CN112482297B - Instrument and method for detecting and cleaning foreign matters in gap between floating plate and tunnel upper arch - Google Patents

Abstract

The invention discloses an instrument and method for detecting and cleaning foreign objects in the gap between a floating plate and an upper arch of a tunnel. The detecting and cleaning instrument comprises a mobile remote control car, a signal transceiver device and a computer. The front end of the mobile remote control car is provided with a first infrared imager. The rear end is provided with a positioning radar, the middle of the mobile remote control car is provided with a second infrared imager and a detection radar, and a cleaning device for cleaning foreign objects is arranged between the second infrared imager and the detection radar. The remote control car has a built-in power supply. The first infrared imager, the positioning radar, the second infrared imager, the detection radar and the cleaning device are all electrically connected to the power supply. The present invention can detect and remove foreign objects in the gap with high precision, high efficiency and automation. high.

Description

An instrument and method for detecting and cleaning foreign objects in the gap between a floating plate and an upper arch of a tunnel

technical field

The invention relates to the field of subway transportation, in particular to a detection and cleaning instrument and a cleaning method for foreign objects in the gap between a floating plate and an upper arch of a tunnel.

Background technique

The floating plate vibration isolation track structure is also called mass-spring system. The basic principle is to insert a linear resonator whose natural vibration frequency is much lower than the excitation frequency between the upper building of the track and the foundation, that is, the concrete ballast slab with certain mass and stiffness is floated on the rubber or spring vibration isolator, and the floating vibration isolator is used. The mass inertia of the plate is used to balance the dynamic load caused by the train operation. Only the unbalanced dynamic and static loads are transmitted to the subgrade or tunnel structure through the steel spring elements to achieve the purpose of vibration reduction.

However, due to the gap between the floating slab and the inverted arch of the tunnel, once foreign objects (such as bolts, etc.) fall into the construction or maintenance, if they are not taken out in time, the mechanical performance of the track slab may be affected under long-term action, reducing vibration reduction. effect, and even cause damage to the floating board, which will cause safety hazards to the safety and comfort of the line. At present, the cleaning of foreign objects between the floating plate and the inverted arch of the tunnel is difficult and inefficient.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an instrument and method for detecting and cleaning foreign objects in the gap between the floating plate and the upper arch of the tunnel.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is: a detection and cleaning instrument for foreign objects in the gap between the floating plate and the upper arch of the tunnel, including a mobile remote control car set in the central water ditch under the floating plate and a mobile remote control car set in the floating plate. A signal transceiver and a computer are installed outside the board. The front end of the mobile remote control car is provided with a first infrared imager for identifying obstacles on the road, and the rear end is provided with a positioning radar for locating the position of the mobile remote control car. The middle of the remote control car is provided with a second infrared imager for identifying foreign objects in the gap between the floating plate and the upper arch of the tunnel, and a detection radar for detecting and analyzing foreign objects in the gap between the floating plate and the upper arch of the tunnel. The second infrared imager A cleaning device for cleaning foreign objects is arranged between the detection radar and the mobile remote control car. The mobile remote control car has a built-in power supply. The first infrared imager, the positioning radar, the second infrared imager, the detection radar and the cleaning device are all electrically connected to the power supply.

A further improvement of the technical solution of the present invention is that the cleaning device includes a first telescopic rod fixed on the mobile remote control trolley, and two sides of the first telescopic rod are respectively fixed with a hollow second telescopic rod and a third telescopic rod. Three telescopic rods, the telescopic end of the first telescopic rod is fixed with an electric grinding head for grinding foreign objects, and the telescopic ends of the second telescopic rod and the third telescopic rod are respectively fixed with absorbers for absorbing foreign objects .

A further improvement of the technical solution of the present invention is: a method for detecting and cleaning foreign objects in the gap between the floating plate and the upper arch of the tunnel, comprising the following steps:

S1: Information collection: the collected information includes the imaging information of the first infrared imager, the positioning signal of the positioning radar, the imaging information of the second infrared imager, and the detection analysis signal of the detection radar;

S2: information transmission: the information collected in step S1 is sent to the signal transceiver device, and the signal transceiver device generates a corresponding encoded signal according to the collected information and sends it to the computer;

S3: Information processing: The computer forms an information visualization interface by analyzing the imaging information of the first infrared imager, the positioning signal of the positioning radar, the imaging information of the second infrared imager and the detection signal of the detection radar;

S4: Clean the foreign objects in the gap between the floating plate and the upper arch of the tunnel: Control the mobile remote control trolley through the computer, operate the mobile remote control trolley to move to the position of the foreign objects in the gap between the floating plate and the upper arch of the tunnel, and operate the cleaning device on the mobile remote control car. Foreign objects are cleaned up.

A further improvement of the technical solution of the present invention is that: in the step S3, the formula for the detection distance of the foreign object by the detection radar is:

Among them, c - the speed of light,

R - the distance of the target relative to the radar,

Δt - the time it takes for the electromagnetic wave to travel back and forth between the radar and the electromagnetic wave.

A further improvement of the technical solution of the present invention is that: in the step S4, the cleaning device cleans the foreign objects as follows: ① the first telescopic rod is extended, and the electric grinding head grinds off part of the foreign objects until the foreign objects become loose; ② the first telescopic rod is retracted; ③ The second telescopic rod and the third telescopic rod extend out, and the absorber absorbs the remaining foreign matter.

Owing to having adopted the above-mentioned technical scheme, the technical progress that the present invention obtains is:

1. The present invention uses the first infrared imager to identify obstacles on the road of the mobile remote control car, the positioning radar to locate the position of the mobile remote control car, and the second infrared imager to identify and detect foreign objects in the gap between the floating plate and the tunnel upper arch. Detect and analyze foreign objects in the gap between the floating plate and the upper arch of the tunnel, and send the information to the computer through the signal receiver, which can accurately determine the location of the foreign object;

2. The present invention controls the mobile remote control trolley through the computer, which can realize the cleaning of foreign objects in the narrow gap that cannot be reached manually; and realizes the visual operation through the computer, and the computer-controlled operation makes the cleaning work smarter and more efficient, reducing the need for floating panels and tunnels. The cleaning of foreign objects in the upper arch gap is difficult, and the structure is simple and cost saving.

Description of drawings

Fig. 1 is the schematic diagram of the mobile remote control car of the present invention;

Fig. 2 is the working schematic diagram of the detection and cleaning instrument of the present invention;

Among them, 1. Mobile remote control car, 2. Signal transceiver, 3. Computer, 4. First infrared imager, 5. Positioning radar, 6. Second infrared imager, 7. Detection radar, 8. First telescopic rod , 9, the second telescopic rod, 10, the third telescopic rod, 11, the electric grinding head, 12, the absorber.

Detailed ways

Below in conjunction with embodiment, the present invention is described in further detail:

As shown in Figures 1 to 2, an instrument for detecting and cleaning foreign objects in the gap between the floating plate and the upper arch of the tunnel includes a mobile remote control car 1 set in the central water ditch under the floating plate and a signal set outside the floating plate The transceiver device 2 and the computer 3, the size of the mobile remote control car 1 should be set to be able to pass through the water in the center, and can enter the work area from the observation hole of the floating plate; the front end of the mobile remote control car 1 is provided with obstacles on the road. The first infrared imager 4 for identification, the rear end is provided with a positioning radar 5 for locating the position of the mobile remote control car 1, and the middle part of the mobile remote control car 1 is provided with a second for identifying foreign objects in the gap between the floating plate and the upper arch of the tunnel. Infrared imager 6 and detection radar 7 for detecting and analyzing foreign objects in the gap between the floating plate and the upper arch of the tunnel, a cleaning device for cleaning foreign objects is arranged between the second infrared imager 6 and the detection radar 7, and the cleaning The device includes a first telescopic rod 8 fixed on the mobile remote control trolley 1, the telescopic length of the first telescopic rod can cover both sides of the central water ditch, and two sides of the first telescopic rod 8 are respectively fixed with a hollow interior. Two telescopic rods 9 and a third telescopic rod 10 , so the second telescopic rod 9 and the third telescopic rod 10 support the first telescopic rod 8 , and the telescopic end of the first telescopic rod 8 is fixedly arranged to grind foreign objects The electric grinding head 11, the telescopic ends of the second telescopic rod 9 and the third telescopic rod 10 are respectively fixed with absorbers 12 for absorbing foreign objects, the mobile remote control car 1 has a built-in power supply, and the first infrared imaging The instrument 4, the positioning radar 5, the second infrared imager 6, the detection radar 7 and the cleaning device are all electrically connected to the power supply.

A method for detecting and cleaning foreign objects in the gap between a floating plate and an upper arch of a tunnel, comprising the following steps:

S1: Information collection: the collected information includes the imaging information of the first infrared imager 4 to identify obstacles on the road of the mobile remote control car 1, the positioning radar 5 to locate the position of the mobile remote control car 1, and the second infrared imager 6. The imaging information for identifying foreign objects in the gap between the floating plate and the upper arch of the tunnel and the signal of detection radar 7 for detecting and analyzing foreign objects in the gap between the floating plate and the upper arch of the tunnel;

S2: information transmission: the information collected in step S1 is sent to the signal transceiver 2, and the signal transceiver 2 generates a corresponding encoded signal according to the collected information and sends it to the computer 3;

S3: Information processing: The computer 3 forms an information visualization interface by analyzing the imaging information of the first infrared imager 4, the positioning signal of the positioning radar 5, the imaging information of the second infrared imager 6 and the detection signal of the detection radar 7, Among them, the principle of the detection radar 7 signal: According to the judgment of the change of the detection distance of the object, the formula for the detection distance of the foreign object is:

Among them, c - the speed of light,

R - the distance of the target relative to the radar,

Δt - the time it takes for the electromagnetic wave to travel back and forth between the radar and the electromagnetic wave.

S4: Clean the foreign objects in the gap between the floating plate and the upper arch of the tunnel: Control the mobile remote control car 1 through the computer, operate the mobile remote control car to move to the position of the foreign body in the gap between the floating plate and the upper arch of the tunnel, and operate the cleaning device on the mobile remote control car Clean up foreign objects. Due to the small operating space and limited power technology level, the work of grinding and absorbing foreign bodies is alternated, which is convenient for energy saving. The process of cleaning foreign bodies by the cleaning device is as follows: 1. The first telescopic rod 8 is extended, and the electric grinding head 11 is ground. Part of the foreign body is loosened until the foreign body; ② the first telescopic rod 8 is retracted; ③ the second telescopic rod 9 and the third telescopic rod 10 are extended, and the absorber 12 absorbs the remaining foreign matter.

The specific embodiment: the mobile remote control car 1 enters the central water ditch under the floating plate through the observation hole, is connected to the computer 3 through the signal transceiver 2, and performs mobile work under the control of the computer 3, and locates the radar 5 behind the mobile remote control car 1. Positioning, the front first infrared imaging 4 is used to identify obstacles on the road, and the second infrared imaging device 6 is used to identify the foreign objects in the gap between the floating plate and the upper arch of the tunnel. The foreign objects in the upper arch clearance of the tunnel are detected and analyzed, and the information is transmitted to the computer 3. After the computer 3 analyzes and processes the received information, the information is visually displayed on the display screen, which is convenient for manual observation and analysis and the next operation. When a foreign object is detected, move the remote control trolley 1 to protrude the first telescopic rod 8, and the electric grinding head 11 grinds off part of the foreign object, reduces the force area of the foreign object, and increases the contact stress. 8 is retracted, the second telescopic rod 9 and the third telescopic rod 10 are extended, the electric grinding head 11 wears the foreign objects, and the absorber 12 absorbs the foreign debris and loose foreign objects removed by the electric grinding head.

Claims (1)

1. The utility model provides a detection clearance instrument of gap foreign matter encircles on floating plate and tunnel which characterized in that: the device comprises a mobile remote control trolley (1) arranged in a central ditch below a floating plate, a signal transceiver (2) and a computer (3) which are arranged outside the floating plate, wherein the front end of the mobile remote control trolley (1) is provided with a first infrared imager (4) for identifying obstacles on a traveling road, the rear end of the mobile remote control trolley is provided with a positioning radar (5) for positioning the position of the mobile remote control trolley (1), the middle part of the mobile remote control trolley (1) is provided with a second infrared imager (6) for identifying foreign matters in an arch gap between the floating plate and a tunnel and a detection radar (7) for detecting and analyzing the foreign matters in the arch gap between the floating plate and the tunnel, a cleaning device for cleaning the foreign matters is arranged between the second infrared imager (6) and the detection radar (7), and the cleaning device comprises a first telescopic rod (8) fixedly arranged on the mobile remote control trolley (1), a second telescopic rod (9) and a third telescopic rod (10) which are hollow inside are fixedly arranged on two sides of the first telescopic rod (8) respectively, an electric grinding head (11) for grinding foreign matters is fixedly arranged at the telescopic end of the first telescopic rod (8), an absorber (12) for absorbing the foreign matters is fixedly arranged at the telescopic ends of the second telescopic rod (9) and the third telescopic rod (10) respectively, a power supply is arranged in the mobile remote control trolley (1), and the first infrared imager (4), the positioning radar (5), the second infrared imager (6), the detection radar (7) and the cleaning device are all electrically connected with the power supply;

A method for detecting and cleaning foreign matters in an arch clearance between a floating plate and a tunnel comprises the following steps:

s1: information acquisition: the acquired information comprises imaging information of the first infrared imager (4), a positioning signal of the positioning radar (5), imaging information of the second infrared imager (6) and a detection analysis signal of the detection radar (7);

s2: information transmission: sending the information collected in the step S1 to a signal transceiver (2), wherein the signal transceiver (2) generates a corresponding encoded signal according to the collected information and sends the encoded signal to a computer (3);

s3: and (3) information processing: the computer (3) analyzes the imaging information of the first infrared imager (4), the positioning signal of the positioning radar (5), the imaging information of the second infrared imager (6) and the detection signal of the detection radar (7) to form an information visualization interface, and the detection radar (7) has a foreign object detection distance formula as follows:

wherein, c is the speed of light,

r-the distance of the target from the radar,

delta t-time of the electromagnetic wave to and from the radar and the electromagnetic wave;

s4: clearance floating plate and tunnel upper arch clearance foreign matter: control removal remote control dolly (1) through the computer, the operation dolly removes to the position of floating board and tunnel upwarp clearance foreign matter and operates the cleaning device who makes on the dolly and clear up the foreign matter, and the process that cleaning device cleared up the foreign matter is: firstly, a first telescopic rod (8) extends out, and an electric grinding head (11) grinds partial foreign matters until the foreign matters are loosened; secondly, the first telescopic rod (8) is retracted; and the second telescopic rod (9) and the third telescopic rod (10) extend out, and the absorber (12) absorbs the residual foreign matters.

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