Mobile measuring equipment and measuring system for subway tunnel

Abstract

The embodiment of the utility model provides subway tunnel mobile measuring equipment and measuring system.The subway tunnel mobile measuring equipment comprises a mobile platform, a visual perception measuring module, a power supply assembly, a first storage platform and a second storage platform, and the mobile platform comprises a first mobile assembly, a second mobile assembly and a transverse connecting platform; and the visual perception measurement module is arranged on the transverse connection platform. The subway tunnel mobile measurement equipment realizes mobile measurement on a subway track through the mobile platform, the road condition complexity is reduced, the processing equipment and the power supply assembly are accommodated through the object placing platform, the stability of the subway tunnel mobile measurement equipment is improved, the risk that shooting of the visual perception measurement module is influenced is reduced, and the measurement efficiency is improved. And the measurement accuracy of the subway tunnel mobile measurement equipment can be improved.

Description

Technical Field

[0001] This application belongs to the field of tunnel deformation measurement, specifically relating to a mobile measuring device and system for subway tunnels. Background Technology

[0002] As subway tunnels age, they become more susceptible to damage from subway use, environmental factors, and construction, leading to various defects such as structural deformation and cracks. This increases the risk to the long-term safe operation of the subway. Currently, non-mobile measuring equipment is mainly used to detect defects in subway tunnels. However, due to the long length of subway tunnels, non-mobile measuring equipment requires multiple monitoring locations and manual repositioning, resulting in significant labor and time costs. Utility Model Content

[0003] This application provides a mobile measurement device and system for subway tunnels. The mobile measurement device for subway tunnels can move and measure on subway tracks through a mobile platform, which reduces the complexity of road conditions. In addition, the platform can accommodate processing equipment and power supply components, which helps to improve the stability of the mobile measurement device for subway tunnels. This reduces the risk of the visual perception measurement module being affected and helps to improve the measurement accuracy of the mobile measurement device for subway tunnels.

[0004] In a first aspect, embodiments of this application provide a mobile measuring device for subway tunnels, the mobile measuring device for subway tunnels comprising:

[0005] A mobile platform, comprising a first mobile component, a second mobile component, and a lateral connecting platform; the lateral connecting platform connects the first mobile component and the second mobile component respectively; the mobile platform moves on a subway track via the first mobile component and the second mobile component;

[0006] A visual perception measurement module is installed on the horizontal connecting platform. The visual perception measurement module is used to capture images of pre-set targets when the mobile platform moves to a preset monitoring position on the survey route to obtain target image data.

[0007] A processing device is connected to the visual perception measurement module; the processing device acquires target image data from the visual perception measurement module and analyzes the target image data to obtain the target deformation measurement result;

[0008] A power supply component, which is connected to the visual perception measurement module and the processing device respectively;

[0009] A first storage platform is disposed on the side of the transverse connecting platform near the first movable component, and the first storage platform is used to accommodate the processing device;

[0010] The second storage platform is located on the side of the transverse connecting platform near the second movable component; the second storage platform is used to accommodate the power supply component.

[0011] In one possible example, the mobile surveying device for subway tunnels includes a hand-operated lever;

[0012] The push rod includes a grip, a connecting rod, and a fixing part. One end of the connecting rod is connected to the fixing part, and the other end of the connecting rod is connected to the transverse connecting platform. The grip passes through the fixing part, and the fixing part divides the grip into a first grip on the left and a second grip on the right. The length of the second grip is greater than the length of the first grip.

[0013] The grip is parallel to the horizontal plane and is higher than the horizontal plane. The connecting rod is inclined to the horizontal plane, and the fixed position of the connecting rod on the transverse connecting platform is far away from the center of the transverse connecting platform.

[0014] In one possible example, the mobile measurement device for subway tunnels includes a power unit that is connected to both the power supply unit and the mobile platform.

[0015] The power unit is used to drive the mobile platform to move on the subway track.

[0016] In one possible example, the visual perception measurement module includes a housing, a camera array disposed within the housing, and a lighting assembly, the camera array being used to photograph targets pre-positioned in a subway tunnel.

[0017] In one possible example, the camera array includes a front-view area array camera and a rear-view area array camera, and the lighting assembly includes a front fill light and a rear fill light; the housing includes a first front through-hole adapted to the front-view area array camera, a second front through-hole adapted to the front fill light, a first rear through-hole adapted to the rear-view area array camera, and a second rear through-hole adapted to the rear fill light.

[0018] The forward-facing area array camera is used to photograph at least one target within a preset range in front of the mobile measurement equipment for subway tunnels, and the rear-facing area array camera is used to photograph at least one target within a preset range behind the mobile measurement equipment for subway tunnels.

[0019] In one possible example, the number of front-view area array cameras is four, the number of front fill lights is two, the number of first front through holes is four, and the number of second front through holes is two; the front-view area array cameras and the front fill lights are arranged at intervals in the vertical direction;

[0020] The number of rear-view area array cameras is four, the number of rear supplementary lights is two, the number of first rear through holes is four, and the number of second rear through holes is two; the rear-view area array cameras and the rear supplementary lights are arranged at intervals in the vertical direction.

[0021] In one possible example, the first moving component includes a first wheel, a second wheel, and a first axle assembly. The first axle assembly includes a first connector, a second connector, and a first connecting shaft. The first connecting shaft connects to the first connector and the second connector, respectively. The first connector connects to the first wheel, and the second connector connects to the second wheel.

[0022] The second moving component includes a third wheel, a fourth wheel, and a second wheel axle assembly. The second wheel axle assembly includes a third connector, a fourth connector, and a second connecting shaft. The second connecting shaft connects the third connector and the fourth connector, respectively. The third connector connects to the third wheel, and the fourth connector connects to the fourth wheel.

[0023] The two ends of the horizontal connecting platform are respectively connected to the first connecting shaft and the second connecting shaft.

[0024] In one possible example, the first storage platform includes a first base plate and a plurality of first baffles, the plurality of first baffles being perpendicularly connected to the edges of the first base plate, and the second storage platform includes a second base plate and a plurality of second baffles, the plurality of second baffles being perpendicularly connected to the edges of the second base plate.

[0025] In one possible example, the first connector includes a first wheel connection portion and a first axle connection portion, the first axle connection portion being disposed on the first wheel connection portion, and the internal space of the first axle connection portion being used to accommodate a displacement sensor and / or a speed sensor; the second connector includes a second wheel connection portion and a second axle connection portion, the second axle connection portion being disposed on the second wheel connection portion, and the internal space of the second axle connection portion being used to accommodate a displacement sensor and / or a speed sensor.

[0026] The third connector includes a third wheel connector and a third axle connector, the third axle connector being disposed on the third wheel connector, and the internal space of the third axle connector being used to accommodate a displacement sensor and / or a speed sensor; the fourth connector includes a fourth wheel connector and a fourth axle connector, the fourth axle connector being disposed on the fourth wheel connector, and the internal space of the fourth axle connector being used to accommodate a displacement sensor and / or a speed sensor.

[0027] In one possible example, the visual perception measurement module includes a lidar; the lidar is used to acquire point cloud data of a subway tunnel.

[0028] The processing device is also used to analyze the point cloud data and the target image data to obtain obstacle information of the subway tunnel and track defect information of the subway track.

[0029] Secondly, embodiments of this application provide a mobile measurement system for subway tunnels, which includes the aforementioned mobile measurement equipment for subway tunnels.

[0030] As can be seen, in this embodiment of the application, the mobile measurement device for subway tunnels achieves mobile measurement on subway tracks through a mobile platform, reducing the complexity of road conditions. Furthermore, the platform accommodates the processing equipment and power supply components, which helps improve the stability of the mobile measurement device for subway tunnels. This reduces the risk of the visual perception measurement module being affected, thus improving the measurement accuracy of the mobile measurement device for subway tunnels. Moreover, the power supply components provide power to the processing equipment and the visual perception measurement module, enabling the processing equipment to analyze the target image data in real time and obtain the target deformation measurement results, which helps improve the measurement efficiency of the mobile measurement device. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of a mobile measuring device for subway tunnels provided in an embodiment of this application;

[0033] Figure 2 This is a front view of a mobile measuring device for subway tunnels provided in an embodiment of this application;

[0034] Figure 3 This is a top view of a mobile measuring device for subway tunnels provided in an embodiment of this application;

[0035] Figure 4 This is a rear view of a mobile measuring device for subway tunnels provided in an embodiment of this application;

[0036] Figure 5 This is a schematic diagram of a horizontal connection platform provided in an embodiment of this application;

[0037] Figure 6 This is a schematic diagram of a first storage platform provided in an embodiment of this application;

[0038] Figure 7 This is a schematic diagram of a second storage platform provided in an embodiment of this application;

[0039] Figure 8 This is a schematic diagram of a mobile measurement system for subway tunnels provided in an embodiment of this application.

[0040] The following explains the reference numerals on the accompanying drawings:

[0041] The mobile measuring device for subway tunnels includes: 1. A mobile platform; 10. A visual perception measuring module; 20. A processing device; 30. A power supply component; 40. A first placement platform; 50. A second placement platform; 60. A first moving component; 11. A second moving component; 12. A lateral connecting platform; 13. A push rod; 70. A grip rod; 71. A connecting rod; 72. A fixing part; 73. A push rod connecting part; 80. A housing; 21. A first front through hole; 211. A second front through hole; 212. A first rear through hole; 213. A second rear through hole; 214. A first wheel; 101. A second wheel; 102. A first wheel axle assembly; 103. A first connecting piece; 111. A second connecting piece; 112. A first connecting shaft; 1... 13. Third wheel 104, fourth wheel 105, second wheel axle assembly 106, third connector 114, fourth connector 115, second connecting shaft 116, first wheel connecting part 1111, first wheel axle connecting part 1112, second wheel connecting part 1121, second wheel axle connecting part 1122, third wheel connecting part 1141, third wheel axle connecting part 1142, fourth wheel connecting part 1151, fourth wheel axle connecting part 1152, first base plate 51, first baffle 52, second base plate 61, second baffle 62, first grip 711, second grip 712, and a mobile measurement system for subway tunnels 1000. Detailed Implementation

[0042] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0043] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0044] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0045] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0046] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0047] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0048] In the embodiments of this application, "equal to" can be used with "greater than" and is applicable to technical solutions used when "greater than" is used; it can also be used with "less than" and is applicable to technical solutions used when "less than" is used. When "equal to" is used with "greater than", it is not used with "less than"; when "equal to" is used with "less than", it is not used with "greater than".

[0049] To better understand the solutions of the embodiments of this application, the background that may be involved in the embodiments of this application will be introduced below.

[0050] Please see Figures 1-7 , Figure 1 This is a schematic diagram of a mobile measuring device for subway tunnels provided in an embodiment of this application; Figure 2 This is a front view of a mobile measuring device for subway tunnels provided in an embodiment of this application; Figure 3 This is a top view of a mobile measuring device for subway tunnels provided in an embodiment of this application; Figure 4 This is a rear view of a mobile measuring device for subway tunnels provided in an embodiment of this application; Figure 5 This is a schematic diagram of a horizontal connection platform provided in an embodiment of this application; Figure 6 This is a schematic diagram of a first storage platform provided in an embodiment of this application; Figure 7 This is a schematic diagram of a second storage platform provided in an embodiment of this application.

[0051] The mobile measurement device 1 for subway tunnels provided in this application includes: a mobile platform 10, a visual perception measurement module 20, a processing device 30, a power supply component 40, a first placement platform 50, and a second placement platform 60.

[0052] The mobile platform 10 includes a first mobile component 11, a second mobile component 12, and a lateral connecting platform 13. The lateral connecting platform 13 connects the first mobile component 11 and the second mobile component 12. The mobile platform 10 moves on the subway track via the first mobile component 11 and the second mobile component 12. The visual perception measurement module 20 is mounted on the lateral connecting platform 13. The visual perception measurement module 20 is used to capture images of pre-set targets when the mobile platform 10 moves to a preset monitoring position on the survey route, thereby obtaining target image data. The processing device 30 is connected to the visual perception measurement module 20. The processing device 30 acquires the target image data from the visual perception measurement module 20 and analyzes the target image data to obtain the target deformation measurement results.

[0053] Specifically, the processing device 30 can analyze the changes in the target pixel coordinates in historical target images and currently acquired target images to obtain the target deformation measurement results.

[0054] Among them, the horizontal connecting platform 13 of the mobile platform 10 is a cuboid, and the horizontal connecting platform 13 has two horizontal elongated grooves, and the horizontal connecting platform 13 spans the subway track.

[0055] The connection method between the transverse connecting platform 13 and the first moving component 11 and the second moving component 12 can be bolt connection, welding, or other connection methods, which are not limited here.

[0056] When the mobile platform 10 moves, the first mobile component 11 moves on the left side of the subway track, and the second mobile component 12 moves on the right side of the subway track.

[0057] The visual perception measurement module 20 is mounted on the transverse connecting platform 13 to facilitate the front-view camera to capture images of targets within a certain distance in front of the mobile measurement equipment 1 in the subway tunnel, and the rear-view camera to capture images of targets within a certain distance behind the mobile measurement equipment 1 in the subway tunnel. The visual perception measurement module 20 can be mounted at the center of the transverse connecting platform 13, or slightly to the left or right of the center of the transverse connecting platform 13; no limitation is made here.

[0058] The power supply component 40 can be a power source, and the processing device 30 can be a computer. The power supply component 40 is used to power the processing device 30 and the visual perception measurement module 20, so that the visual perception measurement module 20 can work for a long time in the long-distance working conditions of the subway tunnel, so that the processing device 30 can process the target image in real time and output the deformation measurement results of the target on the spot, so that the staff can view the deformation measurement results in a timely manner.

[0059] The first storage platform 50 and the second storage platform 60 respectively accommodate the processing equipment 30 and the power supply component 40, and are set on both sides of the transverse connecting platform 13, which can save the longitudinal space of the mobile measuring equipment 1 in the subway tunnel.

[0060] The base plates of the first storage platform 50 and the second storage platform 60 may be the same or different in length and width.

[0061] As can be seen, in this example, the mobile measurement device 1 for subway tunnels moves and measures on the subway track via the mobile platform 10, reducing the complexity of the road conditions. Furthermore, the platform houses the processing device 30 and the power supply component 40, which helps improve the stability of the mobile measurement device 1 for subway tunnels. This reduces the risk of the visual perception measurement module 20 being affected, thus improving the accuracy of the measurements taken by the mobile measurement device 1 for subway tunnels. Moreover, the power supply component 40 provides power to the processing device 30 and the visual perception measurement module 20, enabling the processing device 30 to analyze the target image data in real time and obtain the target deformation measurement results, which helps improve the measurement efficiency of the mobile measurement device.

[0062] In one possible example, the mobile measuring device 1 for subway tunnels includes a push rod 70; the push rod 70 includes a grip 71, a connecting rod 72, and a fixing part 73. One end of the connecting rod 72 is connected to the fixing part 73, and the other end of the connecting rod 72 is connected to the transverse connecting platform 13. The grip 71 passes through the fixing part 73, and the fixing part 73 divides the grip 71 into a first grip 711 on the left and a second grip 712 on the right. The length of the second grip 712 is greater than the length of the first grip 711. The grip 71 is parallel to the horizontal plane and is higher than the horizontal plane. The connecting rod 72 is inclined to the horizontal plane, and the fixed position of the connecting rod 72 on the transverse connecting platform 13 is away from the center of the transverse connecting platform 13.

[0063] The reason why the push rod 70 is positioned away from the center of the transverse connecting platform 13 is to prevent the push rod 70 and the staff from obstructing the shooting field of the visual perception measurement module 20. The length of the second grip 712 is greater than the length of the first grip 711. On the one hand, this avoids the first grip 711 being too long, which would cause inconvenience for the staff to walk due to the limited transverse space of the subway track. On the other hand, retaining the first grip 711 on the left side can prevent the grip from being too close to the center of the transverse connecting platform 13, thus preventing the push rod 70 and the staff from obstructing the shooting field of the visual perception measurement module 20.

[0064] The mobile measuring device 1 for subway tunnels includes a push rod connecting part 80, which is mounted on the transverse connecting platform 13 and connects to the other end of the connecting rod 72. The push rod connecting part 80 is located on the left side of the first placement platform 50.

[0065] The connecting rod 72 and the fixing part 73 can be threaded together, the push rod connecting part 80 and the connecting rod 72 can also be threaded together, and the connection between the push rod connecting part 80 and the transverse connecting platform 13 can be bolted together.

[0066] In one possible example, the mobile measuring device 1 for subway tunnels includes a power component that is connected to the power supply component 40 and the mobile platform 10 respectively; the power component is used to drive the mobile platform 10 to move on the subway track.

[0067] The power supply component 40 provides power to the power component, which drives multiple wheels of the mobile platform 10 to roll, thereby enabling the mobile measuring equipment 1 for subway tunnels to move automatically on the subway track.

[0068] The power unit can be located below or above the transverse connecting platform 13, and there is no limitation on this.

[0069] As can be seen, in this example, the mobile measuring device 1 for subway tunnels can be driven by a power component to move automatically on the subway track, which helps to save manpower and improve detection efficiency.

[0070] In one possible example, the visual perception measurement module 20 includes a housing 21, a camera array disposed within the housing 21, and a lighting assembly, the camera array being used to photograph targets pre-positioned in a subway tunnel.

[0071] There are no restrictions on the placement of the targets.

[0072] In particular, the ambient light in the underground tunnel is relatively dim, and the target images captured by the camera array are not clear. The camera array is supplemented with light by the supplementary lighting component to ensure that the camera array can capture clearer target images.

[0073] As can be seen in this example, by using the supplementary lighting component to illuminate the camera array, a clearer target image can be captured, and thus, more accurate deformation measurement results can be obtained by analyzing the target image.

[0074] In one possible example, the camera array includes a front-view area array camera and a rear-view area array camera, and the lighting assembly includes a front fill light and a rear fill light; the housing 21 includes a first front through-hole 211 adapted to the front-view area array camera, a second front through-hole 212 adapted to the front fill light, a first rear through-hole 213 adapted to the rear-view area array camera, and a second rear through-hole 214 adapted to the rear fill light; the front-view area array camera is used to photograph at least one target within a preset range in front of the subway tunnel mobile measuring device 1, and the rear-view area array camera is used to photograph at least one target within a preset range behind the subway tunnel mobile measuring device 1.

[0075] The front-view area array camera's lens passes through the first front through-hole 211 to photograph the target, the front fill light's lens passes through the second front through-hole 212 to photograph the target, the rear-view area array camera's lens passes through the first rear through-hole 213 to photograph the target, and the rear fill light's lens passes through the second rear through-hole 214 to photograph the target.

[0076] Among them, the focal lengths of the front-view area array camera and the rear-view area array camera may be the same or different, and the fields of view of the cameras may be the same or different, but it is necessary to ensure that the same high-resolution image is captured.

[0077] The preset range is not limited; for example, it can be 100m. The fill light range of the front and rear fill lights is greater than or equal to the preset range.

[0078] Among them, the shell 21 is a vertically placed cuboid.

[0079] Among them, the use of forward-looking area array cameras and rear-looking area array cameras can enable the capture and analysis of images of the same target along a single survey route, which helps to improve the accuracy of the measurement.

[0080] The front-view area array camera and the rear-view area array camera are symmetrically arranged in front and behind the housing 21, and the front fill light and the rear fill light are symmetrically arranged in front and behind the housing 21.

[0081] In one possible example, the number of front-view area array cameras is four, the number of front fill lights is two, the number of first front through holes 211 is four, and the number of second front through holes 212 is two; the front-view area array cameras and the front fill lights are arranged at intervals in the vertical direction; the number of rear-view area array cameras is four, the number of rear fill lights is two, the number of first rear through holes 213 is four, and the number of second rear through holes 214 is two; the rear-view area array cameras and the rear fill lights are arranged at intervals in the vertical direction.

[0082] In the vertical direction, the arrangement of the forward-looking area array camera and the front supplement light from top to bottom is as follows: forward-looking area array camera - front supplement light - forward-looking area array camera - forward-looking area array camera - front supplement light - forward-looking area array camera. Two forward-looking area array cameras and one front supplement light constitute a visual perception measurement group. The two forward-looking area array cameras in a visual perception measurement group have different focal lengths to photograph targets at different longitudinal depths, thereby improving measurement efficiency.

[0083] In the vertical direction, the rear-view area array camera and the rear supplement light are arranged from top to bottom as follows: rear-view area array camera - rear supplement light - rear-view area array camera - front-view area array camera - rear supplement light - rear-view area array camera. Two rear-view area array cameras and one rear supplement light form a visual perception measurement group. The two rear-view area array cameras in the same visual perception measurement group have different focal lengths to photograph targets at different longitudinal depths, thereby improving measurement efficiency.

[0084] The front and rear fill lights can use infrared or visible light, and there are no restrictions on their use.

[0085] Among them, the first front through hole 211, the second front through hole 212, the first rear through hole 213, and the second rear through hole 214 are circular through holes.

[0086] The diameter of the second front through hole 212 is larger than that of the first front through hole 211, and the diameter of the second rear through hole 214 is larger than that of the first rear through hole 213 so that one supplementary light in a single visual perception measurement group can meet the supplementary lighting requirements of two area array cameras.

[0087] In one possible example, the first moving assembly 11 includes a first wheel 101, a second wheel 102, and a first axle assembly 103. The first axle assembly 103 includes a first connector 111, a second connector 112, and a first connecting shaft 113. The first connecting shaft 113 connects the first connector 111 and the second connector 112, respectively. The first connector 111 connects to the first wheel 101, and the second connector 112 connects to the second wheel 102. The second moving assembly 12 includes a third wheel 104, a fourth wheel 105, and a second axle assembly 106. The second axle assembly 106 includes a third connector 114, a fourth connector 115, and a second connecting shaft 116. The second connecting shaft 116 connects the third connector 114 and the fourth connector 115, respectively. The third connector 114 connects to the third wheel 104, and the fourth connector 115 connects to the fourth wheel 105. The two ends of the transverse connecting platform 13 are connected to the first connecting shaft 113 and the second connecting shaft 116, respectively.

[0088] In one possible example, the first connector 111 includes a first wheel connector 1111 and a first axle connector 1112, the first axle connector 1112 being disposed on the first wheel connector 1111, and the internal space of the first axle connector 1112 being used to accommodate a displacement sensor and / or a speed sensor; the second connector 112 includes a second wheel connector 1121 and a second axle connector 1122, the second axle connector 1122 being disposed on the second wheel connector 1121, and the internal space of the second axle connector 1122 being used to accommodate a displacement sensor and / or a speed sensor. The third connector 114 includes a third wheel connector 1141 and a third axle connector 1142, the third axle connector 1142 being disposed on the third wheel connector 1141, and the internal space of the third axle connector 1142 being used to accommodate a displacement sensor and / or a speed sensor; the fourth connector 115 includes a fourth wheel connector 1151 and a fourth axle connector 1152, the fourth axle connector 1152 being disposed on the fourth wheel connector 1151, and the internal space of the fourth axle connector 1152 being used to accommodate a displacement sensor and / or a speed sensor.

[0089] The first wheel axle connection 1112, the second wheel axle connection 1122, the third wheel axle connection 1142, and the fourth wheel axle connection 1152 form a trapezoidal space. This trapezoidal space can accommodate displacement sensors and / or speed sensors, allowing them to be positioned close to the wheels, which helps improve the accuracy of the collected sensor data. An inertial navigation system / INS can also be installed within the trapezoidal space.

[0090] The displacement sensor can be an odometer, and there is no limitation on it.

[0091] The visual perception measurement module 20 can also be equipped with a global navigation satellite system to assist in calibrating the absolute position of the mobile measurement equipment 1 in the subway tunnel through satellite signals such as GPS / BeiDou.

[0092] In one possible example, the first storage platform 50 includes a first base plate 51 and a plurality of first baffles 52, the plurality of first baffles 52 being perpendicularly connected to the edge of the first base plate 51, and the second storage platform 60 includes a second base plate 61 and a plurality of second baffles 62, the plurality of second baffles 62 being perpendicularly connected to the edge of the second base plate 61.

[0093] The shape of the first base plate 51 and the second base plate 61 is not limited. For example, the first base plate 51 and the second base plate 61 are rectangular.

[0094] For example, there are four first baffles 52 and four second baffles 62. The first base plate 51 is rectangular and the second base plate 61 is rectangular. The four first baffles 52 are set at the four corners of the first base plate 51 and the four second baffles 62 are set at the four corners of the second base plate 61.

[0095] The first baffle 52 includes a first side baffle and a second side baffle, which are vertically connected. The second baffle 62 includes a third side baffle and a fourth side baffle, which are vertically connected.

[0096] The first base plate 51 and the second base plate 61 can be connected to the transverse connecting platform 13 by bolts.

[0097] As can be seen, in this example, the placement platform uses baffles to accommodate and fix the power supply component 40 and the processing device 30, which helps to improve the stability of the mobile measuring device 1 in the subway tunnel.

[0098] In one possible example, the visual perception measurement module 20 includes a lidar; the lidar is used to collect point cloud data of the subway tunnel; the processing device 30 is also used to analyze the point cloud data and the target image data to obtain obstacle information of the subway tunnel and track defect information of the subway track.

[0099] Specifically, by setting up a lidar to collect point cloud data in the tunnel, and analyzing the point cloud data and target image data, obstacle information and track defect information of the subway tunnel are obtained. The processor analyzes the obstacle information and track defect information and controls the start-up, stop-operation and speed control of the subway tunnel mobile measuring equipment 1 accordingly.

[0100] Please see Figure 8 , Figure 8 This is a schematic diagram of a mobile measurement system for a subway tunnel provided in an embodiment of this application.

[0101] The mobile measurement system 1000 for subway tunnels provided in this application includes the aforementioned mobile measurement device 1 for subway tunnels.

[0102] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0103] In this application, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of these phrases in various locations throughout the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this application can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this application can be arbitrarily combined to form yet another embodiment that does not depart from the spirit and scope of the technical solution of this application, provided there is no contradiction between them.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application should not depart from the spirit and scope of the technical solutions of this application.

Claims

1. A mobile measuring device for subway tunnels, characterized in that, The mobile surveying equipment for subway tunnels includes: A mobile platform, comprising a first mobile component, a second mobile component, and a lateral connecting platform; the lateral connecting platform connects the first mobile component and the second mobile component respectively; the mobile platform moves on a subway track via the first mobile component and the second mobile component; A visual perception measurement module is installed on the horizontal connecting platform. The visual perception measurement module is used to capture images of pre-set targets when the mobile platform moves to a preset monitoring position on the survey route to obtain target image data. A processing device is connected to the visual perception measurement module; the processing device acquires target image data from the visual perception measurement module and analyzes the target image data to obtain the target deformation measurement result; A power supply component, which is connected to the visual perception measurement module and the processing device respectively; A first storage platform is disposed on the side of the transverse connecting platform near the first movable component, and the first storage platform is used to accommodate the processing device; The second storage platform is located on the side of the transverse connecting platform near the second movable component; the second storage platform is used to accommodate the power supply component.

2. The mobile measuring device for subway tunnels according to claim 1, characterized in that, The mobile measuring device for subway tunnels includes a push rod; The push rod includes a grip, a connecting rod, and a fixing part. One end of the connecting rod is connected to the fixing part, and the other end of the connecting rod is connected to the transverse connecting platform. The grip passes through the fixing part, and the fixing part divides the grip into a first grip on the left and a second grip on the right. The length of the second grip is greater than the length of the first grip. The grip is parallel to the horizontal plane and is higher than the horizontal plane. The connecting rod is inclined to the horizontal plane, and the fixed position of the connecting rod on the transverse connecting platform is far away from the center of the transverse connecting platform.

3. The mobile measuring device for subway tunnels according to claim 2, characterized in that, The mobile measurement equipment for subway tunnels includes a power component, which is connected to the power supply component and the mobile platform respectively. The power unit is used to drive the mobile platform to move on the subway track.

4. The mobile measuring device for subway tunnels according to claim 1, characterized in that, The visual perception measurement module includes a housing, a camera array disposed within the housing, and a supplementary lighting component. The camera array is used to photograph targets pre-positioned in the subway tunnel.

5. The mobile measuring device for subway tunnels according to claim 4, characterized in that, The camera array includes a front-view area array camera and a rear-view area array camera; the lighting assembly includes a front fill light and a rear fill light; the housing includes a first front through hole adapted to the front-view area array camera, a second front through hole adapted to the front fill light, a first rear through hole adapted to the rear-view area array camera, and a second rear through hole adapted to the rear fill light. The forward-facing area array camera is used to photograph at least one target within a preset range in front of the mobile measurement equipment for subway tunnels, and the rear-facing area array camera is used to photograph at least one target within a preset range behind the mobile measurement equipment for subway tunnels.

6. The mobile measuring device for subway tunnels according to claim 5, characterized in that, The number of front-view area array cameras is four, the number of front supplementary lights is two, the number of first front through holes is four, and the number of second front through holes is two; the front-view area array cameras and the front supplementary lights are arranged at intervals in the vertical direction; The number of rear-view area array cameras is four, the number of rear supplementary lights is two, the number of first rear through holes is four, and the number of second rear through holes is two; the rear-view area array cameras and the rear supplementary lights are arranged at intervals in the vertical direction.

7. The mobile measuring device for subway tunnels according to claim 1, characterized in that, The first moving component includes a first wheel, a second wheel, and a first wheel axle assembly. The first wheel axle assembly includes a first connector, a second connector, and a first connecting shaft. The first connecting shaft is connected to the first connector and the second connector, respectively. The first connector is connected to the first wheel, and the second connector is connected to the second wheel. The second moving component includes a third wheel, a fourth wheel, and a second wheel axle assembly. The second wheel axle assembly includes a third connector, a fourth connector, and a second connecting shaft. The second connecting shaft connects the third connector and the fourth connector, respectively. The third connector connects to the third wheel, and the fourth connector connects to the fourth wheel. The two ends of the horizontal connecting platform are respectively connected to the first connecting shaft and the second connecting shaft.

8. The mobile measuring device for subway tunnels according to claim 7, characterized in that, The first connector includes a first wheel connection portion and a first axle connection portion, the first axle connection portion being disposed on the first wheel connection portion, and the internal space of the first axle connection portion being used to accommodate a displacement sensor and / or a speed sensor; the second connector includes a second wheel connection portion and a second axle connection portion, the second axle connection portion being disposed on the second wheel connection portion, and the internal space of the second axle connection portion being used to accommodate a displacement sensor and / or a speed sensor. The third connector includes a third wheel connector and a third axle connector, the third axle connector being disposed on the third wheel connector, and the internal space of the third axle connector being used to accommodate a displacement sensor and / or a speed sensor; the fourth connector includes a fourth wheel connector and a fourth axle connector, the fourth axle connector being disposed on the fourth wheel connector, and the internal space of the fourth axle connector being used to accommodate a displacement sensor and / or a speed sensor.

9. The mobile measuring device for subway tunnels according to claim 1, characterized in that, The first storage platform includes a first base plate and a plurality of first baffles, the plurality of first baffles being perpendicularly connected to the edge of the first base plate respectively. The second storage platform includes a second base plate and a plurality of second baffles, the plurality of second baffles being perpendicularly connected to the edge of the second base plate respectively.

10. A mobile measurement system for subway tunnels, characterized in that, The mobile measuring device for subway tunnels as described in any one of claims 1-9.

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