CN103729908A - Intelligent inspection device of railway tunnel and application method thereof - Google Patents
Intelligent inspection device of railway tunnel and application method thereof Download PDFInfo
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- CN103729908A CN103729908A CN201410009353.8A CN201410009353A CN103729908A CN 103729908 A CN103729908 A CN 103729908A CN 201410009353 A CN201410009353 A CN 201410009353A CN 103729908 A CN103729908 A CN 103729908A
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Abstract
The invention discloses an intelligent inspection device of a railway tunnel and an application method thereof. The inspection device comprises a control mainboard, a machine case, an auxiliary light source, a digital camera and an alarm apparatus, wherein special software is arranged inside the control mainboard; the special software analyzes, processes and stores digital pictures shot by the digital camera; the alarm apparatus works when the processing result exceeds the preset range; the control mainboard transmits the processing result to an external computer or a remote server when a communication interface in the control mainboard is connected with the external computer or the remote server; remote monitoring and real-time alarming in tunnel inspection can be achieved when the communication interface in the control mainboard is kept in connection with the external computer or the remote server. The application method of the inspection device comprises the processing steps: automatically walking on a special track of the tunnel; transmitting the digital picture shot by the digital camera and related information obtained by the sensor to the computer to analyze and process. The device disclosed by the invention is scientific and reasonable in structure and configuration, unattended in operation, and wide in inspection range.
Description
Technical field
The present invention relates to a kind of railway tunnel intelligent patrol detection device and using method thereof.
Background technology
In long-term operation process, will there is the problems such as cross section deformation, subgrade settlement, lining cutting come off and affiliated facility is shifted, drop in railway tunnel.At present, the major way of the detection to tunnel operation state is to rely on manual inspection, and, in the Window time section of train operation, patrol officer enters hole test by naked eyes and the simple limited instrument instrument carrying., easily there is undetected situation in its weak point: manual inspection mode has relation to fault recall rate and people's state; For the tunnel of growing up, the manual inspection time is long, does not have enough Window times to leave patrol officer for.
Chinese utility model patent " ZL201320253220.6 tunnel monitoring device " discloses a kind of equipment that adopts video camera and infrared sensor and illuminating lamp vcehicular tunnel to be carried out to video monitoring and CO monitoring.Chinese utility model patent " ZL201220527159.5 tunnel monitor " discloses a kind of fixing infrared emanation t source of relatively installing and receiving-member of adopting and has detected visibility in tunnel and the equipment of CO concentration.Although the device of above-mentioned two utility model patents can meet certain request for utilization, but its weak point: they are all fixedly mounted with and are arranged on both sides, tunnel somewhere, guarded region is little, does not have that tunnel cross-section detection, subgrade settlement detection, lining cutting come off and affiliated facility displacement, the functions such as detection drop.
Chinese patent application " 201110380039.7 urban track traffic operation tunnel monitor and early warning system " based on GIS discloses a kind of urban track traffic operation tunnel monitor and early warning system based on GIS, it comprises the following steps: a, gather the malformation data about X, Y and tri-directions of Z in operation tunnel, and by the malformation automatic data transmission collecting the server to Surveillance center; The control system of b, Surveillance center reads the malformation data in server and carries out analysis and early warning judgement; If malformation data exceed corresponding setting threshold in c b step, control system produces point rank early warning record and the early warning signal of different stage is sent to GIS, and GIS carries out early warning demonstration at GIS map with different colours according to the early warning signal of different stage; D, control system notify related personnel the processing of getting rid of the danger according to the early warning signal of different stage, and the rear control system of having got rid of the danger automatically disappears and warns and recover normal condition, realizes closed loop management.This invention is based on GIS, realizes collection to urban track traffic operation tunnel Monitoring Data, transmission, shows and the robotization of early warning in time and integrated in real time.Its weak point: the system architecture of collection, transmission, demonstration in real time and the early warning in time of single parameter is just out of shape in this invention for tunnel structure, be not the method for specific implementation data acquisition.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide a kind of can automatic detecting roadbed, rail, lining cutting, the state of affiliated facility in monitoring railway tunnel, and railway tunnel intelligent patrol detection device and the using method thereof of the temperature in tunnel, humidity, harmful gas concentration, dust concentration, fire condition and traffic safety.
Object of the present invention is achieved by following technical proposals:
Described inspection device comprises controls mainboard, cabinet, secondary light source, digital camera and alarm, controls mainboard and is arranged in cabinet, and secondary light source, digital camera and alarm are electrically connected with control mainboard; On described cabinet, running gear is installed, the control section of running gear is electrically connected with control mainboard; Described digital camera is taken digital photograph in the process of running gear walking; In described control mainboard, special software is installed; The digital photograph that special software logarithmic code camera is taken is preserved, analyzes and processes; When result exceeds setting range, alarm work; When the communication interface on control mainboard is connected with outer computer or remote server, controls mainboard and send result to outer computer or remote server; When the communication interface on control mainboard keeps being connected with outer computer or remote server, can realize tunnel and patrol and examine remote monitoring and Realtime Alerts.
Infrared ray profile measurer for detection of tunnel cross-section size is installed on described cabinet, and infrared ray profile measurer can be done around the axis that is parallel to length of tunnel direction the rotation of 360 degree, and infrared ray profile measurer is electrically connected with control mainboard.
Tunnel-liner fault localization instrument is installed on described cabinet, and tunnel-liner fault localization instrument is electrically connected with control mainboard.
Mounting temperature sensor, humidity sensor, gas concentration sensor, Smoke Detection sensor and sensor of dust concentration on described cabinet, they are all electrically connected with control mainboard.
A card reader is installed on described cabinet, is arranging several IC-cards with on tunnel inner wall corresponding on card reader walking route, card reader with control mainboard and be electrically connected.
The using method of described inspection device:
1) in tunnel, on two side, one of each installation supplies the track of patrolling and examining of running gear operation, in the one or both ends in tunnel, twilight orbit is installed, and twilight orbit is connected with the track (16) of patrolling and examining of both sides;
2) patrol and examine track above or below tunnel inner wall on the sign with different labeled number is set, in digital camera is taken tunnel, during digital photograph, on digital photograph, can be clear that reference numerals; Coordinate, shape and size between above-mentioned sign is definite and known in advance;
3) a described inspection device is arranged on and is patrolled and examined on track or twilight orbit;
4) finding a view of digital camera is set and is highly not less than the head room in tunnel;
5), when described inspection device is worked, according to the time interval or the travel distance set, by digital camera (6), obtain digital photograph or obtain related data parameter by the sensor of having installed;
6) digital photograph obtaining when using is for the first time preserved as the master sample of described device; From using for the second time, by special software and the program controlled in mainboard, according to the shape of sign and position, the digital photograph of step 5) is proofreaied and correct to rear and master sample comparison, after noting abnormalities, alarm equipment alarm; When keeping being connected with outer computer or server, control mainboard to outer computer or server warning, and send dependency number code photo and data;
7) when the numerical value obtaining when the sensor of having installed exceedes setting value, alarm equipment alarm; When keeping being connected with outer computer or server, control mainboard to outer computer or server warning, and send related data;
8) inspection device in multiple tunnels and a computing machine composition tunnel group monitoring network.
Compared with prior art, the present invention has the following advantages: 1. have self-driven running gear, realize automatic moving and patrol and examine; 2. the multiparameter such as tunnel cross-section deflection, subgrade settlement, crucial gas concentration detects; 3. analyzing and testing result voluntarily, the result of only uploading after analyzing and processing without abnormal conditions is stored, is added up to Surveillance center, occurs that abnormal conditions are reported to the police and uploading pictures and data; 4. remote controlled cruising inspection system, realizes unmanned.
Accompanying drawing explanation
Fig. 1 is one embodiment of the invention structural representation;
Fig. 2 is the right view of Fig. 1;
Fig. 3 is the on-the-spot schematic diagram that uses of unitary device;
Fig. 4 is the on-the-spot schematic diagram that use of two table apparatus;
In figure: 1-running gear, 2-controls mainboard, 3-mainboard bearing, 4-cabinet, 5-secondary light source, 6-digital camera, 7-infrared ray profile measurer, 8-temperature sensor, 9-alarm, 10-tunnel-liner fault localization instrument, 11-humidity sensor, 12-card reader, 13-gas concentration sensor, 14-Smoke Detection sensor, 15-sensor of dust concentration, 16-patrols and examines track, 17-IC card, 18-rail and roadbed, 19-tunnel xsect vertical center line, 20-tunnel cross-sectional profiles line.
Embodiment
Described inspection device:
With reference to accompanying drawing: described inspection device comprises controls mainboard 2, cabinet 4, secondary light source 5, digital camera 6 and alarm 9, controls mainboard 2 and is arranged in cabinet 4, and secondary light source 5, digital camera 6 and alarm 9 are electrically connected with control mainboard 2; On described cabinet 4, running gear 1 is installed, the control section of running gear 1 is electrically connected with control mainboard 2; In the process that described digital camera 6 is walked at running gear 1, take digital photograph; The special software of installing in described control mainboard 2; The digital photograph that special software logarithmic code camera 6 is taken is preserved, analyzes and processes; When result exceeds setting range, alarm 9 is worked; When the communication interface on control mainboard 2 is connected with outer computer or remote server, controls mainboard 2 and send result to outer computer or remote server; When the communication interface on control mainboard 2 keeps being connected with outer computer or remote server, can realize tunnel and patrol and examine remote monitoring and Realtime Alerts.
Infrared ray profile measurer 7 for detection of tunnel cross-section size is installed on described cabinet 4, and infrared ray profile measurer 7 can be done around the axis that is parallel to length of tunnel direction the rotation of 360 degree, and infrared ray profile measurer 7 is electrically connected with control mainboard 2.
Tunnel-liner fault localization instrument 10 is installed on described cabinet 4, and tunnel-liner fault localization instrument 10 is electrically connected with control mainboard.
Mounting temperature sensor 8, humidity sensor 11, gas concentration sensor 13, Smoke Detection sensor 14 and sensor of dust concentration 15 on described cabinet 4, they are all electrically connected with control mainboard 2.
A card reader 12 is installed on described cabinet 4, is arranging several IC-cards 17 with on tunnel inner wall corresponding on card reader 12 walking routes, card reader 12 with control mainboard 2 and be electrically connected.
The using method of described inspection device:
1) in tunnel on two side each install one for running gear 1, move patrol and examine track 16, in the one or both ends in tunnel, twilight orbit is installed, twilight orbit is connected with the track 16 of patrolling and examining of both sides;
2) patrol and examine track 16 above or below tunnel inner wall on the sign with different labeled number is set, when digital camera 6 is taken in tunnel digital photograph, on digital photograph, can be clear that reference numerals; Coordinate, shape and size between above-mentioned sign is definite and known in advance;
3) a described inspection device is arranged on and is patrolled and examined on track 16 or twilight orbit;
4) finding a view of digital camera 6 is set and is highly not less than the head room in tunnel;
5), when described inspection device is worked, according to the time interval or the travel distance set, by digital camera (6), obtain digital photograph or obtain related data parameter by the sensor of having installed;
6) digital photograph obtaining when using is for the first time preserved as the master sample of described device; From using for the second time, by special software and the program controlled in mainboard, according to the shape of sign and position, the digital photograph of step 5) is proofreaied and correct to rear and master sample comparison, by special software and the program controlled in mainboard 2, carry out analyzing and processing, after noting abnormalities, alarm 9 is reported to the police; When keeping being connected with outer computer or server, control mainboard 2 to outer computer or server warning, and send dependency number code photo and data;
7), when the numerical value obtaining when the sensor of having installed exceedes setting value, alarm 9 is reported to the police; When keeping being connected with outer computer or server, control mainboard 2 to outer computer or server warning, and send related data;
8) inspection device in multiple tunnels and a computing machine composition tunnel group monitoring network.
Described secondary light source 5, digital camera 6, infrared ray profile measurer 7, temperature sensor 8, alarm 9, tunnel-liner fault localization instrument 10, humidity sensor 11, card reader 12, gas concentration sensor 13, Smoke Detection sensor 14 and sensor of dust concentration 15, IC-card 17 adopt the product of ripe prior art.
The resolution of described digital camera 6 is not less than 2,000,000, configures if desired optical filter.
Described IC-card 17 adopts passive IC-card.
Inspection device embodiment 1:
With reference to accompanying drawing: described inspection device comprises controls mainboard 2, cabinet 4, secondary light source 5, digital camera 6 and alarm 9, controls mainboard 2 and is arranged in cabinet 4, and secondary light source 5, digital camera 6 and alarm 9 are electrically connected with control mainboard 2; On described cabinet 4, running gear 1 is installed, the control section of running gear 1 is electrically connected with control mainboard 2; In the process that described digital camera 6 is walked at running gear 1, take digital photograph; The special software of installing in described control mainboard 2; The digital photograph that special software logarithmic code camera 6 is taken is preserved, analyzes and processes; When result exceeds setting range, alarm 9 is worked; When the communication interface on control mainboard 2 is connected with outer computer or remote server, controls mainboard 2 and send result to outer computer or remote server; When the communication interface on control mainboard 2 keeps being connected with outer computer or remote server, can realize tunnel and patrol and examine remote monitoring and Realtime Alerts.
Inspection device embodiment 2:
At real inspection device, execute on the basis of example 1, infrared ray profile measurer 7 for detection of tunnel cross-section size is installed on cabinet 4, infrared ray profile measurer 7 can be done around the axis that is parallel to length of tunnel direction the rotation of 360 degree, and infrared ray profile measurer 7 is electrically connected with control mainboard 2.
On the basis of inspection device embodiment 2,3, tunnel-liner fault localization instrument 10 is installed on cabinet 4 respectively, tunnel-liner fault localization instrument 10 is electrically connected with control mainboard.
Inspection device embodiment 5-8:
Respectively on the basis of inspection device embodiment 1-4, mounting temperature sensor 8, humidity sensor 11, gas concentration sensor 13, Smoke Detection sensor 14 and sensor of dust concentration 15 on cabinet 4, they all with control mainboard 2 and be electrically connected.
Inspection device embodiment 9-16:
On the basis of inspection device embodiment 1-8, a card reader 12 is installed on cabinet 4 respectively, is arranging several IC-cards 17 with on tunnel inner wall corresponding on card reader 12 walking routes, card reader 12 with control mainboard 2 and be electrically connected.
Inspection device using method embodiment 1:
With reference to accompanying drawing 3: adopt 1 inspection device.
1) in tunnel on two side each install one for running gear 1, move patrol and examine track 16, in the one end in tunnel, twilight orbit is installed, twilight orbit is connected with the track 16 of patrolling and examining of both sides, forms semiorbicular track; Or twilight orbit is installed at the two ends in tunnel, and twilight orbit is connected with the track 16 of patrolling and examining of both sides, forms annular track;
2) patrol and examine track 16 above or below tunnel inner wall on the sign with different labeled number is set, when digital camera 6 is taken in tunnel digital photograph, on digital photograph, can be clear that reference numerals; Reference numerals in sign is A1, A2, A3, A4 in the tunnel wall of the same side An other side is B1, B2, B3, B4 ...Coordinate, shape and size between above-mentioned sign is definite and known in advance.
3) a described inspection device is arranged on and is patrolled and examined on track 16 or twilight orbit; Running gear 1 road wheel with patrol and examine track 16 for rack and pinion engagement.
4) finding a view of digital camera 6 is set and is highly not less than the head room in tunnel;
5), when described inspection device is worked, according to the time interval or the travel distance set, by digital camera (6), obtain digital photograph or obtain related data parameter by the sensor of having installed;
6) digital photograph obtaining when using is for the first time preserved as the master sample of described device; From using for the second time, by special software and the program controlled in mainboard, according to the shape of sign and position, the digital photograph of step 5) is proofreaied and correct to rear and master sample comparison, by special software and the program controlled in mainboard 2, carry out analyzing and processing, after noting abnormalities, alarm 9 is reported to the police; When keeping being connected with outer computer or server, control mainboard 2 to outer computer or server warning, and send dependency number code photo and data;
7), when the numerical value obtaining when the sensor of having installed exceedes setting value, alarm 9 is reported to the police; When keeping being connected with outer computer or server, control mainboard 2 to outer computer or server warning, and send related data;
8) inspection device in multiple tunnels and a computing machine composition tunnel group monitoring network.
Inspection device using method embodiment 2:
Adopt 2 inspection devices.
Referring to accompanying drawing 4: basic identical with using method embodiment 1, different, in tunnel on two side each install one for running gear 1, move patrol and examine track 16, at the two ends in tunnel, twilight orbit is not all installed.Two described inspection devices are arranged on to patrolling and examining on track 16 of two sidewalls in tunnel.Running gear 1 road wheel with patrol and examine track 16 for normal optical wheel-rail match.
In above embodiment, the bottom in the tunnel cross-sectional profiles line 20 in tunnel is provided with rail and roadbed 18, and long 400 meters of tunnel fills an IC-card 17 and/or sign every 100 meter amperes.The motor of running gear 1 can adopt stepper motor.One-sided digital camera 6 in tunnel cross-sectional profiles line 20 interior camera sites, do not meet and crossed tunnel xsect vertical center line 19.
Claims (10)
1. a railway tunnel intelligent patrol detection device, described inspection device comprises controls mainboard (2), cabinet (4), secondary light source (5), digital camera (6) and alarm (9), control mainboard (2) and be arranged in cabinet (4), secondary light source (5), digital camera (6) and alarm (9) are electrically connected with control mainboard (2); It is characterized in that: the upper running gear (1) of installing of described cabinet (4), the control section of running gear (1) is electrically connected with control mainboard (2); Described digital camera (6) is taken digital photograph in the process of running gear (1) walking; The special software of installing in described control mainboard (2); The digital photograph that special software logarithmic code camera (6) is taken is preserved, analyzes and processes; When result exceeds setting range, alarm (9) work; When the communication interface on control mainboard (2) is connected with outer computer or remote server, controls mainboard (2) and send result to outer computer or remote server; When the communication interface on control mainboard (2) keeps being connected with outer computer or remote server, can realize tunnel and patrol and examine remote monitoring and Realtime Alerts.
2. inspection device according to claim 1, it is characterized in that: the upper infrared ray profile measurer (7) of installing for detection of tunnel cross-section size of described cabinet (4), infrared ray profile measurer (7) can be done around the axis that is parallel to length of tunnel direction the rotation of 360 degree, and infrared ray profile measurer (7) is electrically connected with control mainboard (2).
3. inspection device according to claim 1 and 2, is characterized in that: the upper tunnel-liner fault localization instrument (10) of installing of described cabinet (4), tunnel-liner fault localization instrument (10) is electrically connected with control mainboard.
4. inspection device according to claim 1 and 2, it is characterized in that: the upper mounting temperature sensor (8) of described cabinet (4), humidity sensor (11), gas concentration sensor (13), Smoke Detection sensor (14) and sensor of dust concentration (15), they are all electrically connected with control mainboard (2).
5. inspection device according to claim 3, it is characterized in that: the upper mounting temperature sensor (8) of described cabinet (4), humidity sensor (11), gas concentration sensor (13), Smoke Detection sensor (14) and sensor of dust concentration (15), they are all electrically connected with control mainboard (2).
6. inspection device according to claim 1 and 2, it is characterized in that: the upper card reader (12) of installing of described cabinet (4), arranging several IC-cards (17) with on tunnel inner wall corresponding on card reader (12) walking route, card reader (12) with control mainboard (2) and be electrically connected.
7. inspection device according to claim 3, it is characterized in that: the upper card reader (12) of installing of described cabinet (4), arranging several IC-cards (17) with on tunnel inner wall corresponding on card reader (12) walking route, card reader (12) with control mainboard (2) and be electrically connected.
8. inspection device according to claim 4, it is characterized in that: the upper card reader (12) of installing of described cabinet (4), arranging several IC-cards (17) with on tunnel inner wall corresponding on card reader (12) walking route, card reader (12) with control mainboard (2) and be electrically connected.
9. inspection device according to claim 5, it is characterized in that: the upper card reader (12) of installing of described cabinet (4), arranging several IC-cards (17) with on tunnel inner wall corresponding on card reader (12) walking route, card reader (12) with control mainboard (2) and be electrically connected.
10. according to a using method for inspection device described in claim 1-9 optional, it is characterized in that:
1) in tunnel on two side each install one for running gear (1) operation patrol and examine track (16), in the one or both ends in tunnel, twilight orbit is installed, twilight orbit is connected with the track (16) of patrolling and examining of both sides;
2) sign with different labeled number is set patrolling and examining on the top of track (16) or the tunnel inner wall of below, in digital camera (6) is taken tunnel, during digital photograph, on digital photograph, can be clear that reference numerals; Coordinate, shape and size between above-mentioned sign is definite and known in advance;
3) a described inspection device is arranged on and is patrolled and examined on track (16) or twilight orbit;
4) finding a view of digital camera (6) is set and is highly not less than the head room in tunnel;
5), when described inspection device is worked, according to the time interval or the travel distance set, by digital camera (6), obtain digital photograph or obtain related data parameter by the sensor of having installed;
6) digital photograph obtaining when using is for the first time preserved as the master sample of described device; From using for the second time, by special software and the program controlled in mainboard, according to the shape of sign and position, the digital photograph of step 5) is proofreaied and correct to rear and master sample comparison, by special software and the program controlled in mainboard (2), carry out analyzing and processing, after noting abnormalities, alarm (9) is reported to the police; When keeping being connected with outer computer or server, control mainboard (2) to outer computer or server warning, and send dependency number code photo and data;
7), when the numerical value obtaining when the sensor of having installed exceedes setting value, alarm (9) is reported to the police; When keeping being connected with outer computer or server, control mainboard (2) to outer computer or server warning, and send related data;
8) inspection device in multiple tunnels and a computing machine composition tunnel group monitoring network.
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| CN104089653A (en) * | 2014-07-11 | 2014-10-08 | 中国路桥工程有限责任公司 | Automated remote measurement and control system of tunnel construction stress and deformation |
| CN104167027A (en) * | 2014-09-05 | 2014-11-26 | 河北华恒信通信技术有限公司 | Tunnel cable fault inspection system and method |
| CN104777171A (en) * | 2015-03-28 | 2015-07-15 | 四川金码科技有限公司 | Tunnel health detection apparatus without affecting tunnel operation |
| CN105134183A (en) * | 2015-10-13 | 2015-12-09 | 四川隧唐科技股份有限公司 | Remote and real-time monitoring system for tunnel leakage water and implementation method of remote and real-time monitoring system |
| CN105780636A (en) * | 2016-05-16 | 2016-07-20 | 安徽宜留电子科技有限公司 | Device for correcting parallelism of cutoff wheels of grooving machine in operation |
| WO2017217865A1 (en) * | 2016-06-16 | 2017-12-21 | Roxel Aanestad As | Tunnel monitoring system and method of operation |
| CN108319275A (en) * | 2017-01-17 | 2018-07-24 | 南京火眼猴信息科技有限公司 | A kind of method of the camera position of subway tunnel detection platform automatically controlled |
| CN109649421A (en) * | 2018-12-21 | 2019-04-19 | 上海隧道工程质量检测有限公司 | A kind of tunnel quality testing detection vehicle |
| CN110245734A (en) * | 2019-06-26 | 2019-09-17 | 重庆交通大学 | Tunnel structure disease recognition System and method for based on rail mounted crusing robot |
| CN110562299A (en) * | 2019-09-12 | 2019-12-13 | 辽宁鼎汉奇辉电子系统工程有限公司 | Intelligent inspection device for invasion of railway key regional personnel |
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| CN104089653A (en) * | 2014-07-11 | 2014-10-08 | 中国路桥工程有限责任公司 | Automated remote measurement and control system of tunnel construction stress and deformation |
| CN104167027A (en) * | 2014-09-05 | 2014-11-26 | 河北华恒信通信技术有限公司 | Tunnel cable fault inspection system and method |
| CN104777171A (en) * | 2015-03-28 | 2015-07-15 | 四川金码科技有限公司 | Tunnel health detection apparatus without affecting tunnel operation |
| CN105134183A (en) * | 2015-10-13 | 2015-12-09 | 四川隧唐科技股份有限公司 | Remote and real-time monitoring system for tunnel leakage water and implementation method of remote and real-time monitoring system |
| CN105780636B (en) * | 2016-05-16 | 2018-10-02 | 乐清市华尊电气有限公司 | Groover running cut-out wheel parallel alignment device |
| CN105780636A (en) * | 2016-05-16 | 2016-07-20 | 安徽宜留电子科技有限公司 | Device for correcting parallelism of cutoff wheels of grooving machine in operation |
| WO2017217865A1 (en) * | 2016-06-16 | 2017-12-21 | Roxel Aanestad As | Tunnel monitoring system and method of operation |
| CN108319275A (en) * | 2017-01-17 | 2018-07-24 | 南京火眼猴信息科技有限公司 | A kind of method of the camera position of subway tunnel detection platform automatically controlled |
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