CN112096454A - Tunnel lining crack repairing device - Google Patents
Tunnel lining crack repairing device Download PDFInfo
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- CN112096454A CN112096454A CN202010940372.8A CN202010940372A CN112096454A CN 112096454 A CN112096454 A CN 112096454A CN 202010940372 A CN202010940372 A CN 202010940372A CN 112096454 A CN112096454 A CN 112096454A
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- 230000008439 repair process Effects 0.000 claims abstract description 50
- 238000001514 detection method Methods 0.000 claims abstract description 42
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- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 13
- 238000005286 illumination Methods 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
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- 230000009471 action Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/003—Linings or provisions thereon, specially adapted for traffic tunnels, e.g. with built-in cleaning devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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Abstract
The invention provides a tunnel lining crack repairing device, which comprises: the image acquisition assembly comprises a camera and a light source system for providing illumination for the camera; the repairing assembly comprises a mechanical arm and a plurality of repairing tools arranged at the front end of the mechanical arm, and the mechanical arm carries repairing materials; the control system comprises a data transmission unit, a three-dimensional reconstruction unit and a control instruction decision unit which are connected through signals, wherein the three-dimensional reconstruction unit calculates crack detection information to be repaired according to image measurement data acquired by the camera; and the control instruction decision unit matches a corresponding repairing process from a preset crack repairing knowledge base according to the crack detection information to be repaired, and sends the crack repairing process to the mechanical arm in the form of a working instruction, and the mechanical arm calls a corresponding repairing tool and a repairing material to repair the cracks of the tunnel lining. The invention can realize the automatic and integrated tunnel lining crack detection and instant repair work.
Description
Technical Field
The invention relates to the technical field of tunnel lining repair, in particular to a tunnel lining crack repair device.
Background
The lining serves as an important component of the tunnel, the quality of which is crucial for the safe operation of the tunnel. However, due to the continuous change of the external environment and geological conditions and the influence of various aspects such as design, construction, management and construction of other surrounding building structures, the tunnel lining often has the phenomena of cracks, water leakage, deformation, layer formation, peeling and the like in the operation period, and the normal and safe use of the tunnel is seriously threatened. For the tunnel lining diseases, cracks are often the source or the starting stage of other diseases, so that the efficient and accurate detection and repair of the tunnel lining cracks are particularly important.
The manual exploration method is the method which is most widely applied in the implementation of the domestic tunnel lining crack detection project at the present stage, but is the method with the lowest accuracy, and a lot of tunnel lining cracks cannot be identified by naked eyes in the dark environment of the tunnel, so that a large number of missed cracks can appear.
The chinese patent with application number 201811486490.5 discloses a tunnel lining crack detection method based on a mobile three-dimensional laser scanning technology, which performs static self-checking collection on a tunnel section through a three-dimensional laser scanner to obtain point cloud data of the tunnel section and further identify crack data. However, the three-dimensional laser scanner with sufficient precision at the present stage has high cost and is difficult to popularize in a wide project time, and the method does not relate to the repair work after the detection of the tunnel lining cracks is finished, and does not embody the complete application of the detection result.
In addition, the tunnel lining crack is repaired manually, the working strength is high, the working efficiency is low, and part of maintenance materials have certain toxicity and harm to the health of workers. The repairing quality depends on the experience of workers, the repairing quality of different workers is uneven, and the repairing effect cannot be effectively guaranteed.
In order to improve the efficiency of the detection and repair work of the cracks of the tunnel lining and save the cost to a certain extent, an efficient and automatic device for repairing the cracks of the tunnel lining is urgently needed, the omnibearing crack detection and instant repair work of the lining can be carried out in the tunnel, and the quality of repairing the cracks is ensured while the labor is saved.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides a device for repairing a tunnel lining crack, which is used to solve the problems of high detection cost and low manual repair efficiency of the tunnel lining crack in the prior art.
To achieve the above and other related objects, the present invention provides a tunnel lining crack repair apparatus, comprising:
the image acquisition assembly comprises a camera and a light source system for providing illumination for the camera, wherein the camera is used for carrying out image measurement on a tunnel lining area to be repaired;
the repairing assembly comprises a mechanical arm and a plurality of repairing tools arranged at the front end of the mechanical arm, wherein the mechanical arm carries a repairing material;
the control system comprises a data transmission unit, a three-dimensional reconstruction unit and a control instruction decision unit which are connected by signals, wherein,
the data transmission unit is in signal connection with the mechanical arm and the camera;
the three-dimensional reconstruction unit calculates to obtain a point cloud three-dimensional coordinate of a lining area of the tunnel to be repaired based on a digital photographing three-dimensional reconstruction algorithm according to the image measurement data obtained by the camera and transmitted by the data transmission unit, and calculates to-be-repaired crack detection information according to the point cloud data;
the control instruction decision unit matches a corresponding repairing process from a preset crack repairing knowledge base according to the crack detection information to be repaired, sends the crack repairing process to the mechanical arm through the data transmission unit in the form of a working instruction, and the mechanical arm calls a corresponding repairing tool and a repairing material according to the working instruction to repair the cracks of the tunnel lining.
Preferably, the camera is a binocular digital camera, and the process of acquiring the image measurement data is as follows: the control instruction decision unit sends a binocular photographing instruction to the binocular digital camera, the binocular digital camera focuses on the tunnel lining area to be repaired according to the binocular photographing instruction, and multiple images are obtained at different angles.
Preferably, the calculation process of the point cloud three-dimensional coordinate of the tunnel lining area to be repaired includes:
acquiring internal parameters of the binocular digital camera and the image measurement data;
detecting and matching characteristic points of each image in the image measurement data, and calculating the relative poses of two cameras in the binocular digital camera;
performing polar line correction on the stereopair, and acquiring a disparity map through dense matching;
and calculating and converting the parallax map into a point cloud map to obtain the point cloud three-dimensional coordinates of the tunnel lining area to be repaired.
Preferably, the crack detection information to be repaired includes crack position, length, width, depth, strike, property and filling degree.
Preferably, the image acquisition assembly is fixedly arranged on the mechanical arm.
Preferably, the control system is provided in a server, and the server is connected with a power supply.
Preferably, the tunnel lining crack repairing device further comprises a mobile platform, and the mechanical arm, the image acquisition assembly, the server and the power supply are all arranged on the mobile platform.
Preferably, the mobile platform is provided with a lifting seat, and the mechanical arm and the image acquisition assembly are arranged on the lifting seat
Preferably, the control system further comprises a storage unit, and the storage unit is used for storing crack detection information and repair results of each working position where the tunnel lining crack repair device arrives.
As described above, the tunnel lining crack repairing device of the present invention has the following advantageous effects: the method integrates a digital photographing three-dimensional reconstruction technology, and replaces a three-dimensional laser scanner with high price to finish the accurate detection of the tunnel lining cracks, so that the detection cost is reduced; when the device works, automatic and integrated tunnel lining crack detection and instant repair work can be realized, the problems encountered in the project are solved at one time, a large amount of manual repeated work is avoided, and the time is saved; the device can carry out all-round repair work on the lining in the tunnel, reduces the visual field blind area of manual detection and repair, and has high repair speed and high accuracy.
Drawings
Fig. 1 is a schematic view showing a tunnel lining crack repairing apparatus according to the present invention.
Fig. 2 is a schematic view showing the control principle of the tunnel lining crack repairing apparatus of the present invention.
Fig. 3 is a schematic view showing a construction process of the tunnel lining crack repairing apparatus of the present invention.
Description of the element reference numerals
1 vidicon
2 repair tool
3 mechanical arm
4 data transmission line
5 Power supply
6 server
7 moving trolley
9 tunnels
301 cradle
302 rotating platform
303 big arm
304 small arm
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 3. It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions that the present disclosure can be implemented, so that the present disclosure is not limited to the technical essence, and any structural modifications, ratio changes, or size adjustments should still fall within the scope of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
As shown in fig. 1, the present invention provides a tunnel lining crack repair apparatus, comprising:
the image acquisition assembly comprises a camera 1 and a light source system for providing illumination for the camera 1, wherein the camera 1 is used for carrying out image measurement on a tunnel lining area to be repaired;
the repairing assembly comprises a mechanical arm 3 and a plurality of repairing tools 2 arranged at the front end of the mechanical arm 3, wherein the mechanical arm 3 carries repairing materials;
the control system comprises a data transmission unit, a three-dimensional reconstruction unit and a control instruction decision unit which are connected by signals, wherein,
the data transmission unit is in signal connection with the mechanical arm and the camera;
the three-dimensional reconstruction unit calculates to obtain a point cloud three-dimensional coordinate of a lining area of the tunnel to be repaired based on a digital photographing three-dimensional reconstruction algorithm according to the image measurement data obtained by the camera and transmitted by the data transmission unit, and calculates to-be-repaired crack detection information according to the point cloud data;
the control instruction decision unit matches a corresponding repairing process from a preset crack repairing knowledge base according to the crack detection information to be repaired, sends the crack repairing process to the mechanical arm through the data transmission unit in the form of a working instruction, and the mechanical arm calls a corresponding repairing tool and a repairing material according to the working instruction to repair the cracks of the tunnel lining.
The method integrates an image acquisition assembly and a repair assembly, acquires image data of a lining area through a camera in the image acquisition assembly, calculates and processes the image data through a three-dimensional reconstruction unit by utilizing a digital photographic three-dimensional reconstruction algorithm to obtain a point cloud three-dimensional coordinate of the lining area of the tunnel to be repaired, and finally obtains crack detection information to be repaired, so that the action of a mechanical arm is controlled, and the crack repair of the tunnel lining is realized by calling a corresponding repair tool and a repair material. The invention integrates the digital photographing three-dimensional reconstruction technology, replaces a three-dimensional laser scanner with high price to finish the accurate detection of the tunnel lining cracks, and saves the cost; the crack repair is completed by controlling the mechanical arm to act, so that the automatic and integrated tunnel lining crack detection and instant repair work is realized, the problems encountered in the project are solved at one time, a large amount of manual repeated work is avoided, and the time is saved; the device can carry out all-round repair work on the lining in the tunnel, reduces the visual field blind area of manual detection and repair, and has high repair speed and high accuracy.
In order to improve the acquisition precision of image data and facilitate the calculation of a subsequent three-dimensional reconstruction algorithm, the video camera 1 of the embodiment is a binocular digital camera. The light source system provides illumination for the camera 1, thereby improving the image acquisition quality. The process of acquiring the image measurement data in this embodiment is as follows: and the control instruction decision unit sends a binocular photographing instruction to the binocular digital camera, the binocular digital camera focuses on the tunnel lining area to be repaired according to the binocular photographing instruction, and a plurality of images are obtained at different angles. A plurality of images are acquired through different angles, so that the accuracy of subsequent calculation is improved.
Specifically, the control system is disposed in a server 6 in the embodiment, the server 6 may be a computer terminal, the power supply 5 supplies power to the server 6, the light source system, the camera 1 and the robot arm 3, and the data transmission unit is connected to the camera 1 and the robot arm 3 through a data transmission line 4. In order to facilitate movement, in this embodiment, the robot arm 3, the image capturing component (i.e., the camera 1 and the light source system), the server 6, and the power supply 5 are all disposed on a moving platform, and the position in the re-tunnel can be adjusted by the moving platform, which may be a moving trolley 7. More preferably, the mobile platform is provided with a lifting seat, and the mechanical arm 3 and the image acquisition assembly are arranged on the lifting seat, so that the top area of the tunnel can be repaired conveniently.
The working process of the tunnel lining crack repairing device in the tunnel 9 of the road or the railway is as follows: as shown in figure 2 of the drawings,
and i) the detection personnel can manually push the tunnel lining crack repairing device (hereinafter referred to as the device) to reach the working position in the tunnel 9, or the detection personnel can carry a power and navigation system on the mobile platform, namely the mobile trolley 7 enables the device to automatically reach the working position in the tunnel through a navigation line. And adjusting the heights of the camera assembly and the mechanical arm 3 and the posture of the mechanical arm 3 so as to align the tunnel lining area to be repaired.
Ii) starting the binocular digital camera through a control command;
in this step, carry out binocular stereo measurement to the tunnel lining region of treating to restore, specifically include: and sending a binocular photographing instruction to the binocular digital camera, wherein the binocular photographing instruction is used for indicating the binocular digital camera to focus the tunnel lining area to be repaired, acquiring a plurality of images collected by the binocular camera at different angles, and sending the image data to the server 6 through the data transmission line 4.
Iii) after the binocular stereo measurement is finished, a three-dimensional reconstruction unit and a control instruction decision unit are built in the server 6; the three-dimensional reconstruction unit obtains image measurement data acquired by the binocular camera according to the data transmission unit, calculates to obtain a point cloud three-dimensional coordinate of a lining area of the tunnel to be repaired based on a digital photographing three-dimensional reconstruction algorithm, and calculates crack detection information to be repaired according to the point cloud data; the control instruction decision unit matches a corresponding repairing process from a preset crack repairing knowledge base according to crack detection information to be repaired, sends the crack repairing process to the mechanical arm 3 through the data transmission line 4 in the form of a working instruction, and the mechanical arm 3 calls a corresponding repairing tool 2 and a repairing material according to the working instruction to repair the cracks of the tunnel lining.
In this step, the digital photography three-dimensional reconstruction algorithm used by the three-dimensional reconstruction unit specifically includes: acquiring internal parameters of a camera and image measurement data; detecting and matching feature points of the images in the area, and calculating the relative poses of a left camera and a right camera in the binocular camera; adopting stereo pair polar line correction to obtain a disparity map through dense matching; and calculating and converting the parallax image into a point cloud image to obtain a point cloud three-dimensional coordinate, and finishing digital photographing three-dimensional reconstruction.
In this step, crack detection information is calculated according to the point cloud data, and the method specifically includes: determining a region corresponding to the existence of the crack in the point cloud data according to the point cloud three-dimensional coordinate change relationship, wherein the crack detection information obtained by calculation comprises the crack position, length, width, depth, trend, property and filling degree; after the crack detection information is calculated, the crack detection information is stored in the server 6 in a format called by the control instruction decision unit.
Iv) the mechanical arm 3 starts the tunnel lining crack repairing work after receiving the working instruction, the mechanical arm 3 is provided with a plurality of repairing tools and repairing materials, and the corresponding repairing tools 2 and the repairing materials can be called to repair the tunnel lining crack according to the working instruction sent by the control system. The robot arm 3 in this embodiment is a prior art, and will not be described in detail, and generally includes a turntable 302, a cradle 301, a large arm 303, and a small arm 304, and the repairing tool 2 is disposed at the front end of the small arm 304, and can complete its own actions such as rotation, extension, and the like through a work instruction, thereby implementing multi-directional repairing of lining cracks.
As shown in fig. 3, after the detection and repair of the tunnel lining cracks in the current region are completed in the tunnel 9 through the above steps, the mobile cart 7 may be operated to further continue the detection and repair of the cracks in the other regions of the tunnel lining or the mobile working position in the current working position until the repair of the lining cracks in the whole tunnel is completed.
In the process of finishing the detection and repair work of the lining cracks of the current tunnel section, the server 6 is provided with a storage unit which automatically records the crack detection information and repair results of each working position in the form of data and pictures to form a database and can partially input remark information and repair results in a manual mode. When the efficient and accurate all-dimensional tunnel lining crack detection and instant repair work is completed, the manual repeated mechanical work is effectively reduced, and the work efficiency of tunnel lining structure maintenance is effectively improved.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. A tunnel lining crack repair apparatus, comprising:
the image acquisition assembly comprises a camera and a light source system for providing illumination for the camera, wherein the camera is used for carrying out image measurement on a tunnel lining area to be repaired;
the repairing assembly comprises a mechanical arm and a plurality of repairing tools arranged at the front end of the mechanical arm, wherein the mechanical arm carries a repairing material; the control system comprises a data transmission unit, a three-dimensional reconstruction unit and a control instruction decision unit which are connected by signals, wherein,
the data transmission unit is in signal connection with the mechanical arm and the camera;
the three-dimensional reconstruction unit calculates to obtain a point cloud three-dimensional coordinate of a lining area of the tunnel to be repaired based on a digital photographing three-dimensional reconstruction algorithm according to the image measurement data obtained by the camera and transmitted by the data transmission unit, and calculates to-be-repaired crack detection information according to the point cloud data;
the control instruction decision unit matches a corresponding repairing process from a preset crack repairing knowledge base according to the crack detection information to be repaired, sends the crack repairing process to the mechanical arm through the data transmission unit in the form of a working instruction, and the mechanical arm calls a corresponding repairing tool and a repairing material according to the working instruction to repair the cracks of the tunnel lining.
2. The tunnel lining crack repair apparatus of claim 1, wherein: the camera is a binocular digital camera, and the process of acquiring the image measurement data is as follows: the control instruction decision unit sends a binocular photographing instruction to the binocular digital camera, the binocular digital camera focuses on the tunnel lining area to be repaired according to the binocular photographing instruction, and multiple images are obtained at different angles.
3. The tunnel lining crack repair apparatus of claim 2, wherein: the calculation process of the point cloud three-dimensional coordinate of the tunnel lining area to be repaired comprises the following steps:
acquiring internal parameters of the binocular digital camera and the image measurement data;
detecting and matching characteristic points of each image in the image measurement data, and calculating the relative poses of two cameras in the binocular digital camera;
performing polar line correction on the stereopair, and acquiring a disparity map through dense matching;
and calculating and converting the parallax map into a point cloud map to obtain the point cloud three-dimensional coordinates of the tunnel lining area to be repaired.
4. The tunnel lining crack repair apparatus of claim 1, wherein: the crack detection information to be repaired comprises crack position, length, width, depth, trend, property and filling degree.
5. The tunnel lining crack repair apparatus of claim 1, wherein: the image acquisition assembly is fixedly arranged on the mechanical arm.
6. The tunnel lining crack repair apparatus of claim 1, wherein: the control system is arranged in a server, and the server is connected with a power supply.
7. The tunnel lining crack repair apparatus of claim 6, wherein: the tunnel lining crack repairing device further comprises a mobile platform, and the mechanical arm, the image acquisition assembly, the server and the power supply are all arranged on the mobile platform.
8. The tunnel lining crack repair apparatus of claim 7, wherein: the mobile platform is provided with a lifting seat, and the mechanical arm and the image acquisition assembly are arranged on the lifting seat.
9. The tunnel lining crack repair apparatus of claim 1, wherein: the control system further comprises a storage unit, and the storage unit is used for storing crack detection information and repair results of all working positions where the tunnel lining crack repair device arrives.
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| CN202010940372.8A CN112096454A (en) | 2020-09-09 | 2020-09-09 | Tunnel lining crack repairing device |
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| CN113266423A (en) * | 2021-06-16 | 2021-08-17 | 清华大学 | Automatic maintenance lining system and method for tunnel |
| CN113266422A (en) * | 2021-06-16 | 2021-08-17 | 清华大学 | Automatic maintenance lining system for tunnel |
| CN113914933A (en) * | 2021-09-27 | 2022-01-11 | 广西大学 | Tunnel overhaul robot |
| CN116106325A (en) * | 2023-01-05 | 2023-05-12 | 博建建工有限公司 | Crack detection method and device, electronic equipment and storage medium |
| CN117365644A (en) * | 2023-11-17 | 2024-01-09 | 重庆交通大学 | Tunnel lining crack disease treatment platform and method with low traffic influence |
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Application publication date: 20201218 |