CN117703447A - Self-walking trolley and arch centering automatic centering method based on planar radar scanning - Google Patents

Abstract

The invention discloses a self-walking trolley and an arch centering automatic centering method based on planar radar scanning, wherein the self-walking trolley comprises a trolley main body arranged on a trolley chassis or provided with a chassis component, and the trolley chassis or the chassis component is provided with a self-walking power unit and a steering system; the front end and the rear end of the trolley main body are respectively provided with a plane scanning laser radar, and the plane scanning laser radars are used for acquiring the profile data of the side wall of the tunnel. The arch centering automatic centering method is implemented on the basis of a self-walking trolley scanned by a plane radar, and the width and trend data of the side wall of the tunnel are obtained by a light radar; keeping it running centrally in the tunnel. The invention has the beneficial effects that the trolley is always positioned on the central line of the tunnel, and lays a foundation for centering the arch centering; meanwhile, the left and right positions and the left and right deflection angles of the arch centering are adjusted through the position adjusting device, and the arch centering purpose is achieved. The labor intensity can be reduced, the potential safety hazard can be reduced or eliminated, centering of the arch can be realized rapidly, and the installation efficiency of the arch is improved.

Description

Self-walking trolley and arch centering automatic centering method based on planar radar scanning

Technical Field

The invention relates to a tunnel operation trolley, in particular to a self-walking trolley based on planar radar scanning and an arch centering automatic centering method.

Background

Tunnel construction operations generally include tunneling, arch mounting, double lined steel construction, and the like, and equipment for tunnel construction includes special equipment and universal dollies. The special equipment has special functions, high construction efficiency and high mechanization degree, but the equipment has high cost, and is suitable for large-scale construction enterprises for large-length tunnel construction. The universal trolley mainly provides a working platform for personnel and universal construction facilities or tools, is suitable for construction procedures requiring manual work and manual auxiliary work, and is generally favored by small and medium-sized construction enterprises focusing on construction cost control. The chassis of the existing universal trolley mainly has two types, one is a rail vehicle type and the other is a road vehicle type. The rail vehicle is controllable along the rail type and the left and right directions, and the trolley can basically run at the center line position of the tunnel, but the rail needs to be planned and paved in advance, the workload is large, rail materials need to be consumed, and the defects of low working efficiency and increased cost correspondingly exist. The road vehicle type non-rail trolley does not need to plan and lay rails in advance, so that the construction efficiency can be obviously improved, and the construction cost can be effectively reduced. However, the position of the trolley on the width of the tunnel is usually judged by naked eyes of workers, and the risk of scraping and rubbing the trolley and the tunnel wall exists. When the trolley is used for installing the arch centering, the left and right position of the arch centering is adjusted subsequently, so that invalid labor is increased, and construction efficiency is affected. For this reason, improvements are required.

Disclosure of Invention

The first aim of the invention is to provide a self-walking trolley based on planar radar scanning, aiming at the defect that the existing non-track type universal trolley has poor centering in the tunnel running process, the trolley can realize controllable self-walking by means of a vehicle chassis or chassis component with a self-walking power unit and a steerable wheel system, planar scanning laser radars are arranged at the front end and the rear end of the trolley, tunnel side wall data are acquired by utilizing the radars, the centering condition of the vehicle is judged, the running direction of the vehicle is controlled to keep the vehicle running in the middle, the scratch risk between the trolley and the tunnel side wall can be effectively reduced, and the running safety is ensured. A second object of the present invention is to provide an arch centering method, implemented on the basis of the aforementioned self-walking trolley based on planar radar scanning.

In order to achieve the first object, the present invention adopts the following technical scheme.

A self-walking trolley based on planar radar scanning comprises a trolley main body arranged on a trolley chassis or provided with a chassis component, wherein the trolley chassis or the chassis component is provided with a self-walking power unit and a steering system; and the front end and the rear end of the trolley main body are respectively provided with a plane scanning laser radar, and the plane scanning laser radars are used for acquiring the profile data of the side wall of the tunnel.

By adopting the self-walking trolley of the scheme, the self-walking with the aid of the vehicle chassis or chassis components with the self-walking power unit and the steering system, the direction and the speed are controllable, the plane scanning laser radars arranged at the front end and the rear end of the trolley are utilized to acquire tunnel side wall data in real time, the centering state of the vehicle is judged, and the existing mature vehicle centering driving control technology is utilized to keep the vehicle centered. The risk of scraping and rubbing the trolley and the side wall of the tunnel can be effectively reduced, and the driving safety is ensured. When the trolley has an arch installing function, a basic guarantee can be provided for centering the arch in the arch installing process. The bogie chassis or chassis components can adopt the same structure as any vehicle chassis disclosed in Chinese patent co-publication No. CN214356360U, CN216101354U and CN219953348U, and the steering system can adopt a steering system driven by a hydraulic cylinder disclosed in CN219953348U, or a steering system driven by a hydraulic motor disclosed in CN216101348U, or a speed difference steering system disclosed in CN 214533002U. The chassis or chassis component of the trolley can also adopt the same structure of the driving wheel box for the bridge crane end beam in the China patent Co-publication No. CN217440025U, when the structure is adopted, the box body of the trolley is rotatably connected to the vehicle girder when the trolley is used as a part of a steering system, and the steering oil cylinder is utilized to drive the whole wheel box to rotate so as to realize the steering of wheels; the housing may be secured to the vehicle frame when it is used as a non-steering drive unit. Wherein, the driving wheel box for bridge crane end beam is also called as beam head box.

Preferably, the steering system drives the wheels to steer based on a steering cylinder. The structure of the steering system is simplified, the fault points are reduced, and the reliability is improved.

Preferably, the trolley main body is also provided with an arch lifting device, the arch lifting device comprises two lifting cross beams and two lifting longitudinal beams, each lifting longitudinal beam is provided with a plurality of arch carrying trolleys, and the two lifting cross beams are driven to lift based on a lifting cylinder at two ends; two bearing trolleys are arranged on each jacking cross beam, each jacking longitudinal beam is borne by one bearing trolley at two ends, and a position adjusting device for adjusting the transverse position of the jacking longitudinal beam is further arranged on each jacking cross beam. The arch centering installation trolley is formed by arranging the jacking longitudinal beam into a structure with adjustable left and right positions, so that when the arch centering deviates from an ideal position and needs to be adjusted left and right in the arch centering installation process, the position adjusting device is utilized to realize the adjustment of the left and right positions of the arch centering installation trolley, and the aim of accurately positioning the arch centering is achieved. Compared with the existing mode of adjusting the arch centering by means of manual pushing and pulling, the method not only can lighten labor intensity and reduce or eliminate potential safety hazards, but also can quickly realize centering of the arch centering and improve installation efficiency of the arch centering.

Further preferably, the planar scanning laser radar is suspended on a door lintel of a gantry steel skeleton of the trolley body. So as to avoid being blocked, ensure the stable position and the accurate positioning of the arch centering.

Further preferably, two ends of the two jacking longitudinal beams are respectively hinged with a connecting rod, and the two jacking longitudinal beams and the two connecting rods form a parallelogram four-bar mechanism. The two jacking longitudinal beams form a structure capable of moving synchronously left and right, so that the left and right positions of the arch frame on the jacking longitudinal beams are not changed in the left and right adjusting process, and the left and right adjusting result is ensured to be accurate.

Still more preferably, one end of the jacking longitudinal beam is hinged with the corresponding bearing trolley through a column hole matching structure, and the other end of the jacking longitudinal beam is connected with the other bearing trolley through the matching of the pin shaft and the strip hole. When the two bearing trolleys move relatively, the longitudinal axis of the jacking longitudinal beam and the longitudinal axis of the trolley main body form angle change, and the angle adjusting device can be used for adjusting left and right deflection angles when the longitudinal axis of the trolley main body is not parallel to the central line of the tunnel.

Preferably, one end of the trolley main body is provided with an arch lifting device for four-point lifting. The four-point hoisting arch frame hoisting device has the advantages that the four-point hoisting arch frame hoisting device can hoist a plurality of arch frames which are spliced in advance, hoisting efficiency is improved, the four-point hoisting arch frame hoisting device is suitable for the arch frames which are spliced in advance outside a tunnel, and the situation that the tunnel or a trolley operating platform is occupied due to the fact that the arch frames are spliced in the tunnel to influence the passing of other vehicles of the tunnel or the crowding of an operating area on the trolley is caused is avoided.

In order to achieve the second object, the present invention adopts the following technical scheme.

An arch centering automatic centering method is implemented based on a self-walking trolley based on planar radar scanning for realizing the first purpose; the method comprises the steps of obtaining tunnel side wall width and trend data by plane scanning laser radars at the front end and the rear end of a trolley; and calculating the difference between the width center of the trolley and the width center of the tunnel, and controlling the running direction of the trolley by using the difference between the width center and the width center of the tunnel so as to keep the trolley running in the tunnel in a centered manner.

The self-arch centering automatic centering method adopting the scheme realizes the self-walking with controllable direction and speed by means of the vehicle chassis or chassis component with the self-walking power unit and the steering system, acquires tunnel side wall data in real time by using plane scanning laser radars arranged at the front end and the rear end of the trolley, judges the centering state of the vehicle, and keeps the vehicle centered by using the existing mature vehicle centering driving control technology, thereby providing basic guarantee for centering the arch centering. When the steering system adopts the hydraulic oil cylinder driven steering system disclosed by CN219953348U, the control system can control steering by controlling the telescopic length of the oil cylinder, and can also control by monitoring the rotation angle of the steering wheel; when the steering system driven by the hydraulic motor disclosed in CN216101348U is adopted, the control system can be controlled through the output angle of the hydraulic motor or the steering angle of wheels; when employing the differential steering system disclosed in CN214533002U, the control system can control by monitoring the wheel steering angle. When the chassis or chassis components of the trolley adopt the same structure of the driving wheel box for the bridge crane end beam in the China patent Co-publication No. CN217440025U, the control system can control steering by controlling the telescopic length of the oil cylinder, and can also control by monitoring the rotation angle of the driving wheel box.

Preferably, the method further comprises the steps of acquiring real-time data of the side wall of the tunnel by using a plane scanning laser radar in the arch lifting process, calculating the difference between the center of the arch and the center of the width of the tunnel, and carrying out left-right centering adjustment on the arch through a position adjusting device. In the arch centering positioning process of the jacking cross beam, the arch centering left and right dynamic adjustment is performed by utilizing possible changes of the horizontal plane tunnel profile of the radar obtained in the plane scanning laser radar height position change process, so that the arch centering positioning is ensured to be more accurate.

Preferably, the method further comprises the steps of acquiring real-time data of the side wall of the tunnel by using a plane scanning laser radar in the arch lifting process, calculating the deflection angle of the center line of the arch and the center line of the width of the tunnel, and correcting deflection of the center line of the arch by using a position adjusting device. To adjust the yaw angle of the arch center line when the longitudinal axis of the trolley body is not parallel to the tunnel center line.

The invention has the beneficial effects that the trolley is always positioned on the central line of the tunnel by utilizing the tunnel side wall profile data obtained by the front and rear plane scanning laser radar and the existing mature vehicle centering driving control technology, thus laying a foundation for centering the arch centering; meanwhile, the left and right positions and the left and right deflection angles of the arch centering are adjusted through the position adjusting device, and the arch centering purpose is achieved. The labor intensity can be reduced, the potential safety hazard can be reduced or eliminated, centering of the arch can be realized rapidly, and the installation efficiency of the arch is improved.

Drawings

FIG. 1 is a schematic structural isometric view of a self-propelled trolley of the present invention; wherein, upper and lower flank platform all is in the open state.

Fig. 2 is an enlarged view of a portion a in fig. 1 in the invention.

Fig. 3 is a schematic structural perspective view of an arch lifting device in the self-walking trolley of the invention.

Fig. 4 is an enlarged view of a portion B in fig. 3 in the invention.

Fig. 5 is a schematic isometric view of a structure of a portion related to a lifting beam and a carrying trolley in the self-walking trolley, wherein the carrying trolley is shown in a structure that a strip hole is formed in a top plate.

Fig. 6 is a schematic front view of the construction of the relevant parts of the lifting beam and the carrying trolley in the invention.

Fig. 7 is a schematic structural isometric view of an arch lifting device of the present invention lifted from four points in a traveling trolley.

FIG. 8 is a schematic isometric view of the structure of the trolley body in the self-propelled trolley of the present invention, wherein the telescopic platform portions of the upper and lower wing platforms are both in a retracted state, and the lower wing platform is in a flipped or nearly upright state.

Fig. 9 is a schematic view of the structure in which the telescopic drive cylinder is provided inside the tubular beam in the carriage body of the self-traveling carriage of the present invention.

Detailed Description

The invention will be further described with reference to the accompanying drawings, which are not intended to limit the invention to the embodiments described.

Referring to fig. 1, 2, 3 and 4, a self-walking trolley based on planar radar scanning comprises a trolley body 1 provided on or with a trolley chassis or chassis member having a self-walking power unit and a steering system; the front end and the rear end of the trolley main body 1 are respectively provided with a plane scanning laser radar 2, and the plane scanning laser radar 2 is used for acquiring tunnel side wall contour data.

Wherein, the lower end longitudinal beams 12 at two sides of the trolley main body 1 respectively form chassis members with self-walking driving units by arranging beam head boxes 13 comprising wheels, the beam head boxes 13 adopt the same structure of a driving wheel box for a bridge crane end beam, and the wheels adopt solid wheel structures. A head box 13, which constitutes a steering system at one end of the bogie, is rotatably connected to the lower side rail 12 via a wheel suspension 14 and a kingpin 15. The beam head box 13 of the steering system is connected with a steering cylinder 3, and the steering cylinder 3 drives wheels on the beam head box 13 to steer. The same head box 13 is also used for the wheels at the other end of the trolley, which head box 13 is fixed to the lower longitudinal beam 12.

The trolley is characterized in that an arch lifting device is further arranged on the trolley main body 1 and comprises two lifting cross beams 4 and two lifting longitudinal beams 5, a plurality of arch carrying trolleys 6 are arranged on each lifting longitudinal beam 5, and the two lifting cross beams 4 are driven to lift based on lifting cylinders 8 at two ends; two bearing trolleys 7 are arranged on each jacking cross beam 4, each jacking longitudinal beam 5 is borne by one bearing trolley 7 at two ends, and a position adjusting device 10 for adjusting the transverse position of the jacking longitudinal beam 5 is further arranged on each jacking cross beam 4. The plane scanning laser radar 2 is suspended on a door head of a gantry type steel framework of the trolley main body 1 and is positioned in the middle position of the door head so as to form accidental damage protection through the door head. Two ends of the two jacking longitudinal beams 5 are respectively hinged with a connecting rod 9, and the two jacking longitudinal beams 2 and the two connecting rods 9 form a parallelogram four-rod mechanism. One end of the jacking longitudinal beam 5 is hinged with the corresponding carrying trolley 7 through a column hole matching structure (not shown in the figure), and the other end is connected with the other carrying trolley 7 through the matching of a pin shaft and a strip hole; the position adjusting device 10 is composed of position adjusting cylinders, each carrying trolley 7 corresponds to a position adjusting cylinder, one end of the position adjusting cylinder is hinged on the jacking cross beam 4, and the other end of the position adjusting cylinder is hinged on the carrying trolley 7.

Referring to fig. 5 and 6, the carrying trolley 7 is provided with carrying rollers 71 and sideslip preventing rollers 72, the carrying rollers 71 are in rolling contact with the top surface of the jacking beam 4, and the sideslip preventing rollers 72 are located on the side surface of the jacking beam 4 and can be in rolling contact with the side surface of the jacking beam 4. The jacking cross beam 4 is of an H-shaped steel structure; the bearing trolley 7 is also provided with an anti-tipping roller 73, the anti-tipping roller 73 is parallel to the roller shaft of the bearing roller 71, and the anti-tipping roller 73 and the roller shaft are clamped on the upper wing plate of the H-shaped steel.

To increase the span between the bearing roller 71 and the anti-tipping roller 73 and the contact area between the anti-sideslip roller 72 and the jacking cross beam 4, the movement stability of the bearing trolley 7 is improved; rectangular pipes 41 are welded on the inner wall surfaces of the upper wing plates of the H-shaped steel of the jacking cross beam 4, and the outer side surfaces of the rectangular pipes 41 are flush with the outer side surfaces of the upper wing plates of the H-shaped steel of the jacking cross beam 4; the anti-roll roller 73 can be in rolling contact with the corresponding side of the rectangular tube 41.

In order to improve the motion stability of the bearing trolley 7 in the adjusting process, rectangular pipes 41 are welded on the inner wall surfaces of the two sides of the H-shaped steel wing plate of the jacking cross beam 4, and the two sides of the jacking cross beam 4 are provided with sideslip prevention rollers 72; anti-tipping rollers 73 are arranged on two sides of the bearing trolley 7; and two coaxial bearing rollers 71 are arranged at the same position along the longitudinal direction of the bearing trolley 7; the two bearing rollers 71, the two sideslip prevention rollers 72 and the two tipping prevention rollers 73 at the same position form a roller group; the carrying trolley 7 is provided with two roller groups. The stability is further improved.

In this embodiment, the carrying trolley 7 includes a top plate 7a connected with the jacking longitudinal beam 5, the top plate 7a is welded with a partition 7b, the partition 7b extends vertically downwards from two sides and then extends towards the middle, the extending parts at two sides form a symmetrical L shape, the two partition 7b are welded together through a plurality of connecting plates 7c extending longitudinally, and corresponding rollers are arranged between the two connecting plates extending longitudinally through roller shafts. A roller set is arranged between the two partition plates 7 b. Fig. 5 and 6 each show a state in which the outer end-partition 7b is removed. The top plate 7a of the bearing trolley 7 positioned at one end of the jacking longitudinal beam 5 is provided with a circular through hole, and the corresponding end of the jacking longitudinal beam 5 is fixedly connected with a pin shaft which is matched with the circular through hole to form a shaft hole, so that the jacking longitudinal beam 5 can swing left and right relative to the bearing trolley 7; the top plate 7a of the bearing trolley 7 positioned at the other end of the jacking longitudinal beam 5 is provided with a strip hole 7d, the corresponding end of the jacking longitudinal beam 5 is fixedly connected with another pin shaft, the pin shaft is matched in the strip hole 7d in a sliding fit mode, the extending direction of the strip hole 7d is perpendicular to the moving direction of the bearing trolley 7, so that the bearing trolley 7 is driven to move, the jacking longitudinal beam 5 is caused to swing around the pin shaft axis at the other end, and the adjustment of the left-right swing angle is realized.

Referring to fig. 7, one end of the trolley body 1 is provided with a four-point lifted arch lifting device 11. The arch lifting device 11 is provided with a base 11a of a double-track trolley structure, two longitudinal beams on two sides of the base 11a are of a square box girder structure, the square box girders are of the same bridge crane end girder structure, a girder head box 11h of the end girder is utilized to form self-walking power, four windlass 11b of a single-reel structure are arranged on the base 11a, every two windlass 11b corresponds to a lifting arm 11c, a plurality of fixed pulleys 11d for guiding lifting steel ropes are arranged on each lifting arm 11c, the fixed pulleys 11d are distributed into two groups, and each fixed pulley 11d corresponds to one steel rope; the track trolley has 4 wheels, two wheels running on each track. Two wheels on the same side are arranged on the same square box girder, and the wheels are contacted with the track through the part exposing the bottom wall of the square box girder. The lifting arm 11c is driven to swing in a pitching manner by the lifting oil cylinder 11 f; the rail trolley is provided with a protective roller 11g for preventing the rail trolley from tipping, and the protective roller 11g is connected with the rail by virtue of a groove on the side surface of the rail; the driving wheel and the bearing wheel on the bridge crane end beam form wheels together, and the output wheel of the beam head box 11h forms the driving wheel of the track trolley. The beam head box 11h comprises a driving motor and a gear reducer, wherein the gear reducer is fixedly connected to the outer side of the square box beam, the output end of the driving motor is connected with the input end of the gear reducer, and the output end of the gear reducer is connected with the driving wheel. Wherein, the protection roller 11g and one end of the wheel are both formed with a shoulder located outside the track, the shoulder being used to prevent the arch lifting device 11 from sliding laterally. The protection rollers 11g are arranged on the protection wheel brackets 11e, two protection rollers 11g are arranged on each protection wheel bracket 11e, and the protection wheel brackets 11e are hinged on the square box girder.

Referring to fig. 8 and 9, the trolley body 1 has a steel skeleton structure and has a top work platform 20, an upper wing platform 16 and a lower wing platform 17; the upper flank platform 16 and the lower flank platform 17 each have telescopic platform sections, and the lower flank platform 17 is of an integrally tiltable flip platform construction. A lower platform bearing beam 18 and a lower platform limiting beam 19 are fixedly connected to the steel skeleton of the trolley main body 1; the lower flank platform 17 comprises a lower platform main body and a lower platform telescopic part, the lower platform main body is hinged on the lower platform bearing beam 18, the lower platform telescopic part is telescopically connected on the lower platform main body, and the lower platform limiting beam 19 is used for limiting the position of the lower flank platform 17 when the lower flank platform 17 is in a turned open state. The lower platform main body comprises at least two lower main body tubular beams 17a, a lower main body pedal 17b and a lower main body longitudinal beam 17c which are arranged in parallel, and the lower main body pedal 17b and the lower main body longitudinal beam 17c are respectively and fixedly connected to two sides of the lower main body tubular beams 17 a; the lower main body pipe beam 17a is hinged on the lower platform bearing beam 18 through a hinge seat, and a turnover driving oil cylinder 17d for driving the lower platform to turn is arranged between the lower platform bearing beam 18 and the lower main body pipe beam 17 a; the lower platform telescopic part comprises lower telescopic tube beams 17e, lower telescopic pedals 17f and lower telescopic longitudinal beams 17g, wherein the lower telescopic pedals 17f are fixedly connected with two adjacent lower telescopic tube beams 17e, and the lower telescopic longitudinal beams 17g are hinged with the lower telescopic tube beams 17 e; the lower telescopic pedal 17f can also be carried on the lower platform carrier 18 by means of a load; the lower telescopic longitudinal beam 17g can also be defined by the position of the folding state of the lower flank platform 17 which is turned over by the steel skeleton of the trolley body 1. As shown in fig. 9, a lower platform telescopic driving cylinder 17h for driving the lower platform telescopic part is arranged between the lower platform main body and the lower platform telescopic part, and the lower platform telescopic driving cylinder 17h is arranged inside the lower main body tubular beam 17 a.

The upper flank platform 16 comprises an upper platform main body and an upper platform telescopic part, and the upper platform telescopic part drives telescopic movement through a telescopic driving oil cylinder; the upper platform main body comprises an upper platform pedal 16a and at least two upper main body tubular beams 16b which are fixed on the trolley main body 1; the upper platform telescopic part comprises an upper telescopic tube beam 16c, an upper telescopic pedal 16d and an upper telescopic longitudinal beam 16e, the upper telescopic pedal 16d is fixedly connected with two adjacent upper telescopic tube beams 16c, and the upper telescopic longitudinal beam 16e is hinged with the upper telescopic tube beams 16 c; the steel skeleton of the trolley main body 1 is also provided with an upper joist 16f for supporting the upper telescopic pedal 16d, and the upper joist 16f is connected to two adjacent upper main body tubular beams 16 b. Wherein the upper main body tubular beam 16b is arranged on the side surface of the steel skeleton beam 1a, and the dimension in the height direction is smaller than that of the steel skeleton beam 1a; the top working platform 20 is fixedly arranged through the equal-height piers 1b on the top surface of the steel skeleton beam 1 a.

The upper platform telescopic part of the upper flank platform 16 longitudinally occupies a part of the length of the trolley body 1 in the trolley body 1; the lower flank platform 17 is adapted to the length and longitudinal position of the telescopic part of the upper platform; at another part of the length of the trolley body 1a staircase 21 is provided which can reach up to the upper flank 16.

In this embodiment, the telescopic driving cylinder between the upper platform body and the upper platform telescopic part is provided on the upper body tubular beam 16b, and the specific connection manner is the same as that of the lower platform telescopic driving cylinder 17h and the lower body tubular beam 17a and the lower telescopic tubular beam 17e shown in fig. 9.

In the present embodiment, the lower deck expansion driving cylinder 17h may be provided outside the lower body pipe beam 17a, and may be connected between the lower body side beam 17c or the lower body step 17b through the lower expansion side beam 17 g; may be provided between the lower telescopic step 17f and the lower body step 17b or the lower body side member 17 c.

In this embodiment, the telescopic driving cylinder between the upper platform body and the upper platform telescopic part may also be connected between the upper joist 16f and the upper telescopic pedal 16d or the upper telescopic longitudinal beam 16 e; the trolley body 1 may be provided with the steel skeleton cross member 1a and the other end thereof connected to the upper telescopic step 16d or the upper telescopic side member 16 e.

In this embodiment, the arch lifting device 11 may also be driven to move by the driving cylinders, and by arranging two driving cylinders on the arch lifting device 11 in parallel, the structure is not shown in the drawings, so as to ensure that the rail trolley runs stably and flexibly. In addition, the winch 11b may be a double-drum winch with two rope drums for synchronously winding and unwinding ropes, and when the double-drum winch is adopted, two winches 11b are arranged, each corresponding to one boom 11c, and two groups of fixed pulleys 11d on the boom 11c correspond to one rope drum respectively.

In this embodiment, the beam head boxes 13 at the same longitudinal position on the same side of the trolley can adopt a single or two parallel structures to form a four-wheel, six-wheel or eight-wheel driven all-wheel drive vehicle structure. The vehicle may also be provided with a load-bearing wheel structure at either end to replace the corresponding end of the head box 13 to form a front-drive or rear-drive non-all-drive vehicle structure.

In this embodiment, the bogie chassis or chassis member may adopt the same structure as any of the vehicle chassis disclosed in chinese patent co-publication nos. CN214356360U, CN216101354U and CN219953348U, and the steering system may adopt a hydraulic cylinder-driven steering system disclosed in CN219953348U, or a hydraulic motor-driven steering system disclosed in CN216101348U, or a speed difference steering system disclosed in CN 214533002U.

In this embodiment, the position adjustment device 10 may be an electric adjustment device having a screw-nut pair structure.

In this embodiment, during the arch installation process, the upper telescopic longitudinal beam 16e and the lower telescopic longitudinal beam 17g may also be used to laterally push the arch, so as to form an arch installation assistance, so that the arch is attached to the tunnel wall in place. Compared with the transverse pushing of personnel, the labor intensity can be effectively reduced, and the safety is improved.

Embodiment 2, an arch centering automatic centering method, implemented based on a self-traveling carriage based on planar radar scanning for achieving the first object; the method comprises the steps that plane scanning laser radars 2 at the front end and the rear end of a trolley are used for acquiring width and trend data of the side wall of a tunnel; and calculating the difference between the width center of the trolley and the width center of the tunnel, and controlling the running direction of the trolley by using the difference between the width center and the width center of the tunnel so as to keep the trolley running in the tunnel in a centered manner.

In the method, when a steering system adopts a steering system driven by a hydraulic oil cylinder disclosed by CN219953348U, a control system can control steering by controlling the telescopic length of the oil cylinder, and can also control by monitoring the rotation angle of a steering wheel; when the steering system driven by the hydraulic motor disclosed in CN216101348U is adopted, the control system can be controlled through the output angle of the hydraulic motor or the steering angle of wheels; when employing the differential steering system disclosed in CN214533002U, the control system can control by monitoring the wheel steering angle. When the chassis or chassis components of the trolley adopt the same structure of the driving wheel box for the bridge crane end beam in the China patent Co-publication No. CN217440025U, the control system can control steering by controlling the telescopic length of the oil cylinder, and can also control by monitoring the rotation angle of the driving wheel box.

In the method, in the arch lifting process, the plane scanning laser radar 2 is utilized to acquire real-time data of the side wall of the tunnel, the difference value between the center of the arch and the center of the width of the tunnel and the deflection angle between the center of the arch and the center of the width of the tunnel are calculated, and deflection correction is carried out on the center of the arch through the position adjusting device. And the centering adjustment and the deflection counterweight are carried out on the arch centering left and right and the deflection counterweight left and right through the position adjusting device. In the arch centering positioning process of the jacking cross beam, the dynamic adjustment of the left-right distance and the deflection angle of the arch centering is performed by utilizing the possible change of the horizontal plane tunnel profile of the radar obtained in the plane scanning laser radar height position change process, so that the arch centering positioning is ensured to be more accurate. Wherein the dynamic adjustment is performed in combination with the vehicle operating speed.

In the method, in the process of acquiring the real-time data of the side wall of the tunnel, the data of a plurality of points obtained by selecting radar scanning are fitted to obtain a simulated contour curve of a horizontal section corresponding to the tunnel, the left-right distance difference and the angle deviation between the center point of the front and rear of the trolley and the center line of the tunnel are determined according to the position relation between the radar and the width of the trolley, and then the left-right deviation difference and the angle deviation are utilized to carry out the vehicle steering control of left-right deviation correction and deflection angle deviation correction on the trolley in combination with the travelling speed of the trolley.

In the method, the upper telescopic longitudinal beam 16e and the lower telescopic longitudinal beam 17g are utilized to transversely push the arch in the arch installation process, so that the arch installation assistance is formed, and the arch is attached to the tunnel wall in place. Compared with the transverse pushing of personnel, the labor intensity can be effectively reduced, and the safety is improved.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (10)

1. The self-walking trolley based on planar radar scanning comprises a trolley main body (1) arranged on a trolley chassis or provided with a chassis component, wherein the trolley chassis or the chassis component is provided with a self-walking power unit and a steering system; the method is characterized in that a plane scanning laser radar (2) is arranged at the front end and the rear end of the trolley main body (1), and the plane scanning laser radar (2) is used for acquiring tunnel side wall contour data.

2. Self-walking trolley based on planar radar scanning according to claim 1, characterized in that the steering system is driven based on steering cylinders (3) or on hydraulic motors driving the steering of the wheels.

3. The self-walking trolley based on planar radar scanning according to claim 1 or 2, wherein an arch lifting device is further arranged on the trolley main body (1), the arch lifting device comprises two lifting beams (4) and two lifting stringers (5), a plurality of arch carrying trolleys (6) are arranged on each lifting stringer (5), and the two lifting beams (4) are driven to lift based on a lifting cylinder (8) at two ends; two bearing trolleys (7) are arranged on each jacking cross beam (4), each jacking longitudinal beam (5) is borne by one bearing trolley (7) at two ends, and a position adjusting device (10) for adjusting the transverse position of the jacking longitudinal beam (5) is further arranged on each jacking cross beam (4).

4. A self-walking trolley based on planar radar scanning according to claim 3, characterized in that the planar scanning lidar (2) is suspended on the lintel of the gantry steel skeleton of the trolley body (1).

5. A self-walking trolley based on planar radar scanning according to claim 3, characterized in that two ends of two lifting stringers (5) are respectively hinged with a connecting rod (9), and the two lifting stringers (2) and the two connecting rods (9) form a parallelogram four-bar mechanism.

6. The self-walking trolley based on planar radar scanning according to claim 5, wherein one end of the jacking longitudinal beam (5) is hinged with the corresponding carrying trolley (7) through a column hole matching structure, and the other end is connected with the other carrying trolley (7) through matching of a pin shaft and a strip hole.

7. Self-walking trolley based on planar radar scanning according to claim 1 or 2, characterized in that one end of the trolley body (1) is provided with four-point lifted arch lifting means (11).

8. An arch centering automatic centering method, characterized in that the self-walking trolley based on planar radar scanning according to any one of claims 1-7 is implemented; the method comprises the steps that plane scanning laser radars (2) at the front end and the rear end of a trolley are used for acquiring width and trend data of the side wall of a tunnel; and calculating the difference between the width center of the trolley and the width center of the tunnel, and controlling the running direction of the trolley by using the difference between the width center and the width center of the tunnel so as to keep the trolley running in the tunnel in a centered manner.

9. The arch centering automatic centering method according to claim 8, further comprising the steps of acquiring real-time data of the side wall of the tunnel by using the plane scanning laser radar (2) in the arch lifting process, calculating a difference value between the center of the arch and the center of the width of the tunnel, and performing left-right centering adjustment on the arch through the position adjusting device.

10. The arch centering automatic centering method according to claim 8, further comprising the steps of acquiring real-time tunnel side wall data by using a planar scanning laser radar (2) during arch lifting, calculating a deflection angle between an arch center line and a tunnel width center line, and correcting deflection of the arch center line by using a position adjusting device.