CN111595255A - Tunnel defect real-time prompting device and prompting method - Google Patents
Tunnel defect real-time prompting device and prompting method Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
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- G01N2021/8854—Grading and classifying of flaws
- G01N2021/888—Marking defects
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention relates to a tunnel defect real-time prompting device and a prompting method, which comprise a trolley device capable of moving at a constant speed along a track, wherein a data acquisition module for acquiring tunnel point cloud data in real time, a data processing module for analyzing and processing the acquired tunnel point cloud data and outputting a processing result and an early warning prompting module for giving an early warning according to the output processing result are carried on the trolley device. According to the invention, the tunnel point cloud data is acquired through the data acquisition module, the processing result is analyzed and output through the data processing module, and real-time early warning prompt is carried out through the early warning prompt module, so that the subway tunnel defect can be found and repaired in time by workers.
Description
Technical Field
The invention belongs to the field of subway tunnel defect detection, and particularly relates to a real-time tunnel defect prompting device and method.
Background
With the development of rail transit in China for decades, subway tunnel infrastructures built in early stage enter a maintenance period, meanwhile, due to comprehensive influences of geology, underground water, construction of adjacent foundation pits, structural load of the subway tunnel, and the like, changes which are harmful to tunnel safety, such as water seepage, cracks, deformation and the like, can be generated in a tunnel structure, and long-term deformation monitoring and disease investigation must be timely and accurately carried out so as to timely find and forecast dangerous situations and guarantee tunnel operation safety. The tunnel defect is the most direct apparent reflection of the health state of the tunnel, if the subway tunnel defect is not early warned in time, the tunnel infrastructure can be further damaged, and once an accident occurs, huge life and property losses can be brought.
At present, the subway tunnel defect detection mainly adopts a mode of mainly adopting manual static inspection and assisting a small amount of dynamic detection vehicles (mainly performed when no operation task exists on a line at night). The manual visual detection mode is low in detection speed, low in working efficiency, long in line occupation time and incapable of timely and accurately early warning the defects of the tunnel.
In recent years, with the development of three-dimensional laser scanning technology, a plurality of tunnels also adopt mobile scanning equipment to complete the detection of tunnel defects, the positions of scanned data are recorded through a mileage sensor, and defects are found and eliminated according to the processing result of collected data and the mileage positions in the later period. The method has the defects of poor timeliness and problem processing lag.
Disclosure of Invention
Aiming at the problems pointed out in the background technology, the invention provides a device and a method for prompting tunnel defects in real time.
The technical scheme adopted by the invention is as follows:
a tunnel defect real-time prompting device comprises a trolley device capable of moving at a constant speed along a track, wherein a data acquisition module for acquiring tunnel point cloud data in real time, a data processing module for analyzing and processing the acquired tunnel point cloud data and outputting a processing result and an early warning prompting module for giving an early warning according to the output processing result are carried on the trolley device.
Further, the trolley device comprises a trolley body, and the trolley body is of a box-type structure; the left side and the right side of the trolley body are vertically fixed with a total of four support legs, the tail end of each support leg is fixed with a movable roller, and two movable rollers positioned at the front end are fixedly connected with a driving motor;
the data acquisition module is a three-dimensional laser scanner which is vertically fixed at the rear side position of the upper end surface of the trolley body, and the three-dimensional laser scanner is provided with a turntable and can rotate at a constant speed of 360 degrees to acquire tunnel point cloud data;
the early warning prompting module comprises a control unit and a three-color projection lamp, the three-color projection lamp is fixed on the rear end face of the trolley body, the control unit is arranged in the trolley body, and the control unit is respectively connected with the three-color projection lamp and the data processing module; a power supply module for supplying power to the whole tunnel defect real-time prompting device is arranged in the trolley body;
three control buttons are arranged at the front side of the upper end face of the trolley body and are respectively connected with the control unit and are respectively used for controlling the starting and stopping of the trolley device, the starting and stopping of the three-dimensional laser scanner and the starting and stopping of the whole tunnel defect real-time prompting device.
Furthermore, the early warning prompting module further comprises a voice prompting module, the voice prompting module comprises a loudspeaker, the loudspeaker is arranged in the trolley body, and a sound expansion hole is formed in the corresponding position on the trolley body; the loudspeaker is connected with the control unit and used for broadcasting voice prompt information.
Furthermore, the voice prompt module also comprises a voice recording and playing module, and voice prompt information can be led into the voice recording and playing module through a USB or a card insertion mode.
Furthermore, the power module adopts an anti-interference stabilized voltage power supply.
Further, the quantity of three-colour projection lamp is a plurality of, and a plurality of three-colour projection lamps are fan-shaped range and fix on the dolly body rear end face, realize the projection of the full coverage formula of tunnel inner wall.
Furthermore, a display screen is further arranged at the front side of the upper end face of the trolley body and used for displaying the processing result of the data processing module, the running speed of the trolley device and the running state of the three-dimensional laser scanner.
Further, the data processing module is a data processing industrial personal computer integrating a tunnel defect detection algorithm.
A tunnel defect real-time prompting method comprises the following steps:
1) scanning and acquiring original point cloud data of the subway tunnel through the three-dimensional laser scanner;
2) preprocessing the original point cloud data of the subway tunnel by using a data processing industrial personal computer, and comparing the preprocessed point cloud data with theoretical data of the subway tunnel to obtain a tunnel deformation amount;
3) according to the preset corresponding relation f between the tunnel deformation quantity and the RGB color information and the corresponding relation between the tunnel deformation quantity and the corresponding voice prompt information, the control unit controls the three-color projection lamp to project the light band of the corresponding color to the tunnel wall in real time, and meanwhile, the control unit controls the voice prompt module to broadcast the corresponding voice prompt.
Further, in step 3), the correspondence f between the tunnel deformation amount and the RGB color information is: defining that the deformation quantity of the tunnel is no deformation within 3cm and corresponds to a green light band; slightly deforming for 3-5 cm, corresponding to a yellow light band; the deformation is serious more than 5cm and corresponds to a red light band; smooth gradual transition when different colors are switched.
The invention has the beneficial effects that:
in the invention, tunnel point cloud data are acquired through a data acquisition module, a processing result is analyzed and output through a data processing module, and real-time early warning prompt is carried out through an early warning prompt module. According to the invention, the light bands corresponding to different defect levels are projected onto the wall surface of the tunnel through the three-color projection lamp, and real-time voice reminding is carried out through the voice prompt module, so that workers can be helped to find the position and the severity of the defects of the subway tunnel in time, and the rapid detection and the timely repair of the defects of the subway tunnel are favorably realized.
Drawings
FIG. 1 is a schematic structural diagram of a tunnel defect real-time prompting device of the present invention;
FIG. 2 is a schematic diagram of a three-color projection lamp for real-time projection prompt of tunnel defects;
fig. 3 is a flowchart of a tunnel defect real-time prompting method of the present invention.
Reference numerals: the vehicle comprises a vehicle body, a moving roller 2, a loudspeaker 3, a three-color projection lamp 4, a three-dimensional laser scanner 5, a display screen 6 and a control button 7.
Detailed Description
The tunnel defect real-time prompting device and the prompting method of the present invention are further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, a tunnel defect real-time prompting device includes a trolley device capable of moving at a constant speed along a track, a data acquisition module for acquiring tunnel point cloud data in real time, a data processing module for analyzing the acquired tunnel point cloud data and outputting a processing result, and an early warning prompting module for performing early warning according to the output processing result, wherein the data acquisition module is mounted on the trolley device.
Specifically, the trolley device comprises a trolley body 1, and the trolley body 1 is of a box-type structure. The left side and the right side of the trolley body 1 are vertically fixed with four support legs in total, the tail end of each support leg is fixed with a movable roller 2, and two movable rollers 2 at the front end are fixedly connected with a driving motor.
The data acquisition module is three-dimensional laser scanner 5, and three-dimensional laser scanner 5 vertical fixation is in 1 up end rear side position of dolly body, and three-dimensional laser scanner 5 is from taking the revolving stage to can 360 at the uniform velocity rotation gather tunnel point cloud data.
Early warning prompt module includes the control unit and tristimulus projection lamp 4, and tristimulus projection lamp 4 is fixed on 1 rear end face of dolly body, and the control unit setting is inside dolly body 1, and the control unit links to each other with tristimulus projection lamp 4 and data processing module respectively. The inside power module that is used for the real-time suggestion device power supply of whole tunnel defect that sets up of dolly body 1.
Three control button 7 are provided with to 1 up end front side position of dolly body, and three control button 7 links to each other with the control unit respectively to be used for opening of control dolly device respectively and open and stop, three-dimensional laser scanner 5 open and close and whole tunnel defect real-time tip device open and close.
As the improvement of above-mentioned scheme, early warning suggestion module still includes voice prompt module, and voice prompt module includes megaphone 3, and megaphone 3 sets up inside dolly body 1, corresponds the position on the dolly body 1 and sets up the sound amplification hole. The loudspeaker 3 is connected with the control unit and used for broadcasting voice prompt information. The voice prompt module also comprises a voice recording and playing module, and the voice prompt information can be led into the voice recording and playing module through a USB or a card insertion mode.
In this embodiment, the power module employs an anti-interference voltage-stabilized power supply. The front position of the upper end face of the trolley body 1 is also provided with a display screen 6, and the display screen 6 is used for displaying the processing result of the data processing module, the running speed of the trolley device and the running state of the three-dimensional laser scanner 5. The data processing module is a data processing industrial personal computer integrating a tunnel defect detection algorithm.
As shown in fig. 3, a method for prompting tunnel defects in real time includes:
1) and scanning to obtain the original point cloud data of the subway tunnel through the three-dimensional laser scanner 5.
2) And preprocessing (including data simplification, data denoising, data enhancement and the like) the original point cloud data of the subway tunnel by using a data processing industrial personal computer, and comparing the preprocessed point cloud data with theoretical data of the subway tunnel to obtain a tunnel deformation quantity.
3) According to the preset corresponding relation f between the tunnel deformation amount and the RGB color information and the corresponding relation between the tunnel deformation amount and the corresponding voice prompt information, the control unit controls the three-color projection lamp 4 to project the light band with the corresponding color to the tunnel wall in real time, and meanwhile, the control unit controls the voice prompt module to broadcast the corresponding voice prompt. The three-color projection lamp 4 is constructed as shown in fig. 2, and a single three-color projection lamp includes 3 strips of LEDs, which are green, yellow and red, respectively, and the three LEDs are parallel to each other. A single LED contains 10 LED light emitting devices, corresponding to intensity values (0-255) in the color space. For example, when a yellow band of light (127, 0) is projected, 5 red LED light emitting devices and 5 green LED light emitting devices will be illuminated. Further, still can install a plurality of tristimulus projection lamps 4 on dolly body 1, realize tunnel internal face all standing, when defects such as deformation appear, can fix a position in real time and to the light of defective position projection corresponding colour, realize real-time visual suggestion. In this embodiment, the number of the three-color projection lamps 4 is not particularly limited, and the number of the three-color projection lamps can be specifically determined by the angle coverage of the three-color projection lamps 4 and the tunnel condition, and it is sufficient to satisfy the full-coverage projection of the inner wall surface of the tunnel.
In step 3), the corresponding relationship f between the tunnel deformation amount and the RGB color information is: no deformation within 3cm of the deformation amount of the tunnel is defined, and the tunnel corresponds to a green light band. The deformation is slight in the range of 3-5 cm, and corresponds to a yellow light band. Over 5cm, the deformation is severe, corresponding to the red band. For example, a deformation range of 3-5 cm is taken as an example, 3cm corresponds to a value (0,255,0), 4cm corresponds to a value (127, 0), and 5cm corresponds to a value (255,0,0), i.e., the color range will transition from green (0,255,0) to red (255,0, 0).
The RGB values will transition from (0,255,0) to (255, 0) with a smooth gradual transition at the transition of the different colors (green, yellow and red), i.e. from green to yellow. Transitioning from yellow to red, the RGB values would transition from (255, 0) to (255,0, 0).
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any alternative or alternative method that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the scope of the present invention.
Claims (10)
1. The tunnel defect real-time prompting device is characterized by comprising a trolley device capable of moving at a constant speed along a track, wherein the trolley device is loaded with a data acquisition module for acquiring tunnel point cloud data in real time, a data processing module for analyzing and processing the acquired tunnel point cloud data and outputting a processing result, and an early warning prompting module for giving an early warning according to the output processing result.
2. The real-time tunnel defect prompting device according to claim 1, wherein the trolley device comprises a trolley body (1), and the trolley body (1) is of a box-type structure; a total of four support legs are vertically fixed on the left side and the right side of the trolley body (1), a movable roller (2) is fixed at the tail end of each support leg, and two movable rollers (2) positioned at the front end are fixedly connected with a driving motor;
the data acquisition module is a three-dimensional laser scanner (5), the three-dimensional laser scanner (5) is vertically fixed at the rear side position of the upper end face of the trolley body (1), the three-dimensional laser scanner (5) is provided with a rotary table, and tunnel point cloud data can be acquired through 360-degree uniform-speed rotation;
the early warning prompting module comprises a control unit and a three-color projection lamp (4), the three-color projection lamp (4) is fixed on the rear end face of the trolley body (1), the control unit is arranged in the trolley body (1), and the control unit is respectively connected with the three-color projection lamp (4) and the data processing module; a power supply module for supplying power to the whole tunnel defect real-time prompting device is arranged in the trolley body (1);
three control buttons (7) are arranged at the front side of the upper end face of the trolley body (1), the three control buttons (7) are respectively connected with the control unit and are respectively used for controlling the starting and stopping of the trolley device, the opening and closing of the three-dimensional laser scanner (5) and the opening and closing of the whole tunnel defect real-time prompting device.
3. The real-time tunnel defect prompting device according to claim 2, wherein the early warning prompting module further comprises a voice prompting module, the voice prompting module comprises a loudspeaker (3), the loudspeaker (3) is arranged inside the trolley body (1), and a sound expanding hole is formed in the corresponding position on the trolley body (1); and the loudspeaker (3) is connected with the control unit and used for broadcasting voice prompt information.
4. The device of claim 3, wherein the voice prompt module further comprises a voice recording and playing module, and the voice prompt message can be introduced into the voice recording and playing module through USB or plug-in card.
5. The real-time tunnel defect prompting device according to claim 2, wherein the power module employs an anti-interference stabilized power supply.
6. The real-time tunnel defect prompting device of claim 2, wherein the number of the three-color projection lamps (4) is multiple, and the multiple three-color projection lamps (4) are arranged in a fan shape and fixed on the rear end face of the trolley body (1) to realize the full-coverage type projection of the tunnel inner wall.
7. The real-time tunnel defect prompting device according to any one of claims 2 to 6, wherein a display screen (6) is further arranged at a front position of the upper end face of the trolley body (1), and the display screen (6) is used for displaying the processing result of the data processing module, the running speed of the trolley device and the running state of the three-dimensional laser scanner (5).
8. The real-time tunnel defect prompting device of claim 7, wherein the data processing module is a data processing industrial personal computer integrating a tunnel defect detection algorithm.
9. A tunnel defect real-time prompting method is characterized by comprising the following steps:
1) scanning and acquiring original point cloud data of the subway tunnel through a three-dimensional laser scanner (5);
2) preprocessing the original point cloud data of the subway tunnel by using a data processing industrial personal computer, and comparing the preprocessed point cloud data with theoretical data of the subway tunnel to obtain a tunnel deformation amount;
3) according to the preset corresponding relation f between the tunnel deformation amount and the RGB color information and the corresponding relation between the tunnel deformation amount and the corresponding voice prompt information, the control unit controls the three-color projection lamp (4) to project the light band with the corresponding color to the tunnel wall in real time, and meanwhile, the control unit controls the voice prompt module to broadcast the corresponding voice prompt.
10. The method for prompting tunnel defect in real time as claimed in claim 9, wherein in step 3), the corresponding relationship f between the tunnel deformation amount and the RGB color information is: defining that the deformation quantity of the tunnel is no deformation within 3cm and corresponds to a green light band; slightly deforming for 3-5 cm, corresponding to a yellow light band; the deformation is serious more than 5cm and corresponds to a red light band; smooth gradual transition when different colors are switched.
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| CN110542388A (en) * | 2019-09-26 | 2019-12-06 | 贵州大学 | Tunnel face deformation alarm method based on mobile three-dimensional laser scanning |
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Application publication date: 20200828 |