CN110986859B - Three-dimensional tunnel detection method - Google Patents
Three-dimensional tunnel detection method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention relates to a tunnel three-dimensional detection method, relates to the technical field of tunnel detection, and solves the problem that a tunnel three-dimensional detection vehicle cannot complete the rest detection work once the electric quantity of the tunnel three-dimensional detection vehicle runs based on the electric quantity of the tunnel three-dimensional detection vehicle is exhausted, and the tunnel three-dimensional detection method comprises the following steps: step S100: the main control terminal starts a tunnel three-dimensional detection vehicle; step S200: the method comprises the steps that a main control terminal comprehensively analyzes and determines a running track of a three-dimensional tunnel detection vehicle based on the electric quantity condition of the three-dimensional tunnel detection vehicle and the position condition of a charging pile arranged in a tunnel and used for charging the three-dimensional tunnel detection vehicle; step S300: and the tunnel three-dimensional detection vehicle runs according to the running track determined in the step S200. According to the invention, based on the electric quantity condition of the tunnel detection vehicle and the layout of the charging piles, on one hand, the complete detection of the tunnel detection vehicle is ensured, and on the other hand, the waste of time is reduced while the detection is ensured.
Description
Technical Field
The invention relates to the technical field of tunnel detection, in particular to a tunnel three-dimensional detection method.
Background
With the development of scientific technology, the subway construction technology has a major breakthrough. However, due to the reasons that the geological conditions change rapidly and the construction techniques of some construction teams are not too close, the problems of cracking of the lining, cracking of segments, slab staggering, leakage of tunnels and the like may occur in the construction process, and the problems of cavities of the surrounding soil body, overall settlement of subway tunnels and the like may also occur. In the operation process of the subway network, if the problems occur in the tunnel structure and the surrounding soil layers, the tunnel can deform and crack under the load and vibration action of the subway train, and the operation safety of the subway is affected. Therefore, the rapid and effective detection of the tunnel crack is an important link for ensuring the operation safety of the tunnel.
The patent that current application number is CN201610059895.5 and the name is three-dimensional inspection car in tunnel includes: a vehicle body capable of traveling in the tunnel in an extending direction of the tunnel; an image acquisition device mounted on a vehicle body and configured to acquire an image of a tunnel surface, the image acquisition device comprising: the photographing bracket is arranged on the vehicle body; and each photographing unit comprises a camera for photographing the detection area of the tunnel surface and a light source for irradiating the detection area of the tunnel surface to provide illumination for the photographing of the camera, wherein the photographing units are sequentially arranged on the photographing bracket and are arranged in a staggered manner in two or more layers in the advancing direction of the vehicle body, so that the photographing area of the camera of one photographing unit in any two photographing units on the tunnel surface is not overlapped with the illumination area of the light source of the other photographing unit on the tunnel surface.
The above prior art solutions have the following drawbacks: the tunnel three-dimensional detection vehicle runs based on the electric quantity of the tunnel three-dimensional detection vehicle, and once the electric quantity of the tunnel three-dimensional detection vehicle is exhausted, the tunnel three-dimensional detection vehicle cannot complete the rest detection work.
Disclosure of Invention
The invention aims to provide a tunnel three-dimensional detection method, which is based on the electric quantity condition of a tunnel detection vehicle and the layout of charging piles, so that on one hand, the tunnel detection vehicle is ensured to complete detection, and on the other hand, the detection is ensured and the waste of time is reduced.
The above object of the present invention is achieved by the following technical solutions:
a tunnel three-dimensional detection method comprises the following steps:
step S100: the main control terminal starts a tunnel three-dimensional detection vehicle;
step S200: the method comprises the steps that a main control terminal comprehensively analyzes and determines a running track of a three-dimensional tunnel detection vehicle based on the electric quantity condition of the three-dimensional tunnel detection vehicle and the position condition of a charging pile arranged in a tunnel and used for charging the three-dimensional tunnel detection vehicle;
step S300: and the tunnel three-dimensional detection vehicle runs according to the running track determined in the step S200.
By adopting the technical scheme, the electric quantity condition of the tunnel three-dimensional detection vehicle and the position of the charging pile are fully considered by setting the steps S100 and S200, and the appropriate driving track of the tunnel three-dimensional detection vehicle is analyzed.
The invention is further configured to: a tunnel three-dimensional detection method, step S100 includes the following steps:
step S110: the master control terminal identifies the identity of a worker starting the tunnel three-dimensional detection vehicle through the identity identification device;
step S120: the master control terminal finishes the judgment of the identity of the worker and starts the tunnel three-dimensional detection vehicle based on the starting of the starting switch.
By adopting the technical scheme, the identity of the responsible person of the tunnel three-dimensional detection vehicle is effectively identified through the arrangement of the step S110 and the step S120, so that the condition that an outsider randomly opens the tunnel three-dimensional detection vehicle is greatly avoided.
The invention is further configured to: a tunnel three-dimensional detection method, step S110 includes the following steps:
step S111: the master control terminal takes a tunnel three-dimensional detection vehicle responsible person as a query object to query the mobile phone number of the responsible person corresponding to the corresponding tunnel three-dimensional detection vehicle in the first database;
step S112: the main control terminal takes the mobile phone number of the responsible person as a query object to query the position of the corresponding responsible person in the mobile phone tracker, plans a route from the position of the responsible person to the tunnel three-dimensional detection vehicle, and obtains the length of the route;
step S113: and when the length of the route is smaller than the preset length of the main control terminal, judging that the worker is operating.
By adopting the technical scheme, whether a formal worker operates or not is indirectly judged based on the distance between the mobile phone of the worker and the three-dimensional tunnel detection vehicle through the setting of the steps S111, S112 and S113.
The invention is further configured to: step S200 includes the steps of:
step S210: the main control terminal acquires the current residual electric quantity of the tunnel three-dimensional detection vehicle through the electric quantity detection device, inquires the residual mileage matched with the corresponding residual electric quantity of the corresponding tunnel three-dimensional detection vehicle in a second database based on the current residual electric quantity of the tunnel detection vehicle, defines the second database as preset, and stores the residual mileage corresponding to the residual electric quantity and the corresponding electric quantity;
step S220: the main control terminal determines the parking charging opportunity of the tunnel three-dimensional detection vehicle and the charging amount in parking based on the residual electric quantity of the tunnel three-dimensional detection vehicle and the position of the charging pile, the number of the charging piles is defined to be 2, and one of the charging piles is located at the starting position of the initial tunnel three-dimensional detection vehicle.
By adopting the technical scheme, the remaining mileage of the three-dimensional tunnel detection vehicle and the position of the charging pile are effectively considered through the setting of the step S210 and the step S220, and the parking time and the charging time of the three-dimensional tunnel detection vehicle are confirmed in advance.
The invention is further configured to: step S220 includes the following steps:
step S221: the method comprises the following steps that a main control terminal compares the remaining mileage after a tunnel three-dimensional detection vehicle is started for the first time with the planned route length of a travel planning device based on the initial position of the tunnel three-dimensional detection vehicle as a starting point and a plurality of charging piles arranged in a tunnel as end points respectively;
step S222: if the length of one of the routes planned by the initial residual flow and the route planning device is the same, the main control terminal plans to the corresponding charging pile position of the corresponding route through the route planning device, plans a route from the corresponding charging pile position to the destination position by the route planner and obtains the length of the route, and inquires the electric quantity required to be kept by the corresponding tunnel three-dimensional detection vehicle in a second database by taking the length of the route as an inquiry object, so that the charging quantity required to be finished when the tunnel three-dimensional detection vehicle arrives at the corresponding charging pile position is determined; if the initial remaining flow is not consistent with the length of the route planned by the route planning device, the tunnel three-dimensional detection vehicle is charged at the initial position until the number of remaining miles of the tunnel three-dimensional detection vehicle is consistent with the length of the route planned by the route planning device, after the tunnel three-dimensional detection vehicle reaches the corresponding charging pile position, the route from the corresponding charging pile position to the terminal position is planned, the length of the route is obtained, the length of the route is used as a query object, the electric quantity required to be kept by the corresponding tunnel three-dimensional detection vehicle is queried in a second database, and therefore the charging quantity required to be completed when the tunnel three-dimensional detection vehicle reaches the corresponding charging pile position is determined.
By adopting the technical scheme, the setting of the step S221 and the step S222 specifically discloses how to determine the charging time of the tunnel three-dimensional detection vehicle and the charging amount of the specific charging pile based on the current residual electric quantity of the tunnel three-dimensional detection vehicle and the position of the charging pile, so that the scanning efficiency of the tunnel three-dimensional detection vehicle is improved.
The invention is further configured to: further comprising a step S2A0 provided between the step S200 and the step S300, the step S2A0 comprising the steps of:
step S2a 1: the main control terminal acquires the driving time of the tunnel three-dimensional detection vehicle by taking the planned route length determined in the step S200 as a dividend and the driving speed of the preset tunnel three-dimensional detection vehicle as a divisor, and acquires the charging time of the tunnel three-dimensional detection vehicle by taking the charging amounts of all the charging piles determined in the step S200 as the dividend and the charging efficiency of the preset charging piles as the divisor;
step S2a 2: the main control terminal takes the total consumed time of the sum of the charging time of the tunnel three-dimensional detection vehicle and the driving time of the tunnel three-dimensional detection vehicle, calls the first database to obtain the mobile phone number of the person in charge of the tunnel three-dimensional detection vehicle, and sends the total consumed time condition to the mobile phone of the person in charge of the three-dimensional detection vehicle through the short message sending device.
By adopting the technical scheme, the required charging amount and the running route of the whole tunnel three-dimensional detection vehicle are determined based on the result of the step S220 through the setting of the step S2A1 and the step S2A2, and the running time of the whole tunnel three-dimensional detection vehicle is determined based on the required charging amount and the running route.
In conclusion, the beneficial technical effects of the invention are as follows: based on the electric quantity condition of the tunnel detection vehicle and the layout of the charging pile, complete detection of the tunnel detection vehicle is guaranteed on the one hand, and on the other hand, the waste of time reduction is also guaranteed while detection is guaranteed.
Drawings
FIG. 1 is a schematic diagram of the overall steps of the tunnel three-dimensional detection method of the present invention.
Fig. 2 is a detailed step diagram of step S100 in fig. 1.
Fig. 3 is a detailed step diagram of step S110 in fig. 2.
Fig. 4 is a detailed step diagram of step S200 in fig. 1.
Fig. 5 is a schematic diagram illustrating the detailed step of step S220 in fig. 4.
Fig. 6 is a detailed step diagram of step S2a 0.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the tunnel three-dimensional detection method disclosed by the invention comprises the following steps: step S100: the main control terminal starts a tunnel three-dimensional detection vehicle; step S200: the method comprises the steps that a main control terminal comprehensively analyzes and determines a running track of a three-dimensional tunnel detection vehicle based on the electric quantity condition of the three-dimensional tunnel detection vehicle and the position condition of a charging pile arranged in a tunnel and used for charging the three-dimensional tunnel detection vehicle; step S300: and the tunnel three-dimensional detection vehicle runs according to the running track determined in the step S200.
As shown in fig. 2, in view of determining that the tunnel three-dimensional inspection vehicle is activated for the corresponding responsible person, the step S100 includes the steps of: step S110: the master control terminal identifies the identity of a worker starting the tunnel three-dimensional detection vehicle through the identity identification device; step S120: the master control terminal finishes the judgment of the identity of the worker and starts the tunnel three-dimensional detection vehicle based on the starting of the starting switch.
As shown in fig. 3, the step S110 includes the following steps in consideration of remote identification of the worker during the actual application process: step S111: the master control terminal takes a tunnel three-dimensional detection vehicle responsible person as a query object to query the mobile phone number of the responsible person corresponding to the corresponding tunnel three-dimensional detection vehicle in the first database; step S112: the main control terminal takes the mobile phone number of the responsible person as a query object to query the position of the corresponding responsible person in the mobile phone tracker, plans a route from the position of the responsible person to the tunnel three-dimensional detection vehicle, and obtains the length of the route; step S113: and when the length of the route is smaller than the preset length of the main control terminal, judging that the worker is operating.
As shown in fig. 4, considering how to determine the driving track of the three-dimensional tunnel detection vehicle based on the electric quantity of the three-dimensional tunnel detection vehicle and the position of the charging pile disposed in the tunnel for charging the three-dimensional tunnel detection vehicle, step S200 includes the following steps: step S210: the main control terminal acquires the current residual electric quantity of the tunnel three-dimensional detection vehicle through the electric quantity detection device, inquires the residual mileage matched with the corresponding residual electric quantity of the corresponding tunnel three-dimensional detection vehicle in a second database based on the current residual electric quantity of the tunnel detection vehicle, defines the second database as preset, and stores the residual mileage corresponding to the residual electric quantity and the corresponding electric quantity; step S220: the main control terminal determines the parking charging opportunity of the tunnel three-dimensional detection vehicle and the charging amount in parking based on the residual electric quantity of the tunnel three-dimensional detection vehicle and the position of the charging pile, the number of the charging piles is defined to be 2, and one of the charging piles is located at the starting position of the initial tunnel three-dimensional detection vehicle.
As shown in fig. 5, in further consideration of how to reasonably select the remaining capacity of the tunnel three-dimensional inspection vehicle and the position of the charging pile, the step S220 includes the following steps: step S221: the method comprises the following steps that a main control terminal compares the remaining mileage after a tunnel three-dimensional detection vehicle is started for the first time with the planned route length of a travel planning device based on the initial position of the tunnel three-dimensional detection vehicle as a starting point and a plurality of charging piles arranged in a tunnel as end points respectively; step S222: if the length of one of the routes planned by the initial residual flow and the route planning device is the same, the main control terminal plans to the corresponding charging pile position of the corresponding route through the route planning device, plans a route from the corresponding charging pile position to the destination position by the route planner and obtains the length of the route, and inquires the electric quantity required to be kept by the corresponding tunnel three-dimensional detection vehicle in a second database by taking the length of the route as an inquiry object, so that the charging quantity required to be finished when the tunnel three-dimensional detection vehicle arrives at the corresponding charging pile position is determined; if the initial remaining flow is not consistent with the length of the route planned by the route planning device, the tunnel three-dimensional detection vehicle is charged at the initial position until the number of remaining miles of the tunnel three-dimensional detection vehicle is consistent with the length of the route planned by the route planning device, after the tunnel three-dimensional detection vehicle reaches the corresponding charging pile position, the route from the corresponding charging pile position to the terminal position is planned, the length of the route is obtained, the length of the route is used as a query object, the electric quantity required to be kept by the corresponding tunnel three-dimensional detection vehicle is queried in a second database, and therefore the charging quantity required to be completed when the tunnel three-dimensional detection vehicle reaches the corresponding charging pile position is determined.
As shown in fig. 6, further considering that appropriate data can be presented to the client when needed, a tunnel three-dimensional inspection method further includes a step S2a0 disposed between the steps S200 and S300, and the step S2a0 includes the steps of: step S2a 1: the main control terminal acquires the driving time of the tunnel three-dimensional detection vehicle by taking the planned route length determined in the step S200 as a dividend and the driving speed of the preset tunnel three-dimensional detection vehicle as a divisor, and acquires the charging time of the tunnel three-dimensional detection vehicle by taking the charging amounts of all the charging piles determined in the step S200 as the dividend and the charging efficiency of the preset charging piles as the divisor; step S2a 2: the main control terminal takes the total consumed time of the sum of the charging time of the tunnel three-dimensional detection vehicle and the driving time of the tunnel three-dimensional detection vehicle, calls the first database to obtain the mobile phone number of the person in charge of the tunnel three-dimensional detection vehicle, and sends the total consumed time condition to the mobile phone of the person in charge of the three-dimensional detection vehicle through the short message sending device.
An embodiment of the present invention provides a computer-readable storage medium, which includes a program that is capable of being loaded and executed by a main control terminal to implement the tunnel three-dimensional detection method according to any one of claims 1 to 6.
The computer-readable storage medium includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (1)
1. A tunnel three-dimensional detection method is characterized by comprising the following steps:
step S100: the main control terminal starts a tunnel three-dimensional detection vehicle;
step S200: the method comprises the steps that a main control terminal comprehensively analyzes and determines a running track of a three-dimensional tunnel detection vehicle based on the electric quantity condition of the three-dimensional tunnel detection vehicle and the position condition of a charging pile arranged in a tunnel and used for charging the three-dimensional tunnel detection vehicle;
step S300: the tunnel three-dimensional detection vehicle runs according to the running track determined in the step S200;
step S100 includes the steps of:
step S110: the master control terminal identifies the identity of a worker starting the tunnel three-dimensional detection vehicle through the identity identification device;
step S120: the master control terminal finishes the judgment of the identity of a worker and starts the tunnel three-dimensional detection vehicle based on the starting of the starting switch;
step S110 includes the steps of:
step S111: the master control terminal takes a tunnel three-dimensional detection vehicle responsible person as a query object to query the mobile phone number of the responsible person corresponding to the corresponding tunnel three-dimensional detection vehicle in the first database;
step S112: the main control terminal takes the mobile phone number of the responsible person as a query object to query the position of the corresponding responsible person in the mobile phone tracker, plans a route from the position of the responsible person to the tunnel three-dimensional detection vehicle, and obtains the length of the route;
step S113: when the length of the route is smaller than the preset length of the main control terminal, the operation is judged to be performed by a worker;
step S200 includes the steps of:
step S210: the main control terminal acquires the current residual electric quantity of the tunnel three-dimensional detection vehicle through the electric quantity detection device, inquires the residual mileage matched with the corresponding residual electric quantity of the corresponding tunnel three-dimensional detection vehicle in a second database based on the current residual electric quantity of the tunnel detection vehicle, defines the second database as preset, and stores the residual mileage corresponding to the residual electric quantity and the corresponding electric quantity;
step S220: the method comprises the steps that a main control terminal determines the parking charging time and the charging amount of a tunnel three-dimensional detection vehicle when the tunnel three-dimensional detection vehicle is parked on the basis of the residual electric quantity of the tunnel three-dimensional detection vehicle and the position of a charging pile, and 2 charging piles are defined, wherein one charging pile is located at the starting position of the initial tunnel three-dimensional detection vehicle;
step S220 includes the following steps:
step S221: the method comprises the following steps that a main control terminal compares the remaining mileage after a tunnel three-dimensional detection vehicle is started for the first time with the planned route length of a travel planning device based on the initial position of the tunnel three-dimensional detection vehicle as a starting point and a plurality of charging piles arranged in a tunnel as end points respectively;
step S222: if the length of one of the routes planned by the initial residual flow and the route planning device is the same, the main control terminal plans to the corresponding charging pile position of the corresponding route through the route planning device, plans a route from the corresponding charging pile position to the destination position by the route planner and obtains the length of the route, and inquires the electric quantity required to be kept by the corresponding tunnel three-dimensional detection vehicle in a second database by taking the length of the route as an inquiry object, so that the charging quantity required to be finished when the tunnel three-dimensional detection vehicle arrives at the corresponding charging pile position is determined; if the initial residual flow is not consistent with the length of the route planned by the route planning device, the tunnel three-dimensional detection vehicle is charged at the initial position until the residual mileage is consistent with the length of the route planned by the route planning device, and after the tunnel three-dimensional detection vehicle reaches the corresponding charging pile position, the route from the corresponding charging pile position to the terminal position is planned and the length of the route is obtained, the electric quantity required to be kept by the corresponding tunnel three-dimensional detection vehicle is inquired in a second database by taking the length of the route as an inquiry object, so that the charging quantity required to be completed when the tunnel three-dimensional detection vehicle reaches the corresponding charging pile position is determined;
further comprising a step S2A0 provided between the step S200 and the step S300, the step S2A0 comprising the steps of:
step S2a 1: the main control terminal acquires the driving time of the tunnel three-dimensional detection vehicle by taking the planned route length determined in the step S200 as a dividend and the driving speed of the preset tunnel three-dimensional detection vehicle as a divisor, and acquires the charging time of the tunnel three-dimensional detection vehicle by taking the charging amounts of all the charging piles determined in the step S200 as the dividend and the charging efficiency of the preset charging piles as the divisor;
step S2a 2: the main control terminal takes the total consumed time of the sum of the charging time of the tunnel three-dimensional detection vehicle and the driving time of the tunnel three-dimensional detection vehicle, calls the first database to obtain the mobile phone number of the person in charge of the tunnel three-dimensional detection vehicle, and sends the total consumed time condition to the mobile phone of the person in charge of the three-dimensional detection vehicle through the short message sending device.
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