CN109186546A - Tunnel defect feature detection system and method - Google Patents
Tunnel defect feature detection system and method Download PDFInfo
- Publication number
- CN109186546A CN109186546A CN201811052337.1A CN201811052337A CN109186546A CN 109186546 A CN109186546 A CN 109186546A CN 201811052337 A CN201811052337 A CN 201811052337A CN 109186546 A CN109186546 A CN 109186546A
- Authority
- CN
- China
- Prior art keywords
- camera
- tunnel
- line
- scan digital
- control 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Image Analysis (AREA)
Abstract
The present invention provides a kind of tunnel defect feature detection system and methods.Wherein, in the image collecting device which uses, the main body of camera fixing support is fan-shaped or disc, and multiple mounting portions are distributed with around the center of circle in the main body of camera fixing support.Multiple line-scan digital cameras are fixed on above-mentioned camera fixing support by the present invention by camera stabilization holder, the Image Acquisition of full section of tunnel can be completed in one test, tunnel defect feature detection system to solve the problems, such as in the related technology not can be implemented simultaneously the detection of full section of tunnel, improve tunnel defect feature detection efficiency；Meanwhile high resolution industrial line-scan digital camera and camera stabilization holder that the present invention uses, in conjunction with the distinctive detection method of the present invention, the beneficial effect also high with detection accuracy, detection speed is fast, pre- vibration proof influences.
Description
Technical field
The present invention relates to Tunnel testing equipment technical fields, in particular to a kind of tunnel defect feature detection system
And method.
Background technique
With the rapid development of economy, urban population density is continuously increased, urban track traffic mileage quantity is not yet
It is disconnected to increase.With being continuously increased for urban track traffic quantity, tunnel structure exposes the Disease Characters of different degrees of size, tunnel
Road Disease Characters mainly have: percolating water, Lining Crack, lining cutting chip off-falling, seam opening, section of jurisdiction faulting of slab ends, Longitudinal Settlement, laterally convergence
Deformation etc., the work of Tunnel testing is consequently increased, but extremely limited for the window of Defect inspection.
With the development of science and technology, the means of disease automatic detection are also being constantly updated, but detection efficiency and precision are very
Difficulty meets current subway Defect inspection demand.Due to the particularity of tunnel environment, for carrying out the time of Defect inspection very
Anxiety, therefore the high efficiency detected becomes the urgent need of subway tunnel Defect inspection.
In order to realize the detection of subway tunnel disease, a kind of tunnel is disclosed in Chinese patent CN201521140260.5
Disease comprehensive improvement system, the system include workbench and the tunnel defect detection system being arranged on workbench and
Curing of Tunnel Diseases system, workbench include the car body that can be moved in tunnel, installation lifting arm on the car body and peace
Hanging basket mounted in lifting arm upper end, tunnel defect detection system include tunnel defect detection device, Curing of Tunnel Diseases system packet
Curing of Tunnel Diseases equipment is included, tunnel defect detection device and/or Curing of Tunnel Diseases equipment can be arranged in hanging basket.
Researcher of the invention is the study found that above system passes through the tunnel defect that is mounted in the hanging basket on lifting arm
Detection device, detection is only able to detect a bar-shaped zone in tunnel every time, not can be implemented simultaneously the detection of full section of tunnel.
In conclusion not can be implemented simultaneously full section of tunnel for tunnel defect feature detection system in the related technology
The problem of detection, currently no effective solution has been proposed.
Summary of the invention
The present invention provides a kind of tunnel defect feature detection system and methods, at least to solve tunnel in the related technology
Disease Characters detection system not can be implemented simultaneously the problem of detection of full section of tunnel.
In a first aspect, the embodiment of the invention provides a kind of tunnel defect feature detection systems, comprising: battery, movement
Platform, control device and image collecting device, the control device and described image acquisition device are mounted on the mobile platform
On；The control device and described image acquisition device are electrically connected, to control described image acquisition device；Wherein, the figure
As acquisition device includes: up-right support, camera fixing support and strip source, wherein
The up-right support is mounted on the center of the mobile platform；
The main body of the camera fixing support is fan-shaped or disc, surrounds in the main body of the camera fixing support
Multiple mounting portions are distributed in the center of circle in a manner of fan-shaped array, fixed on some or all mounting portions in the mounting portion
There is line-scan digital camera；The camera fixing support is to pass through the direction of the axis in the center of circle and the direction of motion of the mobile platform
Identical form is mounted on the top of the up-right support；
The strip source is mounted on the top of the up-right support around the center of circle in a manner of fan-shaped array.
Second aspect, the embodiment of the invention provides a kind of tunnel defect characteristic detection methods, are applied to first aspect institute
The tunnel defect feature detection system stated, which comprises
Acquisition picture size is preset in the initial position of uncalibrated image acquisition；
Start tunnel defect feature detection system, the mobile platform is since the initial position on the track in tunnel
It moves forwards；
While the mobile platform moves forwards on the track, the control device sends trigger signal to institute
State line-scan digital camera；
The line-scan digital camera acquires image according to the trigger signal；
The control device carries out the whole line-scan digital camera acquired images being fixed on the camera fixing support
Splicing；
The practical mileage that the control device is measured according to the odometer carries out practical mileage to the image spliced
With the mark of tunnel duct piece number.
The tunnel defect feature detection system and method provided through the embodiment of the present invention, the tunnel defect feature detection system
It unites in the image collecting device used, the main body of camera fixing support is fan-shaped or disc, in the master of camera fixing support
Multiple mounting portions are distributed with around the center of circle on body, are fixed with line-scan digital camera on some or all mounting portions in mounting portion；
Upright branch is mounted in the form of the direction of axis of the camera fixing support to pass through the center of circle is identical with the direction of motion of mobile platform
The top of frame.Multiple line-scan digital cameras are mounted on above-mentioned camera fixing support, it is full tunnel can be completed in one test
The Image Acquisition of section, so that the tunnel defect feature detection system for solving in the related technology not can be implemented simultaneously tunnel and break entirely
The problem of detection in face, improves tunnel defect feature detection efficiency.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of tunnel defect feature detection system according to an embodiment of the present invention；
Fig. 2 is the flow chart of tunnel defect characteristic detection method according to an embodiment of the present invention；
Fig. 3 is the flow chart of tunnel defect characteristic detection method according to the preferred embodiment of the invention；
Fig. 4 is the signal of tunnel defect characteristic detection method according to the preferred embodiment of the invention, energy flow schematic diagram；
Fig. 5 is the schematic diagram of tunnel defect feature detection according to the preferred embodiment of the invention；
Fig. 6 is single camera high definition collected in tunnel defect feature detection system according to the preferred embodiment of the invention
The schematic diagram of image；
Fig. 7 is that tunnel defect feature detection system according to the preferred embodiment of the invention is spliced and marked section of jurisdiction number
Tunnel image schematic diagram；
Fig. 8 be it is according to the preferred embodiment of the invention on the image carry out all kinds of Analysis of Disease Characteristics, annotation results are shown
It is intended to.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below, in order to make mesh of the invention
, technical solution and advantage be more clearly understood, with reference to the accompanying drawings and embodiments, the present invention is further retouched in detail
It states.It should be understood that described herein, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.For ability
For field technique personnel, the present invention can be implemented in the case where not needing some details in these details.It is right below
The description of embodiment is used for the purpose of better understanding the present invention to provide by showing example of the invention.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including ... ", it is not excluded that including described want
There is also other identical elements in the process, method, article or equipment of element.
A kind of tunnel defect feature detection system is provided in the present embodiment, and Fig. 1 is tunnel according to an embodiment of the present invention
The structural schematic diagram of road Disease Characters detection system, as shown in Figure 1, the system includes: battery 1, mobile platform 2, control dress
3 and image collecting device 4 are set, control device 3 and image collecting device 4 are mounted on mobile platform 2；Control device 3 respectively with
Mobile platform 2 and image collecting device 4 are electrically connected, to control mobile platform 2 and image collecting device 4；Wherein, Image Acquisition
Device 4 includes: up-right support 41, camera fixing support 42 and strip source 43, wherein
Up-right support 41 is mounted on the center of mobile platform 2；
The main body of camera fixing support 42 is fan-shaped or disc, and the center of circle is surrounded in the main body of camera fixing support 42
Multiple mounting portions 421 are distributed in a manner of fan-shaped array, consolidate on some or all mounting portions 421 in mounting portion 421
Surely there is line-scan digital camera 5；Camera fixing support 41 is identical with the direction of motion of mobile platform 2 with the direction for passing through the axis in the center of circle
Form is mounted on the top of up-right support 41；
Strip source 43 is mounted on the top of up-right support 41 around the center of circle in a manner of fan-shaped array.
Using above system, multiple line-scan digital cameras are mounted on above-mentioned camera fixing support, it can be in one-time detection
The middle Image Acquisition for completing full section of tunnel, so that the tunnel defect feature detection system solved in the related technology can not be simultaneously
The problem of realizing the detection of full section of tunnel, improves tunnel defect feature detection efficiency.
Optionally, the capacity of battery 1 is determined according to the power of other electrical components and cruise duration, at least to meet
Electricity needed for Tunnel testing of tunnel defect feature detection system.
Optionally, mounting portion 421 includes camera stabilization holder, and line-scan digital camera 5 is fixed on camera by camera stabilization holder
On fixed bracket 42.Since sensibility of the line-scan digital camera for vibration is quite high, to guarantee to obtain high quality graphic, camera is consolidated
Due to camera stabilization holder, can effectively reduce vibration influences, and obtains high quality graphic.
Optionally, the field range for the whole line-scan digital cameras 5 being fixed on camera fixing support 42 can cover tunnel
Tunneling boring.Wherein, the tunneling boring in tunnel does not include the railway roadbed and track in tunnel.
Optionally, at least there is weight in the field range for being fixed on the two adjacent linear array camera 5 on camera fixing support 42
Folded region, to carry out the high-precision joining of image.Optionally, overlapping region is not less than 20cm.
The line-scan digital camera 5 and its accessory (such as camera lens etc.) installed on camera fixing support 42 can be according to acquisitions
The required precision of image, the difference (such as the radius in tunnel) of measurand visual field size are selected, and determine camera
Quantity；The suitable camera of resolution ratio and the number of camera are conducive to guarantee to obtain the precision of images condition while save the cost
Lower acquisition high quality graphic.All line-scan digital cameras 5 can share the same image pick-up card；In order to improve the real-time of Image Acquisition
Property, it is preferable that each line-scan digital camera 5 uses an individual image pick-up card.
Optionally, line-scan digital camera 5 is high resolution industrial line-scan digital camera.High resolution industrial line-scan digital camera can be mentioned substantially
The resolution ratio of hi-vision, to improve detection accuracy.Also, the picture-taken frequency highest of industrial line-scan digital camera can achieve
66000Hz can guarantee the high efficiency for the image that industrial line-scan digital camera acquires during the motion.
Optionally, strip source 43 is highlighted bar-shaped LED light source, which is installed on camera with fan-shaped array manner and fixes
On bracket 42, for guaranteeing that light is uniform and is covered with whole field ranges of more line-scan digital cameras 5.
Optionally, control device 3 further includes odometer 6.Odometer 6 is preferably high precision odometer, for guaranteeing linear array
High-precision corresponding relationship between the image and practical mileage that camera obtains.
Optionally, high-precision corresponding relationship between the image and practical mileage in order to guarantee line-scan digital camera acquisition, is being adopted
It is every by default fixed Image Acquisition distance, odometer 6 during carrying out Tunnel testing with tunnel defect feature detection system
It can choose and once proofreaded.
Optionally, whole line-scan digital cameras 5 that control device 3 is also used to be fixed on camera fixing support 42 are collected
Image is spliced, and the practical mileage measured according to odometer 6 carries out practical mileage and tunneltron to the image spliced
The mark of piece number.Spliced image is marked according to practical mileage and tunnel duct piece number, is convenient for Disease Characters positioning.Splicing
The image obtained afterwards just can be used in manual or automated Disease Characters mark, analysis and statistics；It is based especially on industrial line
The high resolution features of array camera, the image obtained after splicing can mark, analyze and count the diseases such as the fine cracks in tunnel
Feature.
Optionally, control device 3 is for first acquiring whole line-scan digital cameras 5 according to the positional relationship between line-scan digital camera 5
Image tentatively spliced, then according to RANSAC algorithm to image carry out high-precision joining.Wherein, between line-scan digital camera 5
Positional relationship be to have been demarcated between line-scan digital camera 5 in advance according to determined by the calibration in advance to more line-scan digital cameras
Positional relationship, and line-scan digital camera 5 is installed on camera fixing support 42 according to identical positional relationship.
Optionally, control device 3 is also used to generate the triggering letter of line-scan digital camera 5 according to the practical mileage that odometer 6 measures
Number, to adjust the picture-taken frequency of line-scan digital camera 5 in real time according to the movement velocity of mobile platform 2.Wherein, all linear array phases
Control of the machine 5 all by the same trigger signal.By the above-mentioned means, tunnel defect feature detection system can be in movement velocity
The image of high quality is acquired in situation heterogeneous.For example, tunnel defect feature detection system can be set to mobile platform 2 often
It moves 0.3mm and acquires an image, then when the speed that odometer 6 measures mobile platform 2 is fast, the touching of the generation of control device 3
The frequency of signalling is just high, when the speed that odometer 6 measures mobile platform 2 is slow, the first draft signal of the generation of control device 3
Frequency accordingly reduces, to realize that every 0.3mm acquires an image.
Optionally, the mobile platform 2 in the present embodiment has sufficiently rigid, and front and back has enough spans, so that moving
The stability of moving platform 2 during the motion, reducing vibration influences picture quality.
Optionally, control device 3 further includes display screen, is used for 6 acquired image of real-time display line-scan digital camera, and/or,
The image obtained after the splicing of control device 3.By display screen, can be observed in real time the working condition of line-scan digital camera 5 with
And its whether the image obtained meets quality requirement.
It should be noted that above-mentioned control device 3 also wraps other than can have the components such as display screen, odometer 6
Other basic element of character needed for realizing its function are included, such as: these basic element of character can be the industrial personal computer for calculation process, use
In the large capacity solid state hard disk etc. of storing data.
A kind of tunnel defect characteristic detection method is additionally provided in the present embodiment, and this method is applied to above-mentioned tunnel disease
Evil feature detection system.Fig. 2 is the flow chart of tunnel defect characteristic detection method according to an embodiment of the present invention, as shown in Fig. 2,
The process includes the following steps:
Acquisition picture size is preset in step S201, the initial position of uncalibrated image acquisition；
Step S202 starts tunnel defect feature detection system, and mobile platform is since initial position in the track in tunnel
On move forwards；
Step S203, while mobile platform moves forwards in orbit, control device sends trigger signal and gives linear array phase
Machine；
Step S204, line-scan digital camera acquire image according to trigger signal；
Step S205, control device carry out the whole line-scan digital camera acquired images being fixed on camera fixing support
Splicing；
Step S206, the practical mileage that control device is measured according to odometer carry out practical mileage to the image spliced
With the mark of tunnel duct piece number.
Optionally, it includes: control device according to being mounted on mobile platform that control device, which sends trigger signal to line-scan digital camera,
On odometer measurement practical mileage, to line-scan digital camera send trigger signal, with real-time according to the movement velocity of mobile platform
Adjust the picture-taken frequency of line-scan digital camera.
Optionally, control device spells the whole line-scan digital camera acquired images being fixed on camera fixing support
Connecing includes: first tentatively to be spliced according to the positional relationship between line-scan digital camera to the image that whole line-scan digital cameras acquire, then
High-precision joining is carried out to image according to RANSAC algorithm.
In order to keep the description of the embodiment of the present invention clearer, it is described and illustrates below with reference to preferred embodiment.
This preferred embodiment provides a kind of tunnel defect characteristic detection method, and Fig. 3 is preferred embodiment according to the present invention
Tunnel defect characteristic detection method flow chart, Fig. 4 is tunnel defect feature according to the preferred embodiment of the invention detection side
Signal, the energy flow schematic diagram of method.With reference to Fig. 3 and Fig. 4, this method comprises the following steps:
Step S301 carries out camera model selection according to default detection accuracy, field range and camera number adjusts.
In the present embodiment, image resolution ratio precision by taking 0.3mm as an example (but being not limited to 0.3mm), tunnel diameter is with 5.5m
For (but it is not limited to 5.5m), the range that tunnel is detected is 270 °, therefore the visual field of tested range is 12.9525m,
12.95 × 1000/0.3=43175 pixel is needed in the case where guaranteeing that measurement accuracy can reach measurement request, therefore can be used
The industrial line-scan digital camera that 4 resolution ratio are 12288 × 1 is detected, and single camera field range can achieve 3.6864m, phase
Overlapping range between adjacent camera can reach 0.6m.
Step S302, camera, light, odometer, industrial personal computer, battery etc. are fixed on carrier.
In the present embodiment, camera is installed on bracket with fan-shaped array manner, highlights bar-shaped LED lamp also with fan-shaped array side
Formula is installed on bracket, then secures a bracket to mobile platform, and odometer, industrial personal computer, display screen, battery are all fixed on shifting
Moving platform guarantees that enough rigidity prevent relative motion between each device, and LED lamplight is uniformly covered with the holistic vision model of camera
It encloses, as shown in Figure 5.
More industrial line-scan digital cameras are fixed on stabilization holder, and three axis of stabilization holder are adjusted by step S303,
Guarantee that camera center of gravity is overlapped with holder center.
Step S304, camera calibration.
In the present embodiment, in advance using Zhang Zhengyou calibration algorithm or other traditional calibration algorithms to phase before entering tunnel
Machine is demarcated, and the inside and outside parameter of camera is obtained, and determines the positional relationship between camera, is guaranteed between the adjacent cameras visual field extremely
The overlapping region of few 20cm, guarantees the required precision of image mosaic.
Figure position is adopted in step S305, in advance calibration starting.
When mobile platform is moved to starting detection position, starting mileage number is demarcated in advance and determines mileage number change direction
(become larger or reduce) guarantees to realize high-precision corresponding relationship between the practical mileage of image information and tunnel obtained, and in image
It is every primary by default fixed range odometer check and correction in collection process.
Step S306, pre-set image size adopt figure frame number and reach default size and save an image.
Parameter preset is adopted i.e. one image of preservation when figure frame number often reaches 10000 and (for 10000 but is not limited to
10000), and image is named with the practical mileage number in the corresponding tunnel of the whole story, as shown in Figure 6.
Step S307, odometer provide trigger signal.
In this example, the movement speed that mobile platform is arranged is 20km/h, and controller can be believed according to the real-time mileage of odometer
Breath generates trigger signal, and triggering camera is taken pictures, and adopts figure frequency size, the non-homogeneous feelings of mobile platform movement velocity without default
It still is able to obtain high quality graphic under condition；In image acquisition procedures, acquisition image can be observed in real time in display screen
Quality and camera working condition can find simultaneously to adjust in time in time as gone wrong in image acquisition process.
Step S308, according to the real-time mileage information of odometer, camera adjust automatically line-scan digital camera adopts figure frequency.
In the present embodiment, the acquisition precision of images is 0.3mm, odometer real-time transmission mileage information to industrial personal computer, industrial personal computer
The every mobile 0.3mm of camera, which is controlled, according to parameter preset triggers an Image Acquisition thread.The line-scan digital camera highest adopts figure frequency can
Up to 66000Hz, when obtaining the precision of images is 0.3mm, mobile platform highest movement speed is estimated up to 71km/h, can
See, under such high speed, image acquiring device can still obtain high quality graphic, and real-time transmission to image memory device is protected
It deposits.
Step S309, odometer check and correction.
In the present embodiment, every by pre- during carrying out Tunnel testing using tunnel defect feature detection system
If fixed Image Acquisition distance, odometer are once proofreaded.
Step S310, image mosaic.
It is after adopting figure, the image of each camera acquisition acquisition is preliminary according to the positional relationship progress image demarcated in advance
Splicing.Then two picture laps are detected according to RANSAC algorithm, and realized between adjacent two cameras acquisition image
At a high speed, high-precision joining.
Step S311 marks corresponding tunnel mileage or section of jurisdiction number on the image.Image after the completion of splicing is realized high-precision
Position mark is spent, forms the high-precision corresponding relationship between image and the practical mileage in tunnel or section of jurisdiction number, as shown in Figure 7.
Step S312 carries out all kinds of Disease Characters marks, analysis and statistics on splicing complete image, can especially mark,
The small Disease Characters such as analysis and the similar fine cracks of statistics, directly mark out all Disease Characters, and analyze disease in original image
The size of the diseases such as chip off-falling, infiltration, crack in evil feature, such as fracture length and width are mentioned to tunnel safety maintenance
For reliable reference value, as shown in Figure 8.
In conclusion through the embodiment of the present invention, solving tunnel defect feature detection system in the prior art and side
The problems such as detection efficiency of method is low, precision is low, mobile platform serious vibration influences picture quality.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (13)
1. a kind of tunnel defect feature detection system, comprising: battery, mobile platform, control device and image collecting device, institute
It states control device and described image acquisition device is mounted on the mobile platform；The control device and described image acquisition fill
Electric connection is set, to control described image acquisition device；It is characterized in that, described image acquisition device includes: up-right support, phase
The fixed bracket of machine and strip source, wherein
The up-right support is mounted on the center of the mobile platform；
The main body of the camera fixing support is fan-shaped or disc, and the center of circle is surrounded in the main body of the camera fixing support
Multiple mounting portions are distributed in a manner of fan-shaped array, are fixed on some or all mounting portions in the mounting portion wired
Array camera；The camera fixing support is identical as the direction of motion of the mobile platform with the direction for passing through the axis in the center of circle
Form be mounted on the top of the up-right support；
The strip source is mounted on the top of the up-right support around the center of circle in a manner of fan-shaped array.
2. system according to claim 1, which is characterized in that the mounting portion includes camera stabilization holder, the linear array
Camera is fixed on the camera fixing support by the camera stabilization holder.
3. system according to claim 1, which is characterized in that the whole linear array phases being fixed on the camera fixing support
The field range of machine can cover the tunneling boring in tunnel.
4. system according to claim 1, which is characterized in that the two neighboring line being fixed on the camera fixing support
At least there is overlapping region in the field range of array camera.
5. system according to claim 1, which is characterized in that the overlapping region is not less than 20cm.
6. system according to claim 1, which is characterized in that the line-scan digital camera is high resolution industrial line-scan digital camera.
7. system according to any one of claim 1 to 6, which is characterized in that the control device further includes odometer.
8. system according to claim 7, which is characterized in that the control device is also used to be fixed on the camera and consolidates
Whole line-scan digital camera acquired images on fixed rack are spliced, and according to the practical mileage of odometer measurement to spelling
Pick out the mark that the image come carries out practical mileage and tunnel duct piece number.
9. system according to claim 8, which is characterized in that the control device is for first according between line-scan digital camera
Positional relationship tentatively splices the image that whole line-scan digital cameras acquire, and is then carried out according to RANSAC algorithm to image high-precision
Degree splicing.
10. system according to claim 7, which is characterized in that the control device is also used to be measured according to the mileage
The practical mileage of amount generates the trigger signal of the line-scan digital camera, to adjust institute in real time according to the movement velocity of the mobile platform
State the picture-taken frequency of line-scan digital camera.
11. a kind of tunnel defect characteristic detection method, applied to tunnel defect feature described in any one of claims 1 to 10
Detection system, which is characterized in that the described method includes:
Acquisition picture size is preset in the initial position of uncalibrated image acquisition；
Start tunnel defect feature detection system, the mobile platform since the initial position on the track in tunnel forward
Operation；
While the mobile platform moves forwards on the track, the control device sends trigger signal to the line
Array camera；
The line-scan digital camera acquires image according to the trigger signal；
The control device splices the whole line-scan digital camera acquired images being fixed on the camera fixing support；
The practical mileage that the control device is measured according to the odometer carries out practical mileage and tunnel to the image spliced
The mark of road section of jurisdiction number.
12. according to the method for claim 11, which is characterized in that the control device sends trigger signal to the linear array
Camera includes:
The practical mileage that the control device is measured according to the odometer being mounted on the mobile platform, to the line-scan digital camera
Trigger signal is sent, to adjust the picture-taken frequency of the line-scan digital camera in real time according to the movement velocity of the mobile platform.
13. according to the method for claim 11, which is characterized in that the control device will be fixed on the fixed branch of the camera
Whole line-scan digital camera acquired images on frame carry out splicing
First the image that whole line-scan digital cameras acquire tentatively is spliced according to the positional relationship between line-scan digital camera, then basis
RANSAC algorithm carries out high-precision joining to image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811052337.1A CN109186546A (en) | 2018-09-10 | 2018-09-10 | Tunnel defect feature detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811052337.1A CN109186546A (en) | 2018-09-10 | 2018-09-10 | Tunnel defect feature detection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109186546A true CN109186546A (en) | 2019-01-11 |
Family
ID=64915617
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811052337.1A Pending CN109186546A (en) | 2018-09-10 | 2018-09-10 | Tunnel defect feature detection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109186546A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346370A (en) * | 2019-07-17 | 2019-10-18 | 武汉汉宁轨道交通技术有限公司 | Tunnel defect detection device, system and method |
| CN112070754A (en) * | 2020-09-11 | 2020-12-11 | 武汉百家云科技有限公司 | Tunnel segment water leakage detection method and device, electronic equipment and medium |
| CN112489000A (en) * | 2020-11-20 | 2021-03-12 | 天津朗硕机器人科技有限公司 | Autonomous reconfigurable part surface quality detection system |
| CN111639203B (en) * | 2020-05-28 | 2023-07-07 | 神华包神铁路集团有限责任公司 | Tunnel defect positioning method, device, computer equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001141660A (en) * | 1999-11-11 | 2001-05-25 | Keisoku Kensa Kk | Method for detecting and displaying crack of inner wall surface of tunnel |
| CN104111259A (en) * | 2014-07-11 | 2014-10-22 | 上海通芮斯克土木工程技术有限公司 | Rapid high-precision detection equipment of subway shield tunnel diseases |
| CN206362716U (en) * | 2017-01-17 | 2017-07-28 | 南京熊猫信息产业有限公司 | A kind of tunnel defect detection means |
| CN207379936U (en) * | 2017-09-06 | 2018-05-18 | 成都圭目机器人有限公司 | A kind of dysnusia detecting system |
| CN108267096A (en) * | 2017-12-25 | 2018-07-10 | 中铁科学技术开发公司 | Railway tunnel lining surface disease rapid detection system |
| CN108332084A (en) * | 2017-01-17 | 2018-07-27 | 南京熊猫信息产业有限公司 | A kind of Tunnel testing platform light supply apparatus and its distribution of light sources method |
| CN208872293U (en) * | 2018-09-10 | 2019-05-17 | 汪俊 | Tunnel defect feature detection system |
-
2018
- 2018-09-10 CN CN201811052337.1A patent/CN109186546A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001141660A (en) * | 1999-11-11 | 2001-05-25 | Keisoku Kensa Kk | Method for detecting and displaying crack of inner wall surface of tunnel |
| CN104111259A (en) * | 2014-07-11 | 2014-10-22 | 上海通芮斯克土木工程技术有限公司 | Rapid high-precision detection equipment of subway shield tunnel diseases |
| CN206362716U (en) * | 2017-01-17 | 2017-07-28 | 南京熊猫信息产业有限公司 | A kind of tunnel defect detection means |
| CN108332084A (en) * | 2017-01-17 | 2018-07-27 | 南京熊猫信息产业有限公司 | A kind of Tunnel testing platform light supply apparatus and its distribution of light sources method |
| CN207379936U (en) * | 2017-09-06 | 2018-05-18 | 成都圭目机器人有限公司 | A kind of dysnusia detecting system |
| CN108267096A (en) * | 2017-12-25 | 2018-07-10 | 中铁科学技术开发公司 | Railway tunnel lining surface disease rapid detection system |
| CN208872293U (en) * | 2018-09-10 | 2019-05-17 | 汪俊 | Tunnel defect feature detection system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346370A (en) * | 2019-07-17 | 2019-10-18 | 武汉汉宁轨道交通技术有限公司 | Tunnel defect detection device, system and method |
| CN111639203B (en) * | 2020-05-28 | 2023-07-07 | 神华包神铁路集团有限责任公司 | Tunnel defect positioning method, device, computer equipment and storage medium |
| CN112070754A (en) * | 2020-09-11 | 2020-12-11 | 武汉百家云科技有限公司 | Tunnel segment water leakage detection method and device, electronic equipment and medium |
| CN112489000A (en) * | 2020-11-20 | 2021-03-12 | 天津朗硕机器人科技有限公司 | Autonomous reconfigurable part surface quality detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208872293U (en) | Tunnel defect feature detection system | |
| CN109186546A (en) | Tunnel defect feature detection system and method | |
| WO2021068746A1 (en) | Image acquisition device for tunnel inspection, tunnel inspection system, and tunnel inspection method | |
| CN201473886U (en) | Bridge inspection vehicle | |
| CN104567684B (en) | A kind of contact net geometric parameter detection method and device | |
| CN104655047B (en) | The rapid integrated measuring system in tunnel | |
| JPS61281915A (en) | Vehicle device for measuring properties of road surface | |
| CN103712929B (en) | Monitoring system for motor vehicle tail gas | |
| CN108593654B (en) | Tunnel image acquisition system and method | |
| JP6154001B2 (en) | A device for investigating the shape of road surfaces | |
| CN109000729A (en) | Vehicle-mounted contact net condition monitoring system | |
| CN104749187A (en) | Tunnel lining disease detection device based on infrared temperature field and gray level image | |
| CN106705862B (en) | A kind of track quick track switching operating operation sleeper bolt method for detecting position | |
| CN103778681A (en) | Vehicle-mounted high-speed road inspection system and data acquisition and processing method | |
| JP6527772B2 (en) | Spatial light measurement method and spatial light measurement system | |
| CN105628194B (en) | A kind of road lighting quality on-site measurement method | |
| CN104417382A (en) | Visual positioning system | |
| CN107345792A (en) | A kind of vcehicular tunnel surface and internal detection car | |
| CN111413353A (en) | Tunnel lining disease comprehensive detection vehicle | |
| JP6602625B2 (en) | Structure inspection system | |
| CN107064172A (en) | A kind of Tunnel Lining Cracks rapid detection system | |
| CN110295533A (en) | A kind of road surface traverse measuring device, system and method | |
| JP6557532B2 (en) | Lighting equipment management system | |
| CN107284330A (en) | A kind of existing vcehicular tunnel car | |
| CN207225178U (en) | A kind of existing vcehicular tunnel vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |