CN108468569A - Tunnel flow image acquisition system based on track and the application in tunnel inspection - Google Patents
Tunnel flow image acquisition system based on track and the application in tunnel inspection Download PDFInfo
- Publication number
- CN108468569A CN108468569A CN201810548137.9A CN201810548137A CN108468569A CN 108468569 A CN108468569 A CN 108468569A CN 201810548137 A CN201810548137 A CN 201810548137A CN 108468569 A CN108468569 A CN 108468569A
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- China
- Prior art keywords
- track
- tunnel
- controller
- image
- capture device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Abstract
The tunnel flow image acquisition system based on track that the invention discloses a kind of and the application in tunnel inspection.System includes：Track and run on the locomotive on track；Locomotive includes controller, power module and the power plant of interconnection and image capture device, power module device, power plant and image capture device power supply in order to control；Controller is separately connected power plant and image capture device；Power plant is set on track, and image capture device is arranged towards perpendicular to length of tunnel direction.Method includes：Controller control actuating unit moves in guide rail, the image of control image capture device acquisition tunnel inner wall；The image that controller acquires image capture device pre-processes, then extract pretreatment after image characteristic value and the characteristic value of the standard picture to prestore compared, judge whether tunnel inner wall has exception according to comparing result.The present invention can carry out unmanned comprehensive inspection in the case where not influencing automobile normal pass in tunnel to tunnel.
Description
Technical field
Field is examined the present invention relates to tunnel, especially a kind of tunnel flow image acquisition system based on track and in tunnel
Application in road inspection.
Background technology
The continuous of transportation network is expanded and enriches, for bringing great convenience for people.And wherein tunnel, bridge
Construction, further shorten road distance, improve the efficiency of people's trip.It is that traffic trip offers convenience together with tunnel
When existing, the also variation and breakage of such as tunnel structure of security risk-existing for tunnel itself.And this element is to ensure vapour
The great premise of vehicle passage safety, it is therefore desirable to timely to whether safety-such as the tunnel of tunnel environment has slight crack-progress
It grasps.
At present for the inspection in tunnel, to pass through artificial regular visit.Increase based on huge tunnel amount radix and constantly
The tunnel quantity added needs to expend a large amount of manpower by manual inspection, meanwhile, manual inspection must influence whether tunnel just
Normal open row.
Invention content
The goal of the invention of the present invention is：In view of the above problems, a kind of tunnel flow graph based on track is provided
As acquisition system and the corresponding tunnel method of inspection.It is automatic unmanned to solve in the case where not influencing tunnel normal pass
The problem of examining the complete situation of tunnel inner wall.
The technical solution adopted by the present invention is as follows：
A kind of tunnel flow image acquisition system based on track, the image capturing system include：It is fixed along length of tunnel direction
In the track of tunnel inner wall, and run on the locomotive on track；Locomotive includes controller, power module and the power of interconnection
Device and image capture device, power module is for device in order to control, power plant and image capture device power supply；Controller is distinguished
Connecting power device and image capture device；Power plant is set on track, for driving locomotive to be transported along track frame set direction
Dynamic, image capture device is arranged towards perpendicular to length of tunnel direction, the image for acquiring tunnel inner wall.
Further, track offers guide rail；Power plant includes actuating unit and connecting rod；Actuating unit is set to rail
In the guide rail in road, connecting rod connects actuating unit and image capture device.
Further, above-mentioned power module is pantograph, and power line, pantograph and electric power are equipped with along track frame set direction
Line contact setting.
Further, above-mentioned track is to circularize to be set up in tunnel, and circular orbit includes being parallel to length of tunnel direction
Two section of first track and two section of second track, the both ends of each section of the second track be connected respectively to each section of the first track
One end.
Further, above-mentioned track further includes at least one section of third track, and the both ends of third track are connected respectively to two sections
The both ends at the middle part of the first track, the guide rail of third track are connected to the guide rail of two section of first track respectively；In two section of first rail
Road and third rail connection are respectively set that there are one location tags；Locomotive further includes being connected to controller, two for identification
The tag recognizer of location tags.
Alternatively, above-mentioned track, which is one section, is parallel to length of tunnel direction, it is set up in the bar shaped track of tunnel top.
Further, between power plant and image capture device, it is additionally provided with the holder for being connected to controller；Holder
At least rotatable half cycle, power module are also that holder is powered.
To solve the problems, such as above-mentioned all or part, the tunnel flowing based on above-mentioned circular orbit that the present invention provides a kind of
The tunnel method of inspection of image capturing system, includes the following steps：
S1：Controller control actuating unit moves in guide rail from starting point along track frame set direction；During this period, controller controls
Image capture device acquires the image of tunnel inner wall；
S2：The image that controller acquires image capture device pre-processes, then extract pretreatment after image characteristic value with
The characteristic value of the standard picture to prestore is compared, and judges whether tunnel inner wall has exception according to comparing result；
During above-mentioned S1-S2, method further includes S3：When needing locomotive quickly to reach the other side from tunnel side, control
Device abstract factory identifier identifies location tags, and controller is in receive that tag recognizer recognizes that location tags are sent out the
When one signal, control actuating unit moves to third track from the first track, and controller is recognized receiving tag recognizer
When the second signal that second location tags is sent out, control actuating unit moves to the first track from third track.
To solve the problems, such as above-mentioned all or part, the tunnel flowing based on above-mentioned bar shaped track that the present invention provides a kind of
The tunnel method of inspection of image capturing system, which is characterized in that include the following steps：
S1’：Controller control actuating unit moves to the other end of track, during this period, controller control from one end of track
Image capture device acquires the image of tunnel inner wall；
S2’：The image that controller acquires image capture device pre-processes；Extract again pretreatment after image characteristic value with
The characteristic value of the standard picture to prestore is compared, and judges whether tunnel inner wall has exception according to comparing result.
Further, above controller control actuating unit moves to the other end of track from one end of track and is specially：
Controller control actuating unit moves to the other end of track from one end of track, and rail end is reached in actuating unit
When, controller, which controls actuating unit, to be stopped, and cloud platform rotation 180 degree is then controlled, then controls actuating unit along the former direction of motion
Negative direction moves.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1. by this system, it can be achieved that unmanned Image Acquisition to tunnel, does not interfere with the normal pass of vehicle in tunnel,
Manual site's inspection is not needed, human cost is saved, reduces the security risk of desk checking, improves the automobile passage energy in tunnel yet
Power.
2. the power-supplying forms for passing through pantograph, it is ensured that the long-play of system can effectively reduce the frequency of manual maintenance
Rate and cost.Actuating unit and image capture device is separately positioned, it is ensured that the mutual independence of each mechanism operation, and then keep away
Exempt to interfere the image of acquisition, influences inspection result.
3. circular orbit can reduce the operation to image capture device, bar shaped track can reduce the length of track and set up at
This；Setting " day " font track can realize that locomotive quickly reaches the other side from tunnel side, to meet the quick sound of emergency case
It answers.
4. this system can realize comprehensive acquisition for tunnel inner wall image based on single image collecting device, and then realize
Comprehensive inspection to tunnel.
5. the tunnel verification scheme of feature based value comparison, can reach different to tunnel inner wall surface by smaller calculation amount
Normal effective inspection.Meanwhile based on the method for inspection to different track structures, the continuity examined to tunnel inner wall can guarantee
And integrality.
Description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the tunnel flowing checking system structure chart based on track.
Fig. 2 is one embodiment of track structure.
Fig. 3 is the Local map of the first track and third rail connection in Fig. 2.
Fig. 4 is another embodiment of track structure.
Specific implementation mode
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
This specification（Including any accessory claim, abstract）Disclosed in any feature, unless specifically stated,
It is replaced by other equivalent or with similar purpose alternative features.That is, unless specifically stated, each feature is a series of
An example in equivalent or similar characteristics.
As shown in Figure 1, present embodiment discloses a kind of tunnel flow image acquisition system based on track, the Image Acquisition
System includes：It is fixed on the track 10 of tunnel inner wall along length of tunnel direction, and runs on the locomotive 20 on track 10；Locomotive 20
Including controller（It is not shown）, power module and interconnection power plant and image capture device 204, power module is used for
Device, power plant and image capture device 204 are powered in order to control；Controller is separately connected power plant and image capture device
204；Power plant is set on track 10, is moved for driving locomotive 20 to set up direction along track 10, image capture device 204
It is arranged towards perpendicular to length of tunnel direction, the image for acquiring tunnel inner wall.
Preferably, track 10 offers guide rail 101, and in one embodiment, guide rail 101 is ' T ' shape or ' work ' shape, to protect
The balance for demonstrate,proving locomotive operation, avoids the uneven wear to track；Power plant includes actuating unit 201 and connecting rod 202；Power
Mechanism 201 is set in the guide rail 101 of track 10, and connecting rod 202 connects actuating unit 201 and image capture device 204.
Preferably, power module is pantograph 203, and setting up direction along track 10 is equipped with power line 102（It is preferably provided at
On track 10）, pantograph 203 contacts setting with the power line 102.By the contact of pantograph 203 and power line 102, into one
Step, it is handled by conventional transformation, obtains operating current, and then device, power plant and image capture device 204 supply in order to control
Electricity.In one embodiment, pantograph 203 is set in power plant.
Preferably, as shown in Figures 2 and 3, track 10 is to circularize to be set up in tunnel, which includes being parallel to
Two section of first track 10a in length of tunnel direction and two section of second track 10b, the both ends of each section of the second track 10b connect respectively
It is connected to one end of each section of the first track 10a.
Further, track 10 further includes at least one section of third track 10c, and the both ends of third track 10c are separately connected
To the middle part of two section of first track 10a, the both ends of the guide rail 101 of the third track 10c guide rail with two section of first track 10a respectively
101 connections；Location tags 10d there are one being respectively set in two section of first track 10a and the junctions third track 10c；Locomotive 20
Further include being connected to controller, the tag recognizer of two location tags 10d for identification（It is not shown, in one embodiment
In, which is set on actuating unit 201）.In order to which locomotive 20 quickly can reach tunnel from the side in tunnel
The other side.
In another embodiment, as shown in figure 4, track 10, which is one section, is parallel to length of tunnel direction, it is set up in tunnel
Bar shaped track at the top of road.
Further, between power plant and image capture device 204, it is additionally provided with the holder for being connected to controller
205；At least rotatable half cycle of the holder 205（That is 180 degree）, power module is also that the holder 205 is powered.
Present embodiment discloses a kind of tunnel method of inspection of the flow image acquisition system of the track based on above-mentioned annular,
Include the following steps：
S1：Controller controls actuating unit 201 and sets up direction from starting point along track 10 in guide rail 101（Clockwise or counterclockwise）
Movement；During this period, controller control image capture device 204 acquires the image of tunnel inner wall.
S2：The image that controller acquires image capture device 201 pre-processes, in one embodiment, the pre- place
Reason includes：Binary conversion treatment filters out noise treatment, Morphological scale-space（Erosion operation and dilation operation）.After extracting pretreatment again
The characteristic value of image and the characteristic value of the standard picture to prestore are compared, and according to the comparison of two characteristic values, are judged in tunnel
Whether wall has exception（Such as defect, slight crack）.In a specific embodiment, by calculating the similarity distance of two characteristic values,
When similarity distance is more than predetermined threshold value, it is abnormal to be judged as that the part in the corresponding tunnel of the image occurs.
In a specific embodiment, above-mentioned image capture device 201 is that fixed point acquires in several tunnels in tunnel
The image of wall is transferred to controller and carries out pretreatment and characteristics extraction successively, and controller is according to the image sequence of processing, successively
Compared with the characteristic value of standard picture, so can accurately and rapidly orient abnormal image and the abnormal image institute it is right
It should be to the position in tunnel.
Preferably, during above-mentioned S1-S2, method further includes S3：It is quickly reached from tunnel side needing locomotive 20
When the other side, controller abstract factory identifier identifies that location tags 10d, controller are receiving tag recognizer identification in place
When setting the first signal that label 10d is sent out, control actuating unit 201 moves to third track 10c from the first track 10a（I.e.
The guide rail 101 of third track 10c is moved to from the guide rail 101 of the first track 10a）, controller receiving tag recognizer know
When being clipped to the second signal that second location tags 10d is sent out, control actuating unit 201 moves to the from third track 10c
One track 10a.
Present embodiment discloses a kind of tunnel method of inspection of the flow image acquisition system of the track based on above-mentioned bar shaped,
Include the following steps：
S1’：Controller control actuating unit 201 moves to the other end of track 10, during this period, control from one end of track 10
Device controls the image that image capture device 204 acquires tunnel inner wall.
S2’：The image that controller acquires image capture device 201 pre-processes；Image after pre-processing is extracted again
Characteristic value and the characteristic value of the standard picture to prestore are compared, and judge whether tunnel inner wall has exception according to comparing result.This
Image Acquisition, pretreatment, the characteristic value comparison process at place are identical as in a upper embodiment, are not repeated herein.
In above-mentioned S1 ', the other end that controller control actuating unit 201 moves to track 10 from one end of track 10 is specific
For：
Controller control actuating unit 201 moves to the other end of track 10 from one end of track 10, is reached in actuating unit 201
When 10 end of track, controller, which controls actuating unit 201, to be stopped, and is then controlled holder 205 and is rotated 180 degree, then controls engine
Structure 201 is moved along the negative direction of the former direction of motion.So locomotive 20 is made to be moved back and forth repeatedly at the both ends of track 10.
In one embodiment, after judging whether tunnel inner wall has exception for controller, controller also will determine that
Distal end is sent to for artificial judgment for the respective image of abnormal result and acquisition.
The invention is not limited in specific implementation modes above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of tunnel flow image acquisition system based on track, which is characterized in that described image acquisition system includes：Along tunnel
Road length direction is fixed on the track of tunnel inner wall（10）, and run on the track（10）On locomotive（20）；The locomotive
（20）Including controller, power module and the power plant of interconnection and image capture device（204）, the power module use
In for the controller, power plant and image capture device（204）Power supply；The controller is separately connected the power plant
And image capture device（204）；The power plant is set to the track（10）On, for driving the locomotive（20）Along institute
State track（10）Set up direction movement, described image collecting device（204）It is arranged towards perpendicular to length of tunnel direction, for acquiring
The image of tunnel inner wall.
2. flow image acquisition system in tunnel as described in claim 1, which is characterized in that the track（10）Offer guide rail
（101）；The power plant includes actuating unit（201）And connecting rod（202）；The actuating unit（201）It is set to track
（10）Guide rail（101）It is interior, the connecting rod（202）Connect the actuating unit（201）With described image collecting device
（204）.
3. flow image acquisition system in tunnel as described in claim 1, which is characterized in that the power module is pantograph
（203）, along track（10）It sets up direction and is equipped with power line（102）, the pantograph（203）With the power line（102）It connects
Touch setting.
4. flow image acquisition system in tunnel as described in claim 1, which is characterized in that the track（10）To circularize frame
In tunnel, the circular orbit（10）Two section of first track including being parallel to length of tunnel direction（10a）And two section
Two tracks（10b）, each section of second track（10b）Both ends be connected respectively to each section of first track（10a）'s
One end.
5. flow image acquisition system in tunnel as claimed in claim 4, which is characterized in that the track（10）Further include at least
One section of third track（10c）, the third track（10c）Both ends be connected respectively to two sections of first tracks（10a）In
Portion, the third track（10c）Guide rail（101）Both ends respectively with two sections of first tracks（10a）Guide rail（101）Even
It is logical；In two sections of first tracks（10a）With the third track（10c）Junction is respectively set there are one location tags
（10d）；The locomotive（20）Further include being connected to the controller, described two location tags for identification（10d）Label
Identifier.
6. flow image acquisition system in tunnel as described in claim 1, which is characterized in that the track（10）It is parallel for one section
In length of tunnel direction, it is set up in the bar shaped track of tunnel top.
7. flow image acquisition system in tunnel as claimed in claim 6, which is characterized in that in the power plant and the figure
As collecting device（204）Between, it is additionally provided with the holder for being connected to the controller（205）；The holder（205）Can at least it turn
Dynamic half cycle, the power module are also the holder（205）Power supply.
8. a kind of tunnel method of inspection based on the tunnel flow image acquisition system based on track described in claim 5,
It is characterized in that, includes the following steps：
S1：Controller controls actuating unit（201）In guide rail（101）In from starting point along track（10）Set up direction movement；Herein
Period, controller control image capture device（204）Acquire the image of tunnel inner wall；
S2：Controller is to image capture device（201）The image of acquisition is pre-processed, then extracts the feature of image after pretreatment
The characteristic value for the standard picture for being worth and prestoring is compared, and judges whether tunnel inner wall has exception according to comparing result；
During above-mentioned S1-S2, method further includes S3：Needing locomotive（20）When quickly reaching the other side from tunnel side,
Controller abstract factory identifier identifies location tags（10d）, controller recognizes location tags receiving tag recognizer
（10d）When the first signal sent out, actuating unit is controlled（201）From the first track（10a）Move to third track（10c）,
Controller recognizes second location tags receiving tag recognizer（10d）When the second signal sent out, power is controlled
Mechanism（201）From third track（10c）Move to the first track（10a）.
9. a kind of tunnel method of inspection based on the tunnel flow image acquisition system based on track described in claim 5,
It is characterized in that, includes the following steps：
S1’：Controller controls actuating unit（201）From track（10）One end move to track（10）The other end, in this phase
Between, controller controls image capture device（204）Acquire the image of tunnel inner wall；
S2’：Controller is to image capture device（201）The image of acquisition is pre-processed；The spy of image after pre-processing is extracted again
Value indicative and the characteristic value of the standard picture to prestore are compared, and judge whether tunnel inner wall has exception according to comparing result.
10. method as claimed in claim 9, which is characterized in that in the S1 ', controller controls actuating unit（201）From rail
Road（10）One end move to track（10）The other end be specially：
Controller controls actuating unit（201）From track（10）One end move to track（10）The other end, in actuating unit
（201）Reach track（10）When end, controller controls actuating unit（201）Stop, then controlling holder（205）Rotation 180
Degree, then control actuating unit（201）Negative direction along the former direction of motion moves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548137.9A CN108468569A (en) | 2018-05-31 | 2018-05-31 | Tunnel flow image acquisition system based on track and the application in tunnel inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548137.9A CN108468569A (en) | 2018-05-31 | 2018-05-31 | Tunnel flow image acquisition system based on track and the application in tunnel inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108468569A true CN108468569A (en) | 2018-08-31 |
Family
ID=63260649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810548137.9A Withdrawn CN108468569A (en) | 2018-05-31 | 2018-05-31 | Tunnel flow image acquisition system based on track and the application in tunnel inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108468569A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159349A (en) * | 2019-06-20 | 2019-08-23 | 中铁隧道局集团有限公司 | A kind of tunnel automatic tour inspection system and automatic detecting method |
| CN110855870A (en) * | 2019-11-28 | 2020-02-28 | 贵州维讯光电科技有限公司 | Monitoring device with automatic tracking function |
| CN113504242A (en) * | 2021-07-19 | 2021-10-15 | 北京洞微科技发展有限公司 | New method for acquiring and analyzing tunnel apparent image data |
-
2018
- 2018-05-31 CN CN201810548137.9A patent/CN108468569A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159349A (en) * | 2019-06-20 | 2019-08-23 | 中铁隧道局集团有限公司 | A kind of tunnel automatic tour inspection system and automatic detecting method |
| CN110855870A (en) * | 2019-11-28 | 2020-02-28 | 贵州维讯光电科技有限公司 | Monitoring device with automatic tracking function |
| CN113504242A (en) * | 2021-07-19 | 2021-10-15 | 北京洞微科技发展有限公司 | New method for acquiring and analyzing tunnel apparent image data |
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