CN113309574B - Tunnel monitoring and locomotive unmanned driving system and method based on automatic cruise - Google Patents
Tunnel monitoring and locomotive unmanned driving system and method based on automatic cruise Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 164
- 230000003137 locomotive effect Effects 0.000 title claims abstract description 154
- 238000000034 method Methods 0.000 title claims description 12
- 238000010276 construction Methods 0.000 claims abstract description 41
- 238000004891 communication Methods 0.000 claims abstract description 26
- 230000006378 damage Effects 0.000 claims abstract description 10
- 239000004035 construction material Substances 0.000 claims abstract description 6
- 230000000007 visual effect Effects 0.000 claims description 25
- 238000012545 processing Methods 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 6
- 238000007667 floating Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 239000002002 slurry Substances 0.000 claims description 4
- 238000010030 laminating Methods 0.000 claims description 3
- 230000005641 tunneling Effects 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- -1 duct pieces Substances 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000000547 structure data Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- Excavating Of Shafts Or Tunnels (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The system comprises an overhead rail system arranged on the shield segment, a tunnel monitoring and commanding robot arranged on the overhead rail system, a robot charging pile used for charging the tunnel monitoring and commanding robot, an unmanned automatic driving locomotive used for transporting construction materials, a ground control center used for controlling the whole system, and a wireless communication system used for realizing wireless communication between the tunnel monitoring and commanding robot and the ground control center. According to the tunnel monitoring and commanding robot, the tunnel is monitored and scanned through the tunnel monitoring and commanding robot, deformation data of the section of the tunneled tunnel, segment dislocation and segment damage are obtained so as to be processed at a later stage, and meanwhile, the tunnel safety is checked so as to timely overhaul the unmanned automatic locomotive track, so that the construction progress is accelerated, the construction efficiency is improved, operating personnel are reduced, the labor cost is saved, and the construction cost is reduced.
Description
Technical Field
The utility model relates to the field of shield construction, in particular to a working method of a tunnel monitoring and locomotive unmanned system based on automatic cruise.
Background
The subway is constructed through a densely populated area, so that large-area ground surface excavation cannot be carried out, and a shield excavation technology needs to be adopted. Although shield construction has the advantages of high tunneling speed, high construction quality, small interference to surrounding environment, high construction safety and the like, and is applied to China with high development trend, the intelligent and automatic construction is still in an initial exploration stage, a large amount of manual intervention is needed, most links need to be operated by personnel, and only few links can realize less humanization or no humanization. Various materials such as duct pieces, slurry, tracks and the like and muck used in shield tunneling construction are transported by operators driving a locomotive, monitoring of the section of a tunnel is also completed by measuring personnel, long-time construction operation is carried out, the operators are prone to accidents due to fatigue, the health of the operators is prone to damage due to long-term construction in the tunnel, and in addition, the construction efficiency of the shield is restricted and the construction cost is increased due to aging reasons of labor operators.
Disclosure of Invention
The invention aims to provide a working method of a tunnel monitoring and locomotive unmanned system based on automatic cruise, which obtains tunnel images and section three-dimensional data through tunnel monitoring and command robot patrol monitoring, and uses the tunnel images and the section three-dimensional data as a basis for tunnel defect, through measurement and later-stage line adjustment; through tunnel monitoring and command robot and unmanned automatic pilot locomotive collaborative work, can realize intelligent, the convenient of transportation such as shield section of jurisdiction, thick liquids in the tunnel for the construction progress improves construction safety, reduces the operation personnel, practices thrift the human cost, reduces engineering cost.
In order to achieve the purpose, the invention adopts the following technical scheme:
tunnel monitoring and locomotive unmanned system based on automatic cruise, permanent lining structure is shield section of jurisdiction in the tunnel, its characterized in that: the system comprises an overhead rail system arranged on a shield segment, a tunnel monitoring and commanding robot arranged on the overhead rail system, a robot charging pile used for charging the tunnel monitoring and commanding robot, an unmanned automatic driving locomotive used for transporting construction materials, a ground control center used for controlling the whole system, and a wireless communication system used for realizing wireless communication between the tunnel monitoring and commanding robot and the ground control center;
the hanger rail system comprises a hanging head buried on a shield segment, a hanger plate and a hanger rail positioned at the bottom of the hanger plate, wherein the hanger rail is arranged along the full length of the shield segment and is formed by splicing H-shaped steel;
the tunnel monitoring and commanding robot comprises a suspension device and a lower functional module which are fixed on a hanger rail, wherein the suspension device comprises a walking unit and a driving unit for driving the walking unit, the lower functional module comprises a trolley frame, and a data monitoring and collecting device and a data processing command device which are arranged on the trolley frame, the data monitoring and collecting device comprises a trolley visual imaging device, a trolley radar device and a trolley monitoring and scanning device, the trolley visual imaging device comprises at least 3 cameras which are connected with the data processing command device through data lines and is used for observing whether obstacles exist in the running line of the unmanned automatic driving locomotive, whether tunnel segments are damaged and leaked, whether segment bolts are loosened and dropped, whether water stop strips drop and whether operators entering the tunnel for intervening construction exist or not, the trolley radar device consists of a plurality of laser radars and infrared radars and is used for observing whether an operating line of the unmanned automatic driving locomotive has obstacles or not, judging the position and the speed of the robot per se and checking whether operating personnel who intervene in construction and enter a tunnel exist or not, the trolley monitoring and scanning device comprises 2 three-dimensional scanners and is used for scanning the section of the tunnel and acquiring tunnel deformation data and duct piece dislocation data, the data processing instruction device is a high-speed single chip microcomputer and is used for receiving and transmitting ground control center instructions, storing, automatically acquiring and comprehensively analyzing the data from the data monitoring and acquiring device, sending early warning and emergency instructions and commanding and operating the unmanned automatic driving locomotive;
the robot charging pile is respectively placed at a tunnel wellhead and a bridge frame of the shield machine and used for charging the tunnel monitoring and commanding robot, the charging pile placed at the tunnel wellhead is electrically connected with a ground three-level distribution box in a suspension mode, and the charging pile placed at the bridge frame of the shield machine is placed in a bracket mode and is electrically connected with a lighting circuit of the shield machine; the charging pile is a contact type charging pile and charges a contact type battery of a wireless power supply variable frequency motor of a driving unit of the tunnel monitoring and commanding robot in a contact type manner;
the unmanned automatic driving locomotive comprises a visual image device, a radar device and a locomotive control computer, wherein the visual image device, the radar device and the locomotive control computer are borne on a locomotive carrier, the locomotive carrier is an electric locomotive provided with a bearing induction device, the visual image device comprises cameras which are respectively installed on the upper portion and the lower portion of a locomotive carrier head and are used for observing whether obstacles exist in an operation line of the unmanned automatic driving locomotive, whether a tunnel segment is damaged or not, leakage exists, whether a segment bolt is loosened and falls off, whether a water stop strip falls off or not and whether operating personnel for intervening construction exist in a tunnel or not, the radar device comprises laser radars and infrared radars which are respectively positioned on the lower portion and the upper portion of the locomotive head and are used for observing whether obstacles exist in the operation line of the unmanned automatic driving locomotive, judging the position and the speed of the locomotive and checking whether operating personnel for intervening construction exist in the tunnel or not, the locomotive control computer is a PLC computer, is arranged at the front part of the locomotive and is used for receiving and executing tunnel monitoring and commanding robot instructions, receiving data from the visual image device and the radar device, analyzing and judging the position and the speed of the locomotive control computer, checking whether an operator who enters the tunnel for intervening construction exists, whether an obstacle exists in the front of the locomotive control computer and whether the locomotive control computer can continue to move forwards or brake;
the ground control center consists of a plurality of computers, is connected with the tunnel monitoring and commanding robot through a wireless communication system, sends instructions to the tunnel monitoring and commanding robot, and receives and processes data.
The wireless communication system is composed of a plurality of wireless communication base stations arranged at intervals and used for providing communication signals for the tunnel monitoring and commanding robot to be connected with the ground control center.
It is further preferred that there are two sets of said rail systems, located at 1 and 15 points, respectively, after the tunnel 16 is equally divided, wherein the apex is 16 points.
Furthermore, the hoisting head passes the hanger plate and locates the hoist and mount hole threaded connection on the shield segment, and the extension line of hoisting head passes the central line in tunnel, the hanger plate includes upper portion bending segment and the vertical section in lower part, the upper portion bending segment laminating shield segment sets up, and the vertical section in lower part and the upper flange plate top surface welded fastening of I-steel.
Furthermore, the length of a single H-shaped steel is 3m, and the adjacent H-shaped steels are in mortise-tenon connection or bolted connection to form the whole hanging rail.
Furthermore, three-dimensional scanner, camera and laser radar are all installed to dolly frame front end and rear end, and infrared radar and camera are installed to dolly frame bottom.
In addition, the walking unit is including setting up the gyro wheel on H shaped steel lower flange board, the drive unit is the motor that the drive roller walked, the motor is the small-size motor that has just reversing function, the external variable frequency controller of motor, variable frequency controller receives the signal that data processing command device or ground control center sent through wireless form and carries out this signal and then control motor operation, and the signal priority that ground control center sent is higher than the signal that data processing command device sent, the motor passes through the signal control motor operation that variable frequency controller received, the motor is the wireless power supply motor, the motor has the mobile battery, the mobile battery is contact rechargeable battery, contact rechargeable battery charges with tunnel wellhead or crane span structure department of charging pile adoption contact form.
More preferably, the distance between adjacent wireless communication base stations is 100m, and the wireless communication base stations are electrically connected with the tunnel lighting cable.
The working method of the tunnel monitoring and locomotive unmanned system based on automatic cruise is characterized by comprising the following steps:
step one, a preparation stage: respectively installing contact type robot charging piles at tunnel wellhead positions and shield machine bridge positions, installing a hanger rail system and a tunnel monitoring and commanding robot, moving the tunnel monitoring and commanding robot to the tunnel wellhead, and connecting the tunnel monitoring and commanding robot with the charging piles to enable the robot to keep a charging state;
step two, the tunnel monitoring and commanding robot is patrolled and monitored in advance: the ground control center selects a certain section of tunnel to start the shield machine automatic cruise construction, the ground control center sends a patrol and monitoring instruction to the tunnel monitoring and commanding robot, the tunnel monitoring and commanding robot is separated from the robot charging pile, travels to the shield machine bridge frame along the hanger rail and then returns to the tunnel well mouth to complete the patrol and monitoring work of the tunnel, the ground control center judges and identifies whether segment damage and leakage exist in the tunnel, whether segment bolts are loosened and fall off, whether water stop strips fall off, whether obstacles exist on a locomotive operation line and whether operators enter the tunnel for intervention construction exist in the tunnel or not by opening the trolley visual imaging device, the trolley radar device and the trolley monitoring and scanning device in the traveling process of the tunnel monitoring and commanding robot to obtain images, scan and monitor data and upload the analyzed and processed data to the ground control center, for later-stage processing, three-dimensional modeling is carried out on the acquired tunnel section data, whether duct piece dislocation exists or not is judged, and deformation and floating of the tunnel structure are judged and used as the basis for tunnel through measurement and later-stage line adjustment;
step three, the unmanned automatic driving locomotive and the tunnel monitoring and commanding robot walk in a coordinated manner: after an unmanned automatic driving locomotive at a tunnel wellhead is in place, starting a visual image device, a radar device and a locomotive control computer, acquiring tunnel image data, the position and the speed of the locomotive, identifying whether operating personnel for intervening construction in a tunnel exists or not, whether tunnel segments are damaged or leaked, whether segment bolts are loosened or dropped and whether water stop strips fall or not, sending a forward instruction to the unmanned automatic driving locomotive by a tunnel monitoring and commanding robot, driving the unmanned automatic driving locomotive to a shield machine frame bridge direction, and driving the unmanned automatic driving locomotive along with the unmanned automatic driving locomotive at a position 2-3 meters in front of the unmanned automatic driving locomotive by the tunnel monitoring and commanding robot; when the unmanned automatic locomotive encounters an obstacle or has a fault, the unmanned automatic locomotive control computer automatically issues a brake-off command and sends request assistance information to the tunnel monitoring and commanding robot, the tunnel monitoring and commanding robot receives the request assistance information sent by the unmanned automatic locomotive and reads and judges the information, if the information is the information that the obstacle exists in front of the locomotive, the tunnel monitoring and commanding robot immediately runs to the front of the locomotive to observe and scan again whether the obstacle exists, if the obstacle exists, the tunnel monitoring and commanding robot sends a command for requesting manual intervention to clear the obstacle to the ground control center, and if the information is that the unmanned automatic locomotive has a fault, the tunnel monitoring and commanding robot directly requests the ground control center for manual intervention to maintain the unmanned automatic locomotive;
step four, material unloading: when the unmanned automatic driving locomotive is about to reach a designated position, the tunnel monitoring and commanding robot issues a stop instruction, the unmanned automatic driving locomotive stops, the segment, the slurry, the track, the construction materials and the loaded muck are unloaded, the locomotive control computer sends out a signal that the locomotive has completed a set task to the tunnel monitoring and commanding robot according to a bearing signal sensed by the bearing sensing device and requests to drive to a tunnel wellhead, the tunnel monitoring and commanding robot drives to 2-3 m in front of the tail of the locomotive after receiving a driving request sent by the unmanned automatic driving locomotive in advance, then sends out an instruction that the locomotive can drive to the tunnel wellhead, the unmanned automatic driving locomotive starts to drive, and the robot and the unmanned automatic driving locomotive drive to the tunnel wellhead along with the driving, so that the locomotive driving of a cycle is completed.
Step five, repeating the step two to step four: and (4) finishing the transportation tasks of various materials and muck in the second to fourth steps, routing inspection and collecting and monitoring collected monitoring data of the tunnel monitoring and commanding robot, sending the monitoring data to a ground control center for modeling, analyzing deformation, segment damage and settlement monitoring of the tunnel, and providing a basis for subsequent treatment.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
the tunnel monitoring and commanding robot is used for monitoring and scanning the tunnel, acquiring image data of a tunneled tunnel section and tunnel section data, analyzing and judging whether the tunnel has the problems of segment damage, leakage and the like or not so as to be processed at a later stage, and simultaneously carrying out three-dimensional modeling on the acquired tunnel section data to judge whether segment dislocation, tunnel structure deformation and floating exist or not, so that the tunnel monitoring and commanding robot is used as a basis for tunnel through measurement and later-stage line adjustment, the interference of measurement operation on normal shield tunneling is avoided, the labor cost is saved, the construction progress is accelerated, the monitoring time interval is shortened, the deformation condition of the tunnel structure can be timely mastered, and the intelligent level of monitoring is improved.
The method comprises the steps that firstly, a tunnel is safely checked through a tunnel monitoring and commanding robot, so that the unmanned automatic locomotive track can be overhauled in time; when tunnel monitoring and commander robot and unmanned automatic pilot locomotive collaborative work, tunnel monitoring is located unmanned automatic pilot locomotive the place ahead 2~3m with the commander robot, be convenient for tunnel monitoring and commander robot inspection place ahead road conditions, in time call stop unmanned automatic pilot locomotive, both cooperate each other to be convenient for continuously for carrying the thick liquid in the tunnel, raw materials such as shield structure section of jurisdiction and slag tap, help accelerating the construction progress, improve the efficiency of construction, reduce the operation personnel, avoid the operation personnel healthy to receive the harm, the human cost is practiced thrift, reduce engineering cost.
Drawings
FIG. 1 is a schematic structural diagram of an automatic cruise-based tunnel monitoring and locomotive unmanned system according to the present invention;
FIG. 2 is a diagram showing the positional relationship of a shield pipe, a hoisting head and a hanger rail according to the present invention;
fig. 3 is an enlarged schematic view of a portion a in fig. 1.
Reference numerals: 1-shield segment; 2-hoisting the head; 3-hanging a plate; 4-hanging a rail; 5-tunnel monitoring and commanding robot; 7-unmanned autonomous locomotive; 71-a locomotive carrier; 72-a visual imaging device; 73-radar means.
Detailed Description
In order to make the technical means, innovative features, objectives and functions realized by the present invention easy to understand, the present invention is further described below.
The examples described herein are specific embodiments of the present invention, are intended to be illustrative and exemplary in nature, and are not to be construed as limiting the scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include technical solutions which make any obvious replacement or modification for the embodiments described herein.
The tunnel monitoring and locomotive unmanned system based on automatic cruising, wherein a permanent lining structure in a tunnel is a shield segment 1, and comprises a hanger rail system arranged on the shield segment 1, a tunnel monitoring and commanding robot 5 arranged on the hanger rail system, a robot charging pile for charging the tunnel monitoring and commanding robot, an unmanned automatic driving locomotive 7 for transporting construction materials, a ground control center for controlling the whole system, and a wireless communication system for realizing wireless communication between the tunnel monitoring and commanding robot 5 and the ground control center, as shown in figure 1;
as shown in fig. 2 and 3, the hanger rail system comprises a hanging head 2 buried on a shield segment 1, a hanging plate 3 and a hanger rail 4 positioned at the bottom of the hanging plate 3, wherein the hanger rail 4 is arranged along the whole length of the shield segment 1 and is formed by splicing H-shaped steel; the hoisting head 2 passes the hanger plate 3 and locates the hoist and mount hole threaded connection on the shield section of jurisdiction 1, and the extension line of hoist and mount head 2 passes the central line in tunnel, and hanger plate 3 includes upper portion bending segment and the vertical section in lower part, and the laminating of upper portion bending segment shield section of jurisdiction 1 sets up, and the vertical section in lower part and the upper flange plate top surface welded fastening of I-steel to in the installation, avoid equipment collisions such as tunnel monitoring and command robot and shield tailstock, platform truck, crane span structure. Two groups of overhead rail systems are arranged, are symmetrically arranged at two sides right above the unmanned automatic locomotive 7 and are respectively arranged at the 1 point and the 15 point after the equal division of the tunnel 16, wherein the top point is 16 points, the length of a single H-shaped steel is 3m, the adjacent H-shaped steels are connected in a mortise-tenon manner or bolted to form the whole hanging rail 4, the walking unit comprises a roller arranged on the lower flange plate of the H-shaped steel, the driving unit is a motor for driving the roller to walk, the motor is a small motor with a forward and reverse rotation function, the motor is externally provided with a variable frequency controller, the variable frequency controller receives signals sent by a data processing instruction device or a ground control center in a wireless manner and executes the signals to further control the motor to operate, and the signal priority that ground control center sent is higher than the signal that data processing command device sent, and the motor adopts the removal high energy battery that charges as the power, and the removal high energy battery that charges adopts contact form and fills electric pile contact charging in tunnel wellhead or shield structure machine crane span structure department.
The tunnel monitoring and commanding robot 5 comprises a suspension device and a lower functional module which are fixed on a hanger rail 4, the suspension device comprises a walking unit and a driving unit for driving the walking unit, the lower functional module comprises a trolley frame, and a data monitoring and collecting device and a data processing command device which are arranged on the trolley frame, the data monitoring and collecting device comprises a trolley visual imaging device, a trolley radar device and a trolley monitoring and scanning device, the trolley visual imaging device comprises at least 3 cameras (which are connected with the data processing command device through data lines and are the same as the cameras on the unmanned automatic driving locomotive 7 and are mainly used for observing whether obstacles exist on the running line of the unmanned automatic driving locomotive 7, whether tunnel segments are damaged or not, and leakage exists, whether segment bolts are loosened and fall off, whether water stop strips fall off or not, and whether operators entering the tunnel for dry pre-construction exist or not, the trolley radar device consists of a plurality of laser radars and infrared radars and is mainly used for observing whether an operating line of the unmanned automatic driving locomotive 7 has obstacles or not and judging the position and the speed of the robot per se and whether operating personnel who intervene in construction and enter a tunnel exist or not, the trolley monitoring and scanning device comprises 2 three-dimensional scanners and is mainly used for scanning three-dimensional information of a tunnel section and acquiring tunnel deformation data and duct piece dislocation data, a data processing instruction device is a high-speed single chip microcomputer and is used for receiving and transmitting ground control center instructions, storing, automatically acquiring and comprehensively analyzing the data from the data monitoring and acquiring device, and sending out early warning and emergency instructions and commanding to operate the unmanned automatic driving locomotive 7; specifically, three-dimensional scanner, camera and laser radar are all installed to dolly frame front end and rear end, infrared radar and camera are installed to dolly frame bottom, so that tunnel image data, tunnel three-dimensional structure data are surveyd in the scanning many times, judge robot self accurate position through contrastive analysis, speed, whether there is the barrier in unmanned vehicles operation circuit, whether there is the operating personnel who gets into the tunnel interior intervention construction, whether the tunnel section of jurisdiction is damaged, the seepage, whether the sealing rod drops, whether the section of jurisdiction bolt is not hard up and drops.
The robot charging pile is respectively placed at a tunnel wellhead and a bridge frame of the shield machine and used for charging the tunnel monitoring and commanding robot, the charging pile placed at the tunnel wellhead is electrically connected with a ground three-level distribution box in a suspension mode, and the charging pile placed at the bridge frame of the shield machine is placed in a bracket mode and is electrically connected with a lighting circuit of the shield machine; the charging pile is a contact type charging pile, and a battery of a wireless power supply variable frequency motor of the tunnel monitoring and commanding robot driving unit is charged in a contact type mode.
The ground control center is composed of a plurality of computers, is connected with the tunnel monitoring and robot through a wireless communication system, sends instructions of starting to patrol and inspect monitoring, stopping, advancing, closing equipment and the like to the tunnel monitoring and commanding robot, receives tunnel image data transmitted by the tunnel monitoring and commanding robot and tunnel section three-dimensional information data, establishes a formed tunnel three-dimensional model as a basis for tunnel through measurement and later-stage line adjustment, and identifies the specific accurate position and speed of the robot and the unmanned locomotive in the tunnel through contrastive analysis, whether an obstacle exists in an operation line of the unmanned locomotive, whether an operator entering the tunnel for intervening construction exists, whether a tunnel segment is damaged or not, seepage and whether a water stop strip drops or not, and whether a segment bolt loosens and drops or not.
The unmanned automatic driving locomotive 7 comprises a visual image device 72, a radar device 73 and a central control computer, wherein the visual image device 72, the radar device 73 and the central control computer are borne on a locomotive carrier 71, the locomotive carrier 71 is an electric locomotive provided with a bearing induction device, the visual image device 72 comprises cameras respectively installed on the upper part and the lower part of a head of the locomotive carrier 71, the radar device 73 comprises a laser radar and an infrared radar which are respectively positioned on the lower part and the upper part of the head and are the same as the laser radar and the infrared radar of the tunnel monitoring and commanding robot 5 in type, and the central control computer is a PLC computer and is used for receiving and executing instructions of the tunnel monitoring and commanding robot and receiving data from the visual image device 72 and the radar device 73, analyzing and judging whether an obstacle exists in the front and whether the front can continue to move forward or brake;
the wireless communication system consists of a plurality of wireless communication base stations arranged at intervals and is used for providing communication signals for the tunnel monitoring and commanding robot to be connected with the ground control center, the distance between the adjacent wireless communication base stations is 100m, and the wireless communication base stations are electrically connected with the tunnel lighting cable.
The working method of the tunnel monitoring and locomotive unmanned system based on automatic cruise is characterized by comprising the following steps:
step one, a preparation stage: respectively installing contact type robot charging piles at tunnel wellhead positions and shield machine bridge positions, installing a hanger rail system and a tunnel monitoring and commanding robot, moving the tunnel monitoring and commanding robot to the tunnel wellhead, and connecting the tunnel monitoring and commanding robot with the charging piles to enable the robot to keep a charging state;
step two, the tunnel monitoring and commanding robot 5 is patrolled and monitored in advance: the ground control center selects a certain section of tunnel to start the shield machine automatic cruise construction, the ground control center sends a patrol and monitoring instruction to the tunnel monitoring and commanding robot, the tunnel monitoring and commanding robot 5 is separated from the robot charging pile, the tunnel monitoring and commanding robot 5 travels to the shield machine bridge frame along the hanger rail 4 to charge the pile and then returns to the tunnel well mouth to complete the patrol and monitoring work of the tunnel, the tunnel monitoring and commanding robot 5 starts the trolley visual imaging device, the trolley radar device and the trolley monitoring and scanning device to obtain images, scan and monitor data, the images, the data are analyzed and processed and then uploaded to the ground control center, the ground control center judges and identifies whether the tunnel has segment damage and leakage, whether segment bolts are loosened and dropped, whether water stop strips fall off, whether obstacles exist on a locomotive operation line for later processing, and whether operators entering the tunnel for intervention construction exist or not, meanwhile, three-dimensional modeling is carried out on the acquired tunnel section data, whether duct piece dislocation and tunnel structure deformation and floating exist or not is judged, and the data are used as the basis for tunnel through measurement and later-stage line adjustment;
step three, the unmanned automatic driving locomotive 7 and the tunnel monitoring and commanding robot 5 travel in coordination: after the unmanned automatic driving locomotive 7 positioned at the tunnel wellhead is in place, starting a visual image device 72, a radar device 73 and a locomotive control computer, acquiring tunnel image data, the position and the speed of the locomotive, identifying whether operating personnel for intervening construction in the tunnel exists or not, whether tunnel segments are damaged or leaked, whether segment bolts are loosened or fall or not and whether water stop strips fall or not, sending a forward instruction to the unmanned automatic driving locomotive by a tunnel monitoring and commanding robot 5, enabling the unmanned automatic driving locomotive 7 to run towards a shield machine frame bridge, and enabling the tunnel monitoring and commanding robot 5 to run along with the unmanned automatic driving locomotive 7 at a position 2-3 meters in front of the unmanned automatic driving locomotive 7; when the unmanned automatic locomotive 7 encounters an obstacle or has a fault, the unmanned automatic locomotive 7 controls a computer to automatically issue a brake-off command and send request assistance information to the tunnel monitoring and commanding robot 5, the tunnel monitoring and commanding robot 5 receives the request assistance information sent by the unmanned automatic locomotive 7, reads and judges the information, if the information is that the obstacle exists in front of the locomotive, the tunnel monitoring and commanding robot 5 immediately moves to the front of the locomotive to observe and scan again whether the obstacle exists, if so, the tunnel monitoring and commanding robot 5 sends a command requesting manual intervention to clear the obstacle to a ground control center, and if the information is that the unmanned automatic locomotive 7 has a fault, the tunnel monitoring and commanding robot 5 directly requests the ground control center to manually intervene and maintain the unmanned automatic locomotive 7;
step four, material unloading: when the unmanned automatic locomotive 7 is about to reach a designated position, the tunnel monitoring and commanding robot 5 issues a stop instruction, the unmanned automatic locomotive 7 stops, various materials such as pipe pieces, slurry or rails and the like are unloaded, muck is loaded, the locomotive control computer sends a locomotive finished set task to the tunnel monitoring and commanding robot 5 according to a bearing signal sensed by the bearing sensing device, a signal for requesting to drive to a tunnel wellhead is sent, the tunnel monitoring and commanding robot 5 drives to 2-3 m in front of a locomotive tail after receiving a driving request sent by the unmanned automatic locomotive 7, then an instruction capable of driving to the tunnel wellhead is sent to the unmanned automatic locomotive 7, the unmanned automatic locomotive 7 starts to drive, and the robot and the unmanned automatic locomotive 7 drive to the tunnel wellhead along with the driving to complete a cycle of locomotive driving.
Step five, repeating the step two to step four: and (4) finishing the transportation tasks of various materials and muck in the second to fourth steps, routing inspection and collecting and monitoring collected monitoring data by the tunnel monitoring and commanding robot 5, sending the monitoring data to a ground control center for modeling, analyzing deformation, segment damage and settlement monitoring of the tunnel, and providing a basis for subsequent treatment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. Tunnel monitoring and locomotive unmanned system based on automatic cruise, permanent lining structure is shield section of jurisdiction (1) in the tunnel, its characterized in that: the system comprises an overhead rail system arranged on a shield segment (1), a tunnel monitoring and commanding robot (5) arranged on the overhead rail system, a robot charging pile used for charging the tunnel monitoring and commanding robot, an unmanned automatic driving locomotive (7) used for transporting construction materials, a ground control center used for controlling the whole system, and a wireless communication system used for realizing wireless communication between the tunnel monitoring and commanding robot (5) and the ground control center;
the hanger rail system comprises a hanging head (2) buried in the shield segment (1), a hanging plate (3) and a hanger rail (4) positioned at the bottom of the hanging plate (3), wherein the hanger rail (4) is arranged along the full length of the shield segment (1) and is formed by splicing H-shaped steel;
the tunnel monitoring and commanding robot (5) comprises a suspension device and a lower functional module which are fixed on a hanger rail (4), the suspension device comprises a walking unit and a driving unit for driving the walking unit, the lower functional module comprises a trolley frame, a data monitoring and collecting device and a data processing command device, the data monitoring and collecting device comprises a trolley visual image device, a trolley radar device and a trolley monitoring and scanning device, the trolley visual image device comprises at least 3 cameras which are connected with the data processing command device through data lines and is used for observing whether obstacles exist in the running line of the unmanned automatic driving locomotive (7), whether tunnel segments are damaged or not and leak, whether segment bolts are loosened and fall off or not, whether water stop strips fall off or not and whether operators enter the tunnel for intervening construction or not are checked, the trolley radar device consists of a plurality of laser radars and infrared radars and is used for observing whether an operating line of the unmanned automatic driving locomotive (7) has obstacles or not, judging the position and the speed of the robot per se and checking whether operating personnel who intervenes in construction and enters a tunnel exist or not, the trolley monitoring and scanning device comprises 2 three-dimensional scanners and is used for scanning the section of the tunnel and acquiring tunnel deformation data and duct piece dislocation data, the data processing instruction device is a high-speed single chip microcomputer and is used for receiving and transmitting ground control center instructions, storing, automatically acquiring and comprehensively analyzing the data from the data monitoring and acquiring device, and sending early warning and emergency instructions and commanding and operating the unmanned automatic driving locomotive (7);
the robot charging pile is respectively placed at a tunnel wellhead and a bridge frame of the shield machine and used for charging the tunnel monitoring and commanding robot, the charging pile placed at the tunnel wellhead is electrically connected with a ground three-level distribution box in a suspension mode, and the charging pile placed at the bridge frame of the shield machine is placed in a bracket mode and is electrically connected with a lighting circuit of the shield machine; the charging pile is a contact type charging pile and charges a contact type battery of a wireless power supply variable frequency motor of a driving unit of the tunnel monitoring and commanding robot in a contact type manner;
the unmanned automatic driving locomotive (7) comprises a visual image device (72), a radar device (73) and a locomotive control computer, wherein the visual image device (72) is borne on a locomotive carrier (71), the locomotive carrier (71) is an electric locomotive provided with a bearing sensing device, the visual image device (72) comprises cameras which are respectively installed on the upper portion and the lower portion of a machine head of the locomotive carrier (71) and are used for observing whether obstacles exist in the running line of the unmanned automatic driving locomotive (7), whether a tunnel segment is damaged or leaked, whether a segment bolt is loosened and falls off or not, whether a water stop strip falls off or not and whether operators who enter the tunnel for intervening construction exist or not, the radar device (73) comprises a laser radar and an infrared radar which are respectively positioned on the lower portion and the upper portion of the machine head and are used for observing whether the obstacles exist in the running line of the unmanned automatic driving locomotive (7), judging the position and the speed of the locomotive per se, and checking whether operating personnel for intervening construction in the tunnel exists, wherein the locomotive control computer is a PLC computer, is arranged at the front part of the locomotive and is used for receiving and executing instructions of a tunnel monitoring and commanding robot, receiving data from a visual image device (72) and a radar device (73), analyzing and judging the position and the speed per se, checking whether operating personnel for intervening construction in the tunnel exists, whether obstacles exist in the front, and whether the operation personnel can continue to move forwards or brake;
the ground control center consists of a plurality of computers, is connected with the tunnel monitoring and commanding robot through a wireless communication system, sends instructions to the tunnel monitoring and commanding robot and receives and processes data;
the wireless communication system is composed of a plurality of wireless communication base stations arranged at intervals and used for providing communication signals for the tunnel monitoring and commanding robot to be connected with the ground control center.
2. The auto-cruise based tunnel monitoring and locomotive unmanned system of claim 1, wherein: the two groups of the hanger rail systems are respectively positioned at an equal division 1 point and an equal division 15 point after a tunnel section 16 is divided equally, wherein the top point is the equal division 16 point.
3. The auto-cruise based tunnel monitoring and locomotive unmanned system of claim 1, wherein: hoisting head (2) pass hanger plate (3) and locate the hoisting hole threaded connection on shield structure section of jurisdiction (1), and the extension line of hoist head (2) passes the central line in tunnel, hanger plate (3) include upper portion bending segment and the vertical section in lower part, the laminating of upper portion bending segment shield constructs section of jurisdiction (1) setting, the vertical section in lower part and flange board top surface welded fastening on the I-steel.
4. The auto-cruise based tunnel monitoring and locomotive unmanned system of claim 1, wherein: the length of each single H-shaped steel is 3m, and the adjacent H-shaped steels are in mortise and tenon connection or bolted connection to form the whole hanger rail (4).
5. The auto-cruise based tunnel monitoring and locomotive unmanned system of claim 1, wherein: three-dimensional scanner, camera and laser radar are all installed to dolly frame front end and rear end, and infrared radar and camera are installed to dolly frame bottom.
6. The auto-cruise based tunnel monitoring and locomotive unmanned system of claim 1, wherein: the walking unit is including setting up the gyro wheel on H shaped steel lower flange board, the motor of drive unit for the walking of drive gyro wheel, the motor is the small-size motor that has just reversing function, the external variable frequency controller of motor, variable frequency controller receives the signal that data processing command device or ground control center sent through wireless form and carries out this signal and then control motor operation, and the signal priority that ground control center sent is higher than the signal that data processing command device sent, the signal control motor operation that the motor received through variable frequency controller, the motor is the wireless power supply motor, the motor has mobile battery, mobile battery is contact rechargeable battery, contact rechargeable battery adopts the contact form to charge with tunnel well head or crane span structure department charging pile.
7. The auto-cruise based tunnel monitoring and locomotive unmanned system of claim 1, wherein: and the distance between adjacent wireless communication base stations is 100m, and the wireless communication base stations are electrically connected with the tunnel lighting cable.
8. The method of operating an auto-cruise based tunnel monitoring and locomotive unmanned system according to any one of claims 1 to 7, comprising the steps of:
step one, a preparation stage: respectively installing contact type robot charging piles at tunnel wellhead positions and shield machine bridge positions, installing a hanger rail system and a tunnel monitoring and commanding robot, moving the tunnel monitoring and commanding robot to the tunnel wellhead, and connecting the tunnel monitoring and commanding robot with the charging piles to enable the robot to keep a charging state;
step two, the tunnel monitoring and commanding robot (5) is patrolled and monitored in advance: the ground control center selects a certain section of tunnel to start the shield machine automatic cruise construction, the ground control center sends a patrol and monitoring instruction to the tunnel monitoring and commanding robot, the tunnel monitoring and commanding robot (5) is separated from the robot charging pile, travels to the shield machine bridge frame along the hanging rail (4) and then returns to the tunnel wellhead to complete the patrol and monitoring work of the tunnel, the tunnel monitoring and commanding robot (5) starts a trolley visual imaging device, a trolley radar device and a trolley monitoring and scanning device to obtain images, scanning and monitoring data in the traveling process, the data are analyzed and processed and uploaded to the ground control center, the ground control center judges and identifies whether segment damage and leakage exist in the tunnel, segment bolts are loosened and fall off, water stop strips fall off, whether obstacles exist on a locomotive running line and whether operators entering the tunnel for intervening construction exist or not, for later-stage processing, three-dimensional modeling is carried out on the acquired tunnel section data, whether duct piece dislocation exists or not is judged, and deformation and floating of the tunnel structure are judged and used as the basis for tunnel through measurement and later-stage line adjustment;
step three, the unmanned automatic driving locomotive (7) and the tunnel monitoring and commanding robot (5) travel in a coordinated manner: after an unmanned automatic driving locomotive (7) positioned at a tunnel wellhead is in place, starting a visual image device (72), a radar device (73) and a locomotive control computer, acquiring tunnel image data, the position and the speed of the locomotive, identifying whether operating personnel for intervening construction in a tunnel exists, whether a tunnel segment is damaged or leaked, whether a segment bolt is loosened or dropped and whether a water stop strip is dropped, sending a forward instruction to the unmanned automatic driving locomotive (7) by a tunnel monitoring and commanding robot (5), driving the unmanned automatic driving locomotive (7) towards a shield machine frame bridge, and driving the tunnel monitoring and commanding robot (5) along with the unmanned automatic driving locomotive (7) at a position 2-3 meters in front of the unmanned automatic driving locomotive (7); when the unmanned automatic locomotive (7) meets an obstacle or has a fault, the unmanned automatic locomotive (7) controls the computer to automatically issue a brake stop command and send request assistance information to the tunnel monitoring and commanding robot (5), the tunnel monitoring and commanding robot (5) receives the request assistance information sent by the unmanned automatic locomotive (7), reads and judges the information, if the information is the information of the obstacle in front of the locomotive, the tunnel monitoring and commanding robot (5) immediately moves to the front of the locomotive to observe and scan whether an obstacle exists or not, when the obstacle exists, the tunnel monitoring and commanding robot (5) sends an instruction for requesting manual intervention to clear the obstacle to a ground control center, if the information is that the unmanned automatic driving locomotive (7) has a fault, directly requesting a command of manually intervening and maintaining the unmanned automatic driving locomotive (7) from the ground control center;
step four, material unloading: when the unmanned automatic driving locomotive (7) is about to reach a designated position, the tunnel monitoring and commanding robot (5) issues a stop instruction, the unmanned automatic driving locomotive (7) stops, segment, slurry, a rail, construction materials and loaded muck are unloaded, the locomotive control computer sends a signal that the locomotive completes a set task to the tunnel monitoring and commanding robot (5) according to a bearing signal sensed by the bearing sensing device and requests to drive to the well mouth of the tunnel, the tunnel monitoring and commanding robot (5) drives to 2-3 m in front of the tail of the locomotive after receiving a driving request sent by the unmanned automatic driving locomotive (7) and then sends an instruction that the robot can drive to the well mouth of the tunnel to the unmanned automatic driving locomotive (7), the unmanned automatic driving locomotive (7) starts to drive, and the robot and the unmanned automatic driving locomotive (7) drive to the well mouth of the tunnel along with each other, completing one cycle of locomotive running;
step five, repeating the step two to step four: and (5) finishing the transportation tasks of various materials and muck continuously in the second step, routing inspection and collecting and monitoring collected monitoring data by the tunnel monitoring and commanding robot (5), sending the monitoring data to a ground control center for modeling, analyzing deformation, segment damage and settlement monitoring of the tunnel, and providing a basis for subsequent treatment.
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