CN108828589B - High-precision rapid vehicle-mounted detection method and device for lining quality of subway shield tunnel - Google Patents
High-precision rapid vehicle-mounted detection method and device for lining quality of subway shield tunnel Download PDFInfo
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- CN108828589B CN108828589B CN201810629109.XA CN201810629109A CN108828589B CN 108828589 B CN108828589 B CN 108828589B CN 201810629109 A CN201810629109 A CN 201810629109A CN 108828589 B CN108828589 B CN 108828589B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
Abstract
The invention discloses a high-precision rapid vehicle-mounted detection method and device for the lining quality of a subway shield tunnel, wherein the detection device comprises an image acquisition module, a ground penetrating radar module, a multi-sensor fusion positioning module, a laser ranging module and an industrial personal computer, the image acquisition module comprises a linear array CCD (charge coupled device) industrial camera and an LED (light emitting diode) light source, the ground penetrating radar module comprises a ground penetrating radar antenna and a ground penetrating radar host, and the multi-sensor fusion positioning module comprises an inertial measurement device and an encoder. The invention can be used for automatic and normalized detection of the shield tunnel lining quality of the existing subway line, does not need power-off operation, does not occupy maintenance skylights and does not influence the normal operation of the subway; the invention obviously improves the detection efficiency, greatly shortens the detection time of the disease type and the position, is beneficial to timely eliminating tunnel lining diseases and ensures the safe operation of subways and the life and property safety of people.
Description
Technical Field
The invention belongs to the technical field of detection of subway engineering systems, and relates to a high-precision rapid vehicle-mounted detection method and device for subway shield tunnel lining quality.
Background
At present, the subway tunnel lining detection in China mainly depends on manual field recording and defect marking, and then a defect unfolding chart of the tunnel lining is drawn manually. In 2014, huang Hongwei et al applied for a patent entitled "rapid high-precision detection device for subway shield tunnel defect", application No. 201410327988.2, which proposes a subway shield tunnel detection device including a traveling device, a control device and an image acquisition device, by periodically detecting and comparing tunnel lining images photographed by a linear array CCD industrial camera, the health condition of a tunnel lining is evaluated, and the detection efficiency and the reliability of the detection result are improved to some extent. However, as with the manual detection method, the detection method can only obtain the surface structure of the tunnel lining, cannot obtain the internal structure of the tunnel lining, cannot comprehensively detect the quality of the tunnel lining, and prevents hidden danger.
The ground penetrating radar technology has the outstanding advantages of rapidness, accuracy, continuity, no damage and high efficiency, is widely applied to the fields of engineering quality detection, building structure detection, archaeological detection, mineral resource detection and the like in recent years, and plays an increasingly important role in road, bridge and tunnel disease detection. At present, the ground penetrating radar mainly has two implementation modes, namely a manual lifting method and a hydraulic supporting method, and is used for detecting the lining quality of a subway shield tunnel. The two modes are all required to operate in a power failure mode in the skylight maintenance time, so that the normal operation of the subway is affected, the detection efficiency is low, and the construction potential safety hazard exists. In addition, the existing post-processing procedure of the data acquired by the ground penetrating radar is mainly finished manually, and the type of tunnel lining damage cannot be automatically detected and identified. The data acquisition amount of the ground penetrating radar is huge, so that the workload of detection personnel is extremely heavy, and the detection efficiency is difficult to be obviously improved.
The defect position mark is an important link of subway shield tunnel lining defect detection, and the accurate mark of the position is beneficial to the detection personnel and constructors to quickly find the defect area, so that the construction period is shortened, and the defect is timely eliminated. Obviously, the GPS positioning method commonly used in the detection of ground roads and railway roadbeds is no longer suitable for the subway tunnel environment. At present, the encoder positioning method is a positioning method commonly used in railway tunnel lining detection, wherein the encoder is arranged on a train shaft, and the real-time position of the train is calculated through the accumulated count of the encoder. However, due to the frequent braking of the subway train and the problems of possible abrasion, slipping, idle running and the like of the rail wheels of the train, the positioning error of the method is generally large, even hundreds of kilometers in severe cases, the difficulty of finding lining defect areas is greatly increased, so that lining defects cannot be timely solved, and potential safety hazards of subway operation are caused.
Therefore, a new method and a new device for further researching the improvement of the quality detection efficiency and the accuracy of the subway tunnel lining are needed.
Disclosure of Invention
The invention aims to provide a high-precision and rapid vehicle-mounted detection method and device for the lining quality of a subway shield tunnel, so as to solve the technical problems. The invention utilizes two different technical means of linear array CCD industrial cameras and ground penetrating radars to simultaneously obtain the high-definition image of the surface structure of the subway shield tunnel lining and the geological image of the internal structure of the tunnel lining, solves the defect that the detection basis is too single, and can provide more complete and comprehensive tunnel lining conditions for detection personnel. The invention relates to a remote non-contact detection method, which is used for detecting that a train is hung at the tail part of a subway train, does not need power failure operation, does not influence the normal operation of the subway train and does not need to increase train number, the quality of a tunnel lining can be detected at the normal running speed of the train, and the normalized detection of the tunnel lining diseases of a subway shield tunnel is realized.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a high-precision rapid vehicle-mounted detection device for the lining quality of a subway shield tunnel comprises an image acquisition module, a ground penetrating radar module, a multi-sensor fusion positioning module, a laser ranging module and an industrial personal computer; the image acquisition module comprises seven groups of linear array CCD industrial cameras and LED light sources, and is all arranged on a train body through a shockproof base; the LED light source is used for intensively illuminating the scanning range of the linear array CCD industrial camera; the linear array CCD industrial camera is communicated with an industrial personal computer of the train test board through a data line; the ground penetrating radar module comprises six groups of air coupling ground penetrating radar antennas and a six-channel ground penetrating radar host; each group of ground penetrating radar antennas are arranged on the train body through an antenna cavity; the ground penetrating radar host is arranged on the train test board and is connected with the ground penetrating radar antenna through a radio frequency coaxial cable; the multi-sensor fusion positioning module comprises an inertial measurement device and an encoder; the inertia measuring device is arranged on the floor below the train test table through a shock absorber and is communicated with the industrial personal computer through a data line; the encoder is arranged on the train shaft and is communicated with the industrial personal computer through a data line; the laser ranging module comprises two sets of laser sensors which are respectively arranged at two sides of the train body and are communicated with the industrial personal computer through data lines; the linear array CCD industrial camera, the LED light source and the ground penetrating radar antenna cavity are all positioned within the limit of the train; the power ports of the linear array CCD industrial camera, the LED light source, the ground penetrating radar host and the inertial measurement device are all connected with a train vehicle-mounted power supply.
Further, the method comprises the steps of,
the industrial personal computer is used for processing ground penetrating radar echo data and camera image data, and specifically comprises the following steps: the process of ground penetrating radar echo data processing comprises the following steps: background cancellation, direct current component removal, zero time correction, frequency domain filtering, moving average and time-varying gain amplification to obtain a clear ground penetrating radar image; the data processing flow of the camera image data comprises: jitter elimination, edge detection, characterization and contrast adjustment;
the industrial personal computer is also used for carrying out image matching on the processed ground penetrating radar image and the disease image feature library, and automatically detecting and identifying the type of tunnel lining disease.
Further, two of the seven linear array CCD industrial cameras are directed to one side wall of the shield tunnel lining, two are directed to the other side wall, one is directed to one side arch angle, one is directed to the other side arch angle, and one is directed to the vault.
Further, in the six groups of air coupling ground penetrating radar antennas, one group points to one side wall of the shield tunnel lining, one group points to the other side wall, one points to one side arch angle, one points to the other side arch angle and two points to the vault.
Furthermore, two pairs of identical ultra-wideband Vivaldi air coupling antennas are arranged in each antenna cavity, and the center frequency is 300MHz; the long axis of the antenna cavity is consistent with the subway line direction, the front side antenna is responsible for transmitting pulse signals, and the rear side antenna is responsible for receiving pulse echo signals; and a high-frequency wave-absorbing material plate for reducing electromagnetic wave direct coupling of the receiving and transmitting antennas is arranged between the two pairs of antennas.
Furthermore, the pulse repetition frequency of each channel of the ground penetrating radar host is 200KHz, the total pulse repetition frequency is 1.2MHz, the scanning rate is 400 scanning lines/second, each scanning line has 512 sampling points, and the high-speed detection of the subway train with the highest speed per hour of 72 km/h can be met.
A high-precision rapid vehicle-mounted detection method for the lining quality of a subway shield tunnel comprises the following steps:
step 1: after the train runs, the inertial measurement device and the encoder start to work, and the linear array CCD industrial camera, the LED light source and the ground penetrating radar host are started and parameter initialization setting is completed;
step 2: when the laser sensor detects that a train enters a tunnel, the laser sensor sends perceived information of the tunnel entering to the industrial personal computer, and the industrial personal computer executes program instructions to start recording camera image data and ground penetrating radar echo data; after the laser sensor detects that the train exits the tunnel, the laser sensor sends the perceived information of the exiting tunnel to the industrial personal computer, the industrial personal computer executes program instructions to stop recording camera image data and ground penetrating radar echo data, and the process is repeated until the train is detected to detect a complete subway line, and a tunnel data file is generated and stored;
step 3: the industrial personal computer finishes preprocessing the acquired data:
the process of ground penetrating radar echo data processing comprises the following steps: background cancellation, direct current component removal, zero time correction, frequency domain filtering, moving average and time-varying gain amplification to obtain a clear ground penetrating radar image;
the data processing flow of the camera image data comprises: jitter elimination, edge detection, characterization and contrast adjustment;
step 4: and the industrial personal computer performs image matching on the processed ground penetrating radar image and the disease image feature library, and automatically detects and identifies the type of tunnel lining disease.
Further, the automatic detection and identification of the tunnel lining defect types in the step 4 are classified into three cases:
first category: disease-free ground penetrating radar images; directly detecting the ground penetrating radar image of the next unit without special treatment;
the second category: a disease ground penetrating radar image; marking the positions and types of lining diseases, and storing the ground penetrating radar image and the camera image to a lining disease warehouse to be processed;
third category: suspected disease ground penetrating radar images; marking the suspected lining disease position, and storing the ground penetrating radar image and the camera image into a suspected lining disease library.
Further, the disease image feature library in the step 4 is built offline according to typical common lining disease types, and is divided into disease-free images and disease-containing images, wherein the disease-containing images comprise: vault cracking, sidewall cracking, tunnel leakage, vault hollowness, surrounding rock deformation, lining chipping and tunnel freeze injury.
Further, the measurement information of the inertia measurement device and the encoder form a sub-filter, meanwhile, the measurement information of the inertia measurement device and the output result of the sub-filter form a main filter, the main filter outputs the optimal estimated value of the train position, and the optimal estimated value is used as the real-time positioning result of the train after being corrected by the high-precision train beacon information; the positioning result is stored together with the real-time image and radar data.
Further, the positioning result is fed back to the inertial measurement unit for correcting the accumulated error of the inertial measurement unit caused by long-time operation every time the train beacon position passes.
The invention relates to a high-precision rapid vehicle-mounted detection system for a subway shield tunnel, and simultaneously relates to a brand-new detection method for the lining quality of the subway shield tunnel. Seven groups of linear array CCD industrial cameras, LED light sources thereof and six groups of ground penetrating radar antennas are arranged on a subway train body, and the device does not exceed the limit of the train, can run at the speed of 72 km/h at most, and can collect high-definition image data of a tunnel lining surface structure and ground penetrating radar echo data of a tunnel lining internal structure in a full-section manner. And accurately judging the possible disease type and position of the tunnel lining according to the image matching result of the geological image and the disease image feature library and by integrating the camera images.
The technical scheme for solving the problem of detecting the lining of the subway shield tunnel by the full section of the industrial camera and the ground penetrating radar is as follows: the number of industrial cameras, the number of channels of the ground penetrating radar host and the number of pairs of ground penetrating radar receiving and transmitting antennas are increased, and the installation positions of the industrial cameras and the ground penetrating radar receiving and transmitting antennas are reasonably distributed along the body of the subway train.
The invention solves the technical scheme of detecting shield tunnel lining at the normal running speed of a subway train, which comprises the following steps: and the pulse repetition frequency of the ground penetrating radar is improved. The distance between the required measuring points of the subway shield tunnel lining detection is not more than 5 cm. The highest running speed of the subway train in China is about 60 km/h, so that the scanning speed of each channel of the ground penetrating radar is required to be not less than 333 scanning lines/s, each scanning line has 512 acquisition points, and the pulse repetition frequency is required to be greater than 170KHz; the pulse repetition frequency of the ground penetrating radar is 200KHz.
The technical scheme for automatically detecting and identifying the lining defect type of the subway shield tunnel is as follows: and establishing a disease image feature library. Different types of tunnel lining defects present different geological images of the ground penetrating radar, so that the defect image feature library is extracted and built offline according to typical common tunnel lining defects, and the special software is used for automatically matching the geological images of the ground penetrating radar with the defect image feature library to determine the type of the tunnel lining defects. Suspicious geologic images that cannot be automatically detected and identified can then be determined by a probe in conjunction with high definition camera image studies.
The technical scheme for solving the problem of accurately positioning the defect position of the shield tunnel lining is as follows: a multi-sensor fusion positioning method is used. The GPS positioning method commonly used for detecting the ground railway base is not suitable for the subway tunnel environment any more. The encoder positioning method has the common bias of positioning errors due to the problems of abrasion, slipping, idle running and the like of rail wheels of a subway train caused by frequent braking of the subway train. The subway beacon has the minimum positioning length, and the positioning accuracy is high but continuous positioning cannot be realized. Therefore, the precise positioning of tunnel lining defects must be realized by fusing multi-sensor information.
Compared with the prior art, the invention has the following beneficial effects: the invention can be used for automatic and normalized detection of the shield tunnel lining quality of the existing subway line, does not need power-off operation, does not occupy maintenance skylight, and does not influence the normal operation of the subway. The invention obviously improves the detection efficiency, greatly shortens the detection time of the disease type and the position, is beneficial to timely eliminating tunnel lining diseases and ensures the safe operation of subways and the life and property safety of people.
The invention aims to solve the problem that an industrial camera and a ground penetrating radar are utilized to detect tunnel lining in a full section; the detection speed is required to reach the normal running speed of the train; automatically detecting and identifying the type of tunnel lining damage; the method has the advantages that the positions of tunnel lining defects are accurately positioned, the tunnel lining detection efficiency is improved, the operation risk is reduced, the labor intensity is reduced, reliable detection means are provided for existing and under-construction subway tunnels in China, and the development of subway shield tunnel lining detection technology in China to higher intelligent, automatic and normalized levels is promoted.
Drawings
FIG. 1 is a diagram of an image acquisition module and ground penetrating radar antenna layout of the present invention.
FIG. 2 is a diagram of a test stand layout of the present invention.
Fig. 3 is a flow chart of data acquisition in accordance with the present invention.
FIG. 4 is a flow chart of the data processing of the ground penetrating radar and industrial camera of the present invention.
FIG. 5 is a flow chart of the automatic detection and identification of lining lesions of the present invention.
FIG. 6 is a functional block diagram of a multi-sensor fusion positioning system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
Referring to fig. 1 and 2, the high-precision rapid vehicle-mounted detection device for the lining quality of the subway shield tunnel comprises an image acquisition module 1, a ground penetrating radar module 2, a multi-sensor fusion positioning module 3, a laser ranging module 4 and an industrial personal computer 5.
The image acquisition module comprises seven groups of linear array CCD industrial cameras 11 and LED light sources 12, and is all installed on a train body through a shockproof base and is required to be within the limit of a train. The LED light source 12 intensively irradiates the scanning range of the linear array CCD industrial camera 11, ensuring that sufficient light intensity is provided. Two linear array CCD industrial cameras 111 and 112 of the seven linear array CCD industrial cameras 11 point to one side wall of the shield tunnel lining, two linear array CCD industrial cameras 117 and 116 point to the other side wall, one linear array CCD industrial camera 113 points to one side arch angle, one linear array CCD industrial camera 115 points to the other side arch angle, and one linear array CCD industrial camera 114 points to the arch; the seven lenses of the linear array CCD industrial cameras 11 are sequentially directed to the side wall, the arch angle and the vault, so that the full-section shooting tunnel lining is realized. LED light sources 121, 122, 123, 124, 125, 126 and 127 are correspondingly arranged beside the linear array CCD industrial cameras 111, 112, 113, 114, 115, 116 and 117; the linear array CCD industrial camera is communicated with an industrial personal computer of the train test board through a data line. The linear array CCD industrial camera and the LED light source power port are connected with a train vehicle-mounted power supply.
The ground penetrating radar module 2 comprises six groups of air coupling ground penetrating radar antennas 21 and a six-channel ground penetrating radar host 22. Each set of ground penetrating radar antennas 21 is mounted to the train body through an antenna cavity and must be within the confines of the train. Of the six groups of air coupling ground penetrating radar antennas 21, one group of ground penetrating radar antennas 211 points to one side wall of the shield tunnel lining, one group of ground penetrating radar antennas 216 points to the other side wall, one group of ground penetrating radar antennas 212 points to one side arch angle, one group of ground penetrating radar antennas 215 points to the other side arch angle, and two groups of ground penetrating radar antennas 213 and 214 point to the arch; the antenna cavity points to the side wall, the arch angle and the vault in sequence, so that the full-section detection tunnel lining is realized. The ground penetrating radar main unit 22 is arranged on the train test bench and is connected with the ground penetrating radar antenna 21 through a radio frequency coaxial cable. The ground penetrating radar host 22 communicates with the industrial personal computer via a data line. The power port of the ground penetrating radar host 22 is connected with the vehicle-mounted power supply of the train. The pulse repetition frequency of each channel of the ground penetrating radar host 22 is 200KHz, the total pulse repetition frequency is 1.2MHz, the scanning rate is 400 scan lines/second, and each scan line has 512 sampling points. Two pairs of identical ultra-wideband Vivaldi air coupling antennas are placed in each antenna cavity, and the center frequency is 300MHz. The long axis of the antenna cavity is consistent with the direction of the subway line, the front side antenna is responsible for transmitting pulse signals, and the rear side antenna is responsible for receiving pulse echo signals. A high-frequency wave-absorbing material plate is added between the two pairs of antennas and is used for reducing electromagnetic wave direct coupling of the receiving and transmitting antennas.
The invention adopts the image acquisition module 1 and the ground penetrating radar module 2 to jointly detect the tunnel lining, the image acquisition module 1 is used for acquiring the high-definition image of the surface structure of the tunnel lining, and the ground penetrating radar module 2 is used for acquiring the geological image of the internal structure of the tunnel lining, thereby being beneficial to the detection personnel to synthesize the characteristics of the surface and the internal structure of the lining, accurately judging whether lining defects exist and identifying the type of the lining defects.
Referring to fig. 2, the multi-sensor fusion positioning module 3 includes an inertial measurement device 31 and an encoder 32. The inertia measuring device 31 is mounted on the floor below the train test bench through a damper and communicates with the industrial personal computer 5 via a data line. The encoder 32 is mounted on the axle of the train and communicates with the industrial personal computer via a data line. The laser ranging module 4 comprises two sets of laser sensors 41 and 42, and the laser sensors 41 and 42 are respectively arranged in an antenna cavity pointing to the side wall of the tunnel and are communicated with the industrial personal computer through data lines.
Referring to fig. 3, after detecting the train operation, the inertial measurement unit 31 and the encoder 32 start to operate, and the line CCD industrial camera, the LED light source and the ground penetrating radar host are turned on and parameter initialization setting is completed. The industrial personal computer program starts to calculate the real-time position of the train according to the inertial measurement device, the encoder and the subway beacon information. When the train is detected to enter the tunnel, the laser sensor sends the perceived information of the tunnel entering to the industrial personal computer, and the industrial personal computer executes program instructions to start recording camera image data and ground penetrating radar echo data. After the train is detected to exit the tunnel, the laser sensor sends the perceived information of the exiting tunnel to the industrial personal computer, the industrial personal computer executes program instructions to stop recording camera image data and ground penetrating radar echo data, and the process is repeated until the train is detected to detect a complete subway line, and a tunnel data file is generated and stored.
Referring to fig. 4, after the data acquisition is finished, the industrial personal computer performs post-processing on the acquired data. The process of ground penetrating radar echo data processing comprises the following steps: background cancellation, direct current component removal, zero time correction, frequency domain filtering, moving average and time-varying gain amplification to obtain a clear ground penetrating radar image; the data processing flow of the camera image data comprises: jitter elimination, edge detection, characterization and contrast adjustment; and then carrying out image matching on the ground penetrating radar image and the disease image feature library, and automatically detecting and identifying the type of tunnel lining disease. And combining and storing the suspicious geological image which cannot be automatically detected and identified with the image shot by the CCD industrial camera at the corresponding position, and researching and determining by a detector by combining with the image of the high-definition camera.
Referring to fig. 5, the automatic detection and identification of the tunnel lining defect type can be classified into the following three cases:
first category: disease-free ground penetrating radar images; directly detecting the ground penetrating radar image of the next unit without special treatment;
the second category: a disease ground penetrating radar image; marking the positions and types of lining diseases, and storing the ground penetrating radar image and the camera image to a lining disease warehouse to be processed;
third category: suspected disease ground penetrating radar images; marking the suspected lining disease position, storing the ground penetrating radar image and the camera image into a suspected lining disease library, and further synthesizing the two images by a detector to determine whether lining disease and lining disease types exist or not.
Referring to fig. 6, the workflow of the fusion positioning algorithm is: the measurement information of the inertia measurement device and the encoder form a sub-filter, meanwhile, the measurement information of the inertia measurement device and the output result of the sub-filter form a main filter, the main filter outputs the optimal estimated value of the train position, and the optimal estimated value is used as the real-time positioning result of the train after being corrected by the high-precision train beacon information. The positioning result is fed back to the inertial measurement unit for correcting accumulated errors caused by long-time operation. The positioning result is fed back to the inertial measurement unit 31 for correcting the accumulated error thereof due to the long-time operation.
The invention adopts the multi-sensor fusion positioning technology of the combination of the inertia measuring device 31, the encoder 32 and the train beacon, accurately positions the positions of lining diseases, can help the detector to quickly find the lining disease areas, shortens the construction period of eliminating the lining diseases, and further eliminates the potential safety hazards of train operation in time.
Claims (8)
1. The high-precision rapid vehicle-mounted detection device for the quality of the subway shield tunnel lining is characterized by comprising an image acquisition module (1), a ground penetrating radar module (2), a multi-sensor fusion positioning module (3), a laser ranging module (4) and an industrial personal computer (5);
the image acquisition module (1) comprises seven groups of linear array CCD industrial cameras (11) and LED light sources (12), and is all arranged on a train body through a shockproof base; the LED light source (12) is used for intensively illuminating the scanning range of the linear array CCD industrial camera (11); the linear array CCD industrial camera (11) is communicated with the industrial personal computer (5) of the train test bench through a data line;
the ground penetrating radar module (2) comprises six groups of air coupling ground penetrating radar antennas (21) and a six-channel ground penetrating radar host (22); each group of ground penetrating radar antennas (21) is arranged on the train body through an antenna cavity; the ground penetrating radar host (22) is arranged on the train test board and is connected with the ground penetrating radar antenna (21) through a radio frequency coaxial cable; the six-channel ground penetrating radar host (22) is communicated with the industrial personal computer (5);
the multi-sensor fusion positioning module comprises an inertial measurement device (31) and an encoder (32); the inertia measuring device (31) is arranged on the floor below the train test table through a shock absorber and is communicated with the industrial personal computer (5) through a data line; the encoder (32) is arranged on the train shaft and is communicated with the industrial personal computer (5) through a data line;
the laser ranging module (4) comprises two sets of laser sensors (41, 42), and the two sets of laser sensors (41, 42) are respectively arranged at two sides of the train body and are communicated with the industrial personal computer (5) through data lines;
the linear array CCD industrial camera (11), the LED light source (12) and the ground penetrating radar antenna (21) are all positioned in the limit of the train;
the power ports of the linear array CCD industrial camera (11), the LED light source (12), the ground penetrating radar host (22) and the inertial measurement device (31) are all connected with a train vehicle-mounted power supply;
the industrial personal computer is used for processing ground penetrating radar echo data and camera image data, and specifically comprises the following steps: the process of ground penetrating radar echo data processing comprises the following steps: background cancellation, direct current component removal, zero time correction, frequency domain filtering, moving average and time-varying gain amplification to obtain a clear ground penetrating radar image; the data processing flow of the camera image data comprises: jitter elimination, edge detection, characterization and contrast adjustment;
the industrial personal computer is also used for carrying out image matching on the processed ground penetrating radar image and a disease image feature library, and automatically detecting and identifying the type of tunnel lining disease;
two pairs of identical ultra-wideband Vivaldi air coupling antennas are arranged in each antenna cavity, and the center frequency is 300MHz; the long axis of the antenna cavity is consistent with the subway line direction, the front side antenna is responsible for transmitting pulse signals, and the rear side antenna is responsible for receiving pulse echo signals; a high-frequency wave-absorbing material plate for reducing electromagnetic wave direct coupling of the receiving and transmitting antennas is arranged between the two pairs of antennas; the pulse repetition frequency of each channel of the ground penetrating radar host (22) is 200KHz, the total pulse repetition frequency is 1.2MHz, the scanning rate is 400 scanning lines/second, each scanning line has 512 sampling points, and the high-speed detection of the subway train with the highest speed per hour of 72 km/h can be met.
2. The high-precision rapid vehicle-mounted detection device for the lining quality of the subway shield tunnel according to claim 1 is characterized in that two of seven linear array CCD industrial cameras (11) are directed to one side wall of the shield tunnel lining, two are directed to the other side wall, one is directed to one side arch angle, one is directed to the other side arch angle, and one is directed to the vault.
3. The high-precision rapid vehicle-mounted detection device for the quality of the lining of the subway shield tunnel according to claim 1 is characterized in that among six groups of air-coupled ground penetrating radar antennas (21), one group points to one side wall of the lining of the shield tunnel, one group points to the other side wall, one points to one side arch angle, one points to the other side arch angle and two points to the vault.
4. A high-precision rapid vehicle-mounted detection method for the lining quality of a subway shield tunnel, which is characterized by comprising the following steps based on the high-precision rapid vehicle-mounted detection device for the lining quality of the subway shield tunnel in any one of claims 1 to 3:
step 1: after the train runs, the inertial measurement device (31) and the encoder (32) start to work, and the linear array CCD industrial camera (11), the LED light source (12) and the ground penetrating radar host (22) are started and parameter initialization setting is completed;
step 2: when the laser sensors (41, 42) detect that a train enters a tunnel, the laser sensors (41, 42) send perceived information of the tunnel entering to the industrial personal computer (5), and the industrial personal computer (5) executes program instructions to start recording camera image data and ground penetrating radar echo data; after the laser sensors (41, 42) detect that the train exits the tunnel, the laser sensors (41, 42) send perceived information (64) of the exiting tunnel to the industrial personal computer (5), the industrial personal computer (5) executes program instructions to stop recording camera image data and ground penetrating radar echo data, and the process is repeated until the train is detected to detect a complete subway line, and a tunnel data file is generated and stored;
step 3: the industrial personal computer (5) finishes preprocessing the acquired data:
the process of ground penetrating radar echo data processing comprises the following steps: background cancellation, direct current component removal, zero time correction, frequency domain filtering, moving average and time-varying gain amplification to obtain a clear ground penetrating radar image;
the data processing flow of the camera image data comprises: jitter elimination, edge detection, characterization and contrast adjustment;
step 4: and the industrial personal computer performs image matching on the processed ground penetrating radar image and the disease image feature library, and automatically detects and identifies the type of tunnel lining disease.
5. The high-precision rapid vehicle-mounted detection method for the quality of the tunnel lining of the subway shield tunnel according to claim 4 is characterized in that the automatic detection and identification of the defect type of the tunnel lining in the step 4 are divided into three cases:
first category: disease-free ground penetrating radar images; directly detecting the ground penetrating radar image of the next unit without special treatment;
the second category: a disease ground penetrating radar image; marking the positions and types of lining diseases, and storing the ground penetrating radar image and the camera image to a lining disease warehouse to be processed;
third category: suspected disease ground penetrating radar images; marking the suspected lining disease position, and storing the ground penetrating radar image and the camera image into a suspected lining disease library.
6. The high-precision rapid vehicle-mounted detection method for the lining quality of the subway shield tunnel according to claim 4, wherein the defect image feature library in the step 4 is built offline according to typical common lining defect types and is divided into a defect-free image and a defect-containing image, and the defect-containing image comprises: vault cracking, sidewall cracking, tunnel leakage, vault hollowness, surrounding rock deformation, lining chipping and tunnel freeze injury.
7. The high-precision rapid vehicle-mounted detection method for the lining quality of the subway shield tunnel according to claim 4, wherein the measurement information of the inertia measurement device (31) and the encoder (32) form a sub-filter, meanwhile, the measurement information of the inertia measurement device and the output result of the sub-filter form a main filter, the main filter outputs the optimal estimated value of the train position, and the optimal estimated value is used as the real-time positioning result of the train after being corrected by high-precision train beacon information; the positioning result is stored together with the real-time image and radar data.
8. The high-precision rapid vehicle-mounted detection method for the lining quality of the subway shield tunnel according to claim 7, wherein the positioning result is fed back to the inertia measurement device (31) for correcting the accumulated error of the inertia measurement device (31) caused by long-time operation every time the position of the train beacon passes.
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| CN201810629109.XA CN108828589B (en) | 2018-06-19 | 2018-06-19 | High-precision rapid vehicle-mounted detection method and device for lining quality of subway shield tunnel |
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| CN110261849B (en) * | 2019-07-24 | 2021-11-02 | 长江师范学院 | Tunnel lining structure detection device |
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