CN106482710B - A kind of vehicular vcehicular tunnel rapid detection system - Google Patents
A kind of vehicular vcehicular tunnel rapid detection system Download PDFInfo
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- CN106482710B CN106482710B CN201610828737.1A CN201610828737A CN106482710B CN 106482710 B CN106482710 B CN 106482710B CN 201610828737 A CN201610828737 A CN 201610828737A CN 106482710 B CN106482710 B CN 106482710B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The present invention discloses a kind of vehicular vcehicular tunnel rapid detection systems, including vision inspection apparatus, vehicle-mounted fixing device and vehicle speed measurement device three parts；Vision collecting device is for acquiring tunnel-liner image and cross dimensions, including support rod, support, connector, scanner mounting rod and scanner mounting bracket；Vehicle-mounted fixing device is used to vision collecting device being mounted on vehicle roof, including aligning platform, revolving support, positioning bolt, support platform, support base and supporting beam；Vehicle speed measurement device triggers camera, spatial digitizer for acquiring vehicle driving displacement, speed data in real time.The vehicular vcehicular tunnel rapid detection system of present disclosure has many advantages, such as that strong applicability, easy to use, detection speed is fast, Image Acquisition quality is high and at low cost, solves many technical problems when the application of existing highway tunnel rapid detection system.
Description
Technical field
The invention belongs to vehicle-mounted detection technique fields, in particular to a kind of quick detection system of vehicular vcehicular tunnel
System.
Background technique
Tunnel testing needs close traffic at present, usually completes to examine by high-altitude operation vehicle, using artificial or artificial instrument
Survey task.This method working efficiency based on artificial detection is low, personal subjective degree is big, spends height, risk big, Wu Faman
Sufficient fast and accurately testing requirements." highway tunnel maintenance technical specification " (JTG_H12-2015) has increased running check item newly, inspection
Measured frequency is also significantly increased, and encourages that information-based means is used to carry out tunnel structure detection, and tradition has relied on artificial detection method
It is difficult to meet demand, it is often more important that can not be managed to defect information, it is difficult to the development trend of statistics and analysis disease.
In recent years, as vcehicular tunnel Quantity is continuously increased, traditional artificial method has been unable to satisfy fast and accurately
Testing requirements.Detection method based on computer vision have it is visual in image, speed is fast, precision is high, data be easy to save etc. it is excellent
Point, in the works non-destructive testing such as the highway pavement that is widely used, railway tunnel.Compared with highway pavement, railway tunnel, highway
Tunnel cross-section is complex-shaped, internal illumination condition is diversified, Damage Types are numerous, and detection process is by vehicle flowrate, wheelpath, ring
Border multi-dimensional vibration is affected, the research difficulty which increases vision techniques in vcehicular tunnel intellectualized detection.
Existing several prods tunnel image is formed by more camera sync pulse jammings, the integration of equipments such as camera, light source, sensor
For a huge onboard system, there are problems that system complex, data volume be big, high cost, which also limits the technologies in public affairs
Extensive use in road tunnel field of fast detection.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes a kind of vision-based detection of simple structure and low cost, with strong applicability
System, and be integrated on vehicle, form a set of vehicle mounted type intelligent tunnel easy to use rapid detection system.The present invention adopts
Technical solution is as follows:
A kind of vehicular vcehicular tunnel rapid detection system, which is characterized in that by vision inspection apparatus, vehicle-mounted fixing device
It is formed with vehicle speed measurement device three parts；Wherein,
The vision collecting device is for acquiring tunnel-liner image and cross dimensions, including support rod, support, connection
Part, scanner mounting rod and scanner mounting bracket；Support rod forms a support frame structure by connector and support, uses
In carrying digital camera, laser light source, spatial digitizer；Three groups of cameras are fixed on braced frame surface by T-bolt, described
Camera installing plate is made of two pieces of L-type acute angle mounting plates and obtuse angle mounting plate component；Scanner mounting rod is fixed by T-bolt
In supporting beam on the outside of the frame, and laser 3 d scanner is fixed on by above-mentioned peace by scanner support and hexagon socket head cap screw
It fills on bar；
Vehicle-mounted fixing device function be vision collecting device is mounted on to vehicle roof, including aligning platform, revolving support,
Positioning bolt, support platform, support base and supporting beam；Aligning platform be used to adjust the center of gravity of vision collecting device always with vehicle
Luggage carrier center is overlapped, and upper surface is connect with braced frame bottom surface, lower surface and revolution driving swivel becket connect；Revolution driving
For realizing data acquisition of the vision collecting device at 0 ° and 180 ° of two positions, fixed ring and support platform upper surface connect
It connects；Support platform edge is disposed with four groups of mounting holes, is connected supporting beam with support plate by support base, above-mentioned all components are equal
By supporting beam fixed hinge on baggage carrier of vehicle；
Vehicle speed measurement device triggers camera, spatial digitizer for acquiring vehicle driving displacement, speed data in real time,
Including hold-down support, external splint, inner splint, snap ring, fixed link, guide rod, fastening nut, installation front panel, encoder housing,
Rear panel, guiding axis, flange and Nut column are installed；Encoder housing is provided with sensor, two sides by install forward and backward plate by its
It positions and fixes, which is fixed by guiding axis and flange, and the flange passes through Nut column and vehicle thereon
Wheel hub connection, and then rotated together with wheel；Guide rod one end connect by fastening nut with encoder housing, the other end with consolidate
Fixed pole lower end constitutes a prismatic pair, realizes the reciprocating motion along bar centerline direction, and fixed link upper end is solid by snap ring and L-type
Determine support connection, and is connect by inside and outside clamping plate with vehicle metal.
Preferably, the angle between two adjacent groups camera installing plate is 30~60 °.
Preferably, L-type acute angle mounting plate and obtuse angle mounting plate component are welded by two plates, wherein acute angle clamping plate angle
Degree range is 80~90 °, obtuse angle clamping plate angular range is 95~100 °.
Preferably, aligning platform is always positioned at it for adjusting position of the vision collecting device in baggage carrier of vehicle
At center, the offset between geometric center and center of gravity is 0~30mm.
Preferably, braced frame material is aluminium alloy extrusions, and camera installing plate material is magnesium alloy plate, and aligning is flat
Platform, support platform, encoder housing, flange are aluminum alloy material, and supporting beam material is steel alloy hollow square tube.
This hair discloses a kind of vcehicular tunnel and quickly detects solution, and digital camera, laser light source, laser three-D are swept
Instrument, encoder and mechanical device is retouched to be integrated on a common offroad vehicle, it, can be while not changing vehicle overall structure
Under normal speed traveling, the parameters such as vehicle movement, speed are acquired in real time, and trigger the equipment such as camera, laser 3 d scanner and adopt
Collect tunnel-liner image and section three-dimensional dimension etc., with strong applicability, easy to use, detection speed is fast, Image Acquisition quality
The advantages that high and at low cost, solves many technical problems when the application of existing highway tunnel rapid detection system.
Detailed description of the invention
Attached drawing 1 is vehicular vcehicular tunnel rapid detection system tomograph in the embodiment of the present invention.
Attached drawing 2 is that vision collecting apparatus structure is illustrated in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Figure.
Attached drawing 3 is that support frame structure size is illustrated in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Figure.
Attached drawing 4 is camera installing plate structure chart in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention.
Attached drawing 5 is that acute angle clamp region size is illustrated in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Figure.
Attached drawing 6 is that obtuse angle clamp region size is illustrated in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Figure.
Attached drawing 7 is that scanner support structure size is shown in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
It is intended to.
Attached drawing 8 is vehicle-mounted fixing device three-dimensional structure in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Figure.
Attached drawing 9 is that aligning platform structure size is illustrated in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Figure.
Attached drawing 10 is that support platform structure size is shown in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
It is intended to.
Attached drawing 11 is vehicle speed measurement device three-dimensional knot in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Composition.
Attached drawing 12 is encoder housing structure and ruler in vehicular vcehicular tunnel rapid detection system in the embodiment of the present invention
Very little schematic diagram.
The reference numerals are as follows in figure shown in table:
| Label | Title | Label | Title | Label | Title |
| 1 | Vision collecting device | 2 | Vehicle-mounted fixing device | 3 | Vehicle speed measurement device |
| 1-01 | Support rod | 1-02 | Support | 1-03 | Connector |
| 1-04 | Camera installing plate | 1-05 | Scanner mounting rod | 1-06 | Scanner support |
| 2-01 | Aligning platform | 2-02 | Revolving support | 2-03 | Support platform |
| 2-04 | Support base | 2-05 | Supporting beam | 2-06 | Positioning bolt |
| 3-01 | Hold-down support | 3-02 | External splint | 3-03 | Inner splint |
| 3-04 | Snap ring | 3-05 | Fixed link | 3-06 | Guide rod |
| 3-07 | Fastening nut | 3-08 | Front panel is installed | 3-09 | Encoder housing |
| 3-10 | Rear panel is installed | 3-11 | Guiding axis | 3-12 | Flange |
| 3-13 | Nut column | 1-04-01 | Acute angle clamping plate | 1-04-02 | Obtuse angle clamping plate |
| 1-04-03 | Angle adjustment plate |
Specific embodiment
Combined with specific embodiments below with attached drawing to a kind of vehicular vcehicular tunnel rapid detection system of the present invention
It is described further, but the scope of protection of the present invention is not limited thereto.
Fig. 1 shows one of preferred embodiment of the present invention vehicular vcehicular tunnel rapid detection system three-dimensional structure,
Including vision collecting device (1), vehicle-mounted fixing device (2) and vehicle speed measurement device (3), each part mentioned above is integrated in Toyota's Chinese
Orchid reaches on offroad vehicle, and wherein vehicle-mounted fixing device (2) is fixed with baggage carrier of vehicle.
Fig. 2 shows vision collecting device (1) three-dimensional structures, including support rod (1-01), support (1-02), connector
(1-03), camera installing plate (1-04), scanner mounting rod (1-05) and scanner support (1-06) etc..Using OB.10-
The support rod (1-01) of 4545W2 type Europe superscript industrial aluminum profile forms a support by connector (1-03) and support (1-02)
Frame, parameters of structural dimension are as shown in Figure 3.
Fig. 4 shows camera installing plate (1-04) three-dimensional structure, by acute angle clamping plate (1-04-01), obtuse angle clamping plate (1-04-
02) it is constituted with angle adjustment plate (1-04-03), the magnesium alloy plate that above-mentioned part material is all made of with a thickness of 8mm.Acute angle folder
Plate (1-04-01) structure size is as shown in figure 5, the soldering angle with angle adjustment plate (1-04-03) is 80 °；Obtuse angle clamping plate (1-
04-02) structure size is as shown in fig. 6, the soldering angle of itself and angle adjustment plate (1-04-03) is 100 °.
Fig. 7 shows scanner support (1-06) three-dimensional structure and structure size, using 7075T651 model aluminum profile, leads to
It crosses T-bolt to be fixed on the inside of braced frame, is 500mm with braced frame bottom end distance.
Fig. 8 shows vehicle-mounted fixing device (2) three-dimensional structure, including aligning platform (2-01), revolving support (2-02), branch
Support platform (2-03), support base (2-04), supporting beam (2-05) and positioning bolt (2-06).Aligning platform (2-01) material is magnesium
Aluminum alloy plate materials, with a thickness of 12mm, be an eccentric structure, the distance between center and center of gravity are 12mm, are disposed with peace thereon
Hole is filled, structure size is as shown in Figure 9.Support platform (2-03) material is magnesium alloy plate, with a thickness of 12mm, is disposed with thereon
Mounting hole, structure size are as shown in Figure 10.Revolving support (2-02) model OB.10-4545W2 passes through bolt and corresponding installation
Hole is installed between aligning platform (2-01) and support platform (2-03), when revolving support (2-02) turns to 0 ° or 180 °,
Aligning platform (2-01) and support platform (2-03) are locked by the location hole on positioning bolt (2-06) and corresponding platform, reached
To stop and the effect of positioning.Supporting beam (2-05) uses the aluminum alloy square tube of model 30mm × 20mm, and upper end passes through support
Seat (2-04) is connect with support platform (2-03), lower end and baggage carrier of vehicle are connected.
Figure 11 shows vehicle speed measurement device (3) three-dimensional structure, including hold-down support (3-01), external splint (3-02), interior
Clamping plate (3-03), snap ring (3-04), fixed link (3-05), guide rod (3-06), fastening nut (3-07), installation front panel (3-
08), encoder housing (3-09), installation rear panel (3-10), guiding axis (3-11), flange (3-12) and Nut column (3-13)
Deng.Encoder housing (3-09) material is allumen plate, and structure size is as shown in figure 12, by mounting hole thereon with
(3-08), back plate (3-10) are fixed before encoder and encoder installation；Guide rod (3-06) diameter is Ф 16mm, length is
300mm, fixed link (3-05) diameter is Ф 35mm, length 300mm, is that a hollow structure, inner wall arrange rolling steel ball, on
It states guide rod (3-06) and fixed link (3-05) and forms a prismatic pair, stroke range 150mm.The vehicle speed measurement device
(3) with the connection type of vehicle body: by three having a size of inscribed circle diameter be Ф 24mm regular hexagonal prism, length be 52mm spiral shell
Female column (3-13) connect with vehicle hub, and inner splint (3-03) is connect by the mounting hole having a size of Ф 6.5mm with vehicle body sheet metal,
It is connect by external splint (3-02), hold-down support (3-01), snap ring (3-04) with fixed link (3-05).
The vcehicular tunnel that this hair discloses quickly detects solution, by digital camera, laser light source, laser three-dimensional scanning
Instrument, encoder and mechanical device are integrated on a common offroad vehicle, can be just while not changing vehicle overall structure
Under constant velocity traveling, the parameters such as vehicle movement, speed are acquired in real time, and trigger the acquisition of the equipment such as camera, laser 3 d scanner
Tunnel-liner image and section three-dimensional dimension etc., with strong applicability, easy to use, detection speed is fast, Image Acquisition quality is high
And the advantages that at low cost, solve many technical problems when the application of existing highway tunnel rapid detection system.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (7)
1. a kind of vehicular vcehicular tunnel rapid detection system, which is characterized in that by vision inspection apparatus, vehicle-mounted fixing device and
Vehicle speed measurement device three parts composition；Wherein,
The vision collecting device is for acquiring tunnel-liner image and cross dimensions, including support rod, support, connector, sweeps
Retouch instrument mounting rod and scanner mounting bracket；Support rod forms a support frame structure by connector and support, for holding
Carry digital camera, laser light source, spatial digitizer；Three groups of cameras are fixed on braced frame surface, the camera by T-bolt
Mounting plate is made of two pieces of L-type acute angle mounting plates and obtuse angle mounting plate component；Scanner mounting rod is fixed on frame by T-bolt
In supporting beam on the outside of frame, and laser 3 d scanner is fixed on by above-mentioned mounting rod by scanner support and hexagon socket head cap screw
On；
Vehicle-mounted fixing device is used to for vision collecting device being mounted on vehicle roof, including aligning platform, revolving support, positioning spiral shell
Bolt, support platform, support base and supporting beam；Aligning platform be used to adjust the center of gravity of vision collecting device always with baggage carrier of vehicle
Center is overlapped, and upper surface is connect with braced frame bottom surface, lower surface and revolution driving swivel becket connect；Revolution driving is for real
Data acquisition of the existing vision collecting device at 0 ° and 180 ° of two positions, fixed ring are connect with support platform upper surface；Branch
Support platform edges are disposed with four groups of mounting holes, are connected supporting beam with support plate by support base, above-mentioned all components pass through
Supporting beam fixed hinge is on baggage carrier of vehicle；
Vehicle speed measurement device triggers camera, spatial digitizer for acquiring vehicle driving displacement, speed data in real time, including
Hold-down support, external splint, inner splint, snap ring, fixed link, guide rod, fastening nut, installation front panel, encoder housing, installation
Rear panel, guiding axis, flange and Nut column；Encoder housing is provided with sensor, and two sides are located by installing forward and backward plate
And it is fixed, which is fixed by guiding axis and flange, and the flange passes through Nut column and vehicle hub thereon
Connection, and then rotated together with wheel；Guide rod one end is connect by fastening nut with encoder housing, the other end and fixed link
Lower end constitutes a prismatic pair, realizes the reciprocating motion along bar centerline direction, and fixed link upper end passes through snap ring and the fixed branch of L-type
Seat connection, and connect by inside and outside clamping plate with vehicle metal；
Angle between two adjacent groups camera installing plate is 30~60 °.
2. vehicular vcehicular tunnel rapid detection system according to claim 1, which is characterized in that L-type acute angle mounting plate
It is welded with obtuse angle mounting plate component by two plates, wherein acute angle clamping plate angular range is 80~90 °, obtuse angle clamping plate angle
Range is 95~100 °.
3. vehicular vcehicular tunnel rapid detection system according to claim 1, which is characterized in that aligning platform is for adjusting
Position of the vision collecting device in baggage carrier of vehicle is saved, is always positioned at it at center, it is inclined between geometric center and center of gravity
Shifting amount is 0~30mm.
4. vehicular vcehicular tunnel rapid detection system according to claim 1, which is characterized in that braced frame material is
Aluminium alloy extrusions.
5. vehicular vcehicular tunnel rapid detection system according to claim 1, which is characterized in that camera installing plate material
For magnesium alloy plate.
6. vehicular vcehicular tunnel rapid detection system according to claim 1, which is characterized in that aligning platform, support
Platform, encoder housing, flange are aluminum alloy material.
7. vehicular vcehicular tunnel rapid detection system according to claim 1, which is characterized in that supporting beam material is to close
Golden steel hollow square tube.
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| CN107356211B (en) * | 2017-07-10 | 2019-03-12 | 山西省交通科学研究院 | A kind of tunnel intelligent detection vehicle and its detection method |
| CN109141277A (en) * | 2018-07-18 | 2019-01-04 | 中铁工程装备集团有限公司 | A kind of complete-section tunnel boring machine is slagged tap detection device |
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| CN206019637U (en) * | 2016-09-18 | 2017-03-15 | 山西省交通科学研究院 | A kind of vehicular vcehicular tunnel rapid detection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4319928B2 (en) * | 2004-03-09 | 2009-08-26 | 株式会社デンソー | Vehicle state detection system and vehicle state detection method |
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| CN101007308A (en) * | 2007-01-11 | 2007-08-01 | 浙江大学 | Pearl real time detection and classifying system based on mechanical vision |
| CN101334277A (en) * | 2007-06-28 | 2008-12-31 | 鸿富锦精密工业（深圳）有限公司 | Point laser automatic focusing scanning image measurement system and method |
| CN206019637U (en) * | 2016-09-18 | 2017-03-15 | 山西省交通科学研究院 | A kind of vehicular vcehicular tunnel rapid detection system |
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Inventor after: Liu Xiao Inventor after: Yang Ying Inventor after: Jia Lei Inventor after: Liu Bo Inventor after: Xue Chunming Inventor after: Duan Yingjie Inventor after: Li Yang Inventor after: Sun Bei Inventor after: Liu Peng Inventor after: Zhang Jiapeng Inventor before: Liu Xiao Inventor before: Liu Peng Inventor before: Jia Lei Inventor before: Duan Yingjie Inventor before: Li Yang Inventor before: Liu Bo Inventor before: Yang Ying Inventor before: Xue Chunming Inventor before: Sun Bei Inventor before: Zhang Jiapeng |
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Effective date of registration: 20220111 Address after: 030032 No.27, Wuluo street, Taiyuan City, Shanxi Province Patentee after: Shanxi Transportation Research Institute Group Co.,Ltd. Address before: No. 79, Xuefu street, Xiaodian District, Taiyuan, Shanxi Province Patentee before: Shanxi Transportation Research Institute |