CN215164206U

CN215164206U - Subway underground space scanning device

Info

Publication number: CN215164206U
Application number: CN202120592220.3U
Authority: CN
Inventors: 郭建民; 门燕青; 曹玉鑫; 王晓晖; 王丰堃
Original assignee: Jinan Rail Transit Group Co Ltd
Current assignee: Jinan Rail Transit Group Co Ltd
Priority date: 2021-03-23
Filing date: 2021-03-23
Publication date: 2021-12-14
Anticipated expiration: 2031-03-23

Abstract

The utility model discloses a subway underground space scanning device, which belongs to the technical field of measurement and testing, and can assist the positioning of the scanning device by using a track arranged on the top surface of a subway space and a power supply line attached to the track, thereby avoiding arranging a large number of signal sources for assisting the position determination in the early stage of the tunnel construction; the utility model is suspended above the bottom surface of the subway space during operation, and can scan even during construction, and comprises a track, a vehicle body, a processor, a bracket and a scanning mechanism, wherein the track is fixedly arranged on the top surface of the underground space, and comprises a vertical part and a horizontal part vertically connected with the bottom end surface of the vertical part; the vehicle body is connected with universal wheels, the universal wheels are clamped on the track, and the vehicle body can rotate relative to the universal wheels on a horizontal plane; the bracket is connected with the vehicle body, the scanning mechanism is hinged to the bracket, the scanning mechanism is also connected with a power source, and the power source can drive the scanning mechanism to rotate on a vertical surface relative to the hinged point; the scanning mechanism and the universal wheel are connected with the processor.

Description

Subway underground space scanning device

Technical Field

The utility model belongs to the technical field of measure and test, concretely relates to subway underground space scanning device.

Background

The inventor finds that the underground space of the subway is mainly in a cave shape at present, the shape of the cross section is not changed greatly generally, the scanning vehicle is used for scanning at present, the scanning vehicle cannot be positioned by using a satellite positioning system when working in the underground space, and an auxiliary positioning system such as various signal sources is often required to be additionally arranged, and the arrangement is required in advance when the signal source is used for assisting the positioning of the scanning vehicle, so that the construction is complicated; in addition, the existing scanning vehicles all run on the bottom surface of the underground space, and although the scanning vehicles can fully utilize the architectural characteristics of the subway to run, the scanning vehicles still have certain inconvenience and limit scanning time intervals.

In view of the above problems, the prior publications disclose a three-dimensional space fine measurement system for underground caverns, which uses a level gauge, a motion controller, a positioning target and a processor system to perform three-dimensional positioning, thereby attempting to solve the positioning of a scanning device in the underground space when there is no micro positioning signal, the device being disposed on a track on the bottom surface of the underground space; however, the arrangement of the rails disposed on the bottom surface of the underground space is considered by the inventor to limit the range and period of use.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a subway underground space scanning device, which can assist the positioning of the scanning device by using a track arranged on the top surface of the subway space and a power supply line attached to the track, thereby avoiding arranging a large number of signal sources for assisting the position determination in the early stage of the tunnel construction; the utility model discloses hang on subway space bottom surface when the operation, even also can scan when the construction.

In order to achieve the above purpose, the present invention is realized by the following technical solution:

the technical scheme of the utility model provides a subway underground space scanning device, including track, automobile body, treater, support and scanning mechanism, the top surface of underground space is fixed and installed to the track, and the track includes vertical portion and the horizontal part of connecting perpendicularly in the bottom end face of vertical portion; the vehicle body is connected with universal wheels, the universal wheels are clamped on the tracks, the vehicle body can rotate relative to the universal wheels on the horizontal plane, the bracket is connected with the vehicle body, the scanning mechanism is hinged to the bracket, the scanning mechanism is also connected with a power source, and the power source can drive the scanning mechanism to rotate relative to the hinged point on the vertical plane; the scanning mechanism is connected with the processor.

Above-mentioned the utility model discloses a technical scheme's beneficial effect as follows:

1) the utility model can assist the positioning of the scanning device by using the rail arranged on the top surface of the subway space and the power supply line attached to the rail, thereby avoiding arranging a large number of signal sources for assisting the determination of the position in the early stage of the construction of the tunnel; the utility model discloses hang on subway space bottom surface when the operation, even also can scan when the construction.

2) The utility model provides a track is the shape of falling T, cooperation the utility model provides an universal wheel can be with the automobile body buckle on the track, and the track of the shape of falling T also provides the space for arranging the wire.

3) The utility model provides an universal wheel can independently drive in order to drive the automobile body and go forward along the track, and the structure and the track cooperation of universal wheel, and the gravity of during operation with the help of the automobile body keeps with orbital frictional force, prevents to skid.

4) The utility model discloses in, according to the law of voltage decay, through measuring the voltage between first wire and the second wire, the position of the current automobile body that can confirm.

Drawings

The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.

Figure 1 is a schematic perspective view of the present invention according to one or more embodiments,

fig. 2 is a side view schematic diagram of the present disclosure according to one or more embodiments.

In the figure: 1. rail, 101, vertical portion, 102, horizontal portion, 2, first wheel axle, 3, steering spindle, 4, first wheel body, 5, automobile body, 6, shell, 7, power, 8, first support, 9, second support, 10, third support, 11, infrared camera, 12, laser scanner, 13, visible light camera.

The spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Combinations may be made between the following embodiments.

Example 1

The utility model discloses a typical implementation mode, this embodiment discloses a subway underground space scanning device, including automobile body 5, universal wheel, treater, casing, visible light camera 13, laser scanner 12 and infrared camera 11, the universal wheel is connected to automobile body 5 bottom, and the casing is connected at the automobile body 5 top, and automobile body 5 still is connected with first support 8, second support 9 and third support 10, and wherein visible light camera 13 is connected to the top of first support 8, and infrared camera 11 is connected to the top of second support 9, and laser scanner 12 is connected to third support 10; the visible light camera 13 is used for collecting image data, the laser scanner 12 is used for obtaining distance data in cooperation with the visible light camera 13, and the infrared camera 11 is used for collecting image data under weak light; the visible light camera 13, the laser scanner 12 and the infrared camera 11 are all connected with the processor. In order to adapt to various types of urban underground spaces, including places where maintenance is performed, the vehicle body 5 in the embodiment runs in a manner of being attached to the top surface of the underground space, and therefore, the top surface of the underground space is provided with the track 1 matched with the universal wheels.

It will be understood by those skilled in the art that the specific form of the processor connected to the universal wheel, the visible light camera 13, the laser scanner 12 and the infrared camera 11 is well known in the art, and the specific operation method thereof is well known by those skilled in the art and will not be described herein again. In addition, it can be understood by those skilled in the art that the visible light camera 13, the infrared camera 11 and the laser scanner 12 in the present embodiment all belong to the scanning mechanism, and in other embodiments besides the cases listed in the present embodiment, other scanning mechanisms, such as a 3D camera and an ultrasonic detector, may be used, and the number of the brackets configured with the scanning mechanism is not unique, and the scanning mechanisms are all hinged to the brackets.

The vehicle body 5 is also provided with a power supply 7 for voltage transformation and stabilization, and the power supply 7 is separately installed on the vehicle body 5 so as to facilitate heat dissipation.

Further, the track 1 has an inverted T-shaped cross section, and the track 1 includes a vertical portion 101 and a horizontal portion 102 connected to a bottom end of the vertical portion 101, so that the universal wheels are in contact with the track 1.

Further, in order to keep the entire vehicle body 5 rotatable, the number of universal wheels is 1. The vehicle body 5 is rotatable on a horizontal plane with respect to the universal wheels.

Furthermore, the wheel body adopts an electric wheel, and the electric wheel is integrated with a motor.

Furthermore, taking one of the universal wheels as an example, the universal wheel comprises a first wheel body 4, a second wheel body, a first wheel axle 2, a second wheel axle and a steering axle 3, the steering axle 3 is hinged to the vehicle body 5, a motor connected to the steering axle 3 serves as a power source, the steering axle 3 can rotate on the vehicle body 5, the steering axle 3 is fixedly connected to the first wheel axle 2 and the second wheel axle, the first wheel axle 2 and the second wheel axle are both in an inverted L shape so as to bypass the inverted T-shaped track 1, the first wheel axle 2 is hinged to the first wheel body 4, and the second wheel axle is hinged to the second wheel body; the first wheels 4 and the second wheels are located above the horizontal portion 102 of the track 1.

It will be appreciated that the first wheel axle 2 and the second wheel axle each comprise a horizontally oriented wheel axle body and a vertically oriented wheel axle body, such that the first wheel body 4 is connected to the horizontal end of the first wheel axle 2, the second wheel body is connected to the horizontal end of the second wheel axle, and the vertical end of the first wheel axle 2 and the vertical end of the second wheel axle are both connected to the steering axle.

Furthermore, in order to realize the steering of the universal wheels, the steering shaft 3 is also connected with a motor as a power source; the pivot in this embodiment includes two columniform bodies that articulate mutually and can follow same axis to different antiport at least, and two columniform bodies are coaxial to be set up, and two columniform bodies are connected through a member, and two columniform bodies can rotate for the member, and the columniform body fixed connection automobile body 5 that is close to automobile body 5 keeps away from automobile body 5's columniform body fixed connection member, and the member passes the columniform body that is close to automobile body 5 and connects the motor as its power supply.

In a further embodiment, the first wheel axle 2 and the second wheel axle are in a horizontal U shape to pass around the track 1.

The track 1 in this embodiment can not only be used as a basis for the operation of the universal wheel, but also be convenient for power transmission to the device and for measuring the current device position.

Specifically, a first lead and a second lead are arranged on the bottom side of the horizontal portion 102 of the rail 1, and the leads are made of a material with a large voltage attenuation amplitude; the positive pole of the power supply 7 of the vehicle body 5 is connected with the positive pole pantograph, the negative pole of the power supply 7 of the vehicle body 5 is connected with the negative pole pantograph, the positive pole pantograph is connected with the second conducting wire in a sliding way, and the negative pole pantograph is connected with the first conducting wire in a sliding way; a voltage detector is also arranged between the first conducting wire and the second conducting wire.

Furthermore, the first conducting wire and the second conducting wire are both exposed conducting wires.

It will be appreciated that measuring the voltage between the first and second bare wires, the approximate location of the pantograph on the bare wires can be inferred, as the voltage will decay as the length of the wires increases. This method is well known in the electrical arts and will not be described in detail herein.

Further, the vehicle body 5 comprises a flat plate, the bottom surface of the flat plate is connected with a shell, a closed cabin is formed between the flat plate and the shell, a processor is installed in the cabin, and the shell can protect the processor.

It is understood that the processor in this embodiment is further connected with a peripheral information processing device, for example, the processor is connected with a hard disk as a storage, a memory as a register, a main board provided with an expansion interface, etc., and the processor in this embodiment is used as a control center of the whole apparatus and is respectively connected with the universal wheel, the radar antenna, the transmitter, the total station, and the infrared camera 11.

Further, the motor connected with the electric wheel and the rotating shaft in the embodiment is also connected with the processor.

In the present embodiment, the infrared camera 11 is used to obtain an image of the underground space under weak light, and in another embodiment, the infrared camera 11 may be replaced by another image sensor, such as an ultraviolet image sensor, which can obtain image information of some foreign objects.

Further, in the present embodiment, the visible light camera 13, the infrared camera 11 and the laser scanner 12 can rotate around the bracket to which they are connected, that is: the visible light camera 13 can rotate about the first support 8, the laser scanner 12 can rotate about the second support 9, and the infrared camera 11 can rotate about the third support 10.

Further, foretell first support 8, second support 9 and third support 10 structure are the same, all include a member, and automobile body 5 or casing are connected on the member top, and the member bottom is equipped with the shaft hole, visible light camera 13, infrared camera 11 and laser scanner 12's shell 6 also is equipped with the shaft hole, and the shaft hole of member bottom and shell 6's shaft hole can pass through the round pin hub connection, and a motor is still connected as the power supply to the power supply can drive through the round pin axle visible light camera 13, infrared camera 11 and laser scanner 12 rotate in addition.

The rotation angle of the entire vehicle body 5 is adjusted by the universal wheels in the present embodiment, considering that the directions in which the visible light camera 13, the infrared camera 11, and the laser scanner 12 need to scan are the same.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The subway underground space scanning device is characterized by comprising a rail, a vehicle body, a processor, a bracket and a scanning mechanism, wherein the rail is fixedly arranged on the top surface of an underground space and comprises a vertical part and a horizontal part vertically connected to the bottom end surface of the vertical part; the vehicle body is connected with universal wheels, the universal wheels are clamped on the track, and the vehicle body can rotate relative to the universal wheels on a horizontal plane; the bracket is connected with the vehicle body, the scanning mechanism is hinged to the bracket, the scanning mechanism is also connected with a power source, and the power source can drive the scanning mechanism to rotate on a vertical surface relative to the hinged point; the scanning mechanism and the universal wheel are connected with the processor.

2. The underground space scanning device of a subway as claimed in claim 1, wherein said rail has a cross-section in the shape of an inverted T.

3. The underground space scanning device of the subway as claimed in claim 1, wherein said universal wheels comprise a first wheel body and a second wheel body, rolling surfaces of the first wheel body and the second wheel body are both in contact with a top end surface of the horizontal portion of said rail, the first wheel body and the second wheel body are respectively located on both sides of the vertical portion of the rail, the first wheel body and the second wheel body are both connected with a steering shaft, and the steering shaft is connected with a motor.

4. A subway underground space scanning device as claimed in claim 1 or 3, wherein said universal wheels are electric wheels.

5. The underground space scanning device of a subway as claimed in claim 3, wherein said first wheel is connected to a horizontal end of a first wheel axle, said second wheel is connected to a horizontal end of a second wheel axle, and a vertical end of said first wheel axle and a vertical end of said second wheel axle are both connected to said steering shaft.

6. The underground space scanning device of a subway as claimed in claim 5, wherein said first wheel axle and said second wheel axle are both L-shaped

7. The underground space scanning device of a subway as claimed in claim 1, wherein said rail has a first wire and a second wire on its bottom surface, said vehicle body has a power supply connected to a pantograph slidably connected to said first wire and said second wire, and a voltage detector is disposed between said first wire and said second wire.

8. A subway underground space scanning device as claimed in claim 1, 2, 3 or 7, wherein there is a gap between the side surface of the vertical portion of said rail and the wheel body end surface of said universal wheel.

9. The underground space scanning device of the subway as claimed in claim 1, wherein said vehicle body includes a flat plate, the bottom surface of the flat plate is connected with a housing, a cabin for installing a processor is formed between the flat plate and the housing; the bottom surface of the flat plate is also provided with a power supply.

10. The underground space scanning device of the subway as claimed in claim 1, wherein said scanning device includes a visible light camera, an infrared camera and a laser scanner, said support includes a first support, a second support and a third support, the visible light camera is connected with the first support, the infrared camera is connected with the second support, the laser scanner is connected with the third support.