CN112482297B - Instrument and method for detecting and cleaning foreign matters in gap between floating plate and tunnel upper arch - Google Patents
Instrument and method for detecting and cleaning foreign matters in gap between floating plate and tunnel upper arch Download PDFInfo
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- CN112482297B CN112482297B CN202011289583.6A CN202011289583A CN112482297B CN 112482297 B CN112482297 B CN 112482297B CN 202011289583 A CN202011289583 A CN 202011289583A CN 112482297 B CN112482297 B CN 112482297B
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- radar
- remote control
- infrared imager
- telescopic rod
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H8/00—Removing undesirable matter from the permanent way of railways; Removing undesirable matter from tramway rails
- E01H8/10—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H8/00—Removing undesirable matter from the permanent way of railways; Removing undesirable matter from tramway rails
- E01H8/10—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves
- E01H8/105—Pneumatically or hydraulically loosening, removing or dislodging undesirable matter, e.g. removing by blowing, flushing, suction; Application of melting liquids; Loosening or removing by means of heat, e.g. cleaning by plasma torches, drying by burners
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Plasma & Fusion (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a detection and cleaning instrument and a method for foreign matters in an arch clearance between a floating plate and a tunnel, wherein the detection and cleaning instrument comprises a mobile remote control trolley, a signal transceiver and a computer, a first infrared imager is arranged at the front end of the mobile remote control trolley, a positioning radar is arranged at the rear end of the mobile remote control trolley, a second infrared imager and a detection radar are arranged in the middle of the mobile remote control trolley, a cleaning device for cleaning the foreign matters is arranged between the second infrared imager and the detection radar, a power supply is arranged in the mobile remote control trolley, and the first infrared imager, the positioning radar, the second infrared imager, the detection radar and the cleaning device are all electrically connected with the power supply.
Description
Technical Field
The invention relates to the field of subway transportation, in particular to a detection cleaning instrument and a cleaning method for foreign matters in an arch clearance between a floating plate and a tunnel.
Background
The floating plate vibration isolation track structure is also called a mass-spring system. The basic principle is that a linear resonator with natural vibration frequency far lower than the excitation frequency is inserted between the building at the upper part of the track and the foundation, namely a concrete road bed plate with certain mass and rigidity floats on a rubber or spring vibration isolator, the mass inertia of the floating plate is utilized to balance the dynamic load caused by the running of a train, and only the dynamic load and the static load which are not balanced are transmitted to the road bed or a tunnel structure through a steel spring element, so that the aim of vibration reduction is achieved.
However, since a gap exists between the floating slab and the inverted arch of the tunnel, once foreign matters (such as bolts) fall into the gap during construction or maintenance and are not taken out in time, the stress performance of the track slab can be affected under the long-term action, the vibration reduction effect is reduced, even the floating slab is damaged, and potential safety hazards can be caused to the safety and the comfort of the line. At present, the cleaning difficulty and the efficiency are low for cleaning foreign matters between a floating plate and an inverted arch of a tunnel.
Disclosure of Invention
The invention provides a detection cleaning instrument and a detection cleaning method for foreign matters in gaps between a floating plate and an upper arch of a tunnel, which can detect and take out the foreign matters in the gaps and have the advantages of high precision, good efficiency and high automation.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a detecting and cleaning instrument for foreign bodies in gaps between a floating plate and an upper arch of a tunnel comprises a mobile remote control trolley arranged in a central ditch below the floating plate, a signal receiving and transmitting device arranged outside the floating plate and a computer, the front end of the mobile remote control car is provided with a first infrared imager for identifying obstacles on a traveling road, the rear end of the mobile remote control car is provided with a positioning radar for positioning the position of the mobile remote control car, the middle part of the mobile remote control trolley is provided with a second infrared imager for identifying the foreign matters in the gap between the floating plate and the tunnel upper arch and a detection radar for detecting and analyzing the foreign matters in the gap between the floating plate and the tunnel upper arch, a cleaning device for cleaning foreign matters is arranged between the second infrared imager and the detection radar, the mobile remote control trolley is internally provided with a power supply, and the first infrared imager, the positioning radar, the second infrared imager, the detection radar and the cleaning device are electrically connected with the power supply.
The technical scheme of the invention is further improved as follows: cleaning device is including fixed the first telescopic link that sets up on removing the remote control dolly, the both sides of first telescopic link are fixed respectively and are provided with inside second telescopic link and the third telescopic link that is hollow, the flexible end of first telescopic link is fixed to be provided with carries out the electric head of polishing to the foreign matter, the flexible end of second telescopic link and third telescopic link is fixed respectively and is provided with the absorber that absorbs the foreign matter.
The technical scheme of the invention is further improved as follows: a method for detecting and cleaning foreign matters in an arch clearance between a floating plate and a tunnel comprises the following steps:
s1: information acquisition: the acquired information comprises imaging information of the first infrared imager, a positioning signal of the positioning radar, imaging information of the second infrared imager and a detection analysis signal of the detection radar;
s2: information transmission: sending the information collected in the step S1 to a signal transceiver, which generates a corresponding encoded signal according to the collected information and sends the encoded signal to a computer;
s3: and (3) information processing: the computer analyzes the imaging information of the first infrared imager, the positioning signal of the positioning radar, the imaging information of the second infrared imager and the detection signal of the detection radar to form an information visualization interface;
S4: clearance floating plate and tunnel upper arch clearance foreign matter: the computer is used for controlling the mobile remote control trolley, operating the mobile remote control trolley to move to the position of the foreign matter in the gap between the floating plate and the upper arch of the tunnel and operating the cleaning device on the mobile remote control trolley to clean the foreign matter.
The technical scheme of the invention is further improved as follows: the detection distance formula of the detection radar for the foreign object in step S3 is as follows:
wherein, c is the speed of light,
r-the distance of the target from the radar,
delta t-the time for the electromagnetic wave to and from the radar and the electromagnetic wave.
The technical scheme of the invention is further improved as follows: the process of cleaning the foreign matter by the cleaning device in the step S4 is as follows: firstly, the first telescopic rod extends out, and the electric grinding head grinds partial foreign matters until the foreign matters are loosened; secondly, the first telescopic rod is retracted; and extending the second telescopic rod and the third telescopic rod out, and absorbing the residual foreign matters by the absorber.
Due to the adoption of the technical scheme, the invention has the technical progress that:
1. according to the invention, the first infrared imager is used for identifying the barrier on the traveling road of the mobile remote control trolley, the positioning radar is used for positioning the position of the mobile remote control trolley, the second infrared imager is used for identifying the foreign matter in the gap between the floating plate and the tunnel upper arch and detecting and analyzing the foreign matter in the gap between the floating plate and the tunnel upper arch by the detection radar, and the information is sent to the computer through the signal receiver, so that the position of the foreign matter can be accurately determined;
2. According to the invention, the computer is used for controlling the mobile remote control trolley, so that foreign matters can be cleaned in narrow gaps which cannot be touched by people; and realize visual operation through the computer, computer control operation lets cleaning work more intelligent more high-efficient, has reduced the clearance degree of difficulty to floating plate and tunnel upwarp clearance foreign matter, and simple structure practices thrift the cost.
Drawings
FIG. 1 is a schematic view of a mobile remote control cart according to the present invention;
FIG. 2 is a schematic illustration of the operation of the probe cleaning apparatus of the present invention;
wherein, 1, remove remote control dolly, 2, signal transceiver, 3, computer, 4, first infrared imager, 5, location radar, 6, the infrared imager of second, 7, survey radar, 8, first telescopic link, 9, the second telescopic link, 10, third telescopic link, 11, electric head, 12, absorber.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
as shown in fig. 1 to 2, a detecting and cleaning instrument for foreign matters in gaps between a floating plate and an upper arch of a tunnel comprises a mobile remote control trolley 1 arranged in a central ditch under the floating plate, a signal transceiver 2 and a computer 3 which are arranged outside the floating plate, wherein the size of the mobile remote control trolley 1 is set to be capable of passing through the central ditch and entering a working area from an observation hole of the floating plate; the front end of the mobile remote control trolley 1 is provided with a first infrared imager 4 for identifying obstacles on a traveling road, the rear end of the mobile remote control trolley 1 is provided with a positioning radar 5 for positioning the position of the mobile remote control trolley 1, the middle part of the mobile remote control trolley 1 is provided with a second infrared imager 6 for identifying foreign matters in an arch clearance between a floating plate and a tunnel and a detection radar 7 for detecting and analyzing the foreign matters in the arch clearance between the floating plate and the tunnel, a cleaning device for cleaning the foreign matters is arranged between the second infrared imager 6 and the detection radar 7, the cleaning device comprises a first telescopic rod 8 fixedly arranged on the mobile remote control trolley 1, the telescopic length of the first telescopic rod can cover two sides of a central ditch, two sides of the first telescopic rod 8 are respectively and fixedly provided with a second telescopic rod 9 and a third telescopic rod 10 which are hollow inside, so that the second telescopic rod 9 and the third telescopic rod 10 play a supporting role on the first telescopic rod 8, the fixed electric head 11 that carries out the foreign matter and polish that is provided with of flexible end of first telescopic link 8, the flexible end of second telescopic link 9 and third telescopic link 10 is fixed respectively and is provided with the absorber 12 that absorbs the foreign matter, 1 built-in power of mobile remote control dolly, the equal electric connection power of first infrared imager 4, location radar 5, second infrared imager 6, detection radar 7 and cleaning device.
A method for detecting and cleaning foreign matters in an arch clearance between a floating plate and a tunnel comprises the following steps:
s1: information acquisition: the acquired information comprises imaging information of a first infrared imager 4 for identifying obstacles on the traveling road of the mobile remote control trolley 1, a positioning signal of a positioning radar 5 for positioning the position of the mobile remote control trolley 1, imaging information of a second infrared imager 6 for identifying a foreign matter in an arch gap between the floating plate and the tunnel, and a signal of a detection radar 7 for detecting and analyzing the foreign matter in the arch gap between the floating plate and the tunnel;
s2: information transmission: sending the information collected in step S1 to the signal transceiver 2, where the signal transceiver 2 generates a corresponding encoded signal according to the collected information and sends the encoded signal to the computer 3;
s3: and (3) information processing: the computer 3 forms an information visualization interface by analyzing the imaging information of the first infrared imager 4, the positioning signal of the positioning radar 5, the imaging information of the second infrared imager 6 and the detection signal of the detection radar 7, wherein the detection radar 7 signal principle: according to the change reflection judgment of the object detection distance, the foreign object detection distance formula is as follows:
wherein, c is the speed of light,
r-the distance of the target from the radar,
Delta t-the time for the electromagnetic wave to and from the radar and the electromagnetic wave.
S4: clearance floating plate and tunnel upper arch clearance foreign matter: the mobile remote control trolley 1 is controlled by a computer, the mobile remote control trolley is operated to move to the position of the foreign matter in the gap between the floating plate and the upper arch of the tunnel, and a cleaning device on the mobile remote control trolley is operated to clean the foreign matter. Because operating space is little, under the limited condition of power technical level, to the work alternation of foreign matter removal and absorption, be convenient for energy-conservation, the process that cleaning device cleared up the foreign matter does: firstly, the first telescopic rod 8 extends out, and the electric grinding head 11 grinds partial foreign matters until the foreign matters are loosened; secondly, the first telescopic rod 8 is retracted; and thirdly, the second telescopic rod 9 and the third telescopic rod 10 extend out, and the absorber 12 absorbs the residual foreign matters.
The specific implementation mode is as follows: the mobile remote control trolley 1 enters a central ditch under a floating plate through an observation hole, is connected with a computer 3 through a signal transceiver 2, moves under the control of the computer 3, is positioned through a rear positioning radar 5 of the mobile remote control trolley 1, is subjected to obstacle identification on a traveling road by a front first infrared imaging device 4, is subjected to detection and analysis on a floating plate and a tunnel upper arch gap foreign matter through imaging information for identifying the floating plate and the tunnel upper arch gap foreign matter by a second infrared imaging device 6 and a detection radar 7, and transmits information to the computer 3, and after the received information is analyzed and processed, the information is visually displayed on a display screen, so that manual observation and analysis and next operation are facilitated. When detecting the foreign matter, remove remote control dolly 1 and visit first telescopic link 8 out, electric bistrique 11 grinds away partial foreign matter, reduces foreign matter lifting surface area, increase contact stress, the not hard up back of foreign matter pressurized deformation, first telescopic link 8 is withdrawed, second telescopic link 9 and third telescopic link 10 stretch out, electric bistrique 11 wears away the foreign matter, the foreign matter piece that the absorber 12 ground the electric bistrique and taken off and not hard up foreign matter absorption.
Claims (1)
1. The utility model provides a detection clearance instrument of gap foreign matter encircles on floating plate and tunnel which characterized in that: the device comprises a mobile remote control trolley (1) arranged in a central ditch below a floating plate, a signal transceiver (2) and a computer (3) which are arranged outside the floating plate, wherein the front end of the mobile remote control trolley (1) is provided with a first infrared imager (4) for identifying obstacles on a traveling road, the rear end of the mobile remote control trolley is provided with a positioning radar (5) for positioning the position of the mobile remote control trolley (1), the middle part of the mobile remote control trolley (1) is provided with a second infrared imager (6) for identifying foreign matters in an arch gap between the floating plate and a tunnel and a detection radar (7) for detecting and analyzing the foreign matters in the arch gap between the floating plate and the tunnel, a cleaning device for cleaning the foreign matters is arranged between the second infrared imager (6) and the detection radar (7), and the cleaning device comprises a first telescopic rod (8) fixedly arranged on the mobile remote control trolley (1), a second telescopic rod (9) and a third telescopic rod (10) which are hollow inside are fixedly arranged on two sides of the first telescopic rod (8) respectively, an electric grinding head (11) for grinding foreign matters is fixedly arranged at the telescopic end of the first telescopic rod (8), an absorber (12) for absorbing the foreign matters is fixedly arranged at the telescopic ends of the second telescopic rod (9) and the third telescopic rod (10) respectively, a power supply is arranged in the mobile remote control trolley (1), and the first infrared imager (4), the positioning radar (5), the second infrared imager (6), the detection radar (7) and the cleaning device are all electrically connected with the power supply;
A method for detecting and cleaning foreign matters in an arch clearance between a floating plate and a tunnel comprises the following steps:
s1: information acquisition: the acquired information comprises imaging information of the first infrared imager (4), a positioning signal of the positioning radar (5), imaging information of the second infrared imager (6) and a detection analysis signal of the detection radar (7);
s2: information transmission: sending the information collected in the step S1 to a signal transceiver (2), wherein the signal transceiver (2) generates a corresponding encoded signal according to the collected information and sends the encoded signal to a computer (3);
s3: and (3) information processing: the computer (3) analyzes the imaging information of the first infrared imager (4), the positioning signal of the positioning radar (5), the imaging information of the second infrared imager (6) and the detection signal of the detection radar (7) to form an information visualization interface, and the detection radar (7) has a foreign object detection distance formula as follows:
wherein, c is the speed of light,
r-the distance of the target from the radar,
delta t-time of the electromagnetic wave to and from the radar and the electromagnetic wave;
s4: clearance floating plate and tunnel upper arch clearance foreign matter: control removal remote control dolly (1) through the computer, the operation dolly removes to the position of floating board and tunnel upwarp clearance foreign matter and operates the cleaning device who makes on the dolly and clear up the foreign matter, and the process that cleaning device cleared up the foreign matter is: firstly, a first telescopic rod (8) extends out, and an electric grinding head (11) grinds partial foreign matters until the foreign matters are loosened; secondly, the first telescopic rod (8) is retracted; and the second telescopic rod (9) and the third telescopic rod (10) extend out, and the absorber (12) absorbs the residual foreign matters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011289583.6A CN112482297B (en) | 2020-11-17 | 2020-11-17 | Instrument and method for detecting and cleaning foreign matters in gap between floating plate and tunnel upper arch |
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| CN202011289583.6A CN112482297B (en) | 2020-11-17 | 2020-11-17 | Instrument and method for detecting and cleaning foreign matters in gap between floating plate and tunnel upper arch |
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| CN112482297A CN112482297A (en) | 2021-03-12 |
| CN112482297B true CN112482297B (en) | 2022-07-29 |
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| CN112482297A (en) | 2021-03-12 |
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