CN106403893A - Multi-senor control system of tunnel inspection vehicle - Google Patents
Multi-senor control system of tunnel inspection vehicle Download PDFInfo
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- CN106403893A CN106403893A CN201610888683.8A CN201610888683A CN106403893A CN 106403893 A CN106403893 A CN 106403893A CN 201610888683 A CN201610888683 A CN 201610888683A CN 106403893 A CN106403893 A CN 106403893A
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- tunnel
- control system
- encoder
- gyroscope
- sensor control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
- Navigation (AREA)
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Abstract
The invention discloses a multi-senor control system of a tunnel inspection vehicle, comprising a gasoline generator, a UPS (uninterrupted power supply), a switching power supply, a linear array camera, a laser source, an encoder, a pulse distributor, a laser scanner, a gyroscope, an illuminometer, and an industrial personal computer; the encoder is mounted on an automobile hub, rotates coaxially with the hub when an automobile moves forward, and provides matching pulse frequencies according to different vehicle speeds to trigger the linear array camera to photograph; inner contour of a tunnel is measured in real time by the laser scanner, and brightness of the laser source is adjusted in real time according to a reading of the illuminometer; vehicle driving attitude is recorded through the gyroscope. The programmable encoder is used herein, resolution of the encoder can be adjusted to meet the different photo resolution needs, and tunnel interior environmental information and vehicle driving attitude are collected through the laser scanner, the gyroscope, the illuminometer and the like to assist in subsequent image processing, such that image processing results are more accurate.
Description
Technical field
The invention belongs to sensor control technology field, control in particular to a kind of Tunnel testing car multisensor
System, using polytype sensor information, the Detection results to tunnel defect for the lifting.
Background technology
With China's highway fast development, its maintenance problem increasingly highlights.Huge maintenance radix and fast
The maintenance demand that speed increases makes China's Highway Maintenance task heavy and urgent, and maintenance work presents that maintenance is wide, work
The trend that work amount is big, curing cycle shortens, maintenance credit requirement increases.
Due to the impact of various factors during geological conditions, orographic condition, weather conditions and design, construction, operation, tunnel
Road is easier disease than ordinary road during long-term use, such as Lining cracks, Tunnel Water Leakage, freezing damage in tunnel,
Lining corrosion etc..These diseases both have impact on tunnel as the function of fast and safely traffic aisle, and seriously jeopardizes traffic safety.
At present, substantial amounts of ripe application has been had based on the pavement detection car of image processing techniques, and due to tunnel environment
The features such as complicated, illumination condition is poor, Tunnel testing car also rarely has application.The currently domestic work for tunnel condition detection, be
With manual detection as major way.And this traditional detection method has not more and more adapted to the requirement developing, it is mainly asked
Topic is：Time-consuming, consumption manpower, inefficiency, are difficult to periodicity and the promptness accomplishing to detect；Condition of work is very severe, inspection
Survey personal security to be guaranteed, affect traffic and normally run；Testing result cannot be carried out repeating interpretation, verify that it is accurate
Property.Therefore, Tunnel testing technical requirements develop to intelligent automation detection direction from manual detection.
The general principle of Tunnel testing car is to shoot tunnel-liner by the industrial camera making based on ccd image sensor
Obtain image information, be stored in computer through data collecting system, then by software, image processed again, obtain
The information such as disease size, position, in order to the monitoring to tunnel-liner situation further and the preventing and treating to disease.
Why mobile unit detection method can be because captured by being as the effectively dynamic measurement means of one kind
The correspondence of the size in picture and actual object., camera shoots acquisition each time taking the line-scan digital camera of 4k resolution ratio as a example
Picture is the image of 4096 × 1 pixels, and information is all the sub-fraction on tunnel cross-section lining cutting surface, through image procossing it
Present afterwards is overall tunnel-liner exterior view.Therefore in order to obtain continuous picture it is desirable to the frame width clapped of line-scan digital camera
Number is matched with the gait of march of detection car.In the application of pavement detection car, generally using the volume being arranged on automotive hub
Code device is carrying out speed coupling.Simultaneously as artificially driving reason, the position being engraved in during automobile in tunnel cross-section can not keep one
Cause, camera lens may be led to inconsistent with the distance of tunnel inner wall, camera lens is inconsistent with the angle of tunnel inner wall.So that shooting
There is the situation of certain distortion it is therefore desirable to specific environment when taking pictures using multiple sensors real time record camera in the picture going out
Information, evidence-based in the image processing process in later stage to ensure, eliminate the interference of these factors, make processing result image more
Plus accurately.
Content of the invention
It is an object of the invention to solving existing tunnel detection to rely primarily on artificial means it is impossible to adapt to new tunnel maintenance
The new demand of development.Based on image processing techniques, shoot tunnel using line-scan digital camera and using encoder triggering line-scan digital camera
Lining cutting picture, obtains environmental information in tunnel using multiple sensors such as laser scanner, illumination instruments, using gyroscope record vapour
Car driving posture, auxiliary carries out image procossing, realizes intellectuality, the automation of Tunnel testing.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of Tunnel testing car Multi-sensor control system is it is characterised in that inclusion gasoline engine generator, UPS are uninterruptedly electric
Source, Switching Power Supply, line-scan digital camera, LASER Light Source, encoder, pulsqe distributor, laser scanner, gyroscope, illumination instrument, industry control
Machine.
Optionally, the present invention is powered for whole system using gasoline engine generator, UPS uninterrupted power source, Switching Power Supply；Gasoline
Generator rating power is not less than 1500W；UPS uninterrupted power source is connected with generator, can provide and be not less than under 2000W power consumption
30 minutes additional powers；Switching Power Supply is connected with generator, and rated power is not less than 480W, voltage 12V, is placed in in-car.
Optionally, line-scan digital camera resolution ratio of the present invention is not less than 4k, and picture is black and white or colour, data-interface
For Ethernet or Cameralink, supply voltage 12V, powered by Switching Power Supply；Camera passes through data wire with industrial computer even
Connect, can be using RS422 or TTL signal as shooting trigger signals.
Optionally, LASER Light Source of the present invention is powered by Switching Power Supply, and power is not less than 7W, and can adjust
Light-source brightness.
Optionally, encoder of the present invention is programmable incremental encoder, and resolution ratio 1-10000 can adjust,
Supply voltage 5-24V, output signal is 5V TTL signal.It is installed on automotive hub, rotates coaxially with wheel hub, by opening
Close power supply to power, output signal is connected with pulsqe distributor.
Optionally, code device signal can be separated the synchronizing signal on more than 4 tunnels by pulsqe distributor of the present invention, letter
Number time delay is less than 700ns, and not pulse-losing signal.The signal separating is connected with line-scan digital camera, laser scanner respectively, puts
It is placed in in-car.
Optionally, laser scanner of the present invention, and be fixed with roof on, by netting twine and industrial computer even
Connect, tunnel contour can be measured, scan frequency is not less than 25Hz, supply voltage 12V, and precision is more than 15mm, and data-interface is
Ethernet.
Optionally, gyroscope of the present invention can provide the linear acceleration on three direction of principal axis and attitude angle, acceleration
The linearity is less than ± 50mg, and directional resolution is less than 0.1deg.Gyroscope is fixed on roof, by RS232 Serial Port Line and work
Control machine connects, in real time measurement automobile traveling attitude, processes to the picture being caused due to automobile traveling attitude in order to later image
Deformation is adjusted.The tunnel contour data recording in combination with deflection and laser scanner, can be by the reality in tunnel
Three-D profile is depicted.
Optionally, illumination instrument of the present invention, be fixed with roof on, the illumination in tunnel can be measured in real time
Condition, passes data back industrial computer by data collecting card, and is reached by RS485 communication regulation LASER Light Source according to luminous intensity
Brightness shoots normal exposure to ensure camera.Supply voltage 12～30V, output signal DC0～10V or DC4～20mA, range 0
～10000W/m2.
Optionally, industrial computer processor of the present invention is more than Intel I5 rank, is furnished with not less than 20TB's
Disk array, using RAID0 structure.And it is furnished with four-way network interface card, coding count card and analog signal input card.
The present invention adopts programmable-coder, and adjustable encoder resolution ratio is required with adapting to different picture resolution.
Meanwhile, using environmental information in the multiple sensors such as laser scanner, illumination instrument collection tunnel, using gyroscope record garage
Sail attitude, assist later image process work, make processing result image more accurate.Employ the disk array of raid0 structure
Industrial computer, improves running efficiency of system.
Brief description
Accompanying drawing 1 is the control principle structural representation frame of Tunnel testing car Multi-sensor control system in the embodiment of the present invention
Figure.
Specific embodiment
With reference to specific embodiments and the drawings 1 Tunnel testing car Multi-sensor control system of the present invention is done into
One step explanation, but protection scope of the present invention is not limited to this.
Accompanying drawing 1 is the control principle structural representation frame of Tunnel testing car Multi-sensor control system in the embodiment of the present invention
Figure.As shown in fig. 1, described Tunnel testing car Multi-sensor control system, including gasoline engine generator, UPS uninterrupted power source, opens
Close power supply, line-scan digital camera, LASER Light Source, encoder, pulsqe distributor, laser scanner, gyroscope, illumination instrument, industrial computer.
Generator is using military rattan gasoline engine generator rated voltage 230V, rated output power 1600W, peak power 2000W.
Generator is powered for UPS, and UPS uninterrupted power source adopts mountain spy C3KS 3KVA 2400W, standby time delay 30 minutes.
The Switching Power Supply being connected with UPS adopt bright latitude SP-480-12 casing formula Switching Power Supply, input voltage 230V, rated output 480W,
DC voltage 12V.
Line-scan digital camera adopts the LA-GM-04K08A-00-R of Dalsa company, resolution ratio 4K, black-and-white photograph, and data-interface is
Ethernet, supply voltage 12V, powered using Switching Power Supply, can be using RS422 or TTL signal as shooting trigger signals.
LASER Light Source adopts Magnum II Laser, the supply voltage 12V of Coherent company, is supplied using Switching Power Supply
Electricity, power 7W, can be connected with industrial computer by RS485 holding wire, and light-source brightness is adjusted with this.
Encoder adopts the programmable incremental encoder of DFS60B-BEPC10000 of Sick company, resolution ratio 1-10000
Adjustable, supply voltage 5-24V, output signal is 5V TTL signal.It is installed on automotive hub, coaxially turn with wheel hub
Dynamic, powered by Switching Power Supply, output signal is connected with pulsqe distributor.Pulsqe distributor is had using Xi'an synchronization electronics technology
Code device signal can be separated the synchronizing signal on 6 tunnels by the SYN5006 type of limit company, and signal time delay is less than 700ns, and does not lose
Lose pulse signal, be adapted to the various types of signal such as RS422, TTL, HTL.The output signal of encoder and the input of pulsqe distributor
Mouth is connected.
Laser scanner adopt Sick company LMS111-10100, and be fixed with roof on, by netting twine and work
Control machine connects, and can measure tunnel Internal periphery, scan frequency 50Hz, supply voltage 12V, and precision is more than 15mm, data-interface be with
Too net.Accessible code device signal, for positioning in tunnel.
Gyroscope adopts IMU micro gyroscope measuring system MIN-900-2 of space flight Great Wall, Shaanxi observing and controlling Co., Ltd.Can give
Go out the linear acceleration on three direction of principal axis and attitude angle, the acceleration linearity is less than ± 40mg, directional resolution is less than 0.1deg.Will
Its fixing with roof on, measurement automobile traveling attitude in real time, process in order to later image and cause to due to automobile traveling attitude
Picture deformation be adjusted.The tunnel contour data recording in combination with deflection and laser scanner, can be by tunnel
Actual three-D profile depict.
Illumination instrument adopts Siemens QLS60, supply voltage 12～30V, output signal 4～20mA, range 0～10000W/
m2.Industrial computer back is passed data by data collecting card, RS485 communication is reached by according to luminous intensity and adjusts LASER Light Source brightness
To ensure camera shooting normal exposure.
Industrial computer concrete configuration is Intel I5CPU, is equipped with the disk array of 20 pieces of 2T compositions, using RAID0 structure, real
Border size 36TB, R/W speed of hard disc reaches more than 1000MB/s.Mainboard is furnished with multiple PCI expansion slots.Separately it is furnished with four mouthfuls of gigabits
Network interface card is used for transmitting the data of line-scan digital camera and laser scanner, grind magnificent PCI-1784U encoder to count card for record encode
Device reading, and grind magnificent PCI-1714 analog signal input card for reading the reading of illumination instrument.
Described system is powered by gasoline engine generator, UPS uninterrupted power source, Switching Power Supply.Encoder is arranged on automobile
On wheel hub, rotate coaxially with wheel hub during automobile is advanced, the pulse frequency triggering being adapted to therewith is provided according to different speeds
Line-scan digital camera is taken pictures.Tunnel Internal periphery is measured in real time by laser scanner, according to illumination instrument reading real-time adjustment laser
Light-source brightness.By gyroscope record running car attitude.The employing programmable-coder of present invention innovation, adjustable encoder
Resolution ratio is required with adapting to different picture resolution.Meanwhile, using multiple sensing such as laser scanner, gyroscope, illumination instrument
Environmental information and running car attitude in device collection tunnel, assist later image process work, make processing result image more
Accurately.Employ the disk array industrial computer of raid0 structure, improve running efficiency of system.
It is understood that the embodiment of above principle being intended to be merely illustrative of the present and the exemplary enforcement adopting
Mode, but the invention is not limited in this.For those skilled in the art, in the essence without departing from the present invention
In the case of god and essence, various modifications and improvement can be made, these modifications and improvement are also considered as protection scope of the present invention.
Claims (6)
1. a kind of Tunnel testing car Multi-sensor control system it is characterised in that include gasoline engine generator, UPS uninterrupted power source,
Switching Power Supply, line-scan digital camera, LASER Light Source, encoder, pulsqe distributor, laser scanner, gyroscope, illumination instrument, industrial computer.
2. Tunnel testing car Multi-sensor control system according to claim 1 is it is characterised in that selected encoder
For programmable incremental encoder.
3. Tunnel testing car Multi-sensor control system according to claim 1 is it is characterised in that selected gyroscope
It is fixed on roof, provide the linear acceleration on three direction of principal axis and attitude angle.
4. Tunnel testing car Multi-sensor control system according to claim 1 is it is characterised in that selected laser light
Source has regulation brightness function.
5. Tunnel testing car Multi-sensor control system according to claim 1 is it is characterised in that selected laser is swept
Retouch instrument and be fixed on roof, and can access code device signal.
6. the Multi-sensor control system of Tunnel testing car according to claim 1 is it is characterised in that selected industry control
Machine is furnished with the disk array not less than 20TB, using RAID0 structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610888683.8A CN106403893A (en) | 2016-10-11 | 2016-10-11 | Multi-senor control system of tunnel inspection vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610888683.8A CN106403893A (en) | 2016-10-11 | 2016-10-11 | Multi-senor control system of tunnel inspection vehicle |
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| CN201610888683.8A Pending CN106403893A (en) | 2016-10-11 | 2016-10-11 | Multi-senor control system of tunnel inspection vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108267096A (en) * | 2017-12-25 | 2018-07-10 | 中铁科学技术开发公司 | Railway tunnel lining surface disease rapid detection system |
| CN110588707A (en) * | 2019-09-12 | 2019-12-20 | 江苏航天大为科技股份有限公司 | Method for detecting rail transit tunnel clearance |
| CN110849368A (en) * | 2019-10-23 | 2020-02-28 | 同济大学 | High-precision rapid positioning device and method in tunnel |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267096A (en) * | 2017-12-25 | 2018-07-10 | 中铁科学技术开发公司 | Railway tunnel lining surface disease rapid detection system |
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| CN110588707A (en) * | 2019-09-12 | 2019-12-20 | 江苏航天大为科技股份有限公司 | Method for detecting rail transit tunnel clearance |
| CN110849368A (en) * | 2019-10-23 | 2020-02-28 | 同济大学 | High-precision rapid positioning device and method in tunnel |
| CN110849368B (en) * | 2019-10-23 | 2021-09-03 | 同济大学 | High-precision rapid positioning device and method in tunnel |
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Application publication date: 20170215 |
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