CN112945261B - Portable intelligent measurement dolly that possesses engineering data survey function - Google Patents

Abstract

The invention discloses a portable intelligent measuring trolley with an engineering data fixed measurement function, which comprises a control module, a traveling module, a code spraying module and a mileage module, wherein the control module comprises a main controller, a device body touch screen, a motor controller and a remote control handle, the control module controls command issuing and information processing, the traveling module comprises a bearing frame and a traveling mechanism, the traveling module controls the trolley to operate, the code spraying module sprays codes on a sleeper, the mileage module records mileage data, the mileage module is used for measuring mileage, so that the traveling distance and the traveling route of a recording device in the operation process of the trolley are used for indirectly measuring the track laying distance and the track laying route at the same time.

Description

A portable intelligent measuring car with engineering data determination function

Technical field

The invention belongs to the field of industrial intelligence and relates to a portable intelligent measuring car with the function of determining engineering data.

Background technique

Railway infrastructure has always been a key construction project of the country, and the construction of railways promotes the development of various industries. While accelerating the construction of 5G, the process of railway informatization, intelligence and digitalization will be further promoted. Therefore, railway intelligence has become a hot topic. Strengthening digital information construction in railway construction can not only achieve comprehensive management and optimal scheduling in the later period, but also improve operating efficiency and equipment safety and stability; and use intelligent machines to replace manual operations. It can enhance the automation of equipment, reduce labor investment costs in railway information and digital construction, improve data accuracy, and further improve operating efficiency, which is of great significance to the rapid development of high-speed railways.

Contents of the invention

In order to overcome the shortcomings of the prior art, the present invention provides a portable intelligent measuring car with an engineering data determination function.

In order to achieve the above object, the present invention adopts the following technical solution: a portable intelligent measuring car with engineering data determination function, which is characterized in that: it includes a control module, a traveling module, an inkjet module and a mileage module, and the control module includes a main controller , the device body touch screen, motor controller and remote control handle, the control module controls command issuance and information processing, the traveling module includes a load-bearing frame and a traveling mechanism, the traveling module controls the operation of the trolley, the coding module injects coding on sleepers, and the mileage module Record mileage data.

Further; the control module includes a main controller, a touch screen of the device body, a motor controller and a remote control handle. The touch screen of the device body and the main controller adopt a wired connection for signal transmission, which is used by the operator to perform operations on the initialization device. Adjust and select relevant parameters and indicators during corresponding work, and retrieve and check the main control data of the device when the device fails; the remote control handle and the main controller use wireless connections for signal transmission for operators to take over remotely The device actions respond to special situations and needs; the motor controller and the main controller use a wired connection for signal transmission, which is used to control the different speeds of the wheel motors on both sides when the main controller issues a turning command to the traveling module.

Further; the traveling module includes a load-bearing frame and a traveling mechanism. The traveling mechanism includes an active driving component and a driven driving component. The active driving component is driven by a traveling motor. The traveling motor and the motor controller are connected by a circuit. The motor controller controls the traveling motor. The rotating speed is controlled, and the traveling motor is equipped with a photoelectric encoder. The photoelectric encoder is connected to the traveling motor using a circuit to convert the mechanical geometric displacement of the traveling motor into a digital quantity.

Further; the active driving assembly includes an active bracket structure and an active wheel structure. The active bracket structure includes a first bracket fixed plate, a first connecting part, a second connecting part, a first wheel connecting part and a second wheel connecting part. The third A bracket fixing plate is fixed on the lower end surface of the load-bearing frame, and a first suspension part is fixed on the first connection part for hanging and placing the spare tire; the active drive assembly also includes a first spring hydraulic mechanism for buffering, the first The connecting part, the second connecting part, the first wheel connecting part and the first spring hydraulic mechanism are connected end to end through bolts to form a delta-like mechanism.

Further; the inkjet coding module includes a character inkjet coding device, an ink cartridge, a dust-proof shell, a steering gear, a base mechanism, a dust blowing mechanism and a movement mechanism. The inkjet cartridge is inserted into the character inkjet coding device for easy replacement. The character inkjet coding device is connected to the main control The device establishes a data connection; there is a nozzle fixed at the bottom of the character inkjet coding device, and the nozzle performs coding. The base mechanism is located at the bottom of the character inkjet coding device. The dust-proof casing wraps the bottom of the nozzle of the character inkjet coding device and the base mechanism. The dust-proof casing There is a fixed plate connected to the movement mechanism through the fixed plate, and the dustproof shell is connected to the character inkjet device; a bottom door curtain is fixed on the side of the dustproof shell, and the servo is located inside the bottom door curtain, and is linked to the bottom door curtain through the transmission mechanism, and Establish a data connection with the main controller to open and close the bottom door curtain and complete the opening and closing confirmation operation; a limit plate is set at the bottom of the dust-proof casing, a limit slot is fixed on the limit plate, and the nozzle of the character inkjet device passes through the limit Two sets of connecting parts respectively extend from both sides of the position slot and the limiting plate. Each set of connecting parts is provided with a through hole, and the base mechanism passes through the through hole and is rotationally connected with the connecting part.

Further; the dust blowing mechanism includes a compressed air pump, an air pipe and an air blowing nozzle. The compressed air pump is connected to the air blowing nozzle through the air pipe, and the compressed gas is ejected from the air blowing nozzle to clean the dust at the nozzle of the character inkjet coding device. The compressed air pump establishes a data connection with the main controller. The motion mechanism includes a translation motion mechanism and a lifting motion mechanism. The translation motion mechanism includes a translation screw rack and a translation drive motor. The translation drive motor drives the translation slider for translation motion. The lift motion mechanism includes a lifting motion. The screw carriage and lifting drive motor drive the lifting slide rail to move up and down. The translation drive motor and the lifting drive motor establish data connections with the main controller respectively.

Further; it also includes an adjustment mechanism, which adjusts the plane degree of freedom of the nozzle to keep the plane of the nozzle and the surface of the sleeper parallel. The adjustment mechanism includes two sets of adjustment springs, one end of the two sets of adjustment springs is symmetrically fixed on both sides of the limit plate. , the other ends of the two sets of adjustment springs are connected to the dust-proof casing, the character inkjet device is connected to the limit plate, and moves synchronously with the movement of the limit plate. The different forces on the two sets of adjustment springs affect the contraction of the two sets of adjustment springs. degree, control the inclination of the limit plate, and drive the character inkjet device to fit the surface of the inclined sleeper.

Further; the mileage module includes an odometer, RTK satellite positioning device one and RTK satellite positioning device two. The odometer, RTK satellite positioning device one and RTK satellite positioning device two are respectively fixed on the load-bearing frame. The odometer and RTK satellite Once the positioning device establishes a data connection, it jointly establishes a data connection with the main controller, and the odometer establishes a data connection with the photoelectric encoder.

Further; the odometer or/and RTK positioning system measures mileage data. The odometer records travel distance data and travel route data, and calculates and stores the data. The RTK positioning system includes an RTK satellite positioning device and an RTK satellite positioning device. Second, the base station transmits its observation values and station coordinate information to the car through the data link, and the RTK positioning system calibrates the data recorded by the odometer.

Further; the driving wheel structure includes a tracked iron wheel and a trackless rubber wheel. The tracked iron wheel and the trackless rubber wheel are coaxially connected. The tracked iron wheel controls the movement of the car through relative movement with the track, and the trackless rubber wheel passes through the ground. The relative motion of the car.

To sum up, the benefits of the present invention are:

1. The present invention uses a control module to control related modules to ensure synchronization control and control accuracy.

2. The present invention designs a first spring hydraulic mechanism for buffering to ensure the stable operation of electronic devices. The first connection part, the second connection part, the first wheel connection part and the first spring hydraulic mechanism are connected end to end through bolts to form a triangle-like mechanism, which effectively improves the operational stability of the active drive components; and uses railed iron wheels or trackless rubber wheels according to the use occasion to ensure that the trolley can be used in different occasions.

3. The present invention uses an inkjet coding module to realize inkjet coding on sleepers, and combines translational motion and lifting motion through a dynamic mechanism, thereby moving the character inkjet coding device to a designated inkjet coding position.

4. The present invention adopts an adjustment mechanism designed in the inkjet coding module. The adjustment mechanism adjusts the plane degree of freedom of the nozzle to keep the plane of the nozzle and the surface of the sleeper parallel to ensure the effect of inkjet coding.

5. The adjustment mechanism of the present invention adopts a spring or a telescopic rod for adjustment, and has a simple structure and easy operation.

6. The dustproof shell of the present invention is designed with a bottom door curtain on the side. The steering gear is linked with the bottom door curtain through a transmission mechanism to open and close the bottom door curtain and complete the opening and closing confirmation operation. The bottom door curtain plays a protective role.

7. The present invention uses a mileage module to measure mileage, thereby recording the distance and route of the device while the car is running and indirectly measuring the track laying distance and route.

8. The present invention uses the RTK positioning system to calibrate the mileage data measured by the odometer to ensure the accuracy of the mileage data.

Description of drawings

Figure 1 is a schematic diagram of the device of the present invention.

Figure 2 is a schematic diagram of the direction A in Figure 1.

Figure 3 is a schematic view of direction B in Figure 1.

Figure 4 is a schematic diagram of the C direction in Figure 1.

Figure 5 is a schematic diagram of the active driving assembly of the present invention.

Figure 6 is a schematic diagram of the driven drive assembly of the present invention.

Figure 7 is a schematic diagram of the lower connection part of the present invention.

Figure 8 is a schematic diagram of the inkjet coding module of the present invention.

Figure 9 is a bottom view of the inkjet coding module of the present invention.

Figure 10 is a schematic diagram of the adjustment mechanism according to the second embodiment of the present invention.

Figure 11 is a schematic diagram of the dust blowing mechanism of the present invention.

Figure 12 is a schematic diagram of the motion mechanism of the present invention.

Figure 13 is a schematic diagram of the measurement module of the present invention.

Figure 14 is a schematic diagram of the adjustment mechanism according to the second embodiment of the present invention.

Detailed ways

The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, as long as there is no conflict, the following embodiments and the features in the embodiments can be combined with each other.

It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the drawings only show the components related to the present invention and do not follow the number, shape and number of components during actual implementation. Dimension drawing, in actual implementation, the type, quantity and proportion of each component can be arbitrarily changed, and the component layout type may also be more complex.

All directional indications (such as up, down, left, right, front, back, transverse, longitudinal...) in the embodiment of the present invention are only used to explain the relative positional relationship and movement between the components in a specific posture. Etc., if the specific posture changes, the directional indication also changes accordingly.

Example 1:

As shown in Figure 1-13, a portable intelligent measuring car with engineering data determination function includes a control module, a traveling module, an inkjet module and a mileage module. The control module includes a main controller 11 and a touch screen 12 of the device body. , motor controller 13 and remote control handle. The control module controls command issuance and information processing. The traveling module includes a load-bearing frame 21 and a traveling mechanism 22. The traveling module controls the operation of the trolley. The inkjet coding module injects codes on the sleepers. The mileage module includes an odometer. 51. The odometer 51 records mileage data.

The control module includes a main controller 11, a device body touch screen 12, a motor controller 13 and a remote control handle (not shown in the figure). The device body touch screen 12 and the main controller 11 are wired for signal transmission for operation. The personnel adjust and select relevant parameters and indicators when initializing the device to perform corresponding work, and retrieve and check the device's main control data when the device fails; the remote control handle and the main controller 11 use wireless connections for signal transmission. Specifically, RF radio frequency communication can be used for signal transmission, which is used by the operator to remotely take over the action of the device to deal with special situations and special needs; the motor controller 13 and the main controller 11 are connected by wired connection for signal transmission, which is used for the main controller 11 to travel When the module issues a turning command, it controls the different speeds of the wheel motors on both sides to achieve differential turning.

As shown in Figures 5-7, the traveling module includes a carrying frame 21 and a traveling mechanism 22. The carrying frame 21 is used as a carrying component to carry other modules. The traveling mechanism 22 is provided with two groups and is symmetrically connected to both sides of the carrying frame 21. , the traveling mechanism 22 includes an active driving component 221 and a driven driving component 222. The active driving component 221 is driven by the traveling motor 23. The traveling motor 23 is connected to the motor controller 13 through a circuit. The rotation speed of the traveling motor 23 is controlled through the motor controller 13. The control further realizes the control of the wheel speed. The traveling motor 23 is provided with a photoelectric encoder 24. The photoelectric encoder 24 is connected to the traveling motor 23 using a circuit to convert the mechanical geometric displacement of the traveling motor 23 into a digital quantity; active drive component 221 and the driven driving component 222 can adopt the same structure or different structures, as long as the traveling function is realized. In this embodiment, the active driving component 221 and the driven driving component 222 adopt different structures.

As shown in Figure 5, the active driving assembly 221 includes an active bracket structure and an active wheel structure. The active bracket structure includes a first bracket fixing plate 2211, a first connecting part 2212, a second connecting part 2213, a first wheel connecting part 2214 and a third The second wheel connecting part 2215 and the first bracket fixing plate 2211 are fixed on the lower end surface of the load-bearing frame 21. The first connecting part 2212 is fixed with a first suspension part 2217 for hanging the spare tire; for buffering during travel. , to ensure the stable operation of electronic devices, the active drive assembly 221 also includes a first spring hydraulic mechanism 2216 for buffering, a first connection part 2212, a second connection part 2213, a first wheel connection part 2214 and a first spring hydraulic mechanism 2216 The bolts are connected end to end to form a triangular mechanism, which effectively improves the operational stability of the active drive assembly 221.

The driving wheel structure includes a tracked iron wheel 2221 and a trackless rubber wheel 2222. The tracked iron wheel 2221 and the trackless rubber wheel 2222 are coaxially connected. Specifically, the trackless rubber wheel 2222 has a rigid frame structure inside, and a fixed frame is installed in the center of the rigid frame structure. The rubber wheel rotating rod 22221 is fixed with an annular protrusion 22212 on the rail iron wheel 2221. The annular protrusion 22212 fits the track and plays a limiting role. The iron wheel rotating rod 22211 runs through the center of the rail iron wheel 2221. The rubber wheel rotating rod 22221 and the iron wheel rotating rod 22211 are coaxially arranged, and the two are fixedly connected by bolts to connect the rail iron wheel 2221 and the trackless rubber wheel 2222 to realize the synchronous movement of the rail iron wheel 2221 and the trackless rubber wheel 2222; of course, it can also be used Other methods are used to realize the connection. For example, the rigid frame structure of the trackless rubber wheel 2222 and the tracked iron wheel 2221 adopt an integrated stretch forming process, so that the tracked iron wheel 2221 and the trackless rubber wheel 2222 form an integrated structure with excellent rigidity and hardness. There will be no loosening, cracking and aging of the connection parts; the railed iron wheel 2221 and the trackless rubber wheel 2222 can be used according to the use occasion. Specifically, when the car travels on the railed section, the railed iron wheel 2221 and the track The relative movement of the trolley realizes the movement of the trolley; when the trolley travels on the trackless section, the trolley's movement is realized by the relative movement of the trackless rubber tires 2222 and the ground.

As shown in Figure 7, the first wheel connection part 2214 is composed of an upper connection part 22141 and a lower connection part 22142, which are fixedly connected through a first fastener. The upper connection part 22141 connects the first spring hydraulic mechanism 2216 and the second The connecting part 2213 and the lower connecting part 22142 include a hollow through hole 22144. A through hole fixing piece 22145 is fixed inside the through hole 22144. The output shaft of the traveling motor 23 is connected to the iron wheel rotating rod 22211 and is connected to the through hole through a second fastener. Hole fixing piece 22145 fixed connection.

As shown in Figure 6, the driven drive assembly 223 includes a driven bracket structure and a driven wheel structure. The driven bracket structure includes a second bracket fixing plate 2231, a third connection part 2232, a fourth connection part 2233, a second wheel connection 2234 and the fourth wheel connecting part 2235, the second bracket fixing plate 2231 is fixed on the lower end surface of the second bracket fixing plate 2231, and the third connecting part 2232 is fixed with a second suspension part 2237 for hanging and placing the spare tire. ; In order to buffer during travel and ensure the stable operation of electronic devices, the driven drive assembly 223 also includes a second spring hydraulic mechanism 2236 for buffering, a second bracket fixing plate 2231, a third connecting part 2232, and a fourth connecting part. 2233 and the second spring hydraulic mechanism 2236 are respectively connected by bolts. The second wheel connecting part 2234 is set in a Z-shaped structure, with one end connected to the fourth connecting part 2233 and the second spring hydraulic mechanism 2236, and the other end connected to the fourth wheel connecting part 2235. The fourth wheel connection part 2235 adopts a portal structure. The fourth wheel connection part 2235 is fixedly connected to the upper end of the wheel connection part 2235. The two sets of side plates of the wheel connection part 2235 are connected to the driven wheel structure. In this embodiment, from The moving wheel structure and the driving wheel structure adopt the same connection method. The area composed of two sets of side plates of the wheel connection part 2235 limits the rail iron wheel 2221 inside, and the side plates are connected to the iron wheel rotating rod 22211.

The car also includes a basic operation module, a mileage module, a vision module and a measurement module. The basic operation module prevents collisions and alarms for abnormal situations. The mileage module records mileage data. The vision module locates and records travel distance when there is no GPS signal, and measures The module detects track power-on parameters.

The basic operation module includes a lithium ion battery 31, a power converter 32, an anti-collision mechanism 33, and a security mechanism 34; the power converter 32 establishes a data connection with the main controller 11 and uses a circuit connection with the lithium ion battery 31 to realize that the lithium ion battery 31 The instructions of the main controller 11 are used to convert the output current and output voltage. The anti-collision mechanism 33 includes an anti-collision radar 331, an anti-collision beam 332 and a limit switch 333. The anti-collision radar 331 is fixed on both sides of the load-bearing frame 21 and is located at On both sides of the car's direction of travel, the anti-collision radar 331 establishes a data connection with the main controller 11 to sense whether there are obstacles in the front and rear positions of the car in the direction of travel and complete obstacle avoidance or stopping actions. The anti-collision radar 331 can use the existing Equipment, such as millimeter wave radar, anti-collision beams 332 are fixed on both sides of the load-bearing frame 21 and are located on both sides of the traveling direction of the car to prevent emergency mechanical protection when the anti-collision radar 331 fails to prevent the collision of high-speed moving objects. The limit switch 333 is fixed on both sides of the anti-collision beam 332 and establishes a data connection with the main controller 11 for feedback to the main controller 11 after feeling the impact force of the anti-collision beam 332. Issue an instruction to control the emergency stop of the traveling module; the security mechanism 34 includes an alarm device 341 and an emergency stop device 342. The alarm device 341 and the emergency stop device 342 establish data connections with the main controller 11 respectively, and trigger the alarm device when detecting an abnormal signal returned by the internal data. 341. The emergency stop device 342 is located outside the car body and is used for the operator to manually shut down the device when the running car breaks down and the signal reception is abnormal or when an emergency occurs.

The inkjet coding module includes a character inkjet coding device 41, an ink cartridge 42, a dust-proof casing 43, a steering gear 44, a dust blowing mechanism 45, a fixed base mechanism 46, and a movement mechanism 47; the ink cartridge 42 is inserted into the character inkjet coding device 41, and the character inkjet coding device 41 The insertion port is located on the side for easy replacement. The character inkjet coding device 41 establishes a data connection with the main controller 11; a nozzle 411 is fixed at the bottom of the character inkjet coding device 41, and the nozzle 411 performs inkjet printing. The base mechanism 46 is located at the character inkjet printer. At the bottom of the coding device 41, the dustproof shell 43 wraps the bottom of the nozzle 411 of the character inkjet coding device 41 and the base mechanism 46. The dustproof shell 43 is connected to a fixed plate 48, and is connected to the movement mechanism 47 through the fixed plate 48. The dustproof shell 43 is connected to the movement mechanism 47 through the fixed plate 48. The character printing device 41 is connected, that is, the movement mechanism 47 controls the movement of the character printing device 41 by controlling the movement of the dust-proof housing 43, thereby moving the character printing device 41 to the designated printing position; the side of the dust-proof housing 43 is fixed There is a bottom door curtain 431. The steering gear 44 is located inside the bottom door curtain 431. It is linked with the bottom door curtain 431 through the transmission mechanism and establishes a data connection with the main controller 11 to open and close the bottom door curtain 431 and complete the opening and closing confirmation operation; A limit plate 432 is provided at the bottom of the dustproof housing 43. A limit slot 4321 is fixed on the limit plate 432. The nozzle 411 of the character inkjet device 41 passes through the limit slot 4321. Two sets of connections are extended on both sides of the limit plate 432. Each set of connecting portions 433 is provided with a through hole 434, and the base mechanism 46 passes through the through hole 434 and is rotationally connected to the connecting portion 433.

The base mechanism 46 includes a flat roller 461, a pressure sensor and a counter. Two sets of end surfaces of the flat roller 461 are provided with protrusions along the central axis direction and pass through the through holes 434 to realize the rotation of the flat roller 461 around the axis. The pressure sensor and counter are located on the flat surface. The inside of the roller 461 establishes a data connection with the main controller 11, which is used to determine the stable movement of the flat roller 461 on the sleeper plane to ensure the spraying reference plane of the nozzle 411 of the character inkjet coding device 41.

The dust blowing mechanism 45 includes a compressed air pump 451, an air pipe 452 and an air blowing nozzle 453. The compressed air pump 451 is connected to the air blowing nozzle 453 through the air pipe 452, and sprays the compressed gas from the air blowing nozzle 453 to clean the nozzle of the character inkjet device 41 Dust at 411, the compressed air pump 451 establishes a data connection with the main controller 11.

The motion mechanism 47 includes a translation motion mechanism 471 and a lifting motion mechanism 472. The translation motion mechanism 471 includes a translation screw rack 4711 and a translation drive motor 4713. Translation base blocks 4715 are fixed at both ends of the translation screw rack 4711. The translation wire Two sets of symmetrically arranged translation slide rails 4712 are fixed on the bottom surface of the rod rack 4711. The length direction of the translation slide rails 4712 is consistent with the length direction of the translation screw rack 4711. The translation drive motor 4713 is fixed on the translation base block 4715. The output shaft of the drive motor 4713 is fixed to the screw rod 4716. The other end of the translation screw rod 4716 is rotationally connected to the translation base block 4715. The screw rod 4716 is spirally connected to a translation slide block 4714 that is slidingly connected to the translation slide rail 4712. The translation drive The motor 4713 drives the translation slide block 4714 to translate along the translation slide rail 4712.

The lifting movement mechanism 471 includes a lifting screw frame 4721 and a lifting drive motor 4723. Lifting base blocks 4725 are fixed at both ends of the lifting screw frame 4721, and two sets of symmetrically arranged lifts are fixed on the bottom of the lifting screw frame 4721. Slide rail 4722. The length direction of the lifting slide rail 4722 is consistent with the length direction of the lifting screw rack 4721. The lifting drive motor 4723 is fixed on the lifting base block 4725. The output shaft of the lifting drive motor 4723 is fixed on the screw rod 4726. The other end of the screw rod 4726 is rotationally connected to the lifting base block 4725. The screw rod 4726 is spirally connected to a lifting slide block 4724 that is slidingly connected to the lifting slide rail 4722. The lifting drive motor 4723 drives the lifting slide block 4724 to move up and down along the lifting slide rail 4722. , in this embodiment, the lifting base block 4725 is fixedly connected to the translation slider 4714, and the dust-proof housing 43 is fixedly connected to the lifting slider 4724 through the fixed plate 48, thereby combining the translation movement and the lifting movement, and the character inkjet printing device 41 moves to a designated position to perform the coding operation; the translation drive motor 4713 and the lifting drive motor 4723 establish data connections with the main controller 11 respectively.

As shown in Figure 10, further, in order to avoid the distortion of the character inkjet coding device 41 caused by the inclination of the sleepers, the inkjet coding module also includes an adjustment mechanism 49. The adjustment mechanism 49 adjusts the plane degree of freedom of the nozzle 411, so that the plane of the nozzle 411 and Keep the sleeper surfaces parallel to ensure the printing effect.

The adjustment mechanism 49 includes two sets of adjustment springs 491. One end of the two sets of adjustment springs 491 is symmetrically fixed on both sides of the limiting plate 432. The other end of the two sets of adjustment springs 491 is connected to the dustproof housing 43, and the connection method of the two sets of springs 491 is , so that the movement of the adjustment spring 491 will not drive the movement of the dust-proof housing 43. The character inkjet coding device 41 is connected to the limit plate 432, and moves synchronously with the movement of the limit plate 432, so that the nozzle 411 and the limit plate 432 remain flat. On the same plane, the plane of the nozzle 411 and the surface of the sleeper are kept parallel. Through the above structure, the dust-proof housing 43 and the character inkjet device 41 can move independently without interference between the two movements.

The flat roller 461 comes into contact with the plane of the sleeper. On the inclined sleeper, the forces of the two sets of adjustment springs 491 are different, which in turn affects the contraction degree of the two sets of adjustment springs 491. The adjustment springs 491 with different degrees of contraction give different effects to the limit plate 432. pressure, thereby controlling the inclination of the limit plate 432, thereby driving the character inkjet device 41 to fit the surface of the inclined sleeper to ensure the effect of inkjet printing.

The mileage module includes an odometer 51, an RTK satellite positioning device 52 and a RTK satellite positioning device 2 53. The odometer 51, RTK satellite positioning device 1 52 and RTK satellite positioning device 2 53 are respectively fixed on the load-bearing frame 21. At the same time, the odometer 51 establishes a data connection with the RTK satellite positioning device 1 52 and then jointly establishes a data connection with the main controller 11 , in which the odometer 51 establishes a data connection with the photoelectric encoder 24 .

Mileage measurement uses an odometer 51 or/and an RTK positioning system. The odometer 51 records travel distance data and travel route data (mileage measurement), and calculates and stores the data. The RTK positioning system includes an RTK satellite positioning device 52 and an RTK satellite. Positioning device 2 53 and the base station. The base station transmits its observation values and measuring station coordinate information to the car through the data link. The RTK positioning system calibrates the data recorded by the odometer 51 to ensure the accuracy of the data.

The vision module includes a pan/tilt 61, a two-dimensional camera one 62, a two-dimensional camera two 63, a two-dimensional camera three 64, a two-dimensional camera four 65 and a three-dimensional scanner 66. The pan/tilt 61 is installed on the front end of the car and is fixed by a mounting bracket. Set on the carrying frame 21, the three-dimensional scanner 66 is fixed on the pan/tilt 61, the two-dimensional camera 62 is located at the front end of the car and below the pan/tilt 61, the two-dimensional camera two 63 and the three-dimensional camera 64 are located on the left and right sides of the car. The two-dimensional camera 465 is fixed on the dust-proof housing 43 and is opposite to the nozzle 411 of the inkjet printer, so as to facilitate confirming whether the nozzle 411 of the inkjet printer is located at the designated inkjet position. The three-dimensional scanner 61. Two-dimensional camera one 62, two-dimensional camera two 63, two-dimensional camera three 64, and two-dimensional camera four 65 establish data connections with the main controller 11 respectively. After the three-dimensional scanner 66 establishes a data connection with the RTK satellite positioning device two 53 Establish a data connection with the main controller 11; wherein, the three-dimensional scanner 66 and the RTK satellite positioning device 2 53 are used for mileage measurement inside the tunnel, and the odometer 51 and the RTK satellite positioning device 1 52 are used outside the tunnel for mileage measurement; of course In a tunnel with dark light and weak signals, the three-dimensional scanner 66 is preferably used to optimize and calibrate the mileage measured by the odometer 51 .

The measurement module automatically measures the electrical parameters of the track. The electrical parameters include circuit voltage, current, carrier frequency and compensation capacitance. The measurement module includes a vehicle-mounted frequency shift test device 71, a first connecting wire 72, a second connecting wire 73, and a first automatic top pressure. mechanism 74, the first automatic pressing mechanism 75, the first detection probe 76 and the second detection probe 77. In this embodiment, the first automatic pressing mechanism 74 and the first automatic pressing mechanism 75 adopt the same structure. The probe 76 and the second detection probe 77 adopt the same structure. The first automatic pressing mechanism 74 and the first detection probe 76 are fixedly connected. The first automatic pressing mechanism 75 and the second detection probe 77 are fixedly connected. The first automatic pressing mechanism 74 and the first automatic pressing mechanism 75 are symmetrically fixed on the left and right sides of the load-bearing frame 21. Taking the first automatic pressing mechanism 75 and the second detection probe 77 as an example, the first automatic pressing mechanism 75 includes an L-shaped The connecting frame 751, the mounting platform 752, the pressing motor 753 and the telescopic link 754, the L-shaped connecting frame 751 is fixed on the load-bearing frame 21, the mounting platform 752 is fixed on the bottom of the L-shaped connecting frame 751, and the pressing motor 753 and the telescopic link 754 are installed on the installation platform 752, and the driving rod of the pressing motor 753 is connected with the telescopic link 754 to realize the up and down movement of the telescopic link 754; the second detection probe 77 includes a connecting platform 771, a connecting bolt 772 and a detecting The probe 773 and the connecting platform 771 are fixed on the bottom end of the telescopic connecting rod 754. The connecting platform 771 and the telescopic connecting rod 754 are connected in an insulating manner or the connecting platform 771 itself is made of insulating material. The detection probe 773 and the connecting bolt 772 adopt non-insulated end faces. The connection method realizes a conductive integrated connection. The detection probe 773 is fixedly connected to the connection platform 771 through the connection bolt 772 to achieve reliable contact and stable data collection. The top pressure motor 753 controls the detection probe 773 to move up to the designated measurement position to achieve alignment. For parameter measurement, the designated measurement position is specifically: the position where the detection probe 773 pierces the surface oxide layer of the rail and is in full contact with the actual material part.

In this embodiment, multiple groups of detection probes 773 are provided to ensure reliable contact between the probes and the track and achieve electrical signal measurement; the vehicle-mounted frequency shift test device 71 is electrically connected to the first detection probe 76 through the first connecting wire 72, and is connected to the first detection probe 76 through the first connecting wire 72. The two connecting wires 73 are electrically connected to the second detection probe 77. Specifically, one end of the first connecting wire 72 is connected to the voltage access terminal of the vehicle-mounted frequency shift test device 71, and the other end of the first connecting wire 72 is connected to the first detection probe 76. The connecting bolt is used to press the contact point of the first connecting wire 72, one end of the second connecting wire 73 is connected to the voltage access terminal of the vehicle-mounted frequency shift test device 71, and the other end of the second connecting wire 73 is connected to the second connecting wire 73. The connecting bolt 772 of the detection probe 77 presses the contact connection of the second connecting wire 73 through the connecting bolt 772, and the open circuit voltage is measured through the above structure. The vehicle frequency shift test device 71 is also provided with a clamp meter 78, a clamp meter Table 78 is connected to the current access end of the vehicle-mounted frequency shift test device 71 to measure the short-circuit current. The vehicle-mounted frequency shift test device 71 establishes a data connection with the main controller 11, and a Bluetooth communication connection can be used. The first automatic pressing mechanism 74. The pressing motor in the first automatic pressing mechanism 75 establishes a data connection with the main controller 11. Multiple detection probes 773 are provided on the detection probe to ensure reliable contact between the probes and the track and to achieve electrical signal measurement. .

In order to prevent the 3D scanner 66 scan screen from being blurred or the overall scan screen shaking when the car encounters uneven roads or uneven tracks during travel, causing data deviation and the impact of the car body jitter on the stable operation of electronic equipment, a shock absorber is installed on the car. The mechanism (not shown in the figure) is used to offset the jitter during the movement of the device. The shock absorbing mechanism can use a spring shock absorber. The spring shock absorber is installed on the load-bearing frame 21, or two upper and lower support beams are provided on the load-bearing frame 21. A hard rubber gasket with a certain elasticity and softness is placed between the two support beams. Hard rubber gaskets are preferably used for shock absorption. The hard rubber gaskets can absorb vibration energy without rebound, further ensuring that the 3D scanner 66 The accuracy of the three-dimensional data acquired and the construction of the virtual three-dimensional model in the later system.

In this embodiment, the character inkjet device 41, the three-dimensional scanner 66 and the vehicle-mounted frequency shift test device 71 adopt modular installation that is easy to disassemble to adapt to the corresponding measurement tasks and execution tasks in different work scenarios. The modular installation of the car The loading and unloading of corresponding functional modules is realized to reduce the weight as much as possible. In addition, the number of lithium-ion batteries 31 in the basic operation module can be adjusted and the power supply of some modules can be turned off.

In this embodiment, the three-dimensional scanner 66 measures the distance from the trackside signaling equipment and the contact line to the center of the track.

In this embodiment, two-dimensional camera one 62, two-dimensional camera two 63 and two-dimensional camera three 64 identify the equipment and obtain information, realize the identification of the signal equipment beside the track, and achieve automatic verification and update of equipment location information. Purpose.

In this embodiment, in addition to improving the safety of the anti-collision mechanism 33 and the security mechanism 34, the two-dimensional camera one 62, the two-dimensional camera two 63 and the three-dimensional camera 64 can also detect obstacles within 1 meter in the direction of the car's travel. Objects and people are detected, and when there are obstacles or people within 1 meter, the car will automatically stop and issue an alarm to prevent construction workers from being injured by unintentionally walking on the rails; in addition, it can also be reliable through motor deadlock and mechanical brake jamming. Stop the car to prevent the car from slipping on the rails with a high slope and cause unnecessary accidents, further ensuring operational safety.

In this embodiment, the circuit can be automatically switched on and off according to the test items to realize the functions of measuring voltage in open circuit and measuring current in short circuit.

In this embodiment, the purpose of the car continuing to work after a temporary interruption is achieved through the touch screen 102 of the device body, the remote control handle, the two-dimensional camera 465 and the RTK positioning system.

In this embodiment, in the data import and export function, the railway signal engineering data in Excel format can be imported into the device, and the functions of automatic positioning, measurement and marking of the trolley can be realized based on the data table information. The data can also be exported from the device interface through a USB flash drive and connected to the data platform of the smart construction site.

Embodiment 2

As shown in Figure 14, the difference between this embodiment and Embodiment 1 is that in Embodiment 1, the adjustment mechanism 49 adjusts the plane degree of freedom of the nozzle 411 through the contraction of the spring, while in this embodiment,

The adjustment mechanism 49 includes two sets of telescopic rods 492. One end of the two sets of telescopic rods 492 is symmetrically fixed on both sides of the limiting plate 432. The other end of the two sets of telescopic rods 492 is connected to a mechanical motor or hydraulic press. The drive is telescopic, and the mechanical motor or hydraulic press is fixed on the dust-proof casing 43. The character inkjet device 41 is connected to the limit plate 432, and moves synchronously with the movement of the limit plate 432, so that the nozzle 411 and the limit plate 432 are kept in plane. On the same plane, keep the plane of the nozzle 411 parallel to the surface of the sleeper.

The flat roller 461 comes into contact with the plane of the sleeper. On the inclined sleeper, the pressure values on both sides measured by the pressure sensor 462 inside the flat roller 461 are different. The length of the telescopic rod 492 is adjusted by a mechanical motor or hydraulic press until the two sides measured by the pressure sensor When the pressure values are the same, the limit plate 432 tilts at this time, driving the character inkjet device 41 to fit the surface of the inclined sleeper to ensure the inkjet printing effect.

The invention also provides an operating method of a portable intelligent measuring car with engineering data determination function. The method uses the control module in the intelligent measuring car to control the traveling module to move to the inkjet position of the sleeper, and the inkjet module injects the code onto the sleeper. Carry out QR code spraying operation.

According to the present invention, the specific operation method is as follows:

S1. The control module controls the traveling module to drive the car to go straight or rotate;

S2. The vision module confirms the position of the car;

S3. The inkjet coding module injects code on the sleepers;

S4. The odometer 51 records the mileage data of the car;

S5.RTK positioning system/3D scanner 66 calibrate car mileage data;

S6. The vision module records trackside data;

S7. The measurement module measures track parameters.

The car rotation in step S1 includes the following steps:

S11. The main controller 101 issues the corresponding fixed speed command to the motor controller 13;

S12. The motor controller 13 issues a fixed speed command to the traveling motor 23 of the driving wheel structure on one side, and issues a fixed speed command to the traveling motor 23 of the driving wheel structure on the other side.

Confirming the position of the car in S2 includes the following steps:

S21. Use the two-dimensional camera 4605 to determine the position of the sleepers that need to be coded at the bottom of the car;

S22. The traveling module controls the car to move to the two-dimensional camera to confirm the position of the sleeper in step S21;

S23. The main controller 11 controls the traveling motor 23 to realize electrical self-locking and keep the car in the position in S22.

The spraying of sleepers in S3 includes the following steps:

S31. The steering gear 44 opens the door curtain 431 at the bottom of the door curtain;

S32. The dust blowing mechanism 45 cleans the nozzle 411;

S33. The main controller 11 starts and controls the lifting drive motor 4723 to move the character inkjet coding device 41 to a position where the flat roller 461 contacts the sleeper and gives a pressure value corresponding to the sleeper, and then stops. The adjustment mechanism 49 levels the plane where the nozzle 411 is located and where the sleeper is. flat;

S34. The main controller 11 starts and controls the translation drive motor 4713 to drive the plane roller 461 to roll on the sleepers, and sets the calculation formula to confirm that the plane where the nozzle 411 is located is parallel to the plane where the sleepers are located;

S34. The main controller 11 controls the character inkjet device 41 to complete the inkjet printing of the two-dimensional code from the left and right directions or the front and rear directions.

The cleaning nozzle 411 of the dust blowing mechanism 45 in step S32 includes the following steps:

S321. The main controller 11 starts the compressed air pump 451 to generate compressed gas;

S322. The gas transmission pipe 452 transmits the compressed gas to the air blowing nozzle 453, and the cleaning work of the nozzle 4011 is completed through the air blowing nozzle 453.

The range of the pressure value in step S33 is set to 5-50 Pa. In the first embodiment, the leveling steps of the adjustment mechanism 49 include:

S331. The motion mechanism 47 controls the plane roller 461 to contact the plane of the sleeper;

S332. The two sets of adjustment springs 491 contract under force. The contraction amount of the adjustment spring 491 is converted into the pressure value of the limit plate 432. The two sets of adjustment springs 491 adjust the contraction amount until the contraction amount is consistent, then the leveling is completed.

In the second embodiment, the leveling steps of the adjustment mechanism 49 include:

S333. The mechanical motor or hydraulic press drives the telescopic rod 492 to control the plane roller 461 to contact the sleeper plane;

S334. The pressure sensor measures the pressure values in different directions, feeds the pressure value back to the main controller 11, converts the pressure difference into the adjustment amount of the two telescopic rods 492 through the built-in calculation formula, and sends the adjustment amount to the mechanical motor. Or a hydraulic press to drive the telescopic rod 492 for adjustment;

S335. Use the pressure sensor to measure the adjusted pressure values in different directions and feed them back to the main controller 11. If the pressure difference is within the pressure value range, the leveling is completed.

In step S34, the translation distance is set to l, the number of rolling circles of the flat roller 461 is R; the number of rotations recorded by the counter is n, and the motor torque transmission loss coefficient μ is set, μ takes a value of 0.98; k is set to The threshold of the coefficient, k takes the value 0.05, and the calculation formula is set to:

Because the counter is installed in the flat roller 461, the n value and the R value in the formula are equal. Compare the number of rolling turns of the flat roller 461 with the translation distance through the calculation formula. If they correspond to each other, confirm the nozzle 411 of the character inkjet coding device 41. The distance from the sleeper is appropriate and the plane where the nozzle 411 is located is parallel to the plane where the sleeper is located, so that stable spraying of the QR code can be achieved.

The recording of car mileage data in step S4 includes the following steps:

S41. The photoelectric encoder 24 records the mechanical geometric displacement of the traveling motor 23 and converts it into a digital quantity, that is, mileage;

S42. Transmit the digital quantity in step S41 to the odometer 51 through data communication, and the odometer 51 collects, calculates, and stores the data.

In step S5, different methods are used to calibrate the car's mileage data in different usage situations. Specifically, the RTK positioning system is used for calibration in scenes with sufficient light and signal, including the following steps:

S51. The base station transmits the observation values and station coordinate information to the car;

S52. The car uses the RTK positioning system to process the differential observation values in real time and gives centimeter-level positioning results.

In scenes with dark light and weak signals such as tunnels, the three-dimensional laser scanner modeling and positioning method is used to optimize and calibrate the odometer 51 measurement, specifically as follows:

S53. The three-dimensional scanner 66 performs full-section non-contact scanning measurement of the tunnel space, acquires and stores point cloud data, including massive point clouds describing the spatial distribution of the target entity and the spectral characteristics of the target surface under the same spatial coordinate system or reference system. data collection;

S54. Through digital information processing such as point cloud splicing and filtering analysis, a three-dimensional solid model of the space is obtained to measure the distance between any two points and calculate the relative displacement.

The trackside data recorded in step S6 includes the following steps:

S61. Measure the distance from trackside signaling equipment and contact wires to the track center;

S62. Identify trackside signaling equipment.

Step S61 uses the limit measurement method for measurement, including the following steps:

S611. When the car reaches the equipment installation position, after stopping manually or automatically, the car starts measuring the limit data of the signaling equipment;

S612. The three-dimensional scanner 66 emits measuring laser beams in different directions, performs data analysis and calculation on the reflected laser beam, and obtains the limit measurement data of the trackside signaling equipment;

S613. The trolley automatically records the limit information of the equipment above the track surface, including the distance between the equipment and the track center and the height of the equipment from the track surface.

In step S62, identification is performed manually or automatically:

The manual method specifically includes the following steps:

The S621 car travels to the signaling equipment to be retested/checked;

The S922 remote control handle manually controls parking and sends instructions to the main controller 11 to operate and update the actual position information of the signaling device;

The automatic method specifically includes the following steps:

The S623 car travels to the trackside signaling equipment and enters the camera range of the two-dimensional camera 263

S624 two-dimensional camera 263 identifies trackside signaling equipment and automatically updates equipment location information.

The location information in step S62 includes RTK positioning data and mileage data. By identifying the trackside signaling equipment, the purpose of automatically checking and updating the equipment location information is achieved.

Measuring orbit parameters in step S7 includes the following steps:

S71. The traveling motor 23 stops the car on the track, and lowers the first detection probe 76 and the second detection probe 77 to the designated measurement position through the first automatic pressing mechanism 74 and the first automatic pressing mechanism 75 on both sides;

S72. The first detection probe 76 and the second detection probe 77 acquire electrical signal data, and the first connection wire 72 and the second connection wire 73 conduct the signal to the vehicle frequency shift test device 71;

S73. The vehicle-mounted frequency shift test device 71 measures the voltage signal in the track and transmits it to the main controller 11 via Bluetooth. The set normal voltage signal is compared to determine whether there is any abnormality in the track electrical signal.

In order to allow the car to continue working after a temporary interruption, the S8 restart work steps are also included, specifically including the following steps:

S81 Before the car is moved off the track, manually click on the touch screen 102 of the device body or the remote control handle 1 to pause the work operation;

S82. Record the current RTK longitude and latitude coordinate information and mileage value through the RTK positioning system and the odometer 51, and spray the pause mark point on the sleepers through the character inkjet device 41;

S83. When it is necessary to continue working, manually move the car to the mark point sprayed in step S82. After manual triggering, the car recognizes the pause mark point of the last spraying through the two-dimensional camera 465 or compares the last interruption. RTK latitude and longitude coordinates or mileage value, automatically travel to the pause position of the last work and then resume work.

Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of the present invention.

Claims (9)

1. The utility model provides a possess engineering data and survey portable intelligent measurement dolly of function which characterized in that: the system comprises a control module, a traveling module, a code spraying module and a mileage module, wherein the control module comprises a main controller, a device body touch screen, a motor controller and a remote control handle, the control module controls command issuing and information processing, the traveling module comprises a bearing frame and a traveling mechanism, the traveling module controls a trolley to operate, the code spraying module sprays codes on a sleeper, the mileage module records mileage data, the code spraying module comprises a character code spraying device, an ink box, a dustproof shell, a steering engine, a fixed base mechanism, a dust blowing mechanism and a movement mechanism, the ink box is inserted into the character code spraying device, and the character code spraying device is convenient to replace and establishes data connection with the main controller; the bottom of the character code spraying device is fixedly provided with a nozzle, the nozzle is used for spraying codes, the fixed base mechanism is positioned at the bottom of the character code spraying device, the bottom of the nozzle of the character code spraying device is wrapped by the dustproof shell, the dustproof shell is connected with a fixed plate, the fixed plate is connected with the moving mechanism, and the dustproof shell is connected with the character code spraying device; the side surface of the dustproof shell is fixedly provided with a bottom door curtain, the steering engine is positioned at the inner side of the bottom door curtain, is linked with the bottom door curtain through a transmission mechanism, is in data connection with the main controller and is used for opening and closing the bottom door curtain and completing the opening and closing confirmation operation; the bottom of the dustproof shell is provided with a limiting plate, the limiting plate is fixedly provided with a limiting groove, a nozzle of the character code spraying device penetrates through the limiting groove, two groups of connecting parts are respectively extended out from two sides of the limiting plate, penetrating holes are formed in each group of connecting parts, and the base fixing mechanism penetrates through the penetrating holes and is rotationally connected with the connecting parts.

2. The portable intelligent measurement trolley with engineering data determination function according to claim 1, wherein the portable intelligent measurement trolley is characterized in that: the control module comprises a main controller, a device body touch screen, a motor controller and a remote control handle, wherein the device body touch screen is in wired connection with the main controller for signal transmission, and is used for adjusting and selecting related parameters and indexes when an initializing device performs corresponding work and for calling and checking device main control data when the device breaks down; the remote control handle is in wireless connection with the main controller for signal transmission, and is used for an operator to remotely take over the action of the device to cope with special conditions and special demands; the motor controller is in wired connection with the main controller for signal transmission, and is used for controlling different rotating speeds of the wheel motors at two sides when the main controller gives a turning instruction to the traveling module.

3. The portable intelligent measurement trolley with engineering data determination function according to claim 1, wherein the portable intelligent measurement trolley is characterized in that: the advancing module comprises a bearing frame and an advancing mechanism, the advancing mechanism comprises a driving assembly and a driven driving assembly, the driving assembly is driven by an advancing motor, the advancing motor is connected with a motor controller through a circuit, the motor controller controls the rotating speed of the advancing motor, a photoelectric encoder is arranged on the advancing motor, the photoelectric encoder is connected with the advancing motor through a circuit, and the mechanical geometric displacement of the advancing motor is converted into digital quantity.

4. The portable intelligent measurement trolley with engineering data determination function according to claim 3, wherein: the active driving assembly comprises an active bracket structure and an active wheel structure, wherein the active bracket structure comprises a first bracket fixing plate, a first connecting part, a second connecting part, a first wheel connecting part and a second wheel connecting part, the first bracket fixing plate is fixed on the lower end face of the bearing frame, and a first hanging part is fixedly arranged on the first connecting part and used for hanging and placing a spare tire; the driving assembly further comprises a first spring hydraulic mechanism for buffering, and the first connecting portion, the second connecting portion, the first wheel connecting portion and the first spring hydraulic mechanism are connected end to end through bolts to form a triangle-like mechanism.

5. The portable intelligent measurement trolley with engineering data determination function according to claim 1, wherein the portable intelligent measurement trolley is characterized in that: the dust blowing mechanism comprises a compression air pump, an air pipe and an air blowing nozzle, the compression air pump is connected with the air blowing nozzle through the air pipe, compressed air is sprayed out of the air blowing nozzle, dust at a nozzle of the character code spraying device is cleaned, the compression air pump is in data connection with the main controller, the movement mechanism comprises a translation movement mechanism and a lifting movement mechanism, the translation movement mechanism comprises a translation screw rod moving frame and a translation driving motor, and the translation driving motor drives the translation sliding block to move in a translation mode; the lifting movement mechanism comprises a lifting screw rod traveling frame and a lifting driving motor, the lifting driving motor drives the lifting sliding rail to move in a lifting manner, and the translation driving motor and the lifting driving motor are respectively in data connection with the main controller.

6. The portable intelligent measurement trolley with engineering data determination function according to claim 1, wherein the portable intelligent measurement trolley is characterized in that: the device comprises a limiting plate, a character code spraying device and a regulating mechanism, wherein the regulating mechanism is used for regulating the plane freedom degree of a nozzle to enable the plane of the nozzle to be parallel to the surface of a sleeper, the regulating mechanism comprises two groups of regulating springs, one ends of the two groups of regulating springs are symmetrically fixed on two sides of the limiting plate, the other ends of the two groups of regulating springs are connected with the dustproof shell, the character code spraying device is connected with the limiting plate and synchronously moves along with the movement of the limiting plate, the shrinkage degree of the two groups of regulating springs is influenced by different stress of the two groups of regulating springs, the gradient of the limiting plate is controlled, and the character code spraying device is driven to be attached to the surface of the inclined sleeper.

7. The portable intelligent measurement trolley with engineering data determination function according to claim 1, wherein the portable intelligent measurement trolley is characterized in that: the mileage module comprises an odometer, a first RTK satellite positioning device and a second RTK satellite positioning device, wherein the odometer, the first RTK satellite positioning device and the second RTK satellite positioning device are respectively and fixedly arranged on the bearing frame, the odometer and the first RTK satellite positioning device establish data connection with the main controller after establishing data connection, and the odometer and the photoelectric encoder establish data connection.

8. The portable intelligent measurement trolley with engineering data determination function according to claim 7, wherein: the odometer or/and the RTK positioning system measure mileage data, the odometer records travel distance data and travel route data, the data are calculated and stored, the RTK positioning system comprises a first RTK satellite positioning device, a second RTK satellite positioning device and a reference station, the reference station transmits an observed value and station coordinate information of the reference station to the trolley through a data link, and the RTK positioning system calibrates the data recorded by the odometer.

9. The portable intelligent measurement trolley with engineering data determination function according to claim 4, wherein: the driving wheel structure comprises a rail iron wheel and a trackless rubber wheel, the rail iron wheel and the trackless rubber wheel are coaxially connected, the rail iron wheel controls the running of the trolley through the relative movement with the rail, and the trackless rubber wheel controls the running of the trolley through the relative movement with the ground.