CN109816946A - A kind of tunnel inspection device - Google Patents
A kind of tunnel inspection device Download PDFInfo
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- CN109816946A CN109816946A CN201910099434.4A CN201910099434A CN109816946A CN 109816946 A CN109816946 A CN 109816946A CN 201910099434 A CN201910099434 A CN 201910099434A CN 109816946 A CN109816946 A CN 109816946A
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- inspection device
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Abstract
The invention discloses a kind of tunnel inspection devices, utilize the device, the original point cloud data in tunnel can be acquired and processed, confirm exception information situation, responded according to exception information, tunnel inspection device all weather operations, can detect at any time and find road surface foreign matter and and alarm, related personnel can navigate to foreign matter position quickly and handle, and reduce the maintenance cost in tunnel；Reduce the cost of manpower detection；Improve the efficiency of detection；It ensure that the safety in tunnel.
Description
Technical field
The present invention relates to Tunnel testing technical field more particularly to a kind of tunnel inspection devices.
Background technique
Tunnel is an important location of road, carries most vehicle on road, the current safety in tunnel
Always one of the focus that pays attention to of traffic control department.Recently as the continuous development of urban construction, the continuous expansion of city size,
The continuous increase of traffic pressure！In Municipal engineering project, the quantity in urban transportation tunnel and high-speed transit tunnel and
Scale is constantly riseing, and tunnel operation security has attracted increasing attention！Tunnel environment is complicated, and illuminance is insufficient, drives
The person of sailing is sometimes difficult to see the surface conditions of distant place clearly, when road surface is there are when foreign matter, under conditions of sight is dim in tunnel, drives
Member can not see clearly in time and can not avoid foreign matter in time；Even some drivers can be in order to avoid and urgent lane change, to side
The vehicle of lanes causes damages, and so as to cause the generation of accident, how quickly to find that road surface foreign matter is existing rank
Section tunnel safety main problem urgently to be resolved.
Summary of the invention
The present invention in view of the shortcomings of the prior art, provide a kind of tunnel inspection device, can effectively detect in tunnel whether
There are foreign matters, while reminding traffic, guarantee tunnel safety.
In order to solve the above technical problems, the present invention is addressed by the following technical programs: a kind of tunnel inspection device, packet
Pedestal is included, main control module, voice module, communication module, power module, motion module, monitoring mould are provided on the pedestal
Block, holder, by the main control module, voice module, the communication module, the power module, described
Motion module, the cooperation between the monitoring modular and the holder complete the detection alarm of tunnel foreign matter.
A method of foreign matter being detected with inspection device, is included the following steps:
Step 1: inspection device is switched on；Each module of electric power source pair of module is powered, and motion module is able to drive pedestal and transports on guide rail
Row；
Step 2: monitoring data are collected: monitoring modular obtains the original point in road environment to the lower section pavement monitoring of process
Cloud data；
Step 3: monitoring situation analysis；It is processed to original point cloud data is collected in step 2, obtains data model, and sentence
It is disconnected whether to have exception information, and confirm exception information situation；
Step 4: inspection result responds: being responded according to exception information.
In above-mentioned technical proposal, in the step 2, monitoring modular includes 3D laser radar.
In above-mentioned technical proposal, the processing of original point cloud data includes pose transformation and cluster segmentation in the step 3.
In above-mentioned technical proposal, in the step 3, data model includes bicycle, pedestrian, automobile, indefinite object.
In above-mentioned technical proposal, the inspection result respond the step of include triggering alarm switch, monitoring modular will alarm
Signal is sent to main control module, and main control module communication control module sends alarm signal to backstage manipulation end, sends out to voice module
Play signal is sent, so that voice module is played early warning voice, while to be abnormal the image in situation region etc. to be processed for holder shooting
The processing of personnel.
Compared with prior art, the invention has the following beneficial effects: the present invention to utilize the round-the-clock work of tunnel inspection device
Make, thus can detect at any time and find road surface foreign matter and and alarm, related personnel can navigate to quickly foreign matter position simultaneously
It is handled, reduces the maintenance cost in tunnel；Reduce the cost of manpower detection；Improve the efficiency of detection；It ensure that tunnel
The safety in road.
Detailed description of the invention
Fig. 1 is operation schematic diagram of the present invention.
Fig. 2 is work flow diagram of the present invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
Referring to Fig. 1 to Fig. 2, a kind of tunnel inspection device, including pedestal is provided with main control module, language on the pedestal
Sound module, communication module, power module, motion module, monitoring modular, holder pass through the main control module, the voice
Module, the communication module, the power module, the motion module, the monitoring modular and the holder
Between cooperation complete tunnel foreign matter detection alarm.
Based on pedestal, each functional module is mounted on thereon, motor and the pedestal other side in motion module
Other motion module components are connected, and include synchronous pulley, auxiliary wheel, driven wheel and synchronous belt；In the outside of pedestal, there are also shells
It is covered in all functional modules, the range of inspection scanning, in the sector structure between A and B, works as abnormal conditions on the L of road surface
When O is in the range of inspection scans, relevant mode carries out actuation of an alarm fastly.
Main control module controls the movement of each functional module, and power module starts to be powered for other modules；Motion module
It is run after receiving the starting information of main control module, tunnel crusing robot starts mobile inspection work；Monitoring modular is persistently right
Surface conditions are detected, when found the abnormal situation road surface foreign matter, transmitting exception information to main control module, and main control module control
Communication module carries out abnormal alarm to backstage, and control holder shoots abnormal position, and controls voice module and open voice
The occurrence of early warning, prompting vehicle abnormality, while personnel being waited to handle.Related personnel checked foreign matter image by holder
Afterwards, the positioning confirmation foreign matter place that can be provided according to the positioning function in monitoring modular；When not enough power supply, power module can be to
Main control module sends demand charge information, and main control module controls the biography that communication module carries out charge information to external charging equipment
It passs, when external charging equipment is reached apart from tunnel inspection device certain distance, main control module controls tunnel inspection device and carries out
Charging docking prepares, and after charging complete, power module sends charge completion information to main control module, and main control module control tunnel patrols
Checking device separation when closing, need to only press the closing operation button of manipulation end, and main control module controls each module from service, electricity
Source module stops power supply, motion module stop motion, and total system is closed.
According to above-mentioned each unit, the present invention can be applied to several scenes, according to the difference of scene, including following implementations
Example.
The method of embodiment 1, a kind of inspection device detection foreign matter comprising following steps:
Step 1: inspection device is switched on；Each module of electric power source pair of module is powered, and motion module is able to drive pedestal and transports on guide rail
Row；Step 2: monitoring data are collected: 3D laser radar obtains original in road environment the lower section pavement monitoring of process
Point cloud data；Step 3: monitoring situation analysis；Pose transformation and cluster are carried out to original point cloud data collected in step 2
Segmentation, the point cloud data other than pavement edge is filtered out, and obtains the point cloud data for there was only information of road surface；Secondly, 3D laser radar
Built-in information processing unit to treated, analyze by point cloud data, and when identification data model, 3D laser radar can be will identify that
Concrete model feature be transmitted in advance that trained model data compares in deep learning module, in tunnel, bicycle
Do not allow to appear in tunnel when with pedestrian, therefore, in deep learning, bicycle and pedestrian are returned as foreign matter model
Therefore class when the data model of identification is bicycle and pedestrian, can directly be determined as foreign matter after model data comparison.Step
Rapid four, inspection result responds: when the foreign matter of detection is bicycle or pedestrian, the alarm switch in monitoring modular is triggered, simultaneously
Alarm signal is sent to main control module by monitoring modular, and main control module communication control module sends alarm signal to backstage manipulation end
Number, to voice module send play signal, play early warning voice, perhaps by voice module remotely propaganda directed to communicate remind personnel or
Cyclist leaves, and alarm is closed after leaving, such as personnel is repeatedly propagandaed directed to communicate or bicycle does not also leave, then send treatment people to scene
It is handled, alarm is closed after being disposed.
Scene in above-described embodiment 1 is to make when violating the pedestrian and non motorized vehicle driver of traffic mainly for foreign matter
Response.
The method of embodiment 2, a kind of inspection device detection foreign matter comprising following steps:
Step 1: inspection device is switched on；Each module of electric power source pair of module is powered, and motion module is able to drive pedestal and transports on guide rail
Row；Step 2: monitoring data are collected: 3D laser radar obtains original in road environment the lower section pavement monitoring of process
Point cloud data；Step 3: monitoring situation analysis；Pose transformation and cluster are carried out to original point cloud data collected in step 2
Segmentation, the point cloud data other than pavement edge is filtered out, and obtains the point cloud data for there was only information of road surface；Secondly, 3D laser radar
Built-in information processing unit to treated, analyze by point cloud data, if the data model at identification is automobile, 3D laser thunder
It is transmitted in advance in deep learning module in trained model data up to the car model that can be will identify that, 3D laser radar
The speed for persistently tracking vehicle driving then determines the exception feelings when car speeds all in detection zone are lower than 3~6km/h
Condition is traffic congestion；Step 4: inspection result responds: the triggering of alarm switch in monitoring modular, while monitoring modular is by alarm signal
It is sent to main control module, main control module communication control module sends alarm signal to backstage manipulation end, broadcasts to voice module transmission
Discharge signal plays early warning voice, while holder shoots foreign matter point, and related personnel is waited to carry out traffic guidance or in-situ processing.
Scene in above-described embodiment 2 is the response made when traffic congestion mainly for abnormal conditions.
The method of embodiment 3, a kind of inspection device detection foreign matter comprising following steps:
Step 1: inspection device is switched on；Each module of electric power source pair of module is powered, and motion module is able to drive pedestal and transports on guide rail
Row；Step 2: monitoring data are collected: 3D laser radar obtains original in road environment the lower section pavement monitoring of process
Point cloud data；Step 3: monitoring situation analysis；Pose transformation and cluster are carried out to original point cloud data collected in step 2
Segmentation, the point cloud data other than pavement edge is filtered out, and obtains the point cloud data for there was only information of road surface；Secondly, 3D laser radar
Built-in information processing unit to treated, analyze by point cloud data, if the data model at identification is indefinite object, 3D
Indefinite object model can be transmitted to the 3D laser in advance in deep learning module in trained model data by laser radar
Radar persistently tracks the speed of indefinite object, when threshold value of the speed lower than setting, is determined as foreign matter, during threshold for 0~
5km/h；Step 4: when the foreign matter of detection is indefinite object, it is right according to the automatic rotary platform camera of indefinite object space
Foreign matter details is checked according to shooting situation in foreign matter point shooting, remote control end, when foreign matter is lesser object, and to traffic
It will not affect greatly, then long-range to close alarm, inspection device continues along guide rail inspection；If foreign matter is larger object, sentence
Disconnected there are security risks, and will cause and seriously affect to traffic, then persistently alarm, and send at treatment people to scene
Reason closes alarm after being disposed.
Scene in above-described embodiment 3 is mainly for the response made when falling the foreign matters such as stone in tunnel.
Protection scope of the present invention includes but is not limited to embodiment of above, and protection scope of the present invention is with claims
Subject to, replacement, deformation, the improvement that those skilled in the art that any pair of this technology is made is readily apparent that each fall within of the invention
Protection scope.
Claims (6)
1. a kind of tunnel inspection device, which is characterized in that including pedestal, main control module, voice mould are provided on the pedestal
Block, communication module, power module, motion module, monitoring modular, holder pass through the main control module, the voice mould
Block, the communication module, the power module, the motion module, the monitoring modular and the holder it
Between cooperation complete tunnel foreign matter detection alarm.
2. the method for inspection device detection foreign matter according to claim 1, which comprises the steps of:
Step 1: inspection device is switched on；Each module of electric power source pair of module is powered, and motion module is able to drive pedestal and transports on guide rail
Row；
Step 2: monitoring data are collected: monitoring modular obtains the original point in road environment to the lower section pavement monitoring of process
Cloud data；
Step 3: monitoring situation analysis；The original point cloud data obtained in step 2 is processed, obtains data model, and sentence
It is disconnected whether to have exception information, and confirm exception information situation；
Step 4: inspection result responds: being responded according to exception information.
3. the method for inspection device detection foreign matter according to claim 2, which is characterized in that in the step 2, monitoring
Module includes 3D laser radar.
4. the method for inspection device detection foreign matter according to claim 2, which is characterized in that original point in the step 3
The processing of cloud data includes pose transformation and cluster segmentation.
5. the method for inspection device detection foreign matter according to claim 2, which is characterized in that in the step 3, data
Model includes bicycle, pedestrian, automobile, indefinite object.
6. the method for inspection device detection foreign matter according to claim 2, which is characterized in that the inspection result response
Step includes triggering alarm switch, and alarm signal is sent to main control module by monitoring modular, main control module communication control module to
Backstage manipulation end sends alarm signal, sends play signal to voice module, and voice module is made to play early warning voice, while holder
The image that shooting is abnormal situation region waits the processing for the treatment of people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099434.4A CN109816946B (en) | 2019-01-31 | 2019-01-31 | Tunnel inspection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099434.4A CN109816946B (en) | 2019-01-31 | 2019-01-31 | Tunnel inspection device |
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| CN109816946A true CN109816946A (en) | 2019-05-28 |
| CN109816946B CN109816946B (en) | 2021-08-31 |
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| CN201910099434.4A Active CN109816946B (en) | 2019-01-31 | 2019-01-31 | Tunnel inspection device |
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Cited By (3)
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| CN110400468A (en) * | 2019-08-27 | 2019-11-01 | 宁波诠航机械科技有限公司 | A kind of low speed in long tunnel is with shooting system |
| CN111785081A (en) * | 2020-05-27 | 2020-10-16 | 诠航科技有限公司 | Guard bar patrol machine |
| CN112697105A (en) * | 2020-12-02 | 2021-04-23 | 中铁二十三局集团第六工程有限公司 | Measuring equipment and measuring method for mining tunnel survey |
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| CN111785081A (en) * | 2020-05-27 | 2020-10-16 | 诠航科技有限公司 | Guard bar patrol machine |
| CN112697105A (en) * | 2020-12-02 | 2021-04-23 | 中铁二十三局集团第六工程有限公司 | Measuring equipment and measuring method for mining tunnel survey |
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| CN109816946B (en) | 2021-08-31 |
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