AU2020102181A4 - An intelligent recognition system and method of tunnel structure health based on robot vision recognition - Google Patents
An intelligent recognition system and method of tunnel structure health based on robot vision recognition Download PDFInfo
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- AU2020102181A4 AU2020102181A4 AU2020102181A AU2020102181A AU2020102181A4 AU 2020102181 A4 AU2020102181 A4 AU 2020102181A4 AU 2020102181 A AU2020102181 A AU 2020102181A AU 2020102181 A AU2020102181 A AU 2020102181A AU 2020102181 A4 AU2020102181 A4 AU 2020102181A4
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
- G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
- G06F21/6272—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database by registering files or documents with a third party
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N19/00—Investigating materials by mechanical methods
- G01N19/08—Detecting presence of flaws or irregularities
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/50—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols using hash chains, e.g. blockchains or hash trees
Abstract
The invention provides an intelligent recognition system and method of tunnel structure health based
on robot vision recognition. The system includes Robot Running Module, IOT Sensing Module and
Intelligent Processing Display Module. Robot Running Module consists of Track Subsystem, Propulsion
Subsystem, Power Subsystem, Communication Subsystem and Positioning Subsystem. IOT Sensing
Module is composed of Data Acquisition Subsystem and Image Acquisition Subsystem set at the
monitoring point in the building structure, Equipment Detection Subsystem and Data Transmission
Subsystem. Blockchain Network System and Health Monitoring Smart Contract deployed in it form
Intelligent Processing Display Module, which is used to process and analyze the data and generate
early warning information. The invention adopts the method of intelligent robot inspection combined
with blockchain network to process and analyze data, which greatly saves manpower and material
resources and contributes to the completion of monitoring work.
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FIG,1I
Description
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An intelligent recognition system and method of tunnel structure health based on robot vision recognition
[01] The invention relates to the technical field of building structure damage identification, and more specifically to an intelligent recognition system and method of tunnel structure health based on robot vision recognition.
[02] Buildings, such as bridges and tunnels, often produce lining cracking and corrosion, tunnel freezing and earthquake damage, fire, poor ventilation and lighting quality. These hazards not only lead to accidents in the tunnel, but also have a great impact and threat on the safety, comfort and normal operation of the tunnel.
[03] At present, the operation and maintenance of building structure mainly depends on manual static inspection Tough working environment, low efficiency, long occupation and some problems which cannot be quickly identified andjudged make the manual maintenance become a focus and difficulty on restricting the timeliness of mechanical and electrical equipment operation. In addition, manual testing needs to be completed by engineers with relevant professional knowledge and strict training. As a consequence of relying mainly on the personal experience of maintenance personnel, the data obtained is often lack of accuracy and objectivity.
[04] With the iterative upgrading of perception, computing, control and the in depth application of artificial intelligence technologies such as image recognition, natural speech processing, and deep cognitive learning in the field of robotics, the service-oriented trend of robots is increasingly significant. Nowadays, the wide application of robots in all walks of life has brought hope and dawn to the solution of traffic problems. Through the ideological trend of "replacing people with machines", robots show unique value in the field of transportation. If a robot carrying a variety of cutting-edge technologies can be applied to the highway industry, the overall operation efficiency and service level of the highway industry will be greatly improved.
[05] Therefore, it is urgent to adopt the method of "replacing people with machines" to identify and early-warn the damage such as water leakage, collapse, cracks of bridge, tunnel and other building structures.
[06] In view of the deficiencies of the existing technologies, the invention provides an intelligent recognition system and method of tunnel structure health based on robot vision recognition, which utilizes the robot's intelligent sensing function to realize intelligent recognition and early warning of water leakage, collapse and crack of bridge, tunnel and other building structures.
[07] To achieve the above purpose, the invention is realized by the following technical scheme:
[08] An intelligent recognition system of tunnel structure health based on robot vision recognition is composed of system ontology, characterized in that, the system ontology includes Robot Running Module, IOT Sensing Module and Intelligent Processing Display Module.
[09] The Robot Running Module consists of Track Subsystem, Propulsion Subsystem, Power Subsystem, Communication Subsystem and Positioning Subsystem.
[010] The Track Subsystem includes an inspection track installed in the building structure. The Propulsion Subsystem includes a robot traveling along the inspection track. The Power Subsystem includes a power device providing power for the robot. The Communication Subsystem includes a wireless communication device set on the robot. The Positioning Subsystem includes a GPS positioning system arranged on the robot.
[011] IOT Sensing Module is composed of Data Acquisition Subsystem and Image Acquisition Subsystem set at the monitoring point in the building structure, Equipment Detection Subsystem and Data Transmission Subsystem.
[012] The Data Acquisition Subsystem includes sensors arranged on the robot. The Image Acquisition Subsystem includes a digital camera set on the robot. The Equipment Detection Subsystem includes a wind speed and direction detector installed on the robot to detect whether the fan in the tunnel is running normally. The Data Transmission Subsystem is used to store and preprocess the data uploaded by the sensors, the digital camera and the Equipment Detection Subsystem, and then transmit them to the Intelligent Processing Display Module.
[013] The Intelligent Processing Display Module includes a Blockchain Network System and Health Monitoring Smart Contract deployed in it. The Blockchain Network System is composed of a plurality of nodes connected with each other. The Intelligent Processing Display Module is used for processing and analyzing data, judging the performance of building structures, and generating early warning information.
[014] The Data Transmission Subsystem includes a local gateway, which is wirelessly connected with the sensors, the digital camera, the Equipment Detection Subsystem, the Robot Running Module and the Intelligent Processing Display Module respectively.
[015] The local gateway is used to upload the data collected by the sensors, the digital camera and the Equipment Detection Subsystem to the Intelligent Processing Display Module through the wireless transmission device.
[016] The sensors include displacement sensors, acceleration sensors, temperature sensors, humidity sensors and stress-strain sensors.
[017] The robot travels along the inspection track at a speed of 1-4 m/s.
[018] The node is a computer.
[019] The power device is a battery or a motor.
[020] The invention also includes the following technical solutions:
[021] An intelligent recognition method of tunnel structure health based on robot vision recognition, characterized by the following steps:
[022] (1) The Power Subsystem provides power for the robot to make the robot move along the inspection track, and real-time position of the robot is located through the wireless communication device and the GPS positioning system on the robot.
[023] (2) When the robot moves to the preset monitoring point on the inspection track, the IOT Sensing Module is activated. The data collected by the sensors, the digital camera and the Equipment Detection Subsystem are uploaded to the Data Transmission Subsystem through the wireless transmission device. The Data Transmission Subsystem stores and preprocesses the original data, and then transmits them to the Intelligent Processing Display Module through the wireless transmission device.
[024] (3) The clients on the node trigger the Health Monitoring Smart Contract deployed in the Blockchain Network System to process and analyze the data, judge the safety status of building structures, and generate early warning information.
[025] The Data Transmission Subsystem includes a local gateway, which is wirelessly connected with the sensors, the digital camera, the Equipment Detection Subsystem, the Robot Running Module and the Intelligent Processing Display Module respectively.
[026] In step (2), the local gateway is used to upload the data collected by the sensors, the digital camera and the Equipment Detection Subsystem to the Intelligent Processing Display Module through the wireless transmission device.
[027] The sensors include displacement sensors, acceleration sensors, temperature sensors, humidity sensors and stress-strain sensors.
[028] The robot travels along the inspection track at a speed of 1-4 m/s.
[029] Compared with the prior art, the invention has the following beneficial effects:
[030] 1) Water leakage, collapse and cracks are related to the safety of bridges, tunnels and other buildings. The method of using the intelligent robot inspection combined with blockchain network to process and analyze data is adopted, which greatly saves manpower and material resources and contributes to the completion of monitoring work.
[031] 2) A variety of sensors and digital cameras are installed on the robot to monitor the leakage, collapse and crack of the building structure, and control the robot to move along the inspection track, which can effectively improve the inspection frequency and inspection accuracy.
[032] FIG. 1 is a system diagram of the basic invention.
[033] The intelligent recognition system of tunnel structure health based on robot vision recognition shown in FIG.1 is composed of a system ontology, which includes Robot Running Module, IOT Sensing Module and Intelligent Processing Display Module.
[034] The Robot Running Module consists of Track Subsystem, Propulsion Subsystem, Power Subsystem, Communication Subsystem and Positioning Subsystem.
[035] The Track Subsystem includes an inspection track installed in the building structure. The Propulsion Subsystem includes a robot traveling along the inspection track. The Power Subsystem includes a power device providing power for the robot. The Communication Subsystem includes a wireless communication device set on the robot. The Positioning Subsystem includes a GPS positioning system arranged on the robot.
[036] IOT Sensing Module is composed of Data Acquisition Subsystem and Image Acquisition Subsystem set at the monitoring point in the building structure, Equipment Detection Subsystem and Data Transmission Subsystem.
[037] The Data Acquisition Subsystem includes sensors arranged on the robot. The Image Acquisition Subsystem includes a digital camera set on the robot. The Equipment Detection Subsystem includes a wind speed and direction detector installed on the robot to detect whether the fan in the tunnel is running normally. The Data Transmission Subsystem is used to store and preprocess the data uploaded by the sensors, the digital camera and the Equipment Detection Subsystem, and then transmit them to the Intelligent Processing Display Module. The Data Transmission Subsystem includes a local gateway, which is wirelessly connected with the sensors, the digital camera, the Equipment Detection Subsystem, the Robot Running Module and the Intelligent Processing Display Module respectively. The local gateway is used to upload the data collected by the sensors, the digital camera and the Equipment Detection Subsystem to the Intelligent Processing Display Module through the wireless transmission device.
[038] The sensors include displacement sensors, acceleration sensors, temperature sensors, humidity sensors and stress-strain sensors.
[039] Preprocessing is to carry out some noise reduction (interference removal) work on the original data. Because during actual monitoring process, environmental noise may affect and some data caused by voltage instability or sensor debugging is too large or too small. Preprocessing is to eliminate these invalid data (bad values). Preprocessing can be processed by existing software and noise reduction algorithm, so that the original data can be processed into effective data which can be used to analyze the damage of building structure, such as stress, deformation, deflection, temperature and humidity.
[040] The Intelligent Processing Display Module includes a Blockchain Network System and Health Monitoring Smart Contract deployed in it. The Blockchain Network System is composed of a plurality of nodes connected with each other. Each node is a computer in this embodiment. The Intelligent Processing Display Module is used for processing and analyzing data, judging the performance of building structures, and generating early warning information.
[041] The robot travels along the inspection track at a speed of 1-4 m/s. In this embodiment, the speed is 2 m/s.
[042] In a narrow sense, blockchain technology is a kind of decentralized shared account book that cannot be tampered with and forgeable, which is connected and combined into a specific data structure according to the time sequence and guaranteed by cryptography. In a broad sense, blockchain technology is a new decentralized infrastructure and distributed computing paradigm that uses encrypted chain block structure to verify and store data, uses distributed node consensus algorithm to generate and update data, and uses smart contracts to program and manipulate data.
[043] The Intelligent Processing Display Module includes a Blockchain Network System and Health Monitoring Smart Contract deployed in it. The Blockchain Network System is composed of a plurality of nodes connected with each other. Each node is a computer. Each node is a computer, and the Health Monitoring Smart Contract is the algorithm and program used to realize the health monitoring function. Health Monitoring Smart Contract is deployed in the Blockchain Network System, which can monitor authority verification, view the health status of structures in real time, call damage identification contract, and package, verify, and broadcast new blocks.
[044] Smart Contract is the sum of algorithms and programs, which is used to realize some functions of health monitoring, such as verifying monitoring authority, analyzing data, generating warning information, etc. Firstly, the code is compiled and debugged based on the computer language. After that, the compiled code is input into the command window of the client console. After clicking run, a virtual account in the blockchain network is generated, in which the code of the smart contract is stored. Each contract has its own unique virtual account, so the smart contract is permanently deployed in the Blockchain Network System. Each computer is equivalent to a node in the Blockchain Network System. The monitor can log in to the client through his own computer, activate the node to join the Blockchain Network System, and call the contract by storing the virtual account address information of the contract to realize the functions in the contract. The deployment of Health Monitoring Smart Contract is to install algorithms and programs for verifying monitoring authority, analyzing data for analysis and generating warning information on each node, and complete data analysis together with each node.
[045] An intelligent recognition method of tunnel structure health based on robot vision recognition includes the following steps:
[046] (1) The Power Subsystem provides power for the robot to make the robot move along the inspection track with the speed of 2 m/s, and real-time position of the robot is located through the wireless communication device and the GPS positioning system on the robot.
[047] (2) When the robot moves to the preset monitoring point on the inspection track, the IOT Sensing Module is activated. The data collected by the sensors, the digital camera and the Equipment Detection Subsystem is uploaded to the local gateway through the wireless transmission device. The local gateway stores and preprocesses the original data, and then transmits them to the Intelligent Processing Display Module through the wireless transmission device.
[048] (3) The clients on the node trigger the Health Monitoring Smart Contract deployed in the Blockchain Network System to analyze the data intelligently, and the index to judge the structural safety is given. Through the previous deep learning, the system can judge the safety of the building structure. If the safety status is not up to the standard, the warning information will be sent out.
[049] For example, the humidity sensor installed on the robot uploads the humidity value of the monitoring point in the tunnel to the local gateway, and the local gateway stores and preprocesses the original humidity data, removes the bad value, and uploads it to the Blockchain Network System. Because the Blockchain Network System deeply studies the historical humidity information stored in the local gateway before, it produces the humidity preset value. The clients of each node keep logging in, and constantly trigger the Health Monitoring Smart Contract automatically. According to a series of prefabricated algorithms and procedures, the newly uploaded humidity measurement value is compared with the preset value. If it exceeds the preset value, it indicates that the water leakage in the tunnel has exceeded the allowable range of tunnel safety, and the safety condition of the tunnel is not up to standard. At the same time, the Blockchain Network System sends warning information in the form of voice broadcast, siren, and notification to each node.
[050] Although the invention has been described with reference to specific examples, it will be appreciated by those skilled in the art that the invention may be embodied in many other forms, in keeping with the broad principles and the spirit of the invention described herein.
[051] The present invention and the described embodiments specifically include the best method known to the applicant of performing the invention. The present invention and the described preferred embodiments specifically include at least one feature that is industrially applicable
Claims (5)
1. An intelligent recognition system of tunnel structure health based on robot vision recognition is composed of a system ontology, characterized in that, the system ontology includes Robot Running Module, IOT Sensing Module and Intelligent Processing Display Module.
The Robot Running Module consists of Track Subsystem, Propulsion Subsystem, Power Subsystem, Communication Subsystem and Positioning Subsystem.
The Track Subsystem includes an inspection track installed in the building structure. The Propulsion Subsystem includes a robot traveling along the inspection track. The Power Subsystem includes a power device providing power for the robot. The Communication Subsystem includes a wireless communication device set on the robot. The Positioning Subsystem includes a GPS positioning system arranged on the robot.
IOT Sensing Module is composed of Data Acquisition Subsystem and Image Acquisition Subsystem set at the monitoring point in the building structure, Equipment Detection Subsystem and Data Transmission Subsystem.
The Data Acquisition Subsystem includes sensors arranged on the robot. The Image Acquisition Subsystem includes a digital camera set on the robot. The Equipment Detection Subsystem includes a wind speed and direction detector installed on the robot to detect whether the fan in the tunnel is running normally. The Data Transmission Subsystem is used to store and preprocess the data uploaded by the sensors, the digital camera and the Equipment Detection Subsystem, and then transmit them to the Intelligent Processing Display Module.
The Intelligent Processing Display Module includes a Blockchain Network System and Health Monitoring Smart Contract deployed in it. The Blockchain Network System is composed of a plurality of nodes connected with each other. The Intelligent Processing Display Module is used for processing and analyzing data, judging the performance of building structures, and generating early warning information.
2. The intelligent recognition system of tunnel structure health based on robot vision recognition in accordance with claim 1, characterized in that:
The Data Transmission Subsystem includes a local gateway, which is wirelessly connected with the sensors, the digital camera, the Equipment Detection Subsystem, the Robot Running Module and the Intelligent Processing Display Module respectively.
The local gateway is used to upload the data collected by the sensors, the digital camera and the Equipment Detection Subsystem to the Intelligent Processing Display Module through the wireless transmission device.
3. The intelligent recognition system of tunnel structure health based on robot vision recognition in accordance with claim 2, characterized in that:
The sensors include displacement sensors, acceleration sensors, temperature sensors, humidity sensors and stress-strain sensors.
4. An intelligent recognition method of tunnel structure health based on robot vision recognition, characterized by the following steps:
(1) The Power Subsystem provides power for the robot to make the robot move along the inspection track, and real-time position of the robot is located through the wireless communication device and the GPS positioning system on the robot.
(2) When the robot moves to the preset monitoring point on the inspection track, the IOT Sensing Module is activated. The data collected by the sensors, the digital camera and the Equipment Detection Subsystem is uploaded to the Data Transmission Subsystem through the wireless transmission device. The Data Transmission Subsystem stores and preprocess the original data, and then transmit them to the Intelligent Processing Display Module through the wireless transmission device.
(3) The clients on the node trigger the Health Monitoring Smart Contract deployed in the Blockchain Network System to process and analyze the data, judge the safety status of building structures, and generate early warning information.
5. The intelligent recognition method of tunnel structure health based on robot vision recognition in accordance with claim 7, characterized in that:
The Data Transmission Subsystem includes a local gateway, which is wirelessly connected with the sensors, the digital camera, the Equipment Detection Subsystem, the Robot Running Module and the Intelligent Processing Display Module respectively.
In step (2), the local gateway is used to upload the data collected by the sensors, the digital camera and the Equipment Detection Subsystem to the Intelligent Processing Display Module through the wireless transmission device.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029390A (en) * | 2021-03-07 | 2021-06-25 | 哈夫曼数字技术(苏州)有限公司 | Tunnel contact channel freezing method three-dimensional intelligent monitoring system and monitoring method |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
| CN114446021A (en) * | 2022-01-14 | 2022-05-06 | 濮晨雪 | Building engineering monitoring system based on wireless communication |
| CN114511014A (en) * | 2022-01-21 | 2022-05-17 | 北京城建勘测设计研究院有限责任公司 | Subway tunnel water leakage detection system and method based on image deep learning algorithm |
| CN114657874A (en) * | 2022-04-08 | 2022-06-24 | 哈尔滨工业大学 | Intelligent inspection robot for bridge structure diseases |
| CN115393270A (en) * | 2022-07-14 | 2022-11-25 | 北京建筑大学 | Automatic identification and prediction method, device and equipment for architecture heritage diseases |
| CN115604011A (en) * | 2022-10-19 | 2023-01-13 | 上海蜂高科技有限公司（Cn） | Robot and block chain OSI protocol based multi-point communication method |
-
2020
- 2020-09-09 AU AU2020102181A patent/AU2020102181A4/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029390A (en) * | 2021-03-07 | 2021-06-25 | 哈夫曼数字技术(苏州)有限公司 | Tunnel contact channel freezing method three-dimensional intelligent monitoring system and monitoring method |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
| CN114446021A (en) * | 2022-01-14 | 2022-05-06 | 濮晨雪 | Building engineering monitoring system based on wireless communication |
| CN114511014A (en) * | 2022-01-21 | 2022-05-17 | 北京城建勘测设计研究院有限责任公司 | Subway tunnel water leakage detection system and method based on image deep learning algorithm |
| CN114657874A (en) * | 2022-04-08 | 2022-06-24 | 哈尔滨工业大学 | Intelligent inspection robot for bridge structure diseases |
| CN115393270A (en) * | 2022-07-14 | 2022-11-25 | 北京建筑大学 | Automatic identification and prediction method, device and equipment for architecture heritage diseases |
| CN115604011A (en) * | 2022-10-19 | 2023-01-13 | 上海蜂高科技有限公司（Cn） | Robot and block chain OSI protocol based multi-point communication method |
| CN115604011B (en) * | 2022-10-19 | 2023-08-04 | 上海蜂高科技有限公司 | OSI protocol multi-point communication method based on robot and block chain |
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