CN112173103A - Detection device and method for tunnel working face constructed by drilling and blasting method - Google Patents
Detection device and method for tunnel working face constructed by drilling and blasting method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
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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
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention relates to a working face detection device and method for a tunnel constructed by a drilling and blasting method. The working face detection device includes: the system comprises a control system, a storage and transmission system, an information acquisition system, a lighting and power supply system and an unmanned aerial vehicle; the control system comprises a long-distance radio LoRa wireless communication module, a vision module and a signal intensity detection module; the signal intensity detection module is respectively connected with the LoRa wireless communication module and the vision module; the signal intensity detection module is used for detecting the intensity of wireless communication signals and realizing the switching between a remote control mode and an autonomous operation mode. By adopting the working face detection device and method provided by the invention, the inspection efficiency and the safety can be improved.
Description
Technical Field
The invention relates to the field of tunnel blasting detection, in particular to a device and a method for detecting a tunnel working face constructed by a drilling and blasting method.
Background
When the tunnel is excavated by adopting a drilling and blasting method, the working face blasting is a main excavation process, during blasting, a hole is drilled in a small part of the working face, a proper amount of explosive is put in the hole, a small notch is blasted firstly, more blank surfaces are provided for the following blasting, then the whole working face is expanded from the notch, the positions of blast holes are arranged according to a drilling and blasting parameter graph, and finally the explosive is detonated, so that the excavation of the working face is realized.
When the working face is blasted, the constructor needs to move away from the blasting position by more than 200m to ensure personal safety, 20-30 minutes need to be waited after blasting, toxic and harmful gas generated by blasting is discharged out of the tunnel by a ventilation system, and after smoke is scattered, the constructor can be driven to the working face to check the blasting quality and the safety condition. The inspection content mainly comprises whether the working surface is flat or not; whether the crushed stone generated by blasting has overlarge volume and needs hammering or blasting crushing; whether the surrounding rock of the working face is complete and stable after blasting and the like. And after the inspection is correct, the tunnel can be entered to transport and clean the blasted ballast and carry out surrounding rock supporting. Because the exposed range of the surrounding rock of the working face is large just after blasting is finished, and toxic and harmful gas or smoke dust generated by blasting cannot be used for manually checking and judging the blasting effect of the working face immediately after blasting, the overall efficiency of the existing tunnel drilling and blasting excavation construction is low.
Unmanned aerial vehicle generally carries out flight control through the GPS signal, but in closed underground space such as tunnel, because do not have the GPS signal, operating personnel can't control unmanned aerial vehicle's flight and return the route of navigating, this makes unmanned aerial vehicle's work in the tunnel difficult to realize, consequently, existing scheme needs the staff to wait 20 ~ 30 minutes after the blasting and can advance the hole inspection, and the personnel generally walk and advance the hole. Therefore, a series of operation processes of waiting, entering a tunnel, checking, exiting the tunnel and the like occupy more time, the judgment of the blasting effect and the judgment of the stability of the surrounding rock are subjective due to manual field checking, and the safety, the health and the like of workers for carrying out checking and detecting in the blasting of the working face are adversely affected due to the large-range exposure of the surrounding rock after blasting. In summary, the existing manual method for detecting the working face state and blasting effect after blasting has the problems of low efficiency, high potential safety hazard, incapability of storing the original data after blasting and the like.
Disclosure of Invention
The invention aims to provide a device and a method for detecting a working face of a tunnel constructed by a drilling and blasting method, which are used for solving the problems of low efficiency and large potential safety hazard in artificial hole entering inspection.
In order to achieve the purpose, the invention provides the following scheme:
a working face detection device for a drilling and blasting construction tunnel comprises: the system comprises a control system, a storage and transmission system, an information acquisition system, a lighting and power supply system and an unmanned aerial vehicle;
the control system, the storage and transmission system, the information acquisition system and the illumination and power supply system are arranged on the unmanned aerial vehicle; the control system is respectively connected with the storage and transmission system, the information acquisition system and the illumination and power supply system; the information acquisition system comprises a laser ranging sensor and a thermal imager; the laser ranging sensor and the thermal imager are arranged on the outer surface of the unmanned aerial vehicle;
the control system comprises a long-distance radio LoRa wireless communication module, a vision module and a signal intensity detection module; the signal intensity detection module is respectively connected with the LoRa wireless communication module and the vision module; the signal intensity detection module is used for detecting the intensity of a wireless communication signal and realizing the switching between a remote control mode and an autonomous operation mode; the LoRa wireless communication module is used for controlling the working face detection device through the handheld terminal in a remote control mode under the condition of communication signals;
the storage and transmission system is respectively connected with the vision module, the laser ranging sensor and the thermal imager; the storage and transmission system is used for storing information collected by the laser sensor and the thermal imager; the vision module is used for detecting that the working face detection device autonomously goes to the working face to shoot and automatically returns an image according to a planned route in an autonomous operation mode under the condition that the communication signal is lost in the tunnel.
Optionally, the laser ranging sensor includes a front laser ranging sensor, a left laser ranging sensor, a right laser ranging sensor, and an upper laser ranging sensor;
the front laser ranging sensor is arranged at the front end of the unmanned aerial vehicle;
the left laser ranging sensor is arranged on the left side of the unmanned aerial vehicle;
the right laser ranging sensor is arranged on the right side of the unmanned aerial vehicle;
the upper portion laser rangefinder sensor is located unmanned aerial vehicle's upper end.
Optionally, the thermal imager is located the front end of unmanned aerial vehicle.
Optionally, the method further includes: a bottom height sensor;
the bottom height sensor is arranged at the bottom of the unmanned aerial vehicle.
Optionally, the method further includes: an inertial measurement unit sensor;
the inertial measurement unit sensor is located inside the unmanned aerial vehicle.
Optionally, the method further includes: a depth camera with a pan-tilt device;
the depth camera with the holder device is arranged at the tail end of the unmanned aerial vehicle.
A working face detection method for a tunnel constructed by a drilling and blasting method comprises the following steps:
acquiring the intensity of a communication signal;
judging whether the communication signal intensity is lower than a signal intensity threshold value or not to obtain a first judgment result;
if the first judgment result shows that the communication signal intensity is lower than the signal intensity threshold value, controlling the working face detection device to enter an autonomous operation mode for detection;
and if the first judgment result shows that the communication signal strength is not lower than the signal strength threshold value, controlling the working face detection device to enter a remote control mode for detection.
Optionally, after controlling the working surface detection device to enter the autonomous operation mode for detection, the method further includes:
acquiring an image of a tunnel in front of the working face detection device through a depth camera, and acquiring depth information of the image;
transmitting the image containing the depth information to a visual module, and extracting each frame of image feature point of each image according to the depth information;
determining distance information among all feature points observed by the working face detection device at different positions according to the feature points of each frame of image;
and determining the relative position of the working surface detection device and the surrounding environment at any flight moment according to the distance information.
Optionally, after determining the relative position of the working surface detection device and the surrounding environment at any flight time according to the distance information, the method further includes:
acquiring flight starting point coordinates of the working face detection device, and three-axis displacement and angular displacement of each flight moment;
determining a flight track according to the flight starting point coordinates, the three-axis displacement and the angular displacement of each flight moment through the flight starting point coordinates of the device and the displacement of each flight moment;
and calculating real-time attitude information of the working face detection device according to the flight track, and adjusting the flight attitude according to the real-time attitude information.
Optionally, after calculating the real-time attitude information of the working surface detection device according to the flight trajectory and adjusting the flight attitude according to the real-time attitude information, the method further includes:
and controlling the working surface detection device to autonomously avoid obstacles and autonomously adjust the posture under the condition that the communication signals in the tunnel are lost by matching a laser ranging sensor and a height sensor according to the relative position information and the real-time posture information.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a working face detection device and method for a drilling and blasting method construction tunnel, which realize the switching between a remote control mode and an autonomous operation mode by detecting the strength of a wireless communication signal without the need of worker entering a hole for inspection, thereby improving the inspection efficiency and safety.
Simultaneously, when unable and hole interior unmanned aerial vehicle carry out signal communication, unmanned aerial vehicle can get into independently operation mode, carries out independently operation through the information that vision module gathered.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is an internal top view of the detection device for the tunnel working face in the drilling and blasting construction provided by the invention;
FIG. 2 is a bottom view of the detection device for the tunnel working surface in the drilling and blasting construction provided by the invention;
FIG. 3 is a top perspective view of the detection device for the tunnel working surface in the drilling and blasting construction provided by the invention;
FIG. 4 is a bottom perspective view of the detection device for the tunnel working surface in the drilling and blasting construction provided by the invention;
FIG. 5 is a block diagram of a control structure of the detection device for the tunnel working face in the drilling and blasting construction provided by the invention;
fig. 6 is a working flow chart of the device for detecting the working surface of the tunnel in the drilling and blasting construction provided by the invention.
Description of the symbols: 1. blade, 2, the place ahead laser rangefinder sensor, 3, inertia measuring unit sensor, 4, the left and right sides laser rangefinder sensor, 5, upper portion laser rangefinder sensor, 6, control system, 7, storage and transmission system, 8, wireless transmission system, 9, loRa wireless communication module, 10, thermal imager, 11, lighting system, 12, power supply system, 13, the degree of depth camera that has cloud platform device, 14, support, 15, bottom height sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a working face detection device and a working face detection method for a tunnel constructed by a drilling and blasting method, which do not need workers to enter a hole for inspection and can improve inspection efficiency and safety.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 5, a working face detection apparatus for a drilling and blasting construction tunnel includes: the system comprises a control system 6, a storage and transmission system 7, an information acquisition system, a lighting and power supply system and an unmanned aerial vehicle; the control system 6, the storage and transmission system 7, the information acquisition system and the illumination and power supply system are arranged on the unmanned aerial vehicle; the control system 6 is respectively connected with the storage and transmission system 7, the information acquisition system and the illumination and power supply system; the information acquisition system comprises a laser ranging sensor and a thermal imager 10; the laser ranging sensor and the thermal imager 10 are arranged on the outer surface of the unmanned aerial vehicle; the control system 6 comprises a long-distance radio LoRa wireless communication module 9, a vision module and a signal intensity detection module; the signal intensity detection module is respectively connected with the LoRa wireless communication module 9 and the vision module; the signal intensity detection module is used for detecting the intensity of a wireless communication signal and realizing the switching between a remote control mode and an autonomous operation mode; the LoRa wireless communication module 9 is used for controlling the working face detection device through the handheld terminal in a remote control mode under the condition of communication signals; the storage and transmission system 7 is respectively connected with the vision module, the laser ranging sensor and the thermal imager 10; the storage and transmission system 7 is used for storing the information collected by the laser sensor and the thermal imager 10; the vision module is used for detecting that the working face detection device autonomously goes to the working face to shoot and automatically returns an image according to a planned route in an autonomous operation mode under the condition that the communication signal is lost in the tunnel.
In practical application, the laser ranging sensor comprises a front laser ranging sensor 2, a left laser ranging sensor, a right laser ranging sensor and an upper laser ranging sensor 5; the front laser ranging sensor 2 is arranged at the front end of the unmanned aerial vehicle; the left laser ranging sensor is arranged on the left side of the unmanned aerial vehicle; the right laser ranging sensor is arranged on the right side of the unmanned aerial vehicle; upper portion laser rangefinder sensor 5 is located unmanned aerial vehicle's upper end.
In practical application, the thermal imager 10 is arranged at the front end of the unmanned aerial vehicle.
In practical application, the method further comprises the following steps: a bottom height sensor 15; the bottom height sensor 15 is arranged at the bottom of the unmanned aerial vehicle; an inertial measurement unit sensor 3; the inertial measurement unit sensor 3 is arranged in the unmanned aerial vehicle; a depth camera with a pan-tilt device; the depth camera with the holder device is arranged at the tail end of the unmanned aerial vehicle.
The invention provides a device for detecting the working surface of a tunnel constructed by a drilling and blasting method, which adopts a professional-grade unmanned aerial vehicle as a flight carrier, a control system 6 and a storage and transmission system 7 are arranged on the inner bottom plate of the unmanned aerial vehicle, a lighting system 11 and a power supply system 12 are arranged at the lower part of the bottom plate, brackets 14 are arranged at two sides of the power supply system 12, a depth camera 13 with a pan-tilt device is arranged at the tail end of the power supply system 12, a thermal imager 10 and a front laser ranging sensor 2 are arranged at the front part of the main body shell of the unmanned aerial vehicle, upper laser ranging sensors 5 are respectively arranged at two sides of the upper part of the main body shell of the unmanned aerial vehicle, bottom height sensors 15 are respectively arranged at two sides of the lower part of the main body shell of the unmanned aerial vehicle, left and right laser ranging sensors 4 are respectively arranged at, LoRa) wireless communication module.
The control system 6 comprises a remote control module, is connected with the LoRa wireless communication module 9, and is used for controlling and operating the device through the handheld terminal under the condition of communication signals.
The control system 6 comprises a vision module, is connected with a depth camera 13 with a holder device and a storage and transmission system 7, and is used for realizing the functions that the detection device autonomously goes to a working surface to shoot and automatically returns according to a planned route under the condition that the communication signal in the tunnel is lost.
The control system 6 comprises a signal intensity detection module, is connected with the remote control module and the vision module and is used for detecting the intensity of wireless communication signals and realizing the switching between the remote control mode and the autonomous operation mode.
The control system 6 is connected with the lighting system 11 and the power supply system 12, and is used for providing light sources and power required by the flight and operation of the unmanned aerial vehicle in the tunnel.
The storage and transmission system 7 is connected with the laser ranging sensors 2, 4 and 5 and the thermal imager 10, and is used for storing information collected by the laser sensors and the thermal imager 10.
The storage and transmission system 7 is connected with the wireless transmission system 8 and is used for transmitting the collected information to the terminal for viewing.
Wherein, the flight moving system:
firstly, a professional unmanned aerial vehicle is used as a flight carrier of the detection device so as to meet the requirements of endurance and bearing capacity.
Secondly, laser ranging sensors are adopted, the three ranging sensors are respectively arranged at the upper part and the left side and the right side of the device, and the distance between the detection device and the tunnel wall is measured, so that the device can fly longitudinally along the tunnel in the tunnel; a distance measuring sensor is installed at the front end of the device, measures the distance between the detection device and the working surface, and judges the position of the detection device for hovering and shooting the working surface.
And thirdly, a height sensor is arranged below the detection device to measure the height between the detection device and the ground, so that on one hand, the control device can safely move in the tunnel, and on the other hand, the stacking height of the thrown-out crushed stones after blasting can be measured.
The information acquisition system comprises:
firstly, a depth camera with a holder device is adopted to realize the functions of photographing or video recording and positioning of the detection device.
Secondly, a thermal imaging instrument 10 is adopted to realize the detection of the leakage water or the dummy gun (explosive without normal blasting) on the working surface according to the principle of temperature difference.
And thirdly, connecting the device with the depth camera by adopting a holder device to realize stable shooting of the camera.
Storage and transmission system 7: the collected information can be directly stored in the camera or the collection system and simultaneously transmitted to the handheld terminal through the wireless system.
Lighting and power supply system: the device is provided with LED lamps which are arranged on two sides of the detection device; the LED lamp provides a light source for shooting by the detection device; the main rechargeable battery provides power for the flying of the detection device, and the auxiliary rechargeable battery provides power for the operation of the LED light source, the shooting system and the sensor; illumination may be provided for the camera; the power supply system 12 employs a polymer lithium ion battery or other high performance battery.
The control system 6:
the device is provided with a LoRa wireless communication module 9, communication signal transmission in the tunnel is realized through a LoRa wireless transmission technology, the maximum characteristic of the LoRa is that the distance of transmission is farther than that of other wireless modes under the same power consumption condition, the unification of low power consumption and long distance is realized, the distance of the device is enlarged by 3-5 times than that of traditional wireless radio frequency communication under the same power consumption, the transmission distance can reach 3-5 kilometers, and the device is easy to arrange in the tunnel. Therefore, the device can be controlled and operated (moving direction, speed, photographing and other various operations) by the handheld terminal under the condition of communication signals.
And secondly, the detection device detects the communication signal intensity through a signal intensity monitoring module, and if the signal intensity is lower than a set value, the autonomous flight mode is automatically started. The autonomous flight mode of the device is controlled by a vision module. The signal strength threshold is set by the particular monitored environment.
And thirdly, the detection device combines a synchronous positioning and mapping (SLAM) module and an Inertial Measurement Unit (IMU) module as a vision module.
The detection device collects the peripheral image of the device in real time through a depth camera in the information collection system, and records the distance between each pixel point in the picture and the detection device, namely the depth information of the image. The device transmits the image containing the depth information to an SLAM module in a vision module, the SLAM module extracts each frame of image feature points and performs feature point matching on adjacent frames, so that distance information of each feature point observed by the detection device at different positions is obtained, and the relative position of the detection device at a certain flight time and the surrounding environment can be obtained after the information is processed. The IMU module in the vision module may record the coordinates of the detection device's flight origin and may acquire three-axis and angular displacements for each flight time of the device.
Through the coordinates of the flight starting point of the device and the displacement of each flight moment, the IMU module can obtain the flight track of the detection device, calculate the real-time attitude of the detection device, adjust the flight attitude and ensure that the device flies into the tunnel. According to the relative position information and the posture information of the detection device, the detection device is matched with the distance measuring sensor and the height sensor, the autonomous obstacle avoidance and the autonomous posture adjustment can be guaranteed when the detection device loses communication signals in a tunnel, and the device is ensured to go to a working face to shoot and automatically return.
Further, according to the distance information of the detection devices at different positions relative to the characteristic points acquired by the SLAM module and the flight track of the detection devices at the positions acquired by the IMU module, the spatial position of each characteristic point can be calculated, and therefore a tunnel 3D map is established. The detection device can gradually improve the spatial position of each characteristic point in the 3D map in a loop detection mode while performing reciprocating flight operation, so that the work of acquiring the relative position of the device and each characteristic point in real time in the subsequent flight operation is simplified.
The detection device can detect the position of the working surface of the tunnel through the configured laser ranging sensors (2, 4 and 5), and the detection device is arranged at a position which is designed in advance: l (at a certain distance L from the working surface) of the detection device
Alpha is the visual angle of the camera), automatically hovering, and simultaneously controlling the camera to shoot working face pictures at different angles; and adjusting the position of the detection device, and photographing the blasted riprap.
The autonomous operation mode is a detection device autonomous flight mode. The whole process is shown in fig. 6, the vision module processes the peripheral image information into distance information between the device and the surrounding environment in real time, the flight attitude of the device is calculated in real time, and the autonomous obstacle avoidance flight to the inside of the tunnel is realized by matching with data of the laser ranging sensors (2, 4 and 5) and the altitude sensor. When the return value of the distance sensor at the front end of the detection device reaches a set distance value, namely the detection device reaches the working surface area, the triggering device is hovered, the cradle head is controlled to rotate the camera, and the image information of the whole tunnel face is acquired. And setting the hovering time, and automatically returning after the hovering time is finished.
The vision module is always in a working state in the flight process. When signals exist, the visual module can assist an operator to command the device to fly on one hand, and on the other hand, a local 3D map of the tunnel can be established and stored in real time. When no signal exists, the detection device is matched with the laser ranging sensors (2, 4 and 5) and the height sensor through the vision module to judge the relative distance between the detection device and the surrounding environment and the posture of the device in real time, so that the functions of automatic obstacle avoidance, automatic adjustment of flying on the platform, automatic hovering shooting and automatic returning are realized.
The handheld terminal: the handheld terminal can be a tablet personal computer, a notebook computer or the like, is provided with an LoRa wireless module, and can be in wireless connection communication with the mobile detection device; secondly, a detection device control software system is developed in the handheld terminal, so that the control of the moving direction, speed, posture and action of the moving detection device can be realized; the handheld terminal can store various kinds of information collected by the mobile detection device on the terminal storage device through the LoRa network.
In conclusion, the invention provides a device and a method suitable for the blasting quality of the working face by the drilling and blasting method, which can realize the rapid detection of the blasting integrity, the crushed stone size, the surrounding rock stability and the like of the working face; acquiring working surface and surrounding images through a detection device information acquisition system; the vision module arranged in the detection device realizes the signal-free autonomous flight of the device in the tunnel; calculating a hovering position L of the detection device from the working surface according to the known maximum shooting range angle alpha of the depth camera and the input tunnel radius R, and hovering when the detection device reaches the position; the automatic triggering of the photographing system is realized through a control module arranged on the detection device, and the photographing system automatically returns along the original route after the photographing contact; the invention can also be provided with an environment measuring sensor which comprises temperature and humidity, environment brightness and the like, and provides parameters for detecting humidity and dust concentration, adjusting the light supplement intensity during photographing and the like.
Chinese patent with application number cn201811218865.x proposes an unmanned aerial vehicle autonomous positioning technology, and through utilizing monocular camera to gather the image, through utilizing IMU to read and handle the information of unmanned aerial vehicle acceleration and angular velocity, realizes unmanned aerial vehicle's autonomous positioning, nevertheless because special environment and the operational requirement in the tunnel, this patent can't directly be applied to in the tunnel detects. The invention relates to unmanned detection equipment suitable for detecting a tunnel working surface, which is mainly improved as follows: a laser ranging sensor is added to realize the functions of linear flight and anti-collision of the detection equipment; adding a depth camera to acquire image and distance information; adding a lighting system; a wireless communication module is added to realize a wireless control function; and a signal intensity detection module is added to realize manual control, free transition of an autonomous flight mode and the like.
The advantages of the invention are mainly embodied in the following three points:
(1) the automatic flying detection device enters the hole for surveying, the speed is high, excessive time for waiting after blasting is not needed, the detection efficiency is improved, and meanwhile, safety accidents are avoided due to unmanned operation;
(2) the leveling condition of the work surface after blasting can be comprehensively shot, and the condition that whether the large crushed stone is required to be cleaned or not after blasting can be accurately obtained in advance, so that the working personnel can conveniently clear the slag and the like;
(3) the detection device can automatically fly and return to the air under the condition that no signal exists in the tunnel, and the application problem of the detection device in special environments such as the tunnel is solved. When necessary, the metal ring can be arranged on the periphery of the device to be used as anti-collision equipment, so that the detection device is prevented from being broken by falling rocks in the tunnel.
In the technical scheme, the distance measuring function provided by the infrared distance measuring sensor can be replaced by a laser sensor or an ultrasonic sensor, and the infrared distance measuring sensor and the laser sensor or the ultrasonic sensor are compared to determine a more appropriate distance measuring sensor. The information transmission module provided by the LoRa wireless communication module 9 may be implemented by SigFox, NB-IoT, and other low-power-consumption wide area network communication technologies. Environmental perception equipment can also be added according to the performance of the power system of the detection device.
The invention can detect the working face state rapidly, safely and efficiently, particularly the blasting face shape and the flatness of the working face, the flint shape and the distribution after blasting and the crushing and stable state of the surrounding rock immediately after blasting, and provides a basis for judging the blasting quality, the stability of the working face and the surrounding rock, arranging rock slag clearing, supporting the surrounding rock and the like.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a working face detection device for drilling and blasting method construction tunnel which characterized in that includes: the system comprises a control system, a storage and transmission system, an information acquisition system, a lighting and power supply system and an unmanned aerial vehicle;
the control system, the storage and transmission system, the information acquisition system and the illumination and power supply system are arranged on the unmanned aerial vehicle; the control system is respectively connected with the storage and transmission system, the information acquisition system and the illumination and power supply system; the information acquisition system comprises a laser ranging sensor and a thermal imager; the laser ranging sensor and the thermal imager are arranged on the outer surface of the unmanned aerial vehicle;
the control system comprises a long-distance radio LoRa wireless communication module, a vision module and a signal intensity detection module; the signal intensity detection module is respectively connected with the LoRa wireless communication module and the vision module; the signal intensity detection module is used for detecting the intensity of a wireless communication signal and realizing the switching between a remote control mode and an autonomous operation mode; the LoRa wireless communication module is used for controlling the working face detection device through the handheld terminal in a remote control mode under the condition of communication signals;
the storage and transmission system is respectively connected with the vision module, the laser ranging sensor and the thermal imager; the storage and transmission system is used for storing information collected by the laser sensor and the thermal imager; the vision module is used for detecting that the working face detection device autonomously goes to the working face to shoot and automatically returns an image according to a planned route in an autonomous operation mode under the condition that the communication signal is lost in the tunnel.
2. The working face detection device for the drilling and blasting construction tunnel according to claim 1, wherein the laser ranging sensors comprise a front laser ranging sensor, a left laser ranging sensor, a right laser ranging sensor and an upper laser ranging sensor;
the front laser ranging sensor is arranged at the front end of the unmanned aerial vehicle;
the left laser ranging sensor is arranged on the left side of the unmanned aerial vehicle;
the right laser ranging sensor is arranged on the right side of the unmanned aerial vehicle;
the upper portion laser rangefinder sensor is located unmanned aerial vehicle's upper end.
3. The working face detection device for the drilling and blasting construction tunnel according to claim 1, wherein the thermal imager is arranged at the front end of the unmanned aerial vehicle.
4. The working face detection device for the drilling and blasting construction tunnel according to claim 1, further comprising: a bottom height sensor;
the bottom height sensor is arranged at the bottom of the unmanned aerial vehicle.
5. The working face detection device for the drilling and blasting construction tunnel according to claim 1, further comprising: an inertial measurement unit sensor;
the inertial measurement unit sensor is located inside the unmanned aerial vehicle.
6. The working face detection device for the drilling and blasting construction tunnel according to claim 1, further comprising: a depth camera with a pan-tilt device;
the depth camera with the holder device is arranged at the tail end of the unmanned aerial vehicle.
7. A working face detection method for a tunnel constructed by a drilling and blasting method is applied to the working face detection device for the tunnel constructed by the drilling and blasting method according to any one of claims 1 to 6, and comprises the following steps:
acquiring the intensity of a communication signal;
judging whether the communication signal intensity is lower than a signal intensity threshold value or not to obtain a first judgment result;
if the first judgment result shows that the communication signal intensity is lower than the signal intensity threshold value, controlling the working face detection device to enter an autonomous operation mode for detection;
and if the first judgment result shows that the communication signal strength is not lower than the signal strength threshold value, controlling the working face detection device to enter a remote control mode for detection.
8. The working face detection method for the drilling and blasting construction tunnel according to claim 7, wherein after the control of the working face detection device to enter the autonomous operation mode for detection, the method further comprises the following steps:
acquiring all images around the working face detection device through a depth camera, and acquiring depth information of all the images;
transmitting the image containing the depth information to a visual module, and extracting each frame of image feature point of each image according to the depth information;
determining distance information among all feature points observed by the working face detection device at different positions according to the feature points of each frame of image;
and determining the relative position of the working surface detection device and the surrounding environment at any flight moment according to the distance information.
9. The working face detection method for the drilling and blasting construction tunnel according to claim 8, wherein after the relative position of the working face detection device and the surrounding environment at any flight time is determined according to the distance information, the method further comprises the following steps:
acquiring flight starting point coordinates of the working face detection device, and three-axis displacement and angular displacement of each flight moment;
determining a flight track according to the flight starting point coordinates, the three-axis displacement and the angular displacement of each flight moment through the flight starting point coordinates of the device and the displacement of each flight moment;
and calculating real-time attitude information of the working face detection device according to the flight track, and adjusting the flight attitude according to the real-time attitude information.
10. The working face detection method for the drilling and blasting construction tunnel according to claim 9, wherein after the real-time attitude information of the working face detection device is calculated according to the flight trajectory and the flight attitude is adjusted according to the real-time attitude information, the method further comprises:
and controlling the working surface detection device to autonomously avoid obstacles and autonomously adjust the posture under the condition that the communication signals in the tunnel are lost by matching a laser ranging sensor and a height sensor according to the relative position information and the real-time posture information.
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