CN110346807A - Tunneling data acquires device and method - Google Patents
Tunneling data acquires device and method Download PDFInfo
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- CN110346807A CN110346807A CN201910540599.0A CN201910540599A CN110346807A CN 110346807 A CN110346807 A CN 110346807A CN 201910540599 A CN201910540599 A CN 201910540599A CN 110346807 A CN110346807 A CN 110346807A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The application provides a kind of tunneling data acquisition device and method, and tunneling data acquisition equipment includes laser scanning device, multiple cameras, first camera position regulator and the processing unit being set on detection vehicle.Laser scanning device is used to acquire the tunnel contour data in tunnel.Processing unit is used to determine the relative position of the center position and detection vehicle of tunnel cross-section on tunnel cross-section according to tunnel contour data, and the relative position according to the center position of tunnel cross-section and detection vehicle on tunnel cross-section, control first camera position regulator adjusts multiple cameras and detects the relative position of vehicle, it is overlapped the Image Acquisition center of multiple cameras with the central point of tunnel cross-section, and then acquires the tunnel inner wall image data in tunnel.In this way, realizing the intelligent automatic adjustment of multiple cameras, compared to the existing mode manually adjusted, regulate the speed faster, Adjustment precision is higher, and does not allow error-prone.
Description
Technical field
This application involves technical field of rail traffic, acquire device and method in particular to a kind of tunneling data.
Background technique
During urban rail transit construction, often tunnel can be opened up for train passage, especially in city in massif or underground
In city's subway system, there are a large amount of subterranean tunnel, the safety in tunnel itself is particularly significant to the safety traffic of train.
In order to ensure the safety in tunnel, need often to check tunnel, for tunnels such as deformation, crack, percolating waters
Road disease problem accomplishes to find processing in time in time.It is some in the prior art, camera etc. can be often set on Tunnel testing vehicle
Image capture device, during Tunnel testing vehicle is advanced along tunnel, multiple cameras acquire tunnel inner wall from different angles
Then the image mosaic that multiple cameras acquire is the panorama sketch of tunnel internal or local panorama sketch to be used to carry out safety by image
Case study.
In order to guarantee the quality and availability of the tunnel internal image acquired, need to carry out the setting position of multiple cameras
Adjustment.But current tunnel detection vehicle on camera set-up mode it is very single, for tunnel of different shapes need manually into
Row adjustment, adjustment movement it is very many and diverse, the adjustment time for needing to spend is longer, and manually adjust precision it is lower and it is easy go out
It is wrong.
Summary of the invention
In order to overcome above-mentioned deficiency in the prior art, a kind of tunneling data acquisition of being designed to provide of the application is set
It is standby, including laser scanning device, multiple cameras, first camera position regulator and the processing unit being set on detection vehicle；
The laser scanning device is connect with the processing unit, for acquiring the tunnel contour data in tunnel；
The first camera position regulator is connect with the processing unit, under the control of the processing unit
Adjust the relative position of the multiple camera and the detection vehicle；
The processing unit is used to determine the center position and the inspection of tunnel cross-section according to the tunnel contour data
Relative position of the measuring car on the tunnel cross-section, and according to the center position of the tunnel cross-section and the detection vehicle in institute
The relative position on tunnel cross-section is stated, the first camera position regulator is controlled and adjusts the multiple camera and the detection
The relative position of vehicle is overlapped the Image Acquisition center of the multiple camera with the central point of the tunnel cross-section, and then acquires
The tunnel inner wall image data in the tunnel.
Optionally, in above-mentioned tunneling data acquisition equipment, the multiple camera is set on a camera support, the phase
Machine support can be mobile relative to the detection vehicle；
The camera support and the first camera position regulator are mechanically connected, the first camera position adjustment dress
Set the relative position that the camera support and the detection vehicle are adjusted under the control of the processing unit；
The processing unit according to the data that the laser scanning device acquires determine tunnel cross-section center position and
Relative position of the detection vehicle on the tunnel cross-section, adjusts the relative position of the camera support and the detection vehicle,
It is overlapped the Image Acquisition center of the multiple camera with the central point of the tunnel cross-section.
Optionally, in above-mentioned tunneling data acquisition equipment, the camera support is circle, the image of the multiple camera
Acquisition center is overlapped with the center of circle of the camera support, and the multiple camera is equidistantly set along the round outer of the camera support
It sets；
The processing unit according to the data that the laser scanning device acquires determine tunnel cross-section center position and
Relative position of the detection vehicle on the tunnel cross-section, adjusts the relative position of the camera support and the detection vehicle,
It is overlapped the center of circle of the camera support and the central point of the tunnel cross-section.
Optionally, in above-mentioned tunneling data acquisition equipment, tunneling data acquisition equipment further include respectively with it is described
Multiple second camera position regulators that multiple cameras are correspondingly arranged, each second camera position regulator with it is described
Processing unit connection, for adjusting the relative position of corresponding camera and the camera support under the control of the processing unit；
The processing unit is also used to according to the tunnel contour data and the detection vehicle on the tunnel cross-section
Relative position controls each second camera position regulator respectively and adjusts corresponding camera on the camera support
Relative position.
Optionally, in above-mentioned tunneling data acquisition equipment, the multiple camera is also connect with the processing unit；
The processing unit is also used to according to the tunnel contour data and the detection vehicle on the tunnel cross-section
Relative position calculates separately the distance between the inner wall of each camera Yu the tunnel；
According to the distance between the inner wall of each camera and the tunnel, the camera lens model or camera lens of the camera are adjusted
Focal length.
Optionally, in above-mentioned tunneling data acquisition equipment, tunneling data acquisition equipment further include respectively with it is described
Multiple camera perspective adjustment devices that multiple cameras are correspondingly arranged, each camera perspective adjustment device and the processing
Unit connection, for adjusting the shooting angle of the corresponding camera under the control of the processing unit；
The processing unit is also used to according to the tunnel contour data and the detection vehicle on the tunnel cross-section
Relative position controls the shooting angle that each camera perspective adjustment device adjusts corresponding camera respectively.
Optionally, in above-mentioned tunneling data acquisition equipment, the tunneling data acquisition equipment further includes that mileage travelled obtains
Device is taken, the mileage travelled acquisition device is connect with the processing unit, is existed for obtaining the tunneling data acquisition equipment
Current driving mileage in tunnel；
The processing unit is also used to the tunnel currently acquired according to the current driving mileage to the laser scanning device
The tunnel inner wall image data that road outline data and the multiple camera currently acquire is marked.
Optionally, in above-mentioned tunneling data acquisition equipment, in the multiple camera, the coverage of two neighboring camera
There are laps.
Optionally, in above-mentioned tunneling data acquisition equipment, the tunneling data acquisition equipment includes at least two laser
Scanning means, at least two laser scanning device, there is overlapping in the scanning range of two adjacent laser scanning devices
Part.
The another object of the application is to provide a kind of tunneling data acquisition method, applied to the tunnel provided by the present application
Track data acquires equipment；The described method includes:
The tunnel contour data in tunnel are acquired by the laser scanning device；
The center position and the inspection of tunnel cross-section are determined according to the tunnel contour data by the processing unit
Relative position of the measuring car on the tunnel cross-section, and according to the center position of the tunnel cross-section and the detection vehicle in institute
The relative position on tunnel cross-section is stated, the first camera position regulator is controlled and adjusts the multiple camera and the detection
The relative position of vehicle is overlapped the Image Acquisition center of the multiple camera with the central point of the tunnel cross-section；
The tunnel inner wall image data in the tunnel is acquired by the multiple camera.
In terms of existing technologies, the application has the advantages that
Tunneling data provided by the present application acquires device and method, passes through the tunnel contour acquired according to laser scanning device
Data calculate the longitudinal section center position in tunnel, and automatically control first camera position regulator adjusts multiple cameras
Position is overlapped the Image Acquisition center of multiple cameras with the central point of tunnel cross-section.In this way, realizing the intelligence of multiple cameras
Change adjust automatically, the mode manually adjusted compared to the prior art is regulated the speed faster, and Adjustment precision is higher, and is not easy
It is wrong.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the schematic diagram of tunneling data acquisition device provided by the embodiments of the present application；
Fig. 2 is the schematic diagram of laser scanning device acquisition range provided by the embodiments of the present application；
Fig. 3 is the schematic diagram of camera acquisition range provided by the embodiments of the present application；
Fig. 4 is that circular tunnel provided by the embodiments of the present application adjusts exemplary schematic diagram；
Fig. 5 is that horse-shoe tunnel provided by the embodiments of the present application adjusts exemplary schematic diagram；
Fig. 6 is that Rectangular Tunnel provided by the embodiments of the present application adjusts exemplary schematic diagram；
Fig. 7 is the flow diagram of tunneling data acquisition method provided by the embodiments of the present application.
Icon: 100- tunneling data acquires equipment；110- laser scanning device；120- camera；130- first camera position
Adjust device；140- processing unit；150- camera support；160- second camera position regulator；The adjustment of 170- camera perspective
Device；180- mileage travelled acquisition device；200- detects vehicle.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present application, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description the application and simplify description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as the limitation to the application.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In the description of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in this application.
Referring to Figure 1, Fig. 1 is the schematic diagram that a kind of tunneling data provided in this embodiment acquires equipment 100, the tunnel number
It mainly include the laser scanning device 110 being set on detection vehicle 200, multiple cameras 120, first camera according to acquisition equipment 100
Position regulator 130 and processing unit 140.
The detection vehicle 200 is the main bearing part that the tunneling data acquires equipment 100, wherein the detection vehicle
200 can be on the existing engineering truck of the prior art or inspection vehicle vehicle, the detection vehicle 200 or tunneling data acquisition
A part of equipment 100.
Riding roller and driving assembly can be set on the detection vehicle 200, for driving the tunneling data to acquire
Equipment 100 is advanced along tunnel extending direction in orbit.It is steady that power supply system, damping are also provided in the detection vehicle 200
Determine multiple functional systems that system etc. is tunneling data acquisition movement service.It is also provided on the detection vehicle 200 anti-
Signal Processing Element or power supply part etc. of the dust-proof equal components of water to protect the tunneling data acquisition equipment 100.The detection
Vehicle 200 can be it is self-propelled as shown in Figure 1, the detection vehicle 200 can also be by manually pushing or other power car bands
It is dynamic.
The laser scanning device 110 setting on the detection vehicle 200, for obtained by way of laser scanning to
Survey the tunnel contour data in tunnel.Optionally, in the present embodiment, in order to guarantee the integralities of tunnel contour data, the tunnel
It includes at least two laser scanning devices 110 that track data, which acquires equipment 100, at least two laser scanning device 110, phase
There are laps for the scanning range of two adjacent laser scanning devices 110.
For example, referring to figure 2., in one example, two laser can be installed in the two sides in detection 200 middle position of vehicle
Scanning means 110, substantially tunnel contour data of 180 degree on each 110 scanning-tunnelling section of laser scanning device, due to usual
It carries out tunnel problem analysis not needing to do excessive analysis to rail and tunnel bottom, therefore two laser scannings in the present embodiment
The spliced scanning coverage area of device 110 can not be 360 degree of circumference.Meanwhile in order to guarantee to need emphasis monitor
Tunnel top not test leakage in the present embodiment can be by two laser scanning devices 110 in the scan registration region of tunnel top
It is set as 0.5 meter to 1 meter.
In another example, an only laser scanning device 110 also can be set to be scanned tunnel cross-section, this swashs
Light scanning apparatus 110 can have bigger scanning range or variable scanning range, so that bigger tunnel can be scanned
Road cross sectional area.
In other examples, one or more laser scanning device 110, multiple laser scanning dresses can also be set
It sets 110 and is set to 200 surrounding of detection vehicle, multiple laser scanning devices 110 respectively cover different tunnel cross-section regions, and
There are laps for the scanning range of two adjacent laser scanning devices 110.
The multiple camera 120 for acquiring tunnel inner wall image from different angles.In the present embodiment, the multiple
In camera 120, there are laps for the coverage of two neighboring camera 120, for example, referring to figure 3., every two camera 120
Between acquisition image need 0.1-0.3 meter area coincidences, bat image is not leaked in guarantee, and the subsequent stitching algorithm that can use deletes repetition
Area image.In the present embodiment, the multiple camera 120 can be more mesh area array cameras or line-scan digital camera etc..It is the multiple
Camera 120 can be set in 0.5 meter of the distance apart from the laser scanning device 110, and not block laser scanning device
110 scanning range.
The multiple camera 120 by the first camera position regulator 130 setting with the detection vehicle 200 on,
The multiple first camera position regulator 130 is connect with the processing unit 140, in the processing unit 140
The relative position of control lower the multiple camera 120 of adjustment and the detection vehicle 200.
The processing unit 140 is used to determine the center position of tunnel cross-section and described according to the tunnel contour data
Relative position of the vehicle 200 on the tunnel cross-section is detected, and according to the center position of the tunnel cross-section and the detection
Relative position of the vehicle 200 on the tunnel cross-section controls the first camera position regulator 130 and adjusts the multiple phase
The relative position of machine 120 and the detection vehicle 200, makes the Image Acquisition center of the multiple camera 120 and the tunnel cross-section
Central point be overlapped.Wherein, the Image Acquisition center of the multiple camera 120 is that the image of the multiple camera 120 acquisition is spelled
After being connected in panorama sketch or local panorama sketch, the observation viewpoint of the panorama sketch or local panorama sketch.
For example, in the present embodiment, the record of processing unit 140 has the relatively described detection vehicle of the multiple camera 120
200 initial relative position, the processing unit 140 is to calculate the detection vehicle 200 opposite on the tunnel cross-section
Behind position, it can control the first camera position regulator 130 and change the multiple camera 120 and the detection vehicle 200
Relative position, be overlapped the Image Acquisition center of the multiple camera 120 with the central point of the tunnel cross-section.
It should be noted that " coincidence " described herein should be understood as that two points essentially coincide, rather than absolutely weight
It closes, i.e., when near the central point that described image acquisition center is located at the tunnel cross-section in acceptable error range,
Think that described image acquisition center is overlapped with the central point of the tunnel cross-section.Wherein, the acceptable error range is big
It is small, it can be definite value, be also possible to the variable element determined by the section size in the tunnel currently measured, for example, according to reality
Scene needs, and the acceptable error range can be 10 centimetres, or smaller.
Based on above-mentioned design, in the present embodiment, tunneling data acquisition equipment 100 can be according to passing through laser scanning
The tunnel contour data that device 110 acquires, adjust the position of the multiple camera 120 automatically to adapt to tunnel of different shapes
Road.In this way, manually adjusting the mode of camera position in compared to the prior art, tunneling data provided in this embodiment acquires equipment
100 camera position adjustment movement can be more accurate and rapid, and can carry out dynamic adjustment according to the shape in tunnel.
Optionally, in the present embodiment, the multiple camera 120 can be set on a camera support 150, the camera
Bracket 150 can be mobile relative to the detection vehicle 200.For example, the camera support 150 can the relatively described detection vehicle 200 in tunnel
It is moved on road tee section along left and right or up and down direction, and then drives the multiple camera 120 relatively described detection vehicle together
200 is mobile.In the present embodiment, can also be arranged on the camera support 150 multiple for being mentioned for the shooting of the camera 120
For the light source of illumination.
The camera support 150 is mechanically connected with the first camera position regulator 130, the first camera position
It is opposite with the detection vehicle 200 that adjustment device 130 adjusts the camera support 150 under the control of the processing unit 140
Position.
The processing unit 140 determines the central point of tunnel cross-section according to the data that the laser scanning device 110 acquires
The relative position of position and the detection vehicle 200 on the tunnel cross-section, adjusts the camera support 150 and the detection vehicle
200 relative position is overlapped the Image Acquisition center of the multiple camera 120 with the central point of the tunnel cross-section.
For example, in one example, the camera support 150 can be circle, the Image Acquisition of the multiple camera 120
Center is overlapped with the center of circle of the camera support 150, and the multiple camera 120 is along the round outer etc. of the camera support 150
Spacing setting.The processing unit 140 determines the central point of tunnel cross-section according to the data that the laser scanning device 110 acquires
The relative position of position and the detection vehicle 200 on the tunnel cross-section, adjusts the camera support 150 and the detection vehicle
200 relative position is overlapped the center of circle of the camera support 150 with the central point of the tunnel cross-section.
In another example, camera support 150 may be set to be other shapes, for example, rectangle, the shape of a hoof, ellipse
Shape etc..Optionally, the shape of camera support 150 can be selected according to the tunnel cross-section shape in tunnel to be measured, be made described more
After a camera 120 is set to the camera support 150, shape arranged evenly is consistent with tunnel cross-section shape.
In other examples, camera support 150 can also be arbitrary shape, and the multiple camera 120 is on above-mentioned bracket
It is arranged evenly at circle, rectangle, shape of a hoof etc., with suitable specifically tunnel cross-section shape.
Optionally, in the present embodiment, tunneling data acquisition equipment 100 can also include respectively with the multiple phase
Multiple second camera position regulators 160 that machine 120 is correspondingly arranged, each second camera position regulator 160 with
The processing unit 140 connects, for adjusting corresponding camera 120 and the camera branch under the control of the processing unit 140
The relative position of frame 150.
The processing unit 140 is also used to disconnected in the tunnel according to the tunnel contour data and the detection vehicle 200
Relative position on face controls each second camera position regulator 160 respectively and adjusts corresponding camera 120 described
Relative position on camera support 150.
In this way, the tunnel contour number that the processing unit 140 can be acquired according to the laser scanning device 110
According to adjusting position of the multiple camera 120 on above-mentioned camera support 150, make the relative position point of the multiple camera 120
Cloth is consistent with the vertical sectional shape in the tunnel.
It should be noted that in the other examples of the present embodiment, the multiple camera 120 also it has been directed to and has respectively corresponded and set
Multiple relatively independent first camera position regulators 130 are set, so that the processing unit 140 can be individually for
Each camera 120 adjusts the relative position of camera and the detection vehicle 200.
Optionally, in the present embodiment, the multiple camera 120 can also be connect with the processing unit 140.The place
Reason unit 140 is also used to the relative position according to the tunnel contour data and the detection vehicle 200 on the tunnel cross-section,
Calculate separately the distance between the inner wall of each camera 120 and the tunnel.According to each camera 120 and the tunnel
The distance between the inner wall in road adjusts the camera lens model or lens focus of the camera 120.
Optionally, in the present embodiment, tunneling data acquisition equipment 100 can also include respectively with the multiple phase
Multiple camera perspectives adjustment devices 170 that machine 120 is correspondingly arranged, each camera perspective adjustment device 170 with it is described
Processing unit 140 connects, for adjusting the shooting angle of corresponding camera 120 under the control of the processing unit 140.
The processing unit 140 is also used to disconnected in the tunnel according to the tunnel contour data and the detection vehicle 200
Relative position on face controls the shooting angle that each camera perspective adjustment device 170 adjusts corresponding camera 120 respectively.
Based on above-mentioned design, the processing unit 140 can automatically be adjusted according to the data that laser scanning device 110 acquires
The number of the camera of whole work, the image resolution sizes of camera, relative position, camera lens model, lens focus or shooting angle
Deng so that each camera 120 be made to obtain optimal shooting effect.
For example, being circular tunnel for tunnel cross-section referring to figure 4., tunnel size generally has 5.2 rice diameters and 5.4
Two kinds of rice diameter, the tunneling data acquisition equipment 100 can obtain tunnel contour number by the laser scanning device 110
According to, and the deviation at 150 center of camera support and tunnel cross-section center (i.e. tunnel geometric center) is calculated in real time, and controls described the
One camera position adjustment device 130 adjusts the position of the camera support 150, make the center of the multiple camera support 150 with
The central point of tunnel cross-section is overlapped.For circular tunnel, camera support 150 is that circle can guarantee camera 120 apart from tunnel table
For identity distance from consistent, the processing unit 140 can also determine the lens parameters of camera 120 according to object distance numerical value and imaged viewing angle
Value.
It referring to figure 5., is horseshoe-shaped tunnel for tunnel cross-section, the tunnel cross-section shape of horse-shoe tunnel is multiple songs
The splicing section of rate circular arc, it is in irregular shape but symmetrical.The tunneling data acquisition equipment 100 can pass through the laser scanning
Device 110 obtains tunnel contour data, and calculates the center of camera support 150 and the deviation at tunnel cross-section center in real time, and control
The position that the first camera position regulator 130 adjusts the camera support 150 is made, is made in the camera support 150
The heart is overlapped with the central point of tunnel cross-section.For horse-shoe tunnel, if camera support 150 is circle, it cannot be guaranteed that camera 120 away from
It is consistent with a distance from tunnel surface, thus the processing unit 140 can also according to the object distance numerical value of different location camera 120 and at
As visual angle, the lens parameters value of camera 120 is determined.For camera 120 apart from tunnel surface farther out the case where, the also processing is single
Member 140 can also control the second camera position regulator 160 and adjust the relatively described camera support of the multiple camera 120
150 position, further to control camera 120 at a distance from tunnel surface.
Fig. 6 is please referred to, is the tunnel of rectangle for tunnel cross-section, such tunnel is usually old tunnel or open cut formula tunnel
Road, Rectangular Tunnel cross dimensions are that rule is symmetrical.The tunneling data acquisition equipment 100 can pass through the laser scanning
Device 110 obtains tunnel contour data, and calculates the center of camera support 150 and the deviation at tunnel cross-section center in real time, and control
The position that the first camera position regulator 130 adjusts the camera support 150 is made, is made in the camera support 150
The heart is overlapped with the central point of tunnel cross-section.For Rectangular Tunnel, if camera support 150 is circle, it cannot be guaranteed that 120 distance of camera
Tunnel surface distance is consistent, so the processing unit 140 can also be according to the object distance numerical value of different location camera 120 and imaging
Visual angle determines the lens parameters value of each camera 120, or further adjustment is each for the control second camera position regulator 160
The position of camera 120.In addition, being rectangular cross section tunnel for tunnel cross-section, the camera support 150 may be set to be rectangle
Supporting structure, to adapt to the acquisition of rectangular cross section tunnel surface image.
Optionally, in the present embodiment, the tunneling data acquisition equipment 100 further includes mileage travelled acquisition device 180,
The mileage travelled acquisition device 180 is connect with the processing unit 140, for obtaining the tunneling data acquisition equipment 100
Current driving mileage in tunnel.For example, the mileage travelled acquisition device 180 can be the speed being arranged in wheel spindle nose
Encoder is spent, the processing unit 140 calculates the tunneling data by the speed encoder and wheel diameter dimension and adopts
Collect the current driving mileage of equipment 100.
The processing unit 140 is also used to currently adopt the laser scanning device 110 according to the current driving mileage
The tunnel inner wall image data that the tunnel contour data and the multiple camera 120 of collection currently acquire is marked.With current line
Sailing the associated two-dimentional tunnel contour data of mileage can be generated the three dimensional point cloud in tunnel, and then the three-dimensional for generating tunnel
Model.It can be spliced into along the continuous tunnel of tunnel extending direction with the associated tunnel inner wall image data of current driving mileage
Portion's image, for carrying out the Disease Analysis in tunnel.
Please refer to Fig. 7, the present embodiment also provides a kind of tunneling data applied to above-mentioned tunneling data acquisition equipment 100 and adopts
Set method, this method may comprise steps of.
Step S710 acquires the tunnel contour data in tunnel by the laser scanning device 110.
Step S720 determines the central point of tunnel cross-section by the processing unit 140 according to the tunnel contour data
The relative position of position and the detection vehicle 200 on the tunnel cross-section, and according to the center position of the tunnel cross-section
And relative position of the detection vehicle 200 on the tunnel cross-section.
Step S730 adjusts the multiple camera 120 and the detection by the first camera position regulator 130
The relative position of vehicle 200 is overlapped the Image Acquisition center of the multiple camera 120 with the central point of the tunnel cross-section.
Step S740 acquires the tunnel inner wall image data in the tunnel by the multiple camera 120.
In conclusion tunneling data provided by the present application acquires device and method, by being acquired according to laser scanning device
Tunnel contour data calculate tunnel longitudinal section center position, and automatically control first camera position regulator adjustment
The position of multiple cameras is overlapped the Image Acquisition center of multiple cameras with the central point of tunnel cross-section.In this way, realizing multiple
The intelligent automatic adjustment of camera, the mode manually adjusted compared to the prior art are regulated the speed faster, and Adjustment precision is higher,
And do not allow error-prone.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above, the only various embodiments of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of tunneling data acquires equipment, which is characterized in that including laser scanning device, the Duo Gexiang being set on detection vehicle
Machine, first camera position regulator and processing unit；
The laser scanning device is connect with the processing unit, for acquiring the tunnel contour data in tunnel；
The first camera position regulator is connect with the processing unit, for adjusting under the control of the processing unit
The relative position of the multiple camera and the detection vehicle；
The processing unit be used for according to the tunnel contour data determine tunnel cross-section center position and the detection vehicle
Relative position on the tunnel cross-section, and according to the center position of the tunnel cross-section and the detection vehicle in the tunnel
Relative position on road section controls the first camera position regulator and adjusts the multiple camera and the detection vehicle
Relative position is overlapped the Image Acquisition center of the multiple camera with the central point of the tunnel cross-section, and then described in acquisition
The tunnel inner wall image data in tunnel.
2. tunneling data according to claim 1 acquires equipment, which is characterized in that the multiple camera is set to a camera
On bracket, the camera support can be mobile relative to the detection vehicle；
The camera support and the first camera position regulator are mechanically connected, and the first camera position regulator exists
The relative position of the camera support and the detection vehicle is adjusted under the control of the processing unit；
The processing unit determines the center position of tunnel cross-section and described according to the data that the laser scanning device acquires
Relative position of the vehicle on the tunnel cross-section is detected, the relative position of the camera support and the detection vehicle is adjusted, makes institute
The Image Acquisition center for stating multiple cameras is overlapped with the central point of the tunnel cross-section.
3. tunneling data according to claim 2 acquires equipment, which is characterized in that the camera support is circle, described
The Image Acquisition center of multiple cameras is overlapped with the center of circle of the camera support, circle of the multiple camera along the camera support
Shape outer spaced set；
The processing unit determines the center position of tunnel cross-section and described according to the data that the laser scanning device acquires
Relative position of the vehicle on the tunnel cross-section is detected, the relative position of the camera support and the detection vehicle is adjusted, makes institute
The center of circle for stating camera support is overlapped with the central point of the tunnel cross-section.
4. tunneling data according to claim 2 acquires equipment, which is characterized in that the tunneling data acquisition equipment is also wrapped
Include the multiple second camera position regulators being correspondingly arranged respectively with the multiple camera, each second camera position tune
Engagement positions are connect with the processing unit, for adjusting corresponding camera and the camera support under the control of the processing unit
Relative position；
The processing unit is also used to opposite on the tunnel cross-section according to the tunnel contour data and the detection vehicle
Position, controlling each second camera position regulator respectively, to adjust corresponding camera opposite on the camera support
Position.
5. tunneling data according to claim 1 acquires equipment, which is characterized in that the multiple camera also with the processing
Unit connection；
The processing unit is also used to opposite on the tunnel cross-section according to the tunnel contour data and the detection vehicle
Position calculates separately the distance between the inner wall of each camera Yu the tunnel；
According to the distance between the inner wall of each camera and the tunnel, camera lens model or the camera lens for adjusting the camera are burnt
Away from.
6. tunneling data according to claim 1 acquires equipment, which is characterized in that the tunneling data acquisition equipment is also wrapped
Include the multiple camera perspective adjustment devices being correspondingly arranged respectively with the multiple camera, each camera perspective adjustment dress
It sets and is connect with the processing unit, for adjusting the shooting angle of corresponding camera under the control of the processing unit；
The processing unit is also used to opposite on the tunnel cross-section according to the tunnel contour data and the detection vehicle
Position controls the shooting angle that each camera perspective adjustment device adjusts corresponding camera respectively.
7. tunneling data according to claim 1 acquires equipment, which is characterized in that the tunneling data acquisition equipment is also wrapped
Mileage travelled acquisition device is included, the mileage travelled acquisition device is connect with the processing unit, for obtaining the tunnel number
According to current driving mileage of the acquisition equipment in tunnel；
The processing unit is also used to the tunnel wheel currently acquired according to the current driving mileage to the laser scanning device
The tunnel inner wall image data that wide data and the multiple camera currently acquire is marked.
8. tunneling data according to claim 1 acquires equipment, which is characterized in that two neighboring in the multiple camera
There are laps for the coverage of camera.
9. tunneling data according to claim 1 acquires equipment, which is characterized in that the tunneling data acquires equipment and includes
At least two laser scanning devices, at least two laser scanning device, the scanning of two adjacent laser scanning devices
There are laps for range.
10. a kind of tunneling data acquisition method, which is characterized in that be applied to tunnel number described in any one of claim 1-9
According to acquisition equipment；The described method includes:
The tunnel contour data in tunnel are acquired by the laser scanning device；
By the processing unit according to the tunnel contour data determine tunnel cross-section center position and the detection vehicle
Relative position on the tunnel cross-section, and according to the center position of the tunnel cross-section and the detection vehicle in the tunnel
Relative position on road section；
The relative position that the multiple camera and the detection vehicle are adjusted by the first camera position regulator, makes described
The Image Acquisition center of multiple cameras is overlapped with the central point of the tunnel cross-section；
The tunnel inner wall image data in the tunnel is acquired by the multiple camera.
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| CN201910540599.0A CN110346807A (en) | 2019-06-21 | 2019-06-21 | Tunneling data acquires device and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112254636A (en) * | 2020-10-13 | 2021-01-22 | 成都天佑智隧科技有限公司 | Tunnel detection equipment capable of simultaneously acquiring lining image and three-dimensional spatial information |
| CN112992523A (en) * | 2021-04-23 | 2021-06-18 | 昆山联滔电子有限公司 | Coil assembling process |
| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
| CN113310987A (en) * | 2020-02-26 | 2021-08-27 | 保定市天河电子技术有限公司 | Tunnel lining surface detection system and method |
| CN114166180A (en) * | 2021-12-07 | 2022-03-11 | 上海同岩土木工程科技股份有限公司 | Tunnel multi-section visual detection system and self-adaptive adjustment method |
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2019
- 2019-06-21 CN CN201910540599.0A patent/CN110346807A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113310987A (en) * | 2020-02-26 | 2021-08-27 | 保定市天河电子技术有限公司 | Tunnel lining surface detection system and method |
| CN112254636A (en) * | 2020-10-13 | 2021-01-22 | 成都天佑智隧科技有限公司 | Tunnel detection equipment capable of simultaneously acquiring lining image and three-dimensional spatial information |
| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
| CN112992523A (en) * | 2021-04-23 | 2021-06-18 | 昆山联滔电子有限公司 | Coil assembling process |
| CN114166180A (en) * | 2021-12-07 | 2022-03-11 | 上海同岩土木工程科技股份有限公司 | Tunnel multi-section visual detection system and self-adaptive adjustment method |
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