CN104655047B - The rapid integrated measuring system in tunnel - Google Patents
The rapid integrated measuring system in tunnel Download PDFInfo
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- CN104655047B CN104655047B CN201510085599.8A CN201510085599A CN104655047B CN 104655047 B CN104655047 B CN 104655047B CN 201510085599 A CN201510085599 A CN 201510085599A CN 104655047 B CN104655047 B CN 104655047B
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Abstract
The invention discloses a kind of rapid integrated measuring system in tunnel, including chassis vehicle, sensor stand, sensor, sensor synchronization and signal processing apparatus, data acquisition and procession device and electric supply installation, sensor stand is installed on a chassis by feathering axis, if installing dried noodle array camera, LED illumination lamp, thermal infrared imager on sensor stand respectively；View data on the array camera collection tunnel cross-section of face；Thermal infrared imager gathers the temperature information of tunnel inner wall；It is synchronous to be set to thermal infrared imager, face array camera offer synchronizing signal with signal processing device；Data acquisition and procession device gathers and handled the thermal infrared imager, the signal of face array camera.The present invention can simultaneously, Quick Acquisition Lining Crack, lining cutting percolating water section deformation and comes to nothing a variety of tunnel defect data such as disease, substantially increases detection efficiency and accuracy of detection.Detection process does not need manual intervention, good for detection tunnel-liner percolating water and disease aspect of coming to nothing, security.
Description
Technical field
The invention belongs to the field of existing vcehicular tunnel technology, is related specifically to Tunnel Lining Cracks, lining cutting percolating water, tunnel
The rapid integrated measuring system in tunnel of the Indexs measures such as road section geometric deformation.
Background technology
The routine testing work of operation tunnel at present, be unable to do without manual work mostly.For example, the inspection of Tunnel Lining Cracks
Survey, be to be identified using artificial naked eyes, then photograph to record crack speciality form, manual record crack position with tape measure, camera
Confidence ceases.Detected for the Lining Crack more than haunch with vault, then need to use scaffold or high altitude lifting platform car, examined
Survey personnel could close contact to tunnel inner wall, using flashlight lighting, visually check the disease of haunch and vault.This method
The Lining Crack accuracy rate detected is low, and easy missing inspection, in detection process, personnel safety is poor, and detection efficiency is low, 1 kilometer
Tunnel, 10 individual demands 1 hour complete.
For example, Tunnel Water Leakage and vacant analysis, are that manually naked eyes identify, vacant analysis.Man-hour manually hand-held iron hammer beats
Lining cutting inwall, if running into has disease of coming to nothing, the lining cutting cement block to drop easily injures vehicle and the testing staff of traveling by a crashing object,
In detection process, because tunnel vault is very high, it for the detection come to nothing, can not be completely covered, can only locally detect, this method
Detection efficiency is low, and precision is low, and security is poor.
For example, tunnel cross section shape changing detection, uses total powerstation static state fixed test mostly.Because shape changing detection is desirable
The historical data of same position contrasts through row.Same tunnel, the profile data of collection is more, and detection is more accurate.But
In Practical Project detection process, due to fixed point Static Detection, it is necessary to which completely enclosed tunnel, serious have impact on traffic patency.
And it is above-mentioned operation tunnel conventional detection, indices can only be detected individually, efficiency is low." Tunnel testing car "
(patent No. 200620052491.5) provides a kind of Tunnel testing equipment simple to operate, cheap.In conventional carrier vehicle
On platform, fixed rotatable telescopic arm, radar detedtor is installed in telescopic arm front end, for gathering tunnel-liner inner surface
Data.There is a range tracking element in radar erector, compensation is made in caused skew movable to vehicle, to ensure thunder
It can accurately be close to inner surface of tunnel up to detector, collect accurately data.The base of fixed telescopic arm can turn
Dynamic 180 °, the flexible of amplitude oil cylinder can make 100 ° of telescopic arm luffing, so as to may be implemented in comprehensive detection in tunnel.But this sets
It is standby can practicality it is not high, detection speed is low, therefore there is no and applied by market.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of rapid integrated measuring system in tunnel, have automaticity
The characteristics of high, safe efficient, multi-parameter comprehensive measures.
In order to solve the above technical problems, the invention provides a kind of rapid integrated measuring system in tunnel, it is characterised in that bag
Include chassis vehicle, sensor stand, sensor, sensor synchronization and signal processing apparatus, data acquisition and procession device and power supply
Device, if the sensor includes dried noodle array camera and thermal infrared imager；
The chassis vehicle, the carrier platform for traverse measurement；
The sensor stand, the sensor stand are arranged on the chassis vehicle by feathering axis, Ruo Gansuo
State face array camera, thermal infrared imager is separately mounted on sensor stand, some LED are installed on the sensor stand and shone
Bright lamp；
The LED illumination lamp is used to irradiate tunnel inner wall, and shooting tunnel cross-section image for the face array camera provides light
Source；The face array camera is used to gather the view data on tunnel cross-section；The thermal infrared imager is used to gather tunnel inner wall
Temperature information；
The synchronization and signal processing apparatus, connect the thermal infrared imager, face array camera and data acquisition and procession
Device, for providing synchronizing signal for the thermal infrared imager, face array camera；
The data acquisition and procession device, for gathering and handling the signal of the thermal infrared imager, face array camera；
The electric supply installation, for for the thermal infrared imager, face array camera, synchronous with signal processing apparatus, data
Collection provides working power with processing unit.
More excellent, laser scanner is housed, the laser scanner connects the synchronization and signal on the horizontal base
Processing unit and data acquisition and procession device, in vehicular motion, completing the outline data of full section of tunnel
Collection.
Further optimize, if dried noodle array camera arrangement is arranged on fan-shaped curved line, the face array camera
Shooting direction gradually changed by putting in order for face array camera；
Some LED illumination lamp arrangements are arranged on arrangement and are arranged on fan-shaped curved line, the irradiation of the LED illumination lamp
Direction is gradually changed by putting in order for LED illumination lamp.
The accumulation emergent light angle of whole LED illumination lamps on the vertical plane covers 90 degree, whole face array cameras
Accumulation shooting angle on the vertical plane covers 90 degree.
Each LED illumination lamp is arranged on the sensor stand by LED seat respectively, each LED
The seat reduction of fractions to a common denominator does not overregulate nut adjustable angle on the sensor stand.
Each face array camera is arranged on the sensor stand by camera holder, and the camera holder passes through regulation
Nut adjustable angle is arranged on the sensor stand.
The LED seat is that section is step-like elongate structure, and a LED is mounted with respectively in the going up or down stairway face
Illuminating lamp, the illumination angle of the LED illumination lamp on upper and lower cascaded surface, which exists, to intersect, and makes to form unshadowed light on tunnel inner wall
Shadow surface, and further strengthen illuminance.
Each LED illumination lamp includes some aligned LED, and the light of a row LED illumination lamp forms a light
Band.
Preferably, the quantity of the LED seat is 17, and the quantity of the face array camera seat is 16, each described
The installation alternate with the LED seat respectively of face array camera seat.
The thermal infrared imager uses the thermal infrared imager that 2 imaging angles are 45 ° for 90 ° or 3 imaging angles.
The principle of tunnel Fast measurement system is：In chassis vehicle traveling in tunnel, tunnel is gathered by face array camera
The image data of inwall, laser scanner gather the outline data of tunnel cross section, and thermal infrared imager gathers the temperature of tunnel inner wall
Spend information.The sensor stand uses 180 ° of rotational structures, is respectively completed the data acquisition in left and right half range tunnel；To collecting
All the sensors data, carry out the fusion treatment of data post, by image data and infrared data, fit to tunnel 3D models
On, reduce the true health status in tunnel.With reference to the encoder data in system, the geographical location information of disease is also recorded
Come.The characteristics of for all diseases and physical location have accurate record, and the report data can of later stage production supplies
Conserve departments' reference.
The beneficial effects of the present invention are：
The present invention is not under conditions of traffic control is made, and chassis vehicle under normally travel speed 60km/h -80km/h to pass through
Tunnel, so that it may which simultaneously, a variety of tunnel defect data of Quick Acquisition, including Lining Crack, lining cutting percolating water and comes to nothing at section deformation
Disease, substantially increase detection efficiency.
The present invention establishes 3D tunnel models, by tunnel defect number by the way that the data gathered are passed through into later stage fusion treatment
According to being fused on 3D models, true reappearance tunnel outdoor scene, the geographical position of disease in tunnel is accurately positioned, so as to substantially increase
Accuracy of detection.
Detection process of the present invention does not need manual intervention, using non-contact measurement, is oozed particularly with detection tunnel-liner
In terms of leak and disease of coming to nothing, security is good.
Brief description of the drawings
Technical scheme is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the overall structure front view of the specific embodiment of the invention.
Fig. 2 is the structural front view of car parts of the present invention.
Fig. 3 is the sensor stand three-dimensional structure diagram in car parts of the present invention.
Fig. 4 is sensor support structure left view.
Fig. 5 is sensor support structure partial enlarged drawing.
Fig. 6 is single led polishing characteristic schematic diagram.
Fig. 7 is the lighting strip schematic diagram that continuous multiple LED are formed.
Fig. 8 is that LED main light sources cover schematic diagram in the visual field of tunnel inner wall on sensor stand.
Fig. 9 is that LED pairs light source covers schematic diagram in the visual field of tunnel inner wall on sensor stand.
Figure 10 is the mounting coordinate schematic diagram of major and minor LED light source on sensor stand.
Figure 11 is the setting angle schematic diagram of main LED light source on sensor stand.
Figure 12 is the perspective plane schematic diagram of camera on sensor stand.
Figure 13 is camera mounting coordinate schematic diagram on sensor stand.
Figure 14 is camera setting angle schematic diagram on sensor stand.
Embodiment
As shown in figure 1, the system is a vehicle-mounted detection integrated system, including chassis vehicle 1, stroboscopic indicator lamp 2, subframe 3,
Power supply wall box, slide shelter 5, preceding fixed barricade 6, workspace cludy 7, the big cabin 8 in workspace, accessory case 9, range finder 10, oil machine
Door 11, slided as shown in Fig. 2 sensor stand is arranged in shelter 5.Chassis vehicle is the traverse measurement platform of the system, is tunnel
Each equipment of road measuring system provides carrier loader platform.Chassis vehicle 1 uses light truck, and tractive force is big, handling good, and full car uses
Air spring shock mitigation system, it is ensured that the security and stability of equipment.Synchronously be arranged on signal processing apparatus in workspace cludy 7,
Data acquisition and procession device, electric supply installation are arranged in the big cabin 8 in workspace.
As shown in Figure 3, Figure 4, sensor stand is system sensor equipment carrying device, is arranged on by feathering axis
, being capable of 90 ° of rotations in horizontal extent on chassis vehicle.Tunnel car passes through left rotation and right rotation sensor when traveling process measures
The rotation of support, realize the collection of left and right half range tunneling data, it is not necessary to close a road to traffic, it is not required that reverse stroke, in actual workmanship
When journey, it is not necessary to walk repetition section, the detection efficiency greatly improved.
Sensor stand includes horizontal base and fan-shaped stand, and a laser scanner 24 is housed on horizontal base, fan-shaped
Thermal infrared imager is installed, thermal infrared imager is used to gather tunnel inner wall temperature data on the side of stand；Thermal infrared imager is adopted
With the thermal infrared imager that 2 imaging angles are 90 ° or 3 imaging angles are 45 °.Thermal infrared imager is used to gather tunnel inner wall
Temperature data, handled by later data, generate thermal map.Laser scanner, laser scanner connection are housed on horizontal base
Synchronous and signal processing apparatus and data acquisition and procession device, in vehicular motion, completing full section of tunnel
Outline data collection.
17 groups of Combined LED illumination lamps, and 16 face array phases are sequentially installed on the arcwall face at the top of fan-shaped stand
Machine.The exit direction of different LED illumination lamps is gradually changed by putting in order for lighting unit, and whole LED illumination lamps are in vertical plane
On accumulation emergent light angle cover 90 degree, and adjacent light belt is incident upon the just unshadowed linking on tunnel inner wall.All
The shooting angle of face array camera is gradually changed by putting in order for face array camera, the accumulation of face array camera on the vertical plane
Shooting angle covers 90 degree.
Laser scanner completes the collection of the outline data of full section of tunnel in vehicular motion；LED illumination lamp is used
In irradiation tunnel arc top surface, shoot tunnel arc top image for face array camera and light source is provided；It is synchronous to be set to signal processing device
Laser scanner, face array camera provide synchronization and signal transacting；Data acquisition and procession device gathers and processing laser scanning
The signal of instrument, face array camera；Electric supply installation is laser scanner, face array camera, synchronously adopted with signal processing apparatus, data
Collection provides working power with processing unit.
As shown in figure 5, every group of LED illumination lamp includes lamp socket 31, each LED seat is that section is step-like elongated knot
Structure, the elongated combination LED installed on the high position of lamp socket 31 is main light source, the elongated group installed on lower position
Conjunction LED is secondary light source.The component by adjusting nut A, can make ± 5 ° of regulation in the Y direction.Camera can pass through adjusting nut
B, make ± 5 ° of regulation in the Y direction.The installation site and regulation angle of LED and camera, set according to two track tunnel models
Meter and calculating, its main purpose is to realize the splicing of cross section image data.
Single led mounting means uses laterally, as shown in Figure 7.Using this mounting means, mainly in view of single
The characteristics of LED light projector area and luminous intensity, as shown in fig. 6, the single led polishing on tunnel inner wall is shaped as an ellipse
Region, and brightness is not uniform, but gradually weaken from center to surrounding.In view of single led photocurrent versus light intensity, in order to
A light belt of showing up can be formed in the X-direction of tunnel inner wall cross section, so the mounting means of LED needs to combine adjustment,
It is more than with reaching Uniform Illumination region in camera shooting area, so could auxiliary camera illumination.Fig. 7 is the multiple lists deployed
LED illumination produces the schematic diagram of light belt, and adjacent single led illumination region has certain overlapping in figure, its act on be exactly in order to
Brightness of illumination is improved by being superimposed, finally gives the strip-like rectangular illumination region of a brightness uniformity.
The perspective plane signal of main light source LED is as shown in Figure 8.41st, 42 respectively represent the 16th, the 15th LED key light
The light path that source emits, and light projector region of the light path on tunnel inner wall.14th, the 15th the two adjacent main light sources are in tunnel
There is space 43 in the projection on road inwall, there is also sky between other projections of two adjacent main light sources on tunnel inner wall
Gap.The IMAQ being so unfavorable at the shadow that face array CCD camera irradiates to tunnel wall light source.In order to meet LED
Light source covers whole half range tunnel inner wall, so add secondary light source, secondary light sources project face signal as shown in figure 9, wherein, 51,
52 represent the light path that the secondary light source of the 16th, the 15th LED emits, and light projector area of the light path on tunnel inner wall respectively
Domain.Space 53 be present in the 14th, the 15th the two projections of adjacent secondary light source on tunnel inner wall.Other two adjacent secondary light
There is also space between projection of the source on tunnel inner wall.But the projection space of secondary light source is located at effective projection of main light source
Area, and projection space of the main light source on tunnel inner wall is located at effective projected area of secondary light source.So, secondary light source and main light source phase
Mutually supplement, be used cooperatively, make light source projects space is not present on tunnel inner wall, while also enhance the illuminance to tunnel wall.
The installation site coordinate that present embodiment gives light source is as shown in Figure 10, setting angle coordinate such as Figure 11 institutes of light source
Show.
One face array CCD camera is arranged between two adjacent LED seats, and 16 are shared between 17 LED seats
Individual face array CCD camera.The perspective plane signal of face array CCD camera is as shown in figure 12.Wherein, the meaning of label 61 is No. 16 phase
The scanning area of machine, the signified scanning area for No. 15 camera of label 63, signified label 62 is No. 16 and No. 15 camera
Scanning overlapping region.Because the focal length and object distance of each camera are different, so the projected area of each camera is also different,
In order to which 1/2 tunnel inner wall is completely covered, so the installation site of each camera needs accurate calculating, present embodiment
Give that the coordinate position of face array CCD camera is as shown in figure 13, and camera setting angle position is as shown in figure 14.Because the later stage is
The demarcation of system, the position of camera need to finely tune, so the setting angle of single camera, can be adjusted at ± 5 °.
The principle of tunnel Fast measurement system of the present invention is：
The image data of tunnel inner wall is gathered by camera, scanner gathers the outline data of tunnel cross section, infrared heat
As the temperature information of instrument collection tunnel inner wall.To all the sensors data collected, the fusion treatment of data post is carried out, will
Image data and infrared data, fit on tunnel 3D models, reduce the true health status in tunnel.With reference to the coding in system
Device data, the geographical location information of disease is also recorded.The characteristics of for all diseases and physical location have essence
True record, the report data can of later stage production support shield departments' reference.
The tunnel slot detection method used at present, efficiency is low, it is necessary to which traffic is closed a road to traffic, and personnel hazard's property is big, general
It is poor for applicability, do not possess generalization, the present invention gathers tunnel inner wall by the way of multi sensor combination by machine vision
Image data, thermal infrared imager gather tunnel inner wall temperature information, and scanner gathers tunnel cross section profile information, encodes
Device and GPS give mark of the data through row time and physical location collected, an engineering detecting, it is possible to collect tunnel
Multiple diseases data, efficiency high, security is good, suitable for all tunnels；
The present invention is combined in actual application, the sShape features in tunnel itself, the exclusive sensor branch of autonomous Design
Body panel, tunnel car, by the rotation of runing rest, are realized the collection of left and right half range tunneling data, are not required to during traveling
Close a road to traffic, it is not required that reverse stroke, when engineering is actually done, it is not necessary to walk repetition section, the detection effect greatly improved
Rate；
It should be noted last that above embodiment is merely illustrative of the technical solution of the present invention and unrestricted,
Although the present invention is described in detail with reference to preferred embodiment, it will be understood by those within the art that, can be right
Technical scheme is modified or equivalent substitution, and without departing from the spirit and scope of technical solution of the present invention, its is equal
It should cover among scope of the presently claimed invention.
Claims (7)
1. a kind of rapid integrated measuring system in tunnel, it is characterised in that including chassis vehicle, sensor stand, sensor, sensor
Synchronous and signal processing apparatus, data acquisition and procession device and electric supply installation, if the sensor includes dried noodle array camera
And thermal infrared imager；
The chassis vehicle, the carrier platform for traverse measurement；
The sensor stand, the sensor stand are arranged on the chassis vehicle by feathering axis, some faces
Array camera, thermal infrared imager are separately mounted on sensor stand, and some LED illuminations are provided with the sensor stand
Lamp；Sensor stand includes horizontal base and fan-shaped stand；
The LED illumination lamp is used to irradiate tunnel inner wall, and shooting tunnel cross-section image for the face array camera provides light source；Institute
Face array camera is stated to be used to gather the view data on tunnel cross-section；The thermal infrared imager is used for the temperature for gathering tunnel inner wall
Information；
The synchronization and signal processing apparatus, the thermal infrared imager, face array camera and data acquisition and processing unit are connected,
For providing synchronizing signal for the thermal infrared imager, face array camera；
The data acquisition and procession device, for gathering and handling the signal of the thermal infrared imager, face array camera；
The electric supply installation, for for the thermal infrared imager, face array camera, synchronous with signal processing apparatus, data acquisition
Working power is provided with processing unit；
Laser scanner is housed on the horizontal base, the laser scanner connect the synchronization and signal processing apparatus and
Data acquisition and procession device, the collection of the outline data in vehicular motion, completing full section of tunnel；
If the dried noodle array camera arrangement is arranged on the arcwall face at the top of the fan-shaped stand, the bat of the face array camera
Direction is taken the photograph to gradually change by putting in order for face array camera；
Some LED illumination lamp arrangements are arranged on the arcwall face that arrangement is arranged at the top of fan-shaped stand, the LED illumination lamp
Direction of illumination gradually changed by putting in order for LED illumination lamp；
Each face array camera seat installation alternate with the LED seat respectively；
The image data of tunnel inner wall is gathered by camera, scanner gathers the outline data of tunnel cross section, thermal infrared imager
Gather the temperature information of tunnel inner wall；To all the sensors data collected, the fusion treatment of data post is carried out, by image
Data and infrared data, fit on tunnel 3D models, reduce the true health status in tunnel.
2. the rapid integrated measuring system in tunnel according to claim 1, it is characterised in that whole LED illumination lamps
Accumulation emergent light angle on the vertical plane covers 90 degree, the accumulation shooting angle covering of whole face array cameras on the vertical plane
90 degree.
3. the rapid integrated measuring system in tunnel according to claim 2, it is characterised in that every group of LED illumination lamp includes lamp
Seat, each LED seat is that section is step-like elongate structure, the elongated combination LED installed on the high position of lamp socket
For main light source, an elongated combination LED being installed on lower position is secondary light source, the light of the LED illumination lamp on upper and lower cascaded surface
Exist according to angle and intersect.
4. the rapid integrated measuring system in tunnel according to claim 3, it is characterised in that each face array camera leads to
Camera holder is crossed on the sensor stand, the camera holder is arranged on the sensor by adjusting nut adjustable angle
On support.
5. the rapid integrated measuring system in tunnel according to claim 3, it is characterised in that each LED illumination lamp bag
Some aligned LED are included, for single led mounting means using laterally, the light of a row LED illumination lamp forms a light
Band.
6. the rapid integrated measuring system in tunnel according to claim 3, it is characterised in that the quantity of the LED seat is
17, the quantity of the face array camera seat is 16.
7. the rapid integrated measuring system in tunnel according to claim 3, it is characterised in that the thermal infrared imager uses 2
The thermal infrared imager that platform imaging angle is 90 ° or 3 imaging angles are 45 °.
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| CN105737849A (en) * | 2015-12-24 | 2016-07-06 | 武汉武大卓越科技有限责任公司 | Calibration method of relative position between laser scanner and camera on tunnel car |
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| CN108593654B (en) * | 2018-03-28 | 2020-08-25 | 北京交通大学 | Tunnel image acquisition system and method |
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