Subway gauge and tunnel contour comprehensive detection device

Abstract

The utility model provides a comprehensive detection device for a subway clearance and a tunnel contour, which relates to the technical field of measurement and control and comprises a detection trolley, a multi-source sensor system and a control computer. The detection trolley comprises a bearing platform and a walking device arranged below the bearing platform, and the walking device is arranged above the subway track; the multi-source sensor system is fixedly arranged on the bearing platform, the multi-source sensor system comprises a three-dimensional laser scanner, inertial measurement units and an encoder, the inertial measurement units are all arranged on the upper surface of the bearing platform, the three-dimensional laser scanner is fixedly arranged in the middle of the bearing platform, and the encoder is arranged on the walking device; and the control computer is fixedly arranged on the bearing platform. According to the utility model, various sensors such as the three-dimensional laser scanner, the inertial navigation system, the encoder and the like are integrated, so that the efficiency of comprehensive detection of subway engineering is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of measurement and control, in particular to a comprehensive detection device for subway limits and tunnel contours. Background Art

[0002] As an indispensable infrastructure for the national economy, subways not only promote urban development but also play a leading and driving role in the overall national economy. By the end of 2023, the total length of operating subway lines in my country exceeded 10,165 kilometers. With the rapid expansion and long-term operation of subway lines, maintenance has become a critical task to ensure safe operation. Among these tasks, the inspection of clearances and tunnel profiles is particularly important to ensure the safety of vehicles, buildings, and equipment during operation. However, existing technologies use relatively backward inspection methods that cannot meet the requirements of modern engineering.

[0003] Currently, subway clearance inspections are primarily performed through cross-sectional inspections. A clearance inspection vehicle, operating on tracks, uses a device consisting of fixed brackets, variable brackets, and touch panels to physically collide with the inclined clearance object before conducting inspections. While simple, this method is inefficient in practice and requires significant manpower and resources, particularly when the clearances vary between sections, requiring manual adjustment of the touch panels. Furthermore, when over-limit situations occur, operators must reverse the vehicle and re-measure, increasing the difficulty and time required for inspections. Similarly, subway tunnel profile inspections have traditionally relied on total station measurements, which acquire data by positioning the total station point by point, measuring characteristic points on the tunnel wall. This method is not only cumbersome and labor-intensive, but also susceptible to human error, making inspection efficiency insufficient to meet the demands of increasingly busy subway line maintenance. Consequently, traditional inspection technologies suffer from significant deficiencies in efficiency, automation, and accuracy, making them unsuitable for the demands of modern subway maintenance.

[0004] Based on the above-mentioned defects of the prior art, there is an urgent need for a comprehensive detection device for subway clearance and tunnel profile. Utility Model Content

[0005] The purpose of this utility model is to provide a comprehensive detection device for subway clearance and tunnel contour to improve the above problems. In order to achieve the above purpose, the technical solution adopted by this utility model is as follows:

[0006] The present application provides a comprehensive subway clearance and tunnel profile detection device, comprising a detection trolley, a multi-source sensor system, and a control computer. The detection trolley comprises a carrying platform and a running gear disposed below the carrying platform, the running gear being disposed above the subway track. The multi-source sensor system is fixedly mounted on the carrying platform and comprises a three-dimensional laser scanner, an inertial measurement unit, and an encoder, all of which are disposed on the upper surface of the carrying platform. The three-dimensional laser scanner is fixedly mounted in the middle of the carrying platform, and the encoder is disposed on the running gear. The control computer is fixedly mounted on the carrying platform and is electrically connected to the running gear and the multi-source sensor system.

[0007] Furthermore, the running device includes a running wheel and a measuring wheel. The running wheel contacts the top surface of the subway rail. The measuring wheel is arranged on the inner side of the running wheel and contacts the inner side surface of the subway rail. The encoder is coaxially connected to the measuring wheel.

[0008] Furthermore, the multi-source sensor system further includes a wheelbase sensor, which is fixedly arranged below the carrying platform and is arranged between the running wheels.

[0009] Furthermore, the multi-source sensor system also includes a three-dimensional point cloud generation module, which is electrically connected to the three-dimensional laser scanner and communicates with the control computer.

[0010] Furthermore, the materials of the traveling wheel and the measuring wheel are both polyurethane rubber.

[0011] Furthermore, the surfaces of the traveling wheel and the measuring wheel are both provided with anti-slip textures.

[0012] Furthermore, the wheelbase sensor is a laser ranging sensor.

[0013] Furthermore, the material of the bearing platform is aluminum alloy.

[0014] Furthermore, the subway clearance and tunnel profile comprehensive detection device also includes an adjustable bracket, one end of the adjustable bracket is fixedly connected to the bearing platform, and the other end is fixedly connected to the control computer.

[0015] Furthermore, the adjustable bracket is made of stainless steel.

[0016] The beneficial effects of the utility model are:

[0017] This utility model realizes the comprehensive detection of subway limits and tunnel contours by integrating multiple sensors such as three-dimensional laser scanners, inertial navigation systems, encoders, etc., overcoming the shortcomings of traditional detection methods such as low operating efficiency, high labor intensity, and measurement accuracy that is easily affected by human factors, thereby greatly improving the efficiency of comprehensive detection of subway engineering services; the detection trolley of this utility model has a compact structure design and is easy to push, without the need for complicated manual adjustments. Through the control computer and integrated multi-source sensors, the entire detection process is highly automated, reducing dependence on manual labor, making the detection process more efficient and intelligent, and being able to complete a large number of detection tasks within a limited operating time, thereby reducing the labor intensity of personnel.

[0018] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the embodiments of the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A top view of the integrated detection device for subway clearance and tunnel contours described in an embodiment of the present application;

[0021] Figure 2 A side view of the integrated detection device for subway clearance and tunnel profile described in an embodiment of the present application;

[0022] Figure 3 for Figure 2 Enlarged view at position I in the figure.

[0023] Markings in the figure: 1. Detection trolley; 11. Carrying platform; 12. Traveling device; 121. Traveling wheel; 122. Measuring wheel; 123. Encoder; 2. Multi-source sensor system; 21. 3D laser scanner; 22. Inertial measurement unit; 23. Wheelbase sensor; 24. 3D point cloud generation module; 3. Control computer; 4. Adjustable bracket. DETAILED DESCRIPTION

[0024] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the utility model for protection, but merely represents selected embodiments of the present invention. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this utility model, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0026] like Figure 1 、 Figure 2 and Figure 3As shown, this embodiment provides a comprehensive subway clearance and tunnel profile detection device, comprising a detection vehicle 1, a multi-source sensor system 2, and a control computer 3. The detection vehicle 1 comprises a carrying platform 11 and a running gear 12 disposed below the carrying platform 11. The running gear 12 is positioned above the subway track. This design ensures smooth movement of the detection vehicle 1 between different track sections, minimizing vibration and errors during the detection process. The multi-source sensor system 2 is designed to maximize the accuracy and speed of data acquisition. The multi-source sensor system 2 comprises a 3D laser scanner 21, an inertial measurement unit 22, and an encoder 123. The 3D laser scanner 21 is fixedly mounted in the center of the carrying platform 11 and is used to perform a full-scale scan of the tunnel profile. The inertial measurement unit 22 is mounted on the upper surface of the carrying platform 11 and helps accurately locate the spatial coordinates of the 3D scan by measuring the vehicle's posture and motion trajectory. The encoder 123 is responsible for recording the rotation information of the running gear 12, measuring the mileage of the detection vehicle 1 in real time, and correlating it with the specific location of the subway line. The advantage of a 3D laser scanner is that it can acquire tunnel cross-sectional data with extremely high accuracy and speed. Compared to traditional contact-based inspection methods, laser scanners offer non-contact, high-precision features, making them particularly suitable for complex structures like subway tunnels. The inertial measurement unit (IMU) 22 measures the dynamic changes in the vehicle's three-dimensional posture (pitch, roll, and heading) and combines this information with the laser scanning data to ensure high data accuracy. This design reduces the impact of external vibrations or vehicle movement on measurement accuracy, enhancing the system's ability to resist interference in complex environments. The control computer 3 plays a key role in data acquisition, analysis, and control within the device. It is fixed to the support platform 11 and, through electrical connections with the travel device 12 and the multi-source sensor system 2, controls the operation of the entire system. The control computer 3 not only collects sensor data in real time but also processes and stores the collected information, generating analytical results such as three-dimensional point cloud data or tunnel profiles. The 3D laser scanner 21 and IMU 22 generate a significant amount of data. By installing specialized software, the control computer 3 can process this data in real time, generating accurate tunnel profile and clearance analysis results. This real-time processing capability significantly improves inspection efficiency and reduces the workload of manual intervention and subsequent data collation. This system design not only improves operational efficiency but also reduces errors caused by human operation. Furthermore, this highly integrated system reduces the size and weight of the equipment, making it more suitable for operation in narrow and complex environments such as tunnels and tracks.

[0027] Preferably, if Figure 2 and Figure 3As shown, the running gear 12 includes running wheels 121 and measuring wheels 122. The running wheels 121 are in direct contact with the top surface of the subway rails and serve as the primary support component of the entire inspection vehicle 1. Direct contact with the rail surface ensures smooth movement of the vehicle along the track. The measuring wheels 122 are located inside the running wheels 121 and contact the inner surface of the rails. The measuring wheels 122 are primarily used to measure changes in the distance traveled by the inspection vehicle, allowing for accurate determination of the route's mileage. An encoder 123 is connected to the measuring wheels 122 and is responsible for recording its rotational information. This rotational data is directly correlated to the vehicle's travel distance. The encoder 123's precise recording allows the system to track the vehicle's mileage in real time, thereby combining it with sensor data for accurate tunnel profile and clearance analysis. The combination of the running wheels 121, measuring wheels 122, and encoder 123 enables the vehicle to move smoothly along the track while ensuring that every distance traveled is accurately recorded. This design not only improves the vehicle's stability on the track, but also provides accurate position information for subsequent data processing.

[0028] Preferably, if Figure 2 and Figure 3 As shown, the multi-source sensor system 2 also includes a wheelbase sensor 23, which is fixedly mounted below the support platform 11 and positioned between the running wheels 121. The primary function of the wheelbase sensor 23 is to measure the distance between two rails on the subway track, i.e., the track gauge. Track gauge data serves as a check on the accuracy of 3D point cloud data registration. The wheelbase sensor 23 works in conjunction with other sensors in the multi-source sensor system 2 (such as the 3D laser scanner 21, the inertial measurement unit 22, and the encoder 123) to provide accurate data for the entire system.

[0029] Preferably, if Figure 2 As shown, the multi-source sensor system 2 also includes a three-dimensional point cloud generation module 24, which is electrically connected to the three-dimensional laser scanner 21 and communicates with the control computer 3. The three-dimensional point cloud generation module 24 is the core data processing unit in the system. Its main function is to convert the raw data collected by the three-dimensional laser scanner 21 into high-precision three-dimensional point cloud data. The point cloud data contains a large number of spatial coordinate points, which can reflect the geometric structure of the inner wall of the tunnel and the surrounding environment of the track in detail. The three-dimensional laser scanner 21 obtains the distance data of the inner wall of the tunnel by the echo time of the emitted laser. Each scan generates a massive amount of point cloud data, and each point in the massive point cloud data represents a specific coordinate position on the tunnel surface. Compared with traditional two-dimensional measurement methods, three-dimensional point clouds can provide more intuitive and detailed tunnel structure information, and are particularly suitable for detecting complex tunnel deformation or intrusion phenomena.

[0030] Preferably, the material of the traveling wheel 121 and the measuring wheel 122 is polyurethane rubber. Polyurethane rubber is a high-performance elastic material with excellent wear resistance, oil resistance, corrosion resistance and tear resistance, and its hardness and elasticity can be adjusted according to needs.

[0031] Preferably, the surfaces of the running wheels 121 and the measuring wheels 122 are provided with anti-skid textures. The main function of the anti-skid textures is to increase the friction between the wheels and the track surface, ensuring that the trolley remains stable during travel and preventing the normal operation of the trolley and data collection from being affected by tire slippage.

[0032] Preferably, the wheelbase sensor 23 is a laser distance measuring sensor. The laser distance measuring sensor is non-contact, highly accurate, and has a fast response speed, and can provide stable and reliable measurement data.

[0033] Preferably, the material of the carrying platform 11 is aluminum alloy.

[0034] Preferably, if Figure 1 As shown, the subway clearance and tunnel profile integrated detection device further includes an adjustable bracket 4, one end of which is fixedly connected to the support platform 11, and the other end of which is fixedly connected to the control computer 3. The adjustable bracket 4 is designed to provide a stable and adjustable mounting base for the control computer 3, so that it always maintains the proper operating position during the detection process.

[0035] Preferably, the adjustable bracket 4 is made of stainless steel. Stainless steel can maintain strength and stability during long-term use, ensuring that the bracket is not easily damaged in harsh environments.

[0036] Furthermore, this embodiment discloses a method for using a comprehensive detection device for subway clearance and tunnel contours:

[0037] First, place the inspection vehicle 1 on the subway track, ensuring that the running wheels and measuring wheels 122 are functioning properly. Next, install the inertial measurement unit 22, 3D laser scanner 21, and control computer 3, and connect the power supply to ensure that all sensors are properly powered. The inertial measurement unit 22 is initialized using specialized data acquisition software installed on the control computer 3. After initialization, the 3D laser scanner 21 is activated for scanning and measurement. Once the scanned data stabilizes, the starting mileage is entered and the vehicle's posture is configured. The vehicle is then pushed along the track for operation. After the measurement is complete, data acquisition is stopped, the power is turned off, and the inertial measurement unit 22, 3D laser scanner 21, and control computer 3 are removed. Finally, the vehicle is lifted off the track.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

[0039] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A comprehensive detection device for subway clearance and tunnel contour, characterized in that: include: An inspection trolley (1), the inspection trolley (1) comprising a carrying platform (11) and a running device (12) arranged below the carrying platform (11), the running device (12) being arranged above a subway track; A multi-source sensor system (2), the multi-source sensor system (2) being fixedly arranged on the carrying platform (11), the multi-source sensor system (2) comprising a three-dimensional laser scanner (21), an inertial measurement unit (22), and an encoder (123), the inertial measurement unit (22) being arranged on the upper surface of the carrying platform (11), the three-dimensional laser scanner (21) being fixedly arranged in the middle of the carrying platform (11), and the encoder (123) being arranged on the walking device (12); and A control computer (3) is fixedly arranged on the carrying platform (11), and the control computer (3) is electrically connected to the walking device (12) and the multi-source sensor system (2) respectively.

2. The subway clearance and tunnel profile comprehensive detection device according to claim 1, characterized in that: The running device (12) comprises a running wheel (121) and a measuring wheel (122), wherein the running wheel (121) contacts the top surface of the subway rail, the measuring wheel (122) is arranged inside the running wheel (121), and the measuring wheel (122) contacts the inner surface of the subway rail, and the encoder (123) is coaxially rotatably connected to the measuring wheel (122).

3. The comprehensive detection device for subway clearance and tunnel contour according to claim 2, characterized in that: The multi-source sensor system (2) further includes a wheelbase sensor (23), wherein the wheelbase sensor (23) is fixedly arranged below the carrying platform (11), and the wheelbase sensor (23) is arranged between the running wheels (121).

4. The comprehensive detection device for subway clearance and tunnel contour according to claim 2, characterized in that: The multi-source sensor system (2) further comprises a three-dimensional point cloud generation module (24), wherein the three-dimensional point cloud generation module (24) is electrically connected to the three-dimensional laser scanner (21) and communicates with the control computer (3).

5. The comprehensive detection device for subway clearance and tunnel contour according to claim 2, characterized in that: The walking wheel (121) and the measuring wheel (122) are both made of polyurethane rubber.

6. The comprehensive detection device for subway clearance and tunnel contour according to claim 5, characterized in that: The surfaces of the walking wheel (121) and the measuring wheel (122) are both provided with anti-slip textures.

7. The comprehensive detection device for subway clearance and tunnel profile according to claim 3, characterized in that: The wheelbase sensor (23) is a laser distance measuring sensor.

8. The comprehensive detection device for subway clearance and tunnel contour according to claim 1, characterized in that: The material of the carrying platform (11) is aluminum alloy.

9. The comprehensive detection device for subway clearance and tunnel contour according to claim 1, characterized in that: The subway clearance and tunnel profile comprehensive detection device further comprises an adjustable bracket (4), one end of the adjustable bracket (4) is fixedly connected to the bearing platform (11), and the other end is fixedly connected to the control computer (3).

10. The comprehensive detection device for subway clearance and tunnel contour according to claim 9, characterized in that: The adjustable bracket (4) is made of stainless steel.

Images