CN113155176A - Tunnel lining structure disease comprehensive detection device and method - Google Patents

Abstract

The invention discloses a tunnel lining structure disease comprehensive detection device and a method, wherein the device comprises: the device comprises a movable carrier and a holder arranged above the movable carrier; the cloud deck is internally provided with a plurality of detection modules, including a laser ranging module and a plurality of disease detection modules, which are connected with the central control module; the laser ranging module is arranged in the center, and the plurality of defect detection modules are arranged around the laser ranging module; the central control module controls the orientation of the plurality of disease detection modules based on the distance between the laser ranging module and the measured surface, so that the plurality of disease detection modules image the same target area. The method can realize comprehensive detection and evaluation of the tunnel lining surface diseases, on one hand, the method improves the disease identification accuracy rate through comprehensive detection in various modes, and on the other hand, the comprehensive evaluation of the diseases is beneficial to maintenance personnel to prioritize the diseases and improve the working efficiency.

Description

Tunnel lining structure disease comprehensive detection device and method

Technical Field

The invention belongs to the technical field of movable detection in tunnels, and particularly relates to a comprehensive detection device and method for tunnel lining structure diseases.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the great investment of the country on infrastructure construction, the number of tunnels is increased year by year, the tunnel maintenance cost brought with the number of tunnels is also larger and larger, the traditional detection means still mainly adopts manpower at present, although the conventional handheld detection device also has great technical progress, the accuracy and the effectiveness of manual detection are still difficult to ensure under the low-brightness environment of the tunnels, and the low working efficiency consumes a great deal of manpower and time cost.

In recent years, various types of sensors and cameras are mounted on different tunnel detection vehicles instead of manual unmanned tunnel detection vehicles, the sensors or the cameras continuously collect high-precision tunnel lining images in the process that the vehicles run along tunnels, the collected images are automatically identified and classified according to specific diseases through machine learning technologies such as deep learning, and finally accurate identification and classification of various diseases are realized and the various diseases are marked in corresponding tunnel scanning images through image splicing and data fusion.

At present, tunnel construction environments are increasingly complex, tunnel lining damages of various types can be caused by one geological problem, meanwhile, other types of diseases are possibly parasitic in or near one apparent tunnel disease, and the current unmanned tunnel detection vehicle is difficult to realize comprehensive evaluation of the diseases.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a comprehensive detection device and method for tunnel lining structure diseases. The method can simultaneously detect various diseases and comprehensively evaluate and visualize the various diseases.

In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

a tunnel lining structure disease comprehensive detection device comprises: the device comprises a movable carrier and a holder arranged above the movable carrier; the cloud deck is internally provided with a plurality of detection modules, including a laser ranging module and a plurality of disease detection modules, which are connected with the central control module; the laser ranging module is arranged in the center, and the plurality of defect detection modules are arranged around the laser ranging module;

the central control module controls the orientation of the plurality of disease detection modules based on the distance between the laser ranging module and the measured surface, so that the plurality of disease detection modules image the same target area.

Further, the plurality of disease detection modules include: the device comprises a three-dimensional modeling and deformation detection module, a crack and fall-off detection module and a leakage detection module.

Furthermore, the holder is hemispherical, four holes are formed in the hemispherical section and used for accommodating a laser emission unit of the three-dimensional modeling and deformation detection module, a visible light camera of the crack and fall detection module, an infrared camera of the leakage detection module and a laser emission unit of the laser ranging module, and the sizes of the four holes are all the laser emission unit or a certain extra space reserved for the rotation of the camera; the laser emission unit of the laser ranging module is located in the center, the visible light camera and the infrared camera are respectively arranged on two sides of the laser ranging module at equal intervals, and the visible light camera, the infrared camera and the infrared camera are collinear.

Furthermore, the plurality of detection modules are fixed inside the multifunctional holder through the supporting mechanism; wherein, the laser range finding module sets up in the middle of the supporting mechanism, and crack and drop detection module and seepage detection module set up respectively in laser range finder both sides, and locate on the supporting mechanism through turning to the motor.

Furthermore, the holder is hemispherical, and two sides of the holder are respectively connected into the U-shaped bracket through a transverse rolling motor; the U-shaped support is connected to the movable carrier through a vertical rolling motor; the horizontal rolling motor and the vertical rolling motor are both provided with torque sensors, and the U-shaped support is provided with a three-axis gyroscope which is connected with the central control module.

Further, the positions of the detection modules in the holder are initialized according to the initial gravity information of the detection modules and the offset information of the gravity center of each detection module relative to the three motor rotating shafts, so that the stability of the holder is ensured.

Further, the central control module can establish connection with one or more mobile clients through the wireless communication module.

One or more embodiments provide a detection method based on the comprehensive disease detection device, which includes:

receiving a starting instruction sent by a mobile client, and controlling the starting of the mobile carrier, the holder and each detection module; the starting instruction comprises a route of the disease detection operation, the swing speed of a holder and the moving speed of a moving carrier;

the following operations are performed synchronously: controlling the cradle head to face one side of the mobile carrier and to do swinging motion with constant speed along the cross section of the tunnel; controlling the moving carrier to advance according to a set route and speed; and performing disease detection.

Further, the performing disease detection includes:

receiving detection data sent by a plurality of detection modules in real time;

adjusting the steering of the infrared camera and the visible light camera according to the distance between the infrared camera and the measured surface measured by the laser ranging module, and performing distortion correction on the obtained infrared image and the obtained visible light image to obtain a tunnel lining surface image of the same target area;

carrying out leakage detection according to the infrared image, and carrying out crack and falling detection according to the visible light image;

and sending the disease detection result to the mobile client.

Further, still include:

performing three-dimensional modeling on the tunnel according to the point cloud data measured by the three-dimensional reconstruction and deformation detection module; and (3) using the visible light image marked with the cracks and the falling diseases as a base map, superposing the leakage diseases identified in the infrared image, attaching the leakage diseases on a tunnel three-dimensional model for visualization, marking the geometric parameters of all the diseases, and grading according to the types and the geometric parameters of the diseases to obtain a disease detection result.

The above one or more technical solutions have the following beneficial effects:

according to the invention, a plurality of disease detection modules are adopted, including a laser ranging module, a visible light imaging module, an infrared imaging module and a laser radar, a multi-purpose comprehensive disease detection device is built, the laser ranging module is used as a center, and the direction of a visible light camera and the direction of an infrared camera are corrected by taking the distance between the laser ranging module and the measured surface as a reference, so that the imaging of the same target area is ensured, and the subsequent comprehensive judgment is facilitated.

According to the invention, the gravity center distribution of the plurality of disease detection modules in the holder is initialized based on the initial weights of the plurality of disease detection modules and the gravity center positions in the holder, so that the stability of the holder in the operation process is ensured.

According to the invention, while the detection of various diseases is realized through the multi-purpose comprehensive disease detection device, comprehensive scoring is carried out based on the detected diseases, visualization is carried out through the mobile client, and through the comprehensive scoring result, related maintenance personnel can carry out work coordination according to the complexity and danger level of the diseases, so that dangerous and complex tunnel diseases are treated preferentially, and the work efficiency is greatly improved;

the method and the device perform tunnel three-dimensional reconstruction based on the three-dimensional point cloud data, superimpose the disease identification result and the grading result based on visible light and infrared image detection on the three-dimensional model, are beneficial to enabling maintenance personnel to rapidly prioritize the disease degree and rapidly position the corresponding position of the disease for maintenance.

The invention introduces the lithium battery into the tunnel detection work, avoids the frequency charging and improves the detection efficiency.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

Fig. 1 is a schematic view of a tunnel lining structure disease comprehensive detection device in the embodiment of the invention.

Detailed Description

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

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

Example one

The embodiment discloses a tunnel lining structure disease comprehensive detection device, which comprises an intelligent mobile carrier and a multifunctional holder arranged in the middle above the intelligent mobile carrier.

The intelligent mobile carrier comprises a vehicle body and a mobile mechanism, and a controller, a central control module, a wireless communication module and a large-capacity power supply device are arranged in a control cabinet inside the vehicle body. The controller, the large-capacity power supply device and the wireless communication module are all connected with the central control module, and the moving mechanism is connected with the controller through the driving motor.

The multifunctional tripod head is hemispherical, is arranged above the vehicle body through the support, is a U-shaped support in the embodiment, and is clamped in the U-shaped support, specifically, the two sides of the multifunctional tripod head are respectively connected with the support through a cross rolling motor so that the tripod head can perform pitching motion, and the support is connected above the vehicle body through a vertical rolling motor so that the tripod head can rotate in the horizontal direction.

For the motion of real-time sensing and accurate control cloud platform, this embodiment still sets up a plurality of sensors, including triaxial gyroscope and torque sensor, wherein, on the support was located to the gyroscope, torque sensor located each motor on, be used for acquireing cloud platform acceleration of rotation and turned angle information respectively to and the torque signal of motor, and send to well accuse module. And the gyroscope and the torque sensor are both connected with the central control module. The controller receives rotation direction, angular velocity and rotation acceleration information sent by the gyroscope and moment information sent by the three torque sensors, interference signals are generated on the rotation of the three driving motors through a preset cradle head swinging program and by combining image distortion feedback and motor moment feedback information obtained through image processing, and the rotating speeds of the three driving motors are regulated and controlled respectively and in real time.

And a plurality of detection modules for detecting diseases are arranged in the multifunctional holder and are connected with the central control module. The plurality of detection modules includes: the device comprises a three-dimensional modeling and deformation detection module, a crack and fall detection module, a leakage detection module and a laser ranging module. The three-dimensional modeling and deformation detection module is used for modeling the surface lining of the tunnel and integrally observing the tunnel; the crack and drop detection module mainly comprises a visible light camera, is responsible for shooting an optical image of the tunnel surface lining and is used for detecting cracks and drops of the tunnel surface lining visible to naked eyes; the leakage detection module is mainly composed of an infrared thermal imaging camera, is responsible for shooting a low-temperature area possibly appearing on the surface or shallow layer of the tunnel and is used for detecting leakage possibly appearing in the tunnel; the laser ranging module is mainly composed of a laser range finder and is responsible for collecting 'image-object' distance, providing a conversion relation between an image space and a physical space and providing support for a series of disease data analysis such as subsequent disease geometric parameter evaluation, specification calibration of a sampling image, data superposition of multiple diseases and the like.

The supporting platform shell of the multifunctional holder is made of stainless steel or plastic alloy materials, is hemispherical, is provided with four holes on a hemispherical section, is used for accommodating a laser emission unit of a three-dimensional modeling and deformation detection module, a visible light camera of a crack and falling detection module, an infrared camera of a leakage detection module and a laser emission unit of a laser ranging module, and the sizes of the four holes are all larger than the sizes of the laser emission unit or the camera which is respectively accommodated, so that a certain space is provided for the rotation of the laser emission unit or the camera, and a four-eye device is formed. Wherein, the crack satisfies with the position relation of the visible light camera of the detection module that drops, the infrared camera of seepage detection module and the laser emission unit of laser rangefinder module: the three is on same water flat line to, the laser emission unit of laser rangefinder module is located the center, and visible light camera and infrared camera are located this laser emission unit's both sides respectively, and equal with laser emission unit's distance. In this embodiment, infrared camera and visible light camera settle laser range finder both sides with 5 centimetre interval respectively.

The three-dimensional modeling and deformation detection module, the crack and drop detection module, the leakage detection module and the laser ranging module are all fixed inside the multifunctional holder through the supporting mechanism. Wherein, the laser rangefinder module sets up in the middle of the supporting mechanism, crack and drop detection module and seepage detection module set up respectively in laser rangefinder both sides, and locate on the supporting mechanism through turning to the motor, two turn to the motor and be used for controlling the crack respectively and drop detection module and seepage detection module turn to, make in the disease detection process crack and the visible light camera of drop detection module, the visual field center of the infrared camera of seepage detection module and the position three-point coincidence of the laser emission unit of laser rangefinder module, form images the tunnel lining surface that is the same completely. Because the two detection devices have a spacing distance, under the condition that the shooting angle of the camera is not adjusted, although the directions of the infrared camera and the visible light camera are the same, the shot lining surface still has a little error, so that position deviation occurs during subsequent disease data fusion, and the disease grade evaluation error is caused. In general, the rotation angle values of the steering motors on the two sides are the same and the directions are opposite, so that the visible light image center, the infrared image center and the laser ranging point are enabled to be located. The position of the three-dimensional modeling and deformation detection module can be located above or below the laser range finder, and is not limited, and the position of the three-dimensional modeling and deformation detection module is set to ensure the stability of the holder.

The mounting positions of the four detection modules are related to the weight of the detection modules, and the purpose is to ensure the stability of the holder in the process of rapid reciprocating swing. The gravity information of each detection module is acquired in advance, the detection modules are distributed through a supporting mechanism inside the supporting platform, and limiting blocks are additionally arranged on two sides of each detection module on the supporting mechanism, so that the gravity center of each device is not greatly deviated in the swinging process, and the rotating speed of the driving motor is not influenced by the gravity center deviation. The specific manner of acquiring the gravity information is not limited herein. In the embodiment, the torque information and the rotation information are acquired, the offset information of the gravity center of the detection device relative to the rotating shafts of the three driving motors is determined according to the initial gravity information of the detection device, the offset information is obtained through calculation of the central control module, and the gravity center of the holder is initialized according to the offset information.

The intelligent moving carrier is a four-wheel type automatic guide transport vehicle, the length of the vehicle body is about 1.5 meters, the width of the vehicle body is about 1 meter, the height of the vehicle body is about 1 meter, a steering mechanism is not installed in the vehicle body, the tires are four Mecanum omnidirectional tires and are installed on the vehicle frame of the intelligent moving carrier and are respectively connected with four brushless motors, a built-in controller of the vehicle body receives a control signal of the central control module and are converted into an electric signal to be sent to the brushless motors, the rotating speed of the four omnidirectional wheels is respectively adjusted, the intelligent moving carrier can move left and right in the process of running parallel to the lining surface of the tunnel to adjust the distance between the vehicle and the object, and a four-wheel drive omnidirectional motion system is formed. The shock absorber is arranged on the frame of the intelligent mobile carrier connected with the wheels. The built-in controller records the speed and steering angle information of the intelligent mobile carrier and transmits the information back to the control and processing unit, and the control and processing unit sends a mobile control instruction to the controller.

And when the fact that the road in the tunnel is a one-way double lane and is drawn with a road solid line is detected, the multi-module coordination control unit sends a control command to control the mobile intelligent carrier to move forwards along the middle solid line, the left and right lateral movement of the vehicle body can be achieved by dynamically adjusting the rotating speed of the four omnidirectional tires, and the driving direction is parallel to the road center line in real time. Meanwhile, the intelligent carrier can be moved to change a moving strategy, and when a road center line is not detected or a travelling path is artificially preset, the intelligent carrier preferentially drives according to a preset program. Typically, the mobile smart carrier operates at a cruising speed of greater than 60 km/s.

The central control module comprises an image and digital collector, an image processor and a large-capacity data memory. The image and digital collector receives a visible light image with 24-bit color, 60Hz refresh rate and 4K resolution, an infrared image with 8-bit color, 30Hz resolution and 720P resolution, vehicle running information returned by the mobile intelligent carrier and sensor module information of the holder; the image processor is used for identifying and detecting image information of various detection modules, and the integrated liquid cooling heat dissipation device is installed on the surface. The large-capacity data storage is a 4TB solid state disk.

The controller is internally provided with a driving control chip and a holder control chip which are arranged by adopting a double-layer mainboard, and the driving control chip independently sends control signals to the intelligent mobile carrier in a time-sharing manner to control the driving speed and the left and right offset of the intelligent mobile carrier; the cloud platform control chip is connected with the gyroscope and the torque information sensor through signal lines and used for determining offset information of the rotating angle of the multifunctional cloud platform relative to the rotor of the driving motor according to the torque information and the preset rotating angle information of the multifunctional cloud platform, so that the cloud platform is guaranteed to be stable and swing according to a preset program, and the comprehensive detection module is driven to shoot a surface lining image along a tunnel section.

The wireless communication module comprises a wireless signal transmitting and receiving device and a signal processing chip, a phased array antenna and a power amplifier, wherein the phased array antenna is installed behind the mobile carrier, and the maximum image transmission code rate of the image transmission system is 100 Mbps.

Large capacity power supply unit core part be intelligent hydrogen fuel cell, including hydrogen fuel cell module and hydrogen tank, internally mounted intelligent chip, automatic record intelligence hydrogen fuel cell's temperature, humidity and live time, simultaneously intelligent chip can be according to energy consumption demand, temperature, humidity data, carries out dynamic adjustment to the choke valve flow of hydrogen tank mouth department, wherein the attached thermal-insulated aerogel of hydrogen fuel cell module settles the battery box at the inside rear of intelligent movement carrier, use shock absorber pole and glass fiber support frame to be connected between battery box and the frame. The hydrogen tank is arranged in the central channel which is parallel to the vehicle body in the intelligent mobile carrier, and the hydrogen injection port is arranged on the side of the vehicle body.

The system comprises a heat management unit and a water management unit, wherein the heat management unit comprises a heat exchange channel, an air compressor, an air guide fan blade and an automatic control unit, and the automatic control is carried out according to the temperature heat management unit of the high-capacity power supply device.

The image and digital collector, the image processor, the multi-module cooperative controller, the large-capacity data storage and the wireless signal transmitting and receiving device are sequentially arranged in a control cabinet at the front end of the intelligent mobile carrier, a passive cooling fin is arranged at the rear end of the control cabinet, and ventilation holes and cooling fans are arranged on two sides of the control cabinet.

The mobile client is connected with the central control module of the comprehensive disease detection device through the wireless communication module, receives a tunnel lining structure disease detection result sent by the wireless communication module in real time, and sends a control signal to the central control module.

The mobile client is divided into a master client installed on a computer and a slave client installed on a mobile phone, all data from the tunnel detection vehicle can be received through an application program installed on the computer, and meanwhile, an instant control signal can be sent to the tunnel detection vehicle for artificial intervention under possible special conditions; the secondary client installed on the mobile phone supports the android platform and the iOS platform, and can receive detection data and part of key information from the tunnel detection vehicle in real time.

Example two

A tunnel lining structure disease comprehensive detection working method comprises the following working steps:

s1, before each detection operation is started, a central control module receives a starting instruction sent by a mobile client through a wireless communication module and controls a mobile carrier, a holder and each detection module to start; the starting instruction comprises a route of the disease detection operation, the swing speed of a holder and the moving speed of a moving carrier; synchronously executing steps S2, S3, S4;

s2, after the multifunctional cradle head receives the starting instruction, the multifunctional cradle head is adjusted to face the right side of the mobile platform according to a program and starts to swing at a constant speed along the cross section of the tunnel; specifically, the swing speed can be determined by the visible light and infrared imaging quality, and when the swing speed is too high, the image distortion degree is too high, and accurate judgment cannot be performed;

s3, after receiving the starting instruction, the intelligent mobile carrier executes a forward motion according to a speed and a route preset by a program;

s4, after the comprehensive detection device receives the starting instruction, automatically adjusting the detection modules, and ensuring that different detection modules shoot the same target area: all the detection modules and the laser ranging module are started simultaneously, and shooting actions are executed synchronously; during the moving process of the mobile carrier, simultaneously and synchronously shooting images of the same tunnel lining along with the swing of the multifunctional holder, recording the distance information of the central point of the current image in real time by the laser ranging module, and respectively and simultaneously transmitting the comprehensive data to the central control module for image processing;

s5, after receiving the comprehensive data sent by the comprehensive detection device, the image and digital collector in the central control module sends the comprehensive data to the image processor, processes and analyzes the comprehensive data, sends the result to a large-capacity storage unit, and sends the disease key information to the mobile client through the wireless signal transceiver;

and S6, after the mobile carrier runs to a preset terminal, the central control module sends a stop instruction, and the device stops.

In step S2, when the cradle head enters the formal working state, the vertical roller motor rotates the orientation of the multifunctional cradle head to the right of the vehicle body, the two lateral roller motors drive the clamped ball machine to perform fast reciprocating swinging motion to drive the hemispherical supporting platform to perform corresponding motion, generally, the swinging angular velocity is greater than 180 °/second, the rotating speed of the driving motor returns in real time, and the central control module dynamically adjusts the rotating speed of the cradle head in combination with the multivariate information.

In step S4, the central control module receives the distance information from the laser ranging module to the current measured surface in real time, and calculates the angles at which the infrared camera and the visible light camera need to deflect according to the distances between the infrared camera, the visible light camera and the laser emission module and the distance between the laser emission module and the measured surface, so that the left camera and the right camera take the same area.

In this embodiment, since the distance between the infrared camera and the visible light camera and the distance between the laser range finder are both equal to 5 cm, if the distance information fed back by the laser range finder is D (unit: m), the rotation angle of the small-angle rotation motor is approximately equal to

In general, the rotation angle of the small-angle rotation motor is smaller than 2 degrees, so that the left camera and the right camera can shoot completely same areas, the rotation of the angle can cause slight distortion of shot images, the distorted images can be calibrated and corrected through distance information, and finally the tunnel lining surface images in the same areas are obtained.

In step S5, the image processing method specifically includes:

s501, a three-dimensional modeling and deformation detection module acquires the contour and deformation information of the surface of a tunnel lining structure; the crack and fall detection module acquires image information of a visible light wave band in a target area; the method comprises the steps that a leakage detection module obtains infrared light wave band image information of a target area on the surface of a tunnel lining structure; and the laser ranging module acquires the distance information between the target area on the surface of the tunnel lining structure and the multifunctional holder.

S502, preprocessing image data acquired by each detection module to enable the resolution and the size of a visible light image and an infrared image to be the same, combining distance information of laser ranging to obtain an angle range between an upper boundary and a lower boundary of the image and an actual distance between a left boundary and a right boundary of the image, discretely sampling shot continuous images through the information to acquire sampling images in different sections and different angles, wherein the sampling images are divided into visible light sampling images and infrared sampling images.

S503, respectively identifying and marking diseases on the visible light sampling image and the infrared sampling image through a semantic segmentation neural network.

S504, after the tunnel three-dimensional model is obtained, the sampling images are combined with the corresponding multifunctional holder elevation angle information and the vehicle running position information, the images are spliced end to end, connected left and right and attached to the corresponding positions of the tunnel three-dimensional model.

S505, analyzing the tunnel lining surface disease result, wherein the analyzing comprises the following steps: according to the geometric parameters measured by the cracks, the shedding and the leakage diseases, the severity of the diseases is scored, and the scores are positively correlated with the risk grades; and calculating the sum of the scores of all the diseases in the integrated disease image after data superposition, and sequencing according to the scores.

In the step S505, the crack and the exfoliation image captured by the visible light are used as a base map, leakage diseases possibly occurring in the infrared image are added, the geometric parameters of all the diseases are estimated by combining the distance information, and the score is performed according to the level of the risk.

And recording the position information acquired by the intelligent mobile carrier and the angle information acquired by the multifunctional holder by each image, and then outputting the obtained result to the client.

Through comprehensive disease scoring and three-dimensional visualization, maintenance personnel can quickly prioritize the disease degree and quickly position the corresponding position of the disease, and timely maintenance is facilitated.

And after the central control module obtains the tunnel disease image processing result, all disease data results are distributed to a master client and a plurality of slave clients. The main client is composed of a computer, and the auxiliary client can be a mobile phone or a computer; the main client is responsible for receiving vehicle operation information which comprises battery fuel surplus, battery temperature, service life, vehicle position and speed, under a normal condition, the tunnel detection vehicle works according to a preset program, but under a special condition or a human intervention condition, the tunnel detection vehicle is executed according to an instruction sent by the main client preferentially, and the priority of the instruction is the highest level. The method can ensure that the processing information is simultaneously sent to the detection party and the maintenance party, and improve the processing efficiency of the lining diseases on the surface of the tunnel.

One or more of the above embodiments have the following technical effects:

according to the invention, a plurality of disease detection modules are adopted, including a laser ranging module, a visible light imaging module, an infrared imaging module and a laser radar, a multi-purpose comprehensive disease detection device is built, the laser ranging module is used as a center, and the direction of a visible light camera and the direction of an infrared camera are corrected by taking the distance between the laser ranging module and the measured surface as a reference, so that the imaging of the same target area is ensured, and the subsequent comprehensive judgment is facilitated.

According to the invention, the gravity center distribution of the plurality of disease detection modules in the holder is initialized based on the initial weights of the plurality of disease detection modules and the gravity center positions in the holder, so that the stability of the holder in the operation process is ensured.

According to the invention, while the detection of various diseases is realized through the multi-purpose comprehensive disease detection device, comprehensive scoring is carried out based on the detected diseases, visualization is carried out through the mobile client, and through the comprehensive scoring result, related maintenance personnel can carry out work coordination according to the complexity and danger level of the diseases, so that dangerous and complex tunnel diseases are treated preferentially, and the work efficiency is greatly improved;

the method and the device perform tunnel three-dimensional reconstruction based on the three-dimensional point cloud data, superimpose the disease identification result and the grading result based on visible light and infrared image detection on the three-dimensional model, are beneficial to enabling maintenance personnel to rapidly prioritize the disease degree and rapidly position the corresponding position of the disease for maintenance.

The invention introduces the lithium battery into the tunnel detection work, avoids the frequency charging and improves the detection efficiency.

Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using general purpose computer means, or alternatively, they can be implemented using program code that is executable by computing means, such that they are stored in memory means for execution by the computing means, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps of them are fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.

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

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

Translated fromChinese

1.一种隧道衬砌结构病害综合检测装置，其特征在于，包括：移动载体和设于移动载体上方的云台；所述云台中设有多个检测模块，包括激光测距模块和多个病害检测模块，均与中控模块连接；其中，所述激光测距模块设于中心，多个病害检测模块设于激光测距模块的周围；1. a tunnel lining structure disease comprehensive detection device, is characterized in that, comprises: mobile carrier and the pan-tilt that is arranged above the mobile carrier; The pan-tilt is provided with a plurality of detection modules, including a laser ranging module and a plurality of diseases The detection modules are all connected with the central control module; wherein, the laser ranging module is arranged in the center, and a plurality of disease detection modules are arranged around the laser ranging module;中控模块基于激光测距模块所测的与被测表面之间的距离，控制多个病害检测模块的朝向，使得多个病害检测模块对同一目标区域进行成像。The central control module controls the orientation of the multiple disease detection modules based on the distance between the laser ranging module and the measured surface, so that the multiple disease detection modules image the same target area.2.如权利要求1所述的一种隧道衬砌结构病害综合检测装置，其特征在于，所述多个病害检测模块包括：三维建模和变形检测模块、裂缝和脱落检测模块和渗漏检测模块。2. The comprehensive detection device for tunnel lining structure diseases according to claim 1, wherein the plurality of disease detection modules include: a three-dimensional modeling and deformation detection module, a crack and shedding detection module, and a leakage detection module .3.如权利要求2所述的一种隧道衬砌结构病害综合检测装置，其特征在于，所述云台为半球形，半球切面上设有四个孔洞，用于容纳三维建模和变形检测模块的激光发射单元、裂缝和脱落检测模块的可见光摄像头、渗漏检测模块的红外摄像头与激光测距模块的激光发射单元，且四个孔洞大小均为激光发射单元或摄像头旋转预留一定额外空间；其中，激光测距模块的激光发射单元位于中心，可见光摄像头、红外摄像头分别等间距设于其两侧，且三者共线。3 . The comprehensive detection device for tunnel lining structure diseases according to claim 2 , wherein the head is hemispherical, and four holes are provided on the cut surface of the hemisphere for accommodating three-dimensional modeling and deformation detection modules. 4 . The laser emitting unit, the visible light camera of the crack and shedding detection module, the infrared camera of the leakage detection module and the laser emitting unit of the laser ranging module, and the size of the four holes are all the laser emitting unit or the camera rotation to reserve a certain extra space; Among them, the laser emitting unit of the laser ranging module is located in the center, and the visible light camera and the infrared camera are arranged at equal intervals on both sides thereof, and the three are collinear.4.如权利要求3所述的一种隧道衬砌结构病害综合检测装置，其特征在于，多个检测模块均通过支撑机构固定多功能云台内部；其中，激光测距模块设置于支撑机构中间，裂缝和脱落检测模块和渗漏检测模块分别设置于激光测距仪两侧，且通过转向电机设于支撑机构上。4. The comprehensive detection device for tunnel lining structure diseases according to claim 3, wherein the plurality of detection modules are fixed inside the multi-functional pan-tilt by a supporting mechanism; wherein, the laser ranging module is arranged in the middle of the supporting mechanism, The crack and shedding detection module and the leakage detection module are respectively arranged on both sides of the laser range finder, and are arranged on the support mechanism through the steering motor.5.如权利要求1所述的一种隧道衬砌结构病害综合检测装置，其特征在于，所述云台为半球形，且两侧分别通过横滚电机连接于U形支架内；所述U形支架通过竖滚电机连接在移动载体上；其中，所述横滚电机和竖滚电机上均设有转矩传感器，U形支架上设有三轴陀螺仪，均与中控模块连接。5 . The comprehensive detection device for tunnel lining structure diseases according to claim 1 , wherein the pan-tilt is hemispherical, and the two sides are respectively connected to the U-shaped support through rolling motors; the U-shaped The bracket is connected to the mobile carrier through the vertical rolling motor; wherein, the rolling motor and the vertical rolling motor are both provided with torque sensors, and the U-shaped bracket is provided with a three-axis gyroscope, which are all connected with the central control module.6.如权利要求5所述的一种隧道衬砌结构病害综合检测装置，其特征在于，所述多个检测模块在云台中的位置，根据各检测模块的初始重力信息，以及各检测模块的重心相对三个电机转轴的偏移量信息，进行初始化，以保证云台的稳定性。6 . The comprehensive detection device for tunnel lining structure diseases according to claim 5 , wherein the positions of the plurality of detection modules in the PTZ are based on the initial gravity information of each detection module and the center of gravity of each detection module. 7 . Initialize relative to the offset information of the three motor shafts to ensure the stability of the gimbal.7.如权利要求1所述的一种隧道衬砌结构病害综合检测装置，其特征在于，所述中控模块能够通过无线通讯模块与一个或多个移动客户端建立连接。7 . The comprehensive detection device for tunnel lining structure diseases according to claim 1 , wherein the central control module can establish a connection with one or more mobile clients through a wireless communication module. 8 .8.一种基于如权利要求1-7任一项所述病害综合检测装置的检测方法，其特征在于，包括：8. A detection method based on the comprehensive disease detection device according to any one of claims 1-7, characterized in that, comprising:接收移动客户端发送的启动指令，控制移动载体、云台和各检测模块启动；其中，所述启动指令包括本次病害检测作业的路线、云台的摆动速度和移动载体的移动速度；Receive the startup instruction sent by the mobile client, and control the startup of the mobile carrier, the pan-tilt and each detection module; wherein, the startup instruction includes the route of the disease detection operation, the swing speed of the pan-tilt and the movement speed of the mobile carrier;同步执行以下操作：控制云台朝向移动载体一侧并沿隧道横剖面做定速的摆动动作；控制移动载体按照设定路线和速度前进；以及执行病害检测。The following operations are performed synchronously: control the pan/tilt to move toward the side of the mobile carrier and perform a constant-speed swing motion along the cross section of the tunnel; control the mobile carrier to move forward according to the set route and speed; and perform disease detection.9.如权利要求8所述的病害综合检测装置的检测方法，其特征在于，所述执行病害检测包括：9. The detection method of the comprehensive disease detection device according to claim 8, wherein the performing disease detection comprises:实时接收多个检测模块发送的检测数据；Receive detection data sent by multiple detection modules in real time;根据激光测距模块测得的与被测表面之间的距离，对红外摄像头和可见光摄像头转向进行调节，以及对获得的红外图像和可见光图像进行畸变校正，获得同一目标区域的隧道衬砌表面图像；According to the distance between the laser ranging module and the measured surface, adjust the steering of the infrared camera and the visible light camera, and perform distortion correction on the obtained infrared image and visible light image to obtain the tunnel lining surface image of the same target area;根据红外图像进行渗漏检测，根据可见光图像进行裂缝和脱落检测；Leak detection based on infrared images, cracks and peeling detection based on visible light images;将病害检测结果发送至移动客户端。Send the disease detection results to the mobile client.10.如权利要求9所述的病害综合检测装置的检测方法，其特征在于，还包括：10. The detection method of the comprehensive disease detection device according to claim 9, characterized in that, further comprising:根据三维重建和变形检测模块测得的点云数据对隧道进行三维建模；3D modeling of the tunnel according to the point cloud data measured by the 3D reconstruction and deformation detection modules;将标注出裂缝和脱落病害的可见光图像作为底图，叠加红外图像中识别出的渗漏病害，贴附在隧道三维模型上进行可视化，并标注所有病害的几何参数，并根据病害类型和几何参数进行评分，作为病害检测结果。The visible light images marked with cracks and shedding diseases are used as the base map, and the leakage diseases identified in the infrared images are superimposed, and attached to the three-dimensional model of the tunnel for visualization, and the geometric parameters of all the diseases are marked. Scored as a disease detection result.

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