CN115524698A - Rail transit tunnel damage identification system and method - Google Patents

Rail transit tunnel damage identification system and method Download PDF

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Publication number
CN115524698A
CN115524698A CN202211168351.4A CN202211168351A CN115524698A CN 115524698 A CN115524698 A CN 115524698A CN 202211168351 A CN202211168351 A CN 202211168351A CN 115524698 A CN115524698 A CN 115524698A
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China
Prior art keywords
tunnel
robot
data
sub
damage
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CN202211168351.4A
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Chinese (zh)
Inventor
肖骁
魏运
王伟
豆飞
白文飞
吴雁军
赵华伟
刘洁
宁尧
张惠茹
贺键
魏高峰
张超
钱付余
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Beijing Subway Operation Corp
Traffic Control Technology TCT Co Ltd
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Beijing Subway Operation Corp
Traffic Control Technology TCT Co Ltd
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Priority to CN202211168351.4A priority Critical patent/CN115524698A/en
Publication of CN115524698A publication Critical patent/CN115524698A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements

Abstract

The invention provides a rail transit tunnel damage identification system and a method, wherein the system comprises: a robot queue and a tunnel safety management center data server; the robot queue comprises a main robot and a sub robot; the main robot is used for running to the specified tunnel test point along the specified tunnel track according to the routing inspection instruction of the tunnel safety management center data server and releasing the sub-robots to acquire tunnel data; the main robot is provided with a visual perception component for continuously acquiring image data of a specified tunnel line; the sub-robot is provided with a sensor assembly and is used for acquiring tunnel data of a specified tunnel test point and sub-robot operation data; and the tunnel safety management center data server is used for indicating the main robot and the sub-robot to carry out tunnel damage collection. According to the technical scheme, damage such as tunnel cracks, water leakage, lining cavities and peeling is identified by fusing image data and sensor data, and tunnel damage is identified rapidly, safely and accurately.

Description

Rail transit tunnel damage identification system and method
Technical Field
Embodiments of the invention relate generally to the field of rail transit security and, more particularly, to rail transit tunnel damage identification systems and methods.
Background
The tunnel is used as an important component of urban rail transit, the health service of the tunnel is crucial to the normal operation of a city, if the tail line section of the tunnel breaks down, the whole rail network line is endangered, serious troubles are caused to citizens' trips, bad social effects can be caused, and huge economic losses are caused.
Therefore, a method capable of timely and accurately identifying and discovering tunnel damage is developed so as to take maintenance measures when the damage is not developed to be large enough, and the method is very important for safe operation of urban rail transit in China.
However, the damage identification of the subway tunnel structure at present depends on visual inspection and experience of maintenance personnel, the identification method is long in time consumption, detection of a complex area is very difficult, and the purpose of quickly, safely and accurately identifying the tunnel damage cannot be achieved.
Disclosure of Invention
According to the embodiment of the invention, a rail transit tunnel damage identification system and a rail transit tunnel damage identification method are provided.
In a first aspect of the invention, a rail transit tunnel damage identification system is provided. This track traffic tunnel damages identification system includes: the system comprises a robot queue and a tunnel safety management center data server; wherein, the first and the second end of the pipe are connected with each other,
a robot queue including a main robot and a sub robot; the main robot carries the sub robot and can release and recover the sub robot;
the main robot is used for running to a specified tunnel test point along a specified tunnel track according to the routing inspection instruction of the data server of the tunnel safety management center and releasing the sub-robot to acquire tunnel data;
the main robot is provided with a visual perception component for continuously acquiring image data of a specified tunnel line;
the sub-robot is provided with a sensor component and is used for acquiring tunnel data of a specified tunnel test point and sub-robot operation data;
the tunnel safety management center data server is used for sending a patrol instruction to the main robot, indicating the main robot and the sub-robot to carry out tunnel damage collection and receiving image data of an appointed tunnel line uploaded by the main robot and tunnel data and sub-robot operation data of appointed tunnel test points.
The above-described aspects and any possible implementations further provide an implementation, in which the visual perception component includes an infrared thermal imager and/or a visible light camera,
the infrared thermal imager is used for continuously acquiring infrared images of the specified tunnel line,
the visible light camera is used for continuously acquiring visible light images of the specified tunnel line.
The above aspects and any possible implementations further provide an implementation in which the sensor assembly includes a radar sensor and/or a laser sensor, and an inertial navigation sensor;
the radar sensor is used for collecting radar reflected wave data of a specified tunnel test point;
the laser sensor is used for acquiring laser ranging data of a specified tunnel test point;
the inertial navigation sensor is used for acquiring the self posture, the running health and the positioning data of the sub-robot.
The above aspects and any possible implementation manners further provide an implementation manner, where the main robot is further configured to configure basic working parameters of the sub-robot according to the inspection instruction sent by the tunnel security management center data server, collect tunnel data acquired by the sub-robot, and upload the tunnel data to the tunnel security management center data server.
In a second aspect of the present invention, there is provided a rail transit tunnel damage identification method, based on the rail transit tunnel damage identification system as described above, the method including:
the tunnel safety management center data server sends a patrol instruction to the main robot and instructs the main robot and the sub-robot to carry out tunnel damage collection;
the main robot runs along a specified tunnel track, a visual perception component arranged on the main robot continuously collects image data of a specified tunnel circuit, and the main robot uploads the image data of the specified tunnel circuit to the tunnel safety management center data server;
the main robot releases the sub-machine to operate to a specified tunnel test point, a sensor assembly arranged on the sub-robot collects tunnel data and sub-robot operation data of the specified tunnel test point, and the sub-robot sends the tunnel data and the sub-robot operation data of the specified tunnel test point to the main robot;
the main robot uploads tunnel data of the specified tunnel test point and operation data of the sub-robots to the data server of the tunnel safety management center;
and the tunnel safety management center data server analyzes and identifies tunnel damage according to the image data of the appointed tunnel line, the tunnel data of the appointed tunnel test point and the operation data of the sub-robot to obtain tunnel damage identification data.
As with the above-described aspects and any possible implementations, there is further provided an implementation, the method comprising:
and after the sub-robot finishes the collection task, the sub-robot runs back to the main robot, detects the relative positions of the main robot and the sub-robot, and is recovered by the main robot.
The above-described aspects and any possible implementations further provide an implementation, the method including:
the main robot configures basic working parameters of the sub-robots based on the inspection command, generates a collection command, sends the collection command to the sub-robots and unlocks the sub-robots to collect tunnel data.
The above-mentioned aspects and any possible implementation manners further provide an implementation manner, where the tunnel security management center data server analyzes and identifies tunnel damage according to image data of a specified tunnel line, tunnel data of specified tunnel test points, and sub-robot operation data, to obtain tunnel damage identification data, and the implementation manner includes:
the tunnel safety management center data server establishes a tunnel region image model based on the image data of the appointed tunnel line by adopting an image recognition algorithm to recognize the whole tunnel damage,
the tunnel safety management center data server identifies the fixed-point tunnel damage based on the tunnel data of the specified tunnel damage test point and the operation data of the sub-robots,
and comparing the whole tunnel damage and the fixed point tunnel damage obtained by identification with the historical tunnel damage data, and quantitatively analyzing the tunnel damage to obtain tunnel damage identification data.
As to the above-mentioned aspect and any possible implementation manner, an implementation manner is further provided, where the comparing the identified overall tunnel damage and/or fixed-point tunnel damage with the historical data of tunnel damage, and quantitatively analyzing the tunnel damage to obtain the tunnel damage identification data, the method further includes:
and judging the tunnel damage to obtain the damage level of the tunnel damage.
The above aspect and any possible implementation manner further provide an implementation manner, where after the determining the tunnel damage and obtaining the damage level of the tunnel damage, the method further includes:
the data server of the tunnel safety management center generates alarm information and sends the alarm information to maintenance personnel, wherein the alarm information comprises tunnel damage identification data and the damage level of tunnel damage.
The tunnel damage detection method based on the robot queue comprises the steps that a robot queue comprising a main robot and a sub-robot runs in a tunnel to conduct tunnel damage collection work, a tunnel safety management center data server is communicated with the robot queue to indicate the collection work of the robot queue, the robot queue uploads collected tunnel data packets to the tunnel safety management center data server, and the tunnel safety management center data server identifies tunnel damage based on data collected by the robot queue, so that the tunnel damage can be identified quickly, safely and accurately.
The whole condition of tunnel is mastered through the data acquisition work of main robot, and each item data acquisition is carried out to concrete fixed point injury department to rethread sub-robot to confirm the position of appointed tunnel test point through the collection of sub-robot self locating data, realize the high accuracy measurement at tunnel complex environment, improve tunnel damage identification efficiency, make maintainer can deal with the injury department in time.
It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of any embodiment of the invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of various embodiments of the present invention will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
fig. 1 is a schematic diagram illustrating a robot queue of a rail transit tunnel damage identification system provided by an embodiment of the present invention;
FIG. 2 illustrates a functional block diagram of a master robot provided by an embodiment of the present invention;
fig. 3 shows a functional block diagram of a sub-robot provided by an embodiment of the present invention.
Fig. 4 shows a flowchart of a rail transit tunnel damage identification method provided by an embodiment of the present invention;
fig. 5 shows a flowchart of a rail transit tunnel damage identification method provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
The embodiment of the invention provides a rail transit tunnel damage identification system and a rail transit tunnel damage identification method, which are used for identifying tunnel cracks, water leakage, lining holes, peeling and other damages by fusing image data and sensor data, so that the tunnel damage can be identified quickly, safely and accurately.
The rail transit tunnel damage identification system and method provided by the embodiment of the invention are described below with reference to fig. 1 to 5.
The rail transit tunnel damage identification system of the embodiment of the invention comprises: robot queue and tunnel safety management center data server. The robot queue runs in the tunnel to carry out tunnel damage collection work, the tunnel safety management center data server communicates with the robot queue and indicates the collection work of the robot queue, and the robot queue uploads collected tunnel data packets to the tunnel safety management center data server.
As shown in fig. 1, a schematic diagram of a robot queue provided for an embodiment of the present invention includes a main robot 100 and a sub robot 200. The main robot 100 orbits the tunnel on the specified tunnel line, carries the sub robot 200, and can release and recover the sub robot 200. The main robot 100 has a cabin capable of accommodating the sub-robot 200, the cabin door formed at the end of the main robot cabin can be opened, and the connection between the cabin door and the end of the main robot cabin can be swung to set up after the cabin door is opened, so that one side of the cabin door which can swing freely can swing downwards to the ground after the cabin door is opened, a slope on which the sub-robot 200 can operate is formed, and the sub-robot 200 can conveniently run out and run back to the main robot cabin.
Preferably, the sub-robot 200 is a bionic robot, and further preferably, the sub-robot 200 is provided in plural numbers to cooperate with each other. As shown in fig. 1, the robot line includes a main robot RM01 and 4 sub-biomimetic robots RS01, RS02, RS03, and RS04 mounted thereon.
The bionic robot is a robot system simulating biological structure and functionality, such as sports jumping, crawling, rolling and the like. The bionic robot has a relatively complex structure and a relatively complex control process, has relatively strong flexibility and excellent adaptability, has high intelligent degree, and can bear complex, dangerous and certain specific tasks.
In the embodiment, the sub-bionic robot adopts a quadruped robot, utilizes the characteristics of the bionic robot, is applied to damage detection of the tunnel, can flexibly crawl and move on the wall surface of the tunnel and in the area where detection work is not easy to perform, is convenient to control, and can improve data acquisition precision.
As shown in fig. 2, a functional block diagram of a main robot is provided for an embodiment of the present invention. The main robot 100 is provided with a visual perception component through which image data of a designated tunnel line is continuously collected. The visual perception assembly comprises an infrared thermal imager and/or a visible light camera, the infrared thermal imager is used for continuously acquiring infrared images of the appointed tunnel circuit, and the visible light camera is used for continuously acquiring visible light images of the appointed tunnel circuit. The visual perception component can be lifted and rotated, the visual angle range is expanded, and images are collected in all directions.
Infrared thermal imaging is a technique that converts an infrared image into a thermal radiation image, which reads a temperature value from the image, and is a non-destructive inspection technique. Infrared thermal imaging is the conversion of invisible infrared radiation into a visible thermal image. The radiation capability and the reflection strength of different objects, even different parts of the same object, to infrared rays are different. By utilizing the radiation difference of the object and the background environment and the radiation difference of each part of the scenery, the thermal image can present the radiation fluctuation of each part of the scenery, thereby showing the characteristics of the scenery. Thermal image trial area temperature detection, water seepage detection, and the like.
The main robot 100 is further provided with a light assembly, and an illumination light source is provided for the visible light camera to collect images through the light assembly.
Therefore, a tunnel area image model can be established based on the infrared image and/or the visible light image of the specified tunnel line collected by the infrared thermal imager and/or the visible light camera, and damages such as cracks, water seepage and the like on the surface of the tunnel are identified.
As shown in fig. 3, a functional block diagram of a sub-robot is provided for the embodiment of the present invention. The sub robot 200 is provided with a sensor assembly by which tunnel data of a designated tunnel test point and sub robot operation data are collected. The sensor assembly comprises a radar sensor and/or a laser sensor and an inertial navigation sensor; the radar sensor is used for collecting radar reflected wave data of a specified tunnel test point; the laser sensor is used for acquiring laser ranging data of a specified tunnel test point; the inertial navigation sensor is used for acquiring the self posture, the running health and the positioning data of the sub-robot.
The tunnel crack, water seepage, spalling and other lining damage are influenced by a plurality of factors, a traditional detection method has certain limitation, and an electromagnetic reflection wave method is utilized, when electromagnetic waves encounter inhomogeneities, a part of the electromagnetic waves are reflected, the reflection coefficient mainly depends on the dielectric constant of a medium to be detected, and reflected wave receiving and data processing are carried out, so that the purpose of detecting and identifying the damage is achieved. The good sensitivity of the radar is exerted, the tiny defects and problems of the tunnel are accurately found, the effects of rapidness, safety and reliability can be achieved, and the detection level is improved. Therefore, the defects of the detected object can be found on the premise of not damaging the property and the structure of the detected object.
Therefore, damages such as tunnel lining cavities and spalling can be identified based on radar reflected wave data and/or laser ranging data of the specified tunnel test points. And the damage position can be positioned based on the self posture, the operation health and the positioning data of the sub-robot, and the working state of the sub-robot is obtained.
The main robot 100 wirelessly communicates with the sub-robot 200, configures the wireless communication of the sub-robot 100 by the main robot 100, and configures basic working parameters of the sub-robot 100 according to the patrol command transmitted from the tunnel security management center data server, and collects the collected tunnel data of the sub-robot 100 by the main robot 100 and uploads to the tunnel security management center data server.
The robot queue wirelessly communicates with the data server of the tunnel safety management center through the main robot 100, receives and executes the patrol command sent by the data server of the tunnel safety management center, and uploads the data packets collected by the main robot 100 and the sub-robots 200 to the data server of the tunnel safety management center.
The data server of the tunnel safety management center is configured and sends a patrol instruction to the main robot 100, instructs the main robot 100 and the sub-robot 200 to collect tunnel damage, and receives and stores image data of a specified tunnel line uploaded by the main robot 100, tunnel data of specified tunnel test points and sub-robot operation data. The data server of the tunnel safety management center identifies damages such as tunnel cracks, water leakage, lining holes and peeling by processing and fusing image data and self postures, operation health and positioning data of the sub robots and radar reflected wave data and/or laser ranging data. And the data server of the tunnel safety management center quantifies the damage degree of the tunnel by counting and comparing historical data, and alarms and reminds according to the damage level to form an alarm log and inform maintenance personnel to handle.
In addition, the main robot 100 is provided with a power supply device for the sub-robot to supply electric power to the sub-robot.
As shown in fig. 1, a robot arm is further mounted on the upper end of the main robot 100, one end of the robot arm being provided on the outer wall of the main robot 100, and the other end being swingable and capable of performing grasping and gripping operations, and is used for grasping the collecting sub-robot 200 in an abnormal situation. If the sub-robot 200 cannot smoothly return to the main robot bay due to an obstacle or the sub-robot 200 has insufficient power, the main robot 100 retracts the sub-robot 200 by using the robot arm.
Based on the above track traffic tunnel damage identification system, an embodiment of the present invention further provides a track traffic tunnel damage identification method, as shown in fig. 4, a flowchart of the track traffic tunnel damage identification method provided in the embodiment of the present invention includes:
acquiring inspection data of a robot queue tunnel;
comparing data mining with historical data, and quantitatively analyzing tunnel damage;
judging tunnel damage;
the warning information prompts maintenance personnel to handle the operation.
More specifically, as shown in fig. 5, which is a flowchart of a rail transit tunnel damage identification method provided in an embodiment of the present invention, the rail transit tunnel damage identification method of the present embodiment includes the following steps:
s1: the data server of the tunnel safety management center sends a patrol instruction to the main robot and instructs the main robot 100 and the sub-robot 200 to collect tunnel damage;
s2: the main robot 100 runs along the designated tunnel track, a visual perception component arranged on the main robot 100 continuously collects image data of the designated tunnel line, and the main robot 100 uploads the image data of the designated tunnel line to a tunnel safety management center data server;
s3: the main robot 100 releases the sub-robot 200 to operate to a specified tunnel test point, a sensor component arranged on the sub-robot 200 collects tunnel data of the specified tunnel test point and sub-robot 200 operation data, and the sub-robot 200 sends the tunnel data of the specified tunnel test point and the sub-robot operation data to the main robot 100;
s4: the main robot 100 uploads tunnel data of the specified tunnel test point and operation data of the sub-robots to a tunnel safety management center data server;
s5: and the tunnel safety management center data server analyzes and identifies tunnel damage according to the image data of the appointed tunnel line, the tunnel data of the appointed tunnel test point and the operation data of the sub-robot to obtain tunnel damage identification data.
In step S2, the orbiting main robot carries a plurality of sub-robots 200 and collects data in a designated tunnel area, and the sub-robots 200 rely on the main robot 100 for charging and communication. The main robot 100 carries a visual perception component including an infrared thermal imager and/or a visible light camera. The visual perception component continuously collects image data of the appointed tunnel line, wherein the image data comprises an infrared image and/or a visible light image of the appointed tunnel line. The main robot 100 uploads the image data packet of the specified tunnel line to the tunnel security management center data server.
In step S3, specifically, the main robot configures basic working parameters of the sub-robot based on the inspection command, generates an acquisition command, and sends the acquisition command to the sub-robot and unlocks the sub-robot to acquire tunnel data.
The multiple sub-machines work cooperatively based on an acquisition instruction of the main machine robot, the sub-robots 200 are motion type bionic robots and are arranged in multiple numbers, sensor components including radar sensors and/or laser sensors and inertial navigation sensors are carried, and the sub-machines run to appointed tunnel test points according to set motion tracks to acquire tunnel data of the appointed tunnel test points, including radar reflected wave data and/or laser ranging data of the appointed tunnel test points; and, gather the operation data of the sub-robot in real time, including the self posture, operation health and the location data of the sub-robot. The child robot 200 transmits the data packet to the main robot 100 at the assigned slot timing.
After the sub-robot 200 completes the acquisition task, it runs back to the main robot, detects the relative positions of the main robot and the sub-robot, and is recovered by the main robot. The main robot 100 sends a drive-back command to the sub-robot 200, and the visual perception unit provided in the main robot 100 or the sensor unit provided in the sub-robot 100 detects the relative positions of the sub-robots 200 and drives them back to the main robot chamber.
In step S5, the method specifically includes the following steps:
s501: the data server of the tunnel safety management center adopts an image recognition algorithm to establish a tunnel region image model based on the image data of the appointed tunnel line to recognize the whole tunnel damage,
the data server of the tunnel safety management center identifies the fixed-point tunnel damage based on the tunnel data of the specified tunnel damage test point and the operation data of the sub-robot,
comparing the identified whole tunnel damage and/or fixed point tunnel damage with historical tunnel damage data, and quantitatively analyzing the tunnel damage to obtain tunnel damage identification data;
s502: judging tunnel damage to obtain the damage level of the tunnel damage;
s503: and the data server of the tunnel safety management center generates alarm information and sends the alarm information to maintenance personnel, wherein the alarm information comprises tunnel damage identification data and the damage level of the tunnel damage.
The data server of the tunnel security management center receives and stores the image data of the specified tunnel line uploaded by the main robot 100, and the tunnel data of the specified tunnel test point and the operation data of the sub-robot.
Based on the infrared image and/or the visible light image of the appointed tunnel line, an image model of the tunnel area is established by adopting an infrared thermal imaging and/or visible light image fusion imaging technology, and damages such as cracks, water seepage and the like on the surface of the tunnel are identified. And radar reflected wave data and/or laser ranging data of the specified tunnel test point, self posture, operation health and positioning data of the sub-robot, and damage such as tunnel lining cavities and peeling are identified and positioned.
The tunnel safety management center data server can update the inspection instruction in real time according to the identified whole tunnel damage, and the main robot 100 updates the acquisition instruction sent to the sub-robot 200 according to the updated inspection instruction.
The tunnel safety management center data server quantifies the tunnel damage degree by counting the whole tunnel damage and/or the fixed point tunnel damage and comparing historical data, judges and identifies the damage level of the tunnel damage according to the preset damage level, forms an alarm log according to the damage level and alarm reminding, generates alarm information and informs maintenance personnel to handle.
According to the embodiment of the invention, the following technical effects are realized:
in the invention, a main robot 100 carries a sub-robot 200 to cooperatively operate according to the track of a specified section according to the indication of a data server of a tunnel safety management center to carry out a polling task, continuously collects infrared images and/or visible light images of a specified tunnel line, unlocks and starts the sub-robot to exit a main robot cabin after the main robot 100 operates to a specified tunnel test point, the sub-robot 200 crawls to the specified tunnel test point along the tunnel wall, and collects tunnel data and the self posture, operation health and positioning data of the sub-robot. After the acquisition task is completed, the sub-robot 200 is detected and recovered.
The main robot 100 undertakes a visual perception function and can be used to recognize tunnel damage as a whole, and the sub-robot 200 undertakes functions of accurate data acquisition of a damaged area and positioning of the damaged area. The method realizes quick, convenient and effective data acquisition of the complex environment of the tunnel.
The tunnel safety management center data server identifies tunnel damage types such as cracks, leakage water, lining cavities, peeling and the like based on image data of an appointed tunnel line, tunnel data of an appointed tunnel test point and operation data of a sub-robot, high-precision measurement in a tunnel complex environment is achieved, and tunnel damage identification efficiency is improved. And the tunnel damage degree is quantified by counting and comparing historical data, and the alarm information is sent to maintenance personnel, so that the maintenance personnel can find and treat the damage in time.
The invention realizes the collection of tunnel data by fusing multi-sensor approaching targets, and is a high-timeliness tunnel damage identification system and method.
In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood broadly, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present disclosure is not limited by the order of acts, as some steps may, in accordance with the present disclosure, occur in other orders and concurrently. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that acts and modules referred to are not necessarily required by the disclosure.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (10)

1. A rail transit tunnel damage identification system is characterized by comprising a robot queue and a tunnel safety management center data server; wherein the content of the first and second substances,
a robot queue including a main robot and a sub robot; the main robot carries the sub robot and can release and recover the sub robot;
the main robot is used for running to a specified tunnel test point along a specified tunnel track according to the routing inspection instruction of the data server of the tunnel safety management center and releasing the sub-robot to collect tunnel data;
the main robot is provided with a visual perception component for continuously acquiring image data of a specified tunnel line;
the sub-robot is provided with a sensor component and is used for acquiring tunnel data of a specified tunnel test point and sub-robot operation data;
the tunnel safety management center data server is used for sending a patrol command to the main robot, indicating the main robot and the sub-robot to carry out tunnel damage collection and receiving image data of an appointed tunnel line uploaded by the main robot and tunnel data of an appointed tunnel test point and sub-robot operation data.
2. The rail transit tunnel damage identification system of claim 1,
the visual perception component comprises an infrared thermal imager and/or a visible light camera,
the infrared thermal imager is used for continuously acquiring infrared images of the specified tunnel line,
the visible light camera is used for continuously acquiring visible light images of the specified tunnel line.
3. The rail transit tunnel damage identification system of claim 1,
the sensor assembly comprises a radar sensor and/or a laser sensor and an inertial navigation sensor;
the radar sensor is used for collecting radar reflected wave data of a specified tunnel test point;
the laser sensor is used for acquiring laser ranging data of a specified tunnel test point;
the inertial navigation sensor is used for acquiring the self posture, the running health and the positioning data of the sub-robot.
4. Rail transit tunnel damage identification system as claimed in claim 1,
and the main robot is also used for configuring basic working parameters of the sub-robot according to the routing inspection instruction sent by the data server of the tunnel safety management center, collecting the tunnel data acquired by the sub-robot and uploading the tunnel data to the data server of the tunnel safety management center.
5. A rail transit tunnel damage identification method is based on the rail transit tunnel damage identification system of any one of claims 1 to 4, and is characterized by comprising the following steps:
the tunnel safety management center data server sends a patrol instruction to the main robot and instructs the main robot and the sub-robot to carry out tunnel damage collection;
the main robot runs along a specified tunnel track, a visual perception component arranged on the main robot continuously collects image data of a specified tunnel circuit, and the main robot uploads the image data of the specified tunnel circuit to the tunnel safety management center data server;
the main robot releases the sub-machines to run to the appointed tunnel test point, a sensor assembly arranged on the sub-robot collects tunnel data and sub-robot running data of the appointed tunnel test point, and the sub-robot sends the tunnel data and the sub-robot running data of the appointed tunnel test point to the main robot;
the main robot uploads tunnel data of a specified tunnel test point and sub-robot operation data to the tunnel safety management center data server;
and the tunnel safety management center data server analyzes and identifies tunnel damage according to the image data of the appointed tunnel line, the tunnel data of the appointed tunnel test point and the operation data of the sub-robot to obtain tunnel damage identification data.
6. The rail transit tunnel damage identification method according to claim 5, characterized in that the method comprises:
and after the sub-robot finishes the acquisition task, the sub-robot operates back to the main robot, detects the relative positions of the main robot and the sub-robot, and is recovered by the main robot.
7. The rail transit tunnel damage identification method according to claim 5, characterized by comprising:
the main robot configures basic working parameters of the sub-robots based on the inspection command, generates a collection command, sends the collection command to the sub-robots and unlocks the sub-robots to collect tunnel data.
8. The rail transit tunnel damage identification method of claim 5, wherein the tunnel security management center data server analyzes and identifies tunnel damage according to the image data of the specified tunnel line, the tunnel data of the specified tunnel test point and the operation data of the sub-robot to obtain tunnel damage identification data, and the method comprises the following steps:
the tunnel safety management center data server establishes a tunnel region image model based on the image data of the appointed tunnel line by adopting an image recognition algorithm to recognize the whole tunnel damage,
the tunnel safety management center data server identifies the fixed-point tunnel damage based on the tunnel data of the specified tunnel damage test point and the operation data of the sub-robot,
and comparing the whole tunnel damage and/or the fixed point tunnel damage obtained by identification with historical tunnel damage data, and quantitatively analyzing the tunnel damage to obtain tunnel damage identification data.
9. The rail transit tunnel damage identification method according to claim 8, wherein the step of comparing the identified whole tunnel damage and fixed point tunnel damage with the historical tunnel damage data, quantitatively analyzing the tunnel damage, and obtaining tunnel damage identification data further comprises the steps of:
and judging the tunnel damage to obtain the damage level of the tunnel damage.
10. The rail transit tunnel damage identification method according to claim 9, wherein after the tunnel damage is discriminated and the damage level of the tunnel damage is obtained, the method further comprises:
the data server of the tunnel safety management center generates alarm information and sends the alarm information to maintenance personnel, wherein the alarm information comprises tunnel damage identification data and the damage level of tunnel damage.
CN202211168351.4A 2022-09-23 2022-09-23 Rail transit tunnel damage identification system and method Pending CN115524698A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117197136A (en) * 2023-11-06 2023-12-08 中数智科(杭州)科技有限公司 Straddle type monorail track beam damage detection positioning system, method and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117197136A (en) * 2023-11-06 2023-12-08 中数智科(杭州)科技有限公司 Straddle type monorail track beam damage detection positioning system, method and storage medium
CN117197136B (en) * 2023-11-06 2024-01-26 中数智科(杭州)科技有限公司 Straddle type monorail track beam damage detection positioning system, method and storage medium

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