CN218644298U

CN218644298U - Tunnel maintenance platform truck driving device

Info

Publication number: CN218644298U
Application number: CN202222948934.0U
Authority: CN
Inventors: 黄陶陶; 刘放; 宋泽鹏
Original assignee: Tangshan Research Institute Of Southwest Jiaotong University
Current assignee: Tangshan Research Institute Of Southwest Jiaotong University
Priority date: 2022-11-07
Filing date: 2022-11-07
Publication date: 2023-03-17
Anticipated expiration: 2032-11-07

Abstract

The utility model relates to a tunnel maintenance platform truck operation field specifically is a tunnel maintenance platform truck driving device, including maintenance platform truck frame, on-vehicle control system and running gear. The utility model discloses utilize the vision camera around the automobile body and the laser radar of controlling to detect barrier information input and give wireless data transmission network, data transmission network is connected with vehicle control system, control system is connected with the running gear of maintenance platform truck, alarm device and lighting system, this device can be used for when the skew tunnel central line of maintenance platform truck goes and detects the place ahead and have the barrier, trigger lighting system immediately and realize the lane correction simultaneously through the slow speed reduction of vehicle of running gear, and remind operating personnel to appear dangerous operating mode through alarm device, strengthen tunnel platform truck autopilot's security.

Description

Tunnel maintenance platform truck driving device

Technical Field

The utility model relates to a tunnel maintenance platform truck operation field specifically is a tunnel maintenance platform truck driver.

Background

Along with the rapid development of railway tunnel construction in China, the scale and the range of tunnel construction are larger and larger, which puts high requirements on intelligent construction, safety and efficiency of tunnel construction, and the secondary lining concrete is sprayed and cured in time after being poured in the tunnel construction process.

At present, most of operation modes of domestic tunnel spraying maintenance trolleys mainly adopt manual driving, the trolleys are firstly driven to a specified position, then corresponding maintenance procedures are completed, a large amount of labor cost is needed, and the problems of safety and efficiency are also faced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a tunnel maintenance platform truck driving device to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a driving device of a tunnel maintenance trolley comprises a frame of the maintenance trolley, a vehicle-mounted control system and a travelling mechanism;

guardrail, on-vehicle control system, alarm device and wireless data transmission network module are equipped with to frame bottom sprag frame left side top, wherein:

the vehicle-mounted control system comprises an alarming device, a vehicle-mounted control system, a heating water tank, a traveling mechanism, a laser radar, a visual camera, a GPS positioning information system, a wireless data transmission network module, a vehicle-mounted control system and a trolley traveling mechanism, wherein the alarming device is embedded in the vehicle-mounted control system, the heating water tank is arranged above the right side of a bottom support frame of the vehicle frame, the traveling mechanism is arranged on the left side and the right side of the bottom support frame, the laser radar is arranged on the left side and the right side of the bottom support frame, the visual camera and the GPS positioning information system are arranged on the front side and the rear side of the bottom support frame, the visual camera, the laser radar and the GPS positioning information system are connected with the wireless data transmission network module, the wireless data transmission network module is connected with the vehicle-mounted control system, when dangerous working conditions occur, a driver can be reminded of assisting in driving, the safety of operation is improved, the vehicle-mounted control system is connected with the alarming device, the light system and the trolley traveling mechanism, and the vehicle-mounted control system transmits data to the traveling mechanism to complete the processes of steering, advancing, retreating and attitude adjustment.

Preferably, the laser radars arranged at the two ends of the bottom longitudinal beam of the bogie at the bottom of the frame are used for detecting the distance between the laser radars and the two sides of the tunnel, and transmitting data to the wireless data transmission network module.

Preferably, the protective cover is installed at the top of the vision camera, so that the obstacle information can be detected in real time, the maintenance trolley can complete the forward and backward operation procedures, and the operation efficiency is improved.

Preferably, the guardrail is arranged on the left side of the bottom of the maintenance trolley frame.

Preferably, the travelling mechanism comprises a trolley bottom longitudinal beam, a motor mounting seat, a motor protection device, a speed reduction motor, a wheel support frame, a wheel side speed reducer, a coupling, a floating shaft and a coupling first stage;

the travelling mechanism is installed on a bottom longitudinal beam of the trolley, a wheel supporting frame is installed on a wheel, the motor installation seat is installed on the bottom longitudinal beam of the trolley, the motor protection device and the speed reduction motor are installed on the motor installation seat, and the wheel side speed reducer is connected with the floating shaft through a coupling and a coupling primary shaft.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses utilize the vision camera around the automobile body and the laser radar of controlling to detect barrier information input and give wireless data transmission network, data transmission network is connected with vehicle control system, control system is connected with the running gear of maintenance platform truck, alarm device and lighting system, this device can be used for going and detecting the place ahead when having the barrier when the skew tunnel central line of maintenance platform truck, trigger lighting system immediately and slowly reduce the speed of a motor vehicle through running gear and realize the lane correction simultaneously, and remind operating personnel dangerous operating mode to appear through alarm device, strengthen tunnel platform truck autopilot's security, through built-in GPS positioning system module electrical property input wireless data transmission network, can appear under stained circumstances in vision camera and laser radar, realize autopilot's function, improve the security.

The utility model discloses a vision camera that sets up can real-time detection barrier information, also enables the operation that the maintenance platform truck was accomplished and is advanced and move back, realizes two-way autopilot, has improved the operating efficiency.

The utility model discloses a set up the driving motor of maintenance platform truck, hub reduction gear and electrical property insert vehicle control system, can minimize the speed of traveling of maintenance platform truck, accomplish the operation gesture adjustment simultaneously, have improved the maintenance effect of lining cutting.

Drawings

FIG. 1 is a schematic structural view of an autopilot for a tunnel maintenance trolley;

FIG. 2 is a block diagram of a system embodying the present invention;

FIG. 3 is a schematic structural view showing the complete traveling mechanism of the maintenance trolley;

in the drawings: 1. a maintenance trolley frame; 2. a vehicle-mounted control system; 3. a wireless data transmission network module; 4. a GPS positioning information system; 5. a vision camera; 6. heating the water tank; 7. a laser radar; 8. a traveling mechanism; 9. a guardrail; 100. an alarm device; 110. a lighting system; 800. a trolley bottom longitudinal beam; 801. a motor mounting seat; 802. a motor guard; 803. a drive motor; 804. a wheel support frame; 805. a hub reduction gear; 806. a coupling; 807. a floating shaft; 808. the coupling is of one level.

Detailed Description

The utility model provides a following technical scheme:

as shown in fig. 1, a driving device of a tunnel maintenance trolley comprises a maintenance trolley frame 1, a vehicle-mounted control system 2 and a traveling mechanism 8;

as shown in fig. 1, a GPS positioning information module 4 is mounted on a middle cross beam of a frame 1 of a maintenance trolley, visual cameras 5 are mounted on front and rear sides of a bottom longitudinal beam of the trolley at the bottom end of the frame 1, laser radars 7 are mounted on left and right sides of the frame 1, a heating water tank 6 is mounted above the bottom longitudinal beam of the trolley, a guardrail 9 is mounted below the left side of the frame, an alarm device 100 is embedded in a vehicle-mounted control system 2, a lighting system is mounted on the frame 1 of the maintenance trolley, a traveling mechanism 8 of the maintenance trolley is mounted below the bottom longitudinal beam of the trolley, specifically, the visual cameras 5 are used for detecting front tunnel obstacles and sensing environment information, the laser radars 7 are used for detecting distances from left and right ends of the maintenance trolley to an inner wall of a tunnel, the GPS positioning information module 4 is used for continuously realizing the requirement of position and orientation when the visual cameras and the laser radars are stained, the heating water tank 6 is used for heating and keeping constant water temperature to finish the spray of the tunnel, the maintenance trolley 9 realizes the protection effect on an operator, the alarm device 100 is used for reminding the operator of the occurrence of lane departure, the lighting system 110 is used for illuminating the environment of the tunnel environment, reminding the operator of the tunnel, the operator of adjusting the attitude around the operation trolley, the attitude of the maintenance trolley, the travelling mechanism and the driving speed reducer are used for finishing the requirement of the travelling mechanism.

As shown in fig. 1, the laser radar 7, the vision camera 5 and the GPS positioning information module 4 are electrically connected to the wireless transmission data network 3, the wireless data network 3 is electrically connected to the vehicle-mounted control system 2, the vehicle-mounted control system is connected to the alarm device 100, the lighting system 110, the heating water tank 6 and the traveling mechanism 8, specifically, the laser radar 7, the vision camera 5 and the GPS positioning information module 4 transmit the detected obstacles and the environmental information to the wireless transmission data network 3, the wireless data transmission network 3 transmits the data to the vehicle-mounted control system 2 through electrical connection, the vehicle-mounted control system 2 analyzes the transmitted data, determines the expected driving behavior and the early warning information and sends out a control signal, and the vehicle-mounted control system 2 is electrically connected to the alarm device 100, the lighting system 110, the heating water tank 6 and the traveling mechanism 8.

As shown in fig. 2 and 3, the traveling mechanism 8 includes a bogie bottom longitudinal beam 800, a motor mounting seat 801, a motor protector 802, a driving motor 803, a wheel support 804, a wheel edge reducer 805, a coupling 806, a floating shaft 807 and a coupling first-stage 808, specifically, the traveling mechanism 8 is mounted on the bogie bottom longitudinal beam 800, the wheel support 804 is mounted on a wheel, the motor mounting seat 801 is mounted on the bogie bottom longitudinal beam 800, the motor protector 802 and the driving motor 803 are mounted on the motor mounting seat 801, and the wheel edge reducer 805 is connected with the floating shaft 807 through the coupling 806, the coupling first-stage 808;

the traveling mechanism 8 inputs a control signal of the vehicle-mounted control system 2, when the vision camera 5 detects that obstacle information endangers the traffic safety, the driving motor 803 and the wheel-side speed reducer 805 complete deceleration or emergency stop, and when the laser camera 7 detects that the maintenance trolley deviates from the center line of the tunnel, the driving motors 803 and the wheel-side speed reducers 805 at the left end and the right end complete deceleration and differential steering, so that the operation posture of the maintenance trolley is corrected, and automatic driving and operation maintenance in tunnel centering are completed.

The working principle is as follows:

firstly, detected obstacles and position environment information are input to a wireless data transmission network 3 through a vision camera 5 arranged in the front of and behind a vehicle body and a laser radar 7 arranged on the left and right of the vehicle body, the wireless data transmission network 3 is connected with a vehicle-mounted control system 2, the control system analyzes data, determines expected driving behaviors and early warning information and transmits control signals, the control system is connected with a travelling mechanism 8 of a maintenance trolley, an alarm device 100 and a lighting system 110, and can be used for immediately triggering the lighting system 110 and slowly reducing the vehicle speed through the travelling mechanism 8 to realize lane correction when the maintenance trolley runs off a central line of a tunnel and detects the obstacles in front, and reminding operators of dangerous working conditions through the alarm device 100 to enhance the safety of automatic driving of the tunnel trolley, the electric input is electrically input into the wireless data transmission network 3 through a built-in GPS positioning system module 4, the automatic driving function can be realized under the condition that the vision camera 5 and the laser radar 7 are stained, and the safety is improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A driving device of a tunnel maintenance trolley is characterized by comprising a maintenance trolley frame (1), a vehicle-mounted control system (2) and a traveling mechanism (8);

frame (1) bottom sprag frame left side top is equipped with guardrail (9), on-vehicle control system (2), alarm device (100) and wireless data transmission network module (3), wherein:

alarm device (100) is embedded in on-vehicle control system (2), frame (1) bottom sprag frame right side top is equipped with heating water tank (6), running gear (8) are all installed to frame (1) bottom left and right sides, laser radar (7) are all installed to the bottom sprag frame left and right sides, vision camera (5) are all installed to both sides around the bottom sprag frame, install GPS positioning information system (4) on frame (1) middle cross beam, vision camera (5), laser radar (7) and GPS positioning information system are connected with wireless data transmission network module (3), wireless data transmission network module (3) are connected with on-vehicle control system (2), on-vehicle control system (2) are connected with alarm device (100), lighting system (110) and platform truck running gear (8).

2. The driving device of a tunnel maintenance trolley according to claim 1, characterized in that laser radars (7) mounted at both ends of the bottom longitudinal beam of the trolley at the bottom of the trolley frame are used for detecting the distance from both sides of the tunnel and transmitting data to the wireless data transmission network module (3).

3. A tunnel maintenance trolley driving device according to claim 1, characterized in that a protective cover is mounted on top of the vision camera (5).

4. A tunnel maintenance trolley driving device according to claim 1, characterized in that the guardrail (9) is mounted on the left side of the bottom of the maintenance trolley frame (1).

5. The driving device of the tunnel maintenance trolley according to claim 1, wherein the traveling mechanism (8) comprises a trolley bottom longitudinal beam (800), a motor mounting seat (801), a motor protection device (802), a speed reduction motor (803), a wheel support frame (804), a wheel side speed reducer (805), a coupling (806), a floating shaft (807) and a coupling primary stage (808);

running gear (8) are installed in platform truck end longeron (800), are equipped with wheel support frame (804) on the wheel, install on platform truck end longeron (800) motor mount pad (801), motor protector (802) and gear motor (803) are installed in motor mount pad (801), hub reduction gear (805) are connected through shaft coupling (806), shaft coupling one-level (808) and floating shaft (807).