High-precision walking positioning system for secondary lining trolley

Abstract

The high-precision walking positioning system comprises a walking mechanism, a steering mechanism, an air switch group, a walking driving controller, a steering driving controller and a laser distance measuring sensor, the walking mechanism comprises walking wheels and a driving motor and is used for driving the second lining trolley to walk, and the steering mechanism comprises a rotating motor and is used for driving the second lining trolley to walk. The air switch group is connected with the walking driving controller and the steering driving controller, the walking driving controller controls the walking action of the walking mechanism, the steering driving controller controls the steering action of the steering mechanism, and the laser distance measuring sensors are uniformly and symmetrically arranged on the two sides of the secondary lining trolley. The device is used for measuring the distance between a secondary lining trolley and a tunnel primary support surface. According to the high-precision walking positioning system, precise positioning of the secondary lining trolley is achieved in an automatic and intelligent mode, and the positioning accuracy and construction efficiency of the secondary lining trolley are improved.

Description

Technical Field

[0001] This application belongs to the field of tunnel construction technology, specifically relating to a high-precision walking and positioning system for a secondary lining trolley. Background Technology

[0002] In typical secondary lining construction, after the formwork of one lining panel is removed, the lining trolley needs to be moved to the location of the next lining panel for construction. Current technology primarily relies on surveying teams to measure and mark locations, providing accurate positional references for the lining trolley's movement. After positioning, operators use remote control to move the lining trolley to the target location based on the data provided by the surveying team. However, this process requires highly concentrated attention from the operators and depends on manual judgment and control, making it difficult to guarantee operational stability and accuracy. Furthermore, to ensure accurate positioning of the lining trolley, repeated verification is often necessary, which is time-consuming, labor-intensive, and the overall process is quite cumbersome.

[0003] Existing technologies lack high-precision walking and positioning systems, leading to complex measurement and positioning procedures. This reliance on manual measurement and marking by the surveying team increases process complexity and the demand for high accuracy. Any errors or delays in measurement directly impact the accuracy of the secondary lining trolley positioning and construction progress. Furthermore, manual operation is inherently uncertain and subjective; varying operator skill levels and habits result in inconsistent positioning results, making errors difficult to avoid. Manual operation also easily leads to operator fatigue, reducing efficiency, and requires repeated verification, further increasing working hours and labor intensity. In addition, the entire positioning process involves multiple stages and personnel, making communication and coordination difficult. The lack of automation means that construction efficiency and quality cannot meet the high standards of modern engineering. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model proposes a high-precision walking and positioning system for secondary lining trolleys. Through automated and intelligent technologies, it achieves precise positioning of the secondary lining trolleys, reduces reliance on surveying teams and manual operation, and improves the accuracy of secondary lining trolley positioning and construction efficiency.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows:

[0006] A high-precision walking and positioning system for a secondary lining trolley includes a walking mechanism, a steering mechanism, an air switch group, a walking drive controller, a steering drive controller, and laser rangefinders. The walking mechanism includes walking wheels and a drive motor for driving the secondary lining trolley. The steering mechanism includes a rotary motor for adjusting the traveling direction of the secondary lining trolley. The air switch group connects the walking drive controller and the steering drive controller to provide power to them. The walking drive controller controls the walking action of the walking mechanism, and the steering drive controller controls the steering action of the steering mechanism. The laser rangefinders are evenly and symmetrically arranged on both sides of the secondary lining trolley for measuring the distance between the secondary lining trolley and the initial support face of the tunnel.

[0007] Preferably, it further includes a data processor, which is connected to the walking drive controller, the steering drive controller, and the laser rangefinder.

[0008] Preferably, it also includes an information platform, which is a network cloud platform, used to store tunnel mileage and construction design process data and communicate with the data processor.

[0009] Preferably, the walking drive controller uses a frequency converter and a walking encoder in conjunction, the walking encoder being used to collect the walking distance data of the walking mechanism in real time and feed the data back to the data processor; the steering drive controller uses a frequency converter and a steering encoder in conjunction, the steering encoder being used to collect the steering angle data of the steering mechanism in real time and feed the data back to the data processor.

[0010] Preferably, the walking drive controller and the steering drive controller are servo controllers.

[0011] Preferably, it also includes a human-machine interface touch screen, which is used to display the walking status and real-time parameters of the secondary lining trolley and to receive operation commands.

[0012] Preferably, it also includes a control cabinet, in which the air switch group, walking drive controller, steering drive controller and data processor are installed, and the human-machine interaction touch screen is installed on the cabinet body.

[0013] Preferably, it includes ten sets of walking mechanisms and ten sets of steering mechanisms, each set of walking mechanisms and steering mechanisms being driven by an independent walking drive controller and steering drive controller, respectively.

[0014] The beneficial effects of this invention are as follows: Through the coordinated action of the walking mechanism, steering mechanism, walking drive controller, and steering drive controller, the positioning error of the secondary lining trolley can be controlled within a minimal range, ensuring that the lining trolley accurately reaches the target position and significantly improving the positioning accuracy and quality of secondary lining construction. Simultaneously, the system can adjust the walking direction and steering error of the lining trolley in real time, ensuring that the lining trolley remains centered during travel, avoiding the positioning deviation problems of traditional manual operation. By collecting and analyzing real-time data through a data processor, the optimal walking path is automatically planned, reducing the lining trolley's travel time and energy consumption. Compared with traditional manual operation, this system greatly improves the operating efficiency of the lining trolley, reduces time waste and safety risks caused by human error, effectively shortens the construction cycle, and improves production efficiency. Attached Figure Description

[0015] Figure 1 This is a front view of the double-lining trolley structure according to an embodiment of the present utility model;

[0016] Figure 2 This is a schematic diagram of the walking mechanism and steering mechanism according to an embodiment of the present utility model;

[0017] Figure 3 This is a schematic diagram of the structure and connection of the high-precision walking positioning system according to an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the communication connection of the data processor according to an embodiment of the present utility model;

[0019] Figure 5 This is a side view of the double-lining trolley structure according to an embodiment of the present utility model.

[0020] Reference numerals: 1-Walking mechanism; 2-Steering mechanism; 3-Air switch group; 4-Walking drive controller; 5-Steering drive controller; 6-Laser rangefinder sensor; 7-Data processor; 8-Information platform; 9-Walking encoder; 10-Steering encoder; 11-Human machine interaction touch screen; 12-Control cabinet; 13-Lifting and traversing mechanism. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model belong to the present utility model.

[0022] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0023] Please see Figure 1-5 This embodiment provides a high-precision walking and positioning system for a secondary lining trolley, including a walking mechanism 1, a steering mechanism 2, an air switch group 3, a walking drive controller 4, a steering drive controller 5, and a laser rangefinder 6. The walking mechanism 1 includes walking wheels and a drive motor for driving the secondary lining trolley. The steering mechanism 2 includes a rotary motor for adjusting the direction of travel of the secondary lining trolley. The air switch group 3 connects the walking drive controller 4 and the steering drive controller 5, providing power to both. The walking drive controller 4 controls the walking motion of the walking mechanism 1, and the steering drive controller 5 controls the steering motion of the steering mechanism 2. The walking mechanism 1, controlled by the walking drive controller 4, enables the secondary lining trolley to travel smoothly along a set path according to instructions, ensuring the accuracy and stability of the walking motion. The walking mechanism 1 can be designed as multiple independent drive components, each controlled by the walking drive controller 4. Separate driving ensures uniform power distribution over long distances, reducing system walking errors.

[0024] Specifically, the system is equipped with ten sets of traveling mechanisms 1 and ten sets of steering mechanisms 2. Each set of traveling mechanism 1 and steering mechanism 2 is driven by an independent traveling drive controller 4 (such as traveling drive controllers one, two, three, four, five, ...) and steering drive controller 5 (such as steering drive controllers one, two, three, four, five, ...) to achieve stable travel and precise steering control of the secondary lining trolley. This independent control design allows the ten sets of traveling mechanisms 1 and ten sets of steering mechanisms 2 to work together. The system can not only dynamically adjust the speed and power distribution of each set of traveling mechanisms 1 according to actual needs, but also independently control the angle of each set of steering mechanisms 2, effectively improving the traveling stability and steering accuracy of the secondary lining trolley. This design is particularly suitable for complex tunnel construction environments, effectively solving the instability problem of the secondary lining trolley caused by uneven ground or deviation in the traveling path, and ensuring positioning accuracy and traveling stability during the secondary lining construction process. In addition, multiple traveling mechanisms 1 can also be controlled by one traveling drive controller 4, and the driving efficiency and power distribution balance can be improved through synchronous control. Similarly, a single steering drive controller 5 can be used to control multiple steering mechanisms 2, ensuring the consistency and stability of the overall steering action through coordinated control.

[0025] Furthermore, the system also includes a data processor 7 and an information platform 8. During the movement of the secondary lining trolley, laser rangefinders 6 are evenly and symmetrically arranged on both sides of the lining trolley to measure the distance between the lining trolley and the initial support surface of the tunnel. The measurement data is fed back to the data processor 7 in real time. The data processor 7 is connected to the walking drive controller 4, the steering drive controller 5, and the laser rangefinders 6. It controls the movement of the lining trolley based on preset position data and adjusts the movement direction of the lining trolley according to the measurement data fed back by the laser rangefinders 6. The data processor 7 determines whether the lining trolley is centered by calculating the error between the distance measurement data on both sides. If it is not centered, the data processor 7 generates a correction command and sends it to the steering drive controller 5 to drive the steering mechanism 2 to adjust the angle, ensuring the accuracy of the movement direction of the lining trolley. In this process, the data processor 7, as the core of the system, automatically analyzes and processes real-time data, and works in conjunction with the preset walking path to control the walking mechanism 1 and the steering mechanism 2 to ensure that the lining trolley can be accurately positioned to the target location.

[0026] The information platform 8 is a network cloud platform that supports login via PC and mobile devices. Operators can remotely view the real-time operating status, location information, and construction progress of the secondary lining trolley at any time via PC or mobile device. The information platform 8 stores tunnel mileage and construction design process data and communicates with the data processor 7. Specific communication methods include Ethernet and serial ports, with Ethernet communication being the preferred option. The following communication methods all use Ethernet communication by default. The information platform 8 can monitor the position, status, and operating parameters of the secondary lining trolley through real-time data feedback and display relevant information on the human-machine interface touchscreen 11 of the control system. The human-machine interface touchscreen 11 displays the secondary lining trolley's travel status and real-time parameters and receives operating commands. Operators can view the secondary lining trolley's travel status, positioning parameters, and system operation status through the human-machine interface touchscreen 11, thereby performing necessary monitoring and operation of the secondary lining trolley to ensure the stability of the construction process.

[0027] Once the location of the next lining trolley needs to be determined, the operator can use the human-machine interface touchscreen 11 to trigger the system to begin automatic movement and positioning. Alternatively, the information platform 8 can also directly operate the movement and positioning, issuing control commands to the data processor 7 via network communication. During this process, based on stored construction design process data, the current position of the lining trolley, and the next target position, the information platform 8 generates and sends optimal path planning commands through the data processor 7, controlling the movement drive controller 4 and the steering drive controller 5 to drive the movement mechanism 1 and the steering mechanism 2 to perform high-precision movement and steering operations, thereby completing the automatic movement and positioning of the lining trolley.

[0028] This system automates the positioning and movement of the secondary lining trolley, minimizing positioning errors and ensuring high accuracy and construction quality. Compared to traditional manual operation, this system automatically plans the optimal path, reducing travel time and energy consumption, and significantly improving the trolley's operational efficiency. Furthermore, real-time monitoring and feedback allow the system to adjust the trolley's movement promptly, reducing safety risks caused by human error and ensuring stable movement and continuous construction.

[0029] In one embodiment, the travel drive controller 4 uses a frequency converter to drive the travel encoder 9 in conjunction with the travel encoder 9. The travel encoder 9 is used to collect the travel distance data of the travel mechanism 1 in real time and feed the data back to the data processor 7. After receiving the travel distance data, the data processor 7 compares it with the preset travel path and target position, generates adjustment commands, and controls the travel action of the travel mechanism 1 through the travel drive controller 4, thereby ensuring the accuracy and stability of the travel positioning. Because the travel encoder 9 collects and feeds back the travel data in real time, the system can effectively correct the errors generated during the travel process, further improve the accuracy of the secondary lining trolley's travel, and reduce repetitive positioning work.

[0030] Similarly, the steering drive controller 5 uses a frequency converter in conjunction with the steering encoder 10. The steering encoder 10 is used to collect the steering angle data of the steering mechanism 2 in real time and feed the data back to the data processor 7. The data processor 7 analyzes the steering angle data in real time to determine whether the actual steering angle of the steering mechanism 2 meets the requirements of the predetermined path. If a deviation is detected, the data processor 7 generates a correction command and sends it to the steering drive controller 5 to drive the steering mechanism 2 to adjust the angle, ensuring that the secondary lining trolley can maintain precise directional control during travel. By using the frequency converter and encoder in conjunction, the system can achieve high-precision travel positioning and steering control, ensuring the quality and accuracy of the secondary lining construction.

[0031] In another embodiment, the travel drive controller 4 and steering drive controller 5 employ servo controllers, eliminating the need for travel encoders 9 and steering encoders 10. The servo controller directly controls the movements of the travel mechanism 1 and steering mechanism 2 through an internal feedback system, achieving precise position and direction control. Compared to the scheme using a frequency converter and encoder, the use of a servo controller simplifies the system structure, reduces sensor configuration and data transmission processes, and improves system response speed and stability while maintaining high precision. This is suitable for scenarios with higher requirements for system structural simplicity. In this embodiment, the data processor 7 still generates control commands through real-time calculation and adjustment and sends them to the servo controller to ensure that the travel mechanism 1 and steering mechanism 2 work together to achieve high-precision automatic positioning of the secondary lining trolley.

[0032] In this embodiment, the laser ranging sensor 6 collects distance data from both sides in real time and feeds the measurement results back to the data processor 7. The data processor 7 compares the distance data from both sides to calculate the error between the distances, thereby determining whether the secondary lining trolley is centered. When the secondary lining trolley is centered, the error in the distance data is close to zero, and the secondary lining trolley can continue to travel in the current direction. However, if the secondary lining trolley is not centered, the data processor 7 will generate an adjustment command based on the measurement data fed back by the laser ranging sensor 6 and send a control command to the steering drive controller 5. Specifically, when the measured value of the left side of the secondary lining trolley relative to the initial support surface of the tunnel is greater than the measured value on the right side, the calculated error is positive, and the data processor 7 determines that the secondary lining trolley is biased to the right and needs to be turned to the left for correction; while when the measured value on the right side is greater than the measured value on the left side, the error is negative, and the data processor 7 determines that the secondary lining trolley is biased to the left and needs to be turned to the right for correction.

[0033] After receiving the adjustment command from the data processor 7, the steering drive controller 5 controls the steering mechanism 2 to adjust its angle, gradually correcting the direction of travel of the secondary lining trolley until the error in the distance measurement data on both sides of the lining trolley reaches the preset accuracy requirement, ensuring that the lining trolley is centered again. During this process, the data processor 7 can continuously monitor the feedback data from the laser distance sensor 6 to ensure that the adjustment actions of the steering mechanism 2 are timely and accurate, further improving the accuracy and stability of the lining trolley's positioning. This method of automatic correction of the lining trolley's direction of travel through the collaborative work of the laser distance sensor 6 and the data processor 7 avoids errors that are easily made in manual judgment and operation, ensuring high-precision centering of the lining trolley in the tunnel.

[0034] Once the secondary lining trolley reaches the target position, the laser rangefinder 6 reconfirms whether the trolley meets the preset positioning accuracy requirements. If the positioning accuracy is insufficient, the lifting and traversing mechanism 13 makes minor adjustments to the position of the secondary lining trolley in the left and right directions. By adjusting the slight offset of the secondary lining trolley, the lifting and traversing mechanism 13 enables the secondary lining trolley to achieve precise positioning at the target position, ultimately completing high-precision positioning.

[0035] In this embodiment, the system can monitor the steering angle data of multiple steering mechanisms 2 in real time through the data processor 7. When adjusting the direction of travel of the lining trolley, the steering angles of each steering mechanism 2 need to be consistent to ensure the stable operation and accurate positioning of the lining trolley. In practical applications, the data processor 7 will collect and analyze the steering angles of each steering mechanism 2 in real time. For example, if the angle of one steering mechanism 2 is 8° while the angle of another steering mechanism 2 is 10°, the data processor 7 will detect this difference, determine that there may be a synchronization problem among the steering mechanisms 2, and make adjustments accordingly.

[0036] In this embodiment, a control cabinet 12 is also included. The air switch group 3, the travel drive controller 4, the steering drive controller 5, and the data processor 7 are installed inside the control cabinet 12. The control cabinet 12 serves as the centralized control unit of the system, providing a stable power supply and data processing environment for each component, ensuring reliable system operation. The control cabinet 12 also houses necessary electrical components in the prior art, such as DC power supplies, input / output interface circuits, and contactors. These components provide basic support for the system's power supply and control, ensuring stable system operation; details will not be elaborated here. A human-machine interface touchscreen 11 is installed on the control cabinet 12. Operators can use the touchscreen to view the real-time operating status, position parameters, and related operating information of the secondary lining trolley, enabling system monitoring and operation, greatly facilitating on-site construction management.

[0037] Furthermore, the data processor 7 uses a PLC as its central processing unit, installed inside the control cabinet 12. It collects and processes data, issues drive commands, and controls the actions of the travel drive controller 4 and the steering drive controller 5, achieving precise control of the travel mechanism 1 and the steering mechanism 2. The human-machine interface touchscreen 11 uses a 10-inch CMT1107XWV model touchscreen as the system's display unit, enabling touch control of the secondary lining trolley's travel system. The touchscreen 11 is installed on the control cabinet 12. Operators can intuitively view the secondary lining trolley's operating status, real-time position, travel path, and other system parameters through the touchscreen 11, and can start / stop the system, adjust parameters, and monitor status through touch operations.

[0038] Furthermore, the travel encoder 9, steering encoder 10, and laser rangefinder 6 are connected to the data processor 7 via RS485 communication. Data transmission is performed using RVVP4×0.5² twisted-pair shielded cable, which is connected via an HE-5 aviation quick-connect connector. The HE-5 aviation quick-connect connector has male and female connectors. The male connector connects to the travel encoder 9, steering encoder 10, and laser rangefinder 6, respectively, while the female connector is located on the side of the control cabinet 12 and connects to the data processor 7 and the DC power supply. In the RVVP5×0.5² twisted-pair shielded cable, cores 1 and 2 are used to transmit RS485A and B data signals, cores 3 and 4 serve as the positive and negative terminals of the DC 24V power supply for the travel encoder 9, steering encoder 10, and laser rangefinder 6, and the shielded copper wire serves as the ground terminal, connected to pin 5 of the HE-5 aviation quick-connect connector. The travel encoder 9, steering encoder 10, and laser rangefinder 6 are connected in parallel. This connection method ensures the stability of data transmission and the reliability of power supply, effectively reduces signal interference, and improves the overall performance and operational stability of the system.

[0039] In summary, this utility model discloses a high-precision walking and positioning system for a secondary lining trolley. The system includes a walking mechanism 1, a steering mechanism 2, an air switch group 3, a walking drive controller 4, a steering drive controller 5, a laser rangefinder 6, a data processor 7, an information platform 8, a human-machine interface touchscreen 11, and a control cabinet 12. The laser rangefinder 6 collects real-time distance data between the two sides of the secondary lining trolley and the initial support surface of the tunnel. The data processor 7 calculates and analyzes the measurement data to determine whether the secondary lining trolley is centered. Based on the error, it sends adjustment commands to the steering drive controller 5, driving the steering mechanism 2 to correct the direction of travel, ensuring the secondary lining trolley travels in the center. Simultaneously, the system uses independent walking drive controllers 4 and steering drive controllers 5 to independently control ten sets of walking mechanisms 1 and ten sets of steering mechanisms 2, achieving stable walking and precise steering of the secondary lining trolley.

[0040] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this utility model as described above. For the sake of brevity, they are not provided in detail. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A high-precision walking and positioning system for a secondary lining trolley, characterized in that, The system includes a walking mechanism (1), a steering mechanism (2), an air switch group (3), a walking drive controller (4), a steering drive controller (5), and a laser rangefinder (6). The walking mechanism (1) includes walking wheels and a drive motor for driving the secondary lining trolley to move. The steering mechanism (2) includes a rotary motor for adjusting the direction of travel of the secondary lining trolley. The air switch group (3) connects the walking drive controller (4) and the steering drive controller (5) to provide power to the walking drive controller (4) and the steering drive controller (5). The walking drive controller (4) controls the walking action of the walking mechanism (1), and the steering drive controller (5) controls the steering action of the steering mechanism (2). The laser rangefinder (6) is evenly and symmetrically arranged on both sides of the secondary lining trolley for measuring the distance between the secondary lining trolley and the initial support surface of the tunnel.

2. The high-precision walking positioning system according to claim 1, characterized in that, It also includes a data processor (7), which is connected to the walking drive controller (4), the steering drive controller (5) and the laser rangefinder (6).

3. The high-precision walking positioning system according to claim 2, characterized in that, It also includes an information platform (8), which is a network cloud platform. The information platform (8) is used to store tunnel mileage and construction design process data and communicates with the data processor (7).

4. The high-precision walking positioning system according to claim 3, characterized in that, The walking drive controller (4) is driven by a frequency converter and used in conjunction with the walking encoder (9). The walking encoder (9) is used to collect the walking distance data of the walking mechanism (1) in real time and feed the data back to the data processor (7). The steering drive controller (5) is driven by a frequency converter and used in conjunction with the steering encoder (10). The steering encoder (10) is used to collect the steering angle data of the steering mechanism (2) in real time and feed the data back to the data processor (7).

5. The high-precision walking positioning system according to claim 3, characterized in that, The walking drive controller (4) and the steering drive controller (5) are servo controllers.

6. The high-precision walking positioning system according to claim 4 or 5, characterized in that, It also includes a human-machine interaction touch screen (11), which is used to display the walking status and real-time parameters of the secondary lining trolley and to receive operation instructions.

7. The high-precision walking positioning system according to claim 6, characterized in that, It also includes a control cabinet (12), in which the air switch group (3), walking drive controller (4), steering drive controller (5) and data processor (7) are installed, and the human-machine interaction touch screen (11) is installed on the housing of the control cabinet (12).

8. The high-precision walking positioning system according to claim 1, characterized in that, It includes ten sets of walking mechanisms (1) and ten sets of steering mechanisms (2), each set of walking mechanism (1) and steering mechanism (2) is driven by an independent walking drive controller (4) and steering drive controller (5).

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