexibly change the driving direction, so as to more conveniently bypass obstacles.

[0032] like Figure 1 and Figure 2 As shown, in order to facilitate the transport of the inspection vehicle in different situations, in addition to the short side transport rod 4, the inspection vehicle body 1 is also provided with a long side transport rod 2. The long side transport rod 2 is in a "Π" shape and is located on both sides of the length direction of the inspection vehicle body 1. The design of two sets of transport rods facilitates the operator to choose the appropriate transport method in different situations, thereby improving the practicality of the device.

[0033] like Figure 1 As shown, in order to enable the inspection vehicle to move smoothly on the subway track 6, a nylon wheel 5 is also provided at the bottom of the inspection vehicle body 1. The nylon wheel 5 has the characteristics of wear resistance, impact resistance, low noise, etc., which can ensure the stability and quietness of the inspection vehicle when moving on the subway track.

[0034] like Figure 2 As shown, a six-axis bracket 3 is also provided on the inspection vehicle body 1. The six-axis bracket 3 is used to install inspection equipment such as a laser scanner, and can adjust the spatial posture of the laser scanner according to actual needs to ensure the best scanning effect.

[0035] like Figure 4 and Figure 5 As shown, the guide rod 905 is arranged in parallel on the inspection vehicle body 1, and is used to guide and limit the moving direction of the screw slide 902, ensuring that the screw slide 902 always maintains a motion trajectory parallel to the central axis of the inspection vehicle body 1 during the extension and retraction process, ensuring that the motors on both sides of the vehicle body extend and retract synchronously.

[0036] like Figure 5 As shown, the coupling 906 is used to connect the screw motor 9 and the screw 904, and transmit the rotational motion of the screw motor 9 to the screw 904. The coupling 906 is usually an elastic coupling, which can buffer and compensate for the axial, radial and angular displacements caused by installation errors or during operation, and ensure the stability and reliability of the transmission system.

[0037] like Figures 3 to 5As shown, the utility model is provided with at least one vehicle body motor 8 for driving the detection vehicle body 1 to move. Preferably, in order to adjust the vehicle body width, the vehicle body motor 8 is two sets of vehicle body motors 8 installed at both ends of the detection vehicle body 1. The vehicle body motor 8 is a stepper motor, which has the characteristics of high positioning accuracy and flexible control, and is suitable for occasions where the movement distance needs to be accurately controlled. Each set of vehicle body motors 8 is mounted on a motor bracket 801.

[0038] In order to adjust the width of the vehicle body to adapt to different curve radii, the vehicle body motor 8 drives the guide rail 803 arranged on the detection vehicle body 1 to slide relatively through the driving mechanism, so that the distance between the two groups of vehicle body motors 8 can be adjusted.

[0039] like Figure 4 and Figure 5 As shown, the driving mechanism includes: a screw motor 9 fixed on the inspection vehicle body 1, a screw 904 transmission-connected to the screw motor 9, a screw slide 902 sleeved on the screw 904 and capable of moving along the screw 904, and a motor synchronization rod 901 connected to the screw slide 902 and driving the guide rail 803 to slide relative to it.

[0040] The screw motor 9 is fixedly connected to the center of the short side of the inspection vehicle body 1, and drives the screw 904 to rotate through the coupling 906. The screw thread of the screw 904 is bounded by the central axis of the inspection vehicle body 1, and the thread directions of the two ends are opposite to ensure that the screw 904 can drive the screw slides 902 on both sides to move in opposite directions along the guide rod 905. The other end of the screw 904 is fixed on the screw fixing seat 907.

[0041] The bottom of the motor bracket 801 is fixedly connected to multiple groups of sliders 802 by bolts, and the sliders 802 are slidably connected to the guide rails 803 to ensure that the motor bracket 801 can slide smoothly along the guide rails 803 under the drive of the sliders 802. Figure 1 , Figure 3 and Figure 4 As shown, the guide rail 803 has a "T"-shaped cross section, and the slider 802 is a corresponding wrapped slider, and the two cooperate to reduce friction resistance. In order to further reduce friction resistance, as Figure 4 As shown, the contact surface of the guide rail 803 is designed with multiple round holes, and balls are placed in the round holes. The balls can roll freely, converting sliding friction into rolling friction, thereby increasing the smoothness of the guide rail 803, improving the stability of movement and wear resistance. The motor bracket 801 is fixedly connected to the motor synchronization rod 901 to ensure that the front and rear motors are synchronously extended and retracted.

[0042] like Figure 4As shown, the motor synchronization rod 901 is a rectangular parallelepiped, the middle part is fixedly connected to the screw slide 902 by bolts, and the two sides are fixedly connected to the motor bracket 801 of the short side by bolts, ensuring the synchronous extension and retraction of the vehicle body motors 8 on both sides. This synchronous drive mechanism can ensure the synchronous movement of the guide rails on both sides, avoid the tilting of the detection vehicle during the extension and retraction process, ensure the accuracy of the detection data, and further improve the adaptability of the device to curved tunnels.

[0043] like Figure 6 As shown, in order to prevent the screw slide 902 from over-contracting and causing a collision with the motor bracket 801, the screw slide anti-collision block 903 is fixedly connected to the motor synchronization rod 901. When the vehicle motors 8 on both sides contract inward, the screw slide anti-collision block 903 can block the screw slide 902 in time to prevent it from over-contracting.

[0044] In summary, the utility model provides a short-side carrying rod extending at a preset angle to the main body of the inspection vehicle, and a universal wheel is provided at the bottom, so that the carrying rod can contact possible obstacles in advance, such as protrusions on the side walls of the tunnel, foreign objects on the track, etc., to remind the operator to adjust the posture of the inspection vehicle or stop moving forward in time, and can flexibly change the driving direction to bypass obstacles, thereby effectively solving the problem of limited adaptability to different types of obstacles in the prior art.

[0045] At the same time, the utility model is also provided with a synchronous drive mechanism consisting of a screw motor, a screw, a screw slide and a motor synchronization rod, which can ensure the synchronous movement of the guide rails on both sides, avoid tilting of the detection vehicle during the extension and retraction process, ensure the accuracy of the detection data, and improve the adaptability of the device to curved tunnels.

[0046] The above contents are only preferred embodiments of the present invention and cannot limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope defined in the claims of the present invention should still fall within the protection scope of the present invention.

Claims

1. A mobile laser scanning inspection vehicle for subway tunnels, characterized in that: include: Testing the vehicle body (1); At least one vehicle body motor (8) disposed on the inspection vehicle body (1) and used for driving the inspection vehicle body (1) to move; A short side transport rod (4) is arranged on the main body (1) of the inspection vehicle. The short side transport rod (4) is extended at a preset angle to the plane of the main body (1) of the inspection vehicle and extends outward from the vehicle body. The short side transport rod (4) is in a "C" shape.

2. The subway tunnel mobile laser scanning inspection vehicle according to claim 1 is characterized in that: The bottom of the inspection vehicle body (1) is also provided with universal wheels (7).

3. The subway tunnel mobile laser scanning inspection vehicle according to claim 2 is characterized in that: The vehicle body motors (8) are two groups of vehicle body motors (8) installed at both ends of the inspection vehicle body (1).

4. The subway tunnel mobile laser scanning inspection vehicle according to claim 3 is characterized in that: The vehicle body motor (8) drives the guide rail (803) arranged on the detection vehicle body (1) to slide relatively via a driving mechanism, so that the distance between the two groups of vehicle body motors (8) can be adjusted.

5. The subway tunnel mobile laser scanning inspection vehicle according to claim 4 is characterized in that: The driving mechanism comprises: A screw motor (9) fixed on the inspection vehicle body (1); A screw rod (904) drivingly connected to the screw motor (9), wherein the screw thread of the screw rod (904) is bounded by the central axis of the detection vehicle body (1), and the threads at both ends are in opposite directions; A screw rod slide (902) sleeved on the screw rod (904) and capable of moving along the screw rod (904); A motor synchronous rod (901) is connected to the screw rod slide (902) and drives the guide rail (803) to slide relative to it.

6. The subway tunnel mobile laser scanning inspection vehicle according to claim 5, characterized in that: The two ends of the motor synchronization rod (901) are respectively fixedly connected to the motor brackets (801) of the two groups of vehicle body motors (8).

7. The subway tunnel mobile laser scanning inspection vehicle according to claim 6, characterized in that: The motor bracket (801) is slidably connected to the guide rail (803).

8. The subway tunnel mobile laser scanning inspection vehicle according to claim 7, characterized in that: The guide rail (803) is provided with a circular hole for placing a ball.

9. The subway tunnel mobile laser scanning inspection vehicle according to claim 8, characterized in that: The inspection vehicle body (1) is also provided with a long side carrying rod (2).

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