CN112312104A - Mobile device and method for displaying lining disease information in projection mode on outer surface of tunnel lining - Google Patents
Mobile device and method for displaying lining disease information in projection mode on outer surface of tunnel lining Download PDFInfo
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- CN112312104A CN112312104A CN202011185489.6A CN202011185489A CN112312104A CN 112312104 A CN112312104 A CN 112312104A CN 202011185489 A CN202011185489 A CN 202011185489A CN 112312104 A CN112312104 A CN 112312104A
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- projection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
- H04N9/3185—Geometric adjustment, e.g. keystone or convergence
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
- H04N9/317—Convergence or focusing systems
Abstract
The invention relates to a mobile device and a method for displaying lining disease information on the outer surface of a tunnel lining in a projection manner, wherein the mobile device comprises a vehicle body, a light source system, a projection unit and a control system, wherein the projection unit and the control system are arranged on the vehicle body; the control system comprises a positioning unit, a ranging unit, a system storage server and a communication unit; the projection surface of the projection unit is the outer surface of the tunnel lining, the control system calls disease information data from the disease information data packet stored in the cloud server, the disease information data are downloaded to the system storage server in an image form, and the image is projected to the outer surface of the tunnel lining through the projection unit. The invention can realize the visualization of the disease information of the tunnel operation period obtained by the detection work efficiently and accurately, accurately position the disease position on the outer surface of the tunnel lining and visually display the disease position through self-adaptive projection, help to comprehensively and timely master the safety state of the tunnel structure and ensure the smooth development of the detection and repair work.
Description
Technical Field
The invention relates to the field of tunnel detection, in particular to a mobile device and a mobile method for displaying lining disease information by projection on the outer surface of a tunnel lining.
Background
At present highway, railway tunnel quantity constantly increase, have improved the convenience of people's trip greatly, however, because the constantly change of external environment and geological conditions to and the influence of other aspects such as design, construction, management and peripheral building construction, the tunnel often can appear crack, seepage, big deformation, produces lining cutting disease phenomena such as cavity between supporting construction and the country rock in the operation period, seriously threatens the normal, safe handling in tunnel. For the diseases existing behind the tunnel lining, tools such as geological radars, tunnel detection vehicles and the like can be adopted at the present stage for detecting and collecting data. However, after the lining defect information is obtained, there is no device capable of visually displaying the defect information inside the tunnel.
The Chinese patent with the application number of 201811622262.6 discloses an automatic detection system and a method suitable for tunnel lining, and lining quality detection is carried out on a track formed by sectional type embedded guide rail units by lifting a geological radar antenna through a travelling mechanism. But the data arrangement and visualization work after detection are not involved, the detection result is not intuitive, and the safety state of the tunnel structure is difficult to further help grasp.
Chinese patent application No. 201310082925.0 discloses a subway train tunnel projection system and projection method, which uses a large window and tunnel of a subway train carriage to perform dynamic information transmission by using the projection method. The method is limited to subway trains and subway tunnels, mainly aims to expand the advertising space, cannot be associated with lining disease information obtained through detection, and is used for detecting tunnels in various operation periods.
The method is limited to the tunnel lining outer surface large part area as a non-planar area, when lining defect information and images are projected to the non-planar lining area or can not be projected forward due to the limitation of conditions, the geometric shapes of the directly projected defect information and images can be deformed, geometric distortion is caused, and the accuracy and efficiency of detecting and repairing the whole tunnel lining defect are reduced.
In order to comprehensively and timely master the safety state of the tunnel structure, an efficient and accurate mobile device is urgently needed, lining disease information can be displayed in a self-adaptive projection mode on the outer surface of a tunnel lining, and detection and repair work in the tunnel operation period can be smoothly carried out.
Disclosure of Invention
The invention aims to solve the technical problem of providing a mobile device and a mobile method for displaying lining damage information in a projection manner on the outer surface of a tunnel lining, so that the lining damage information is displayed in a self-adaptive projection manner on the outer surface of the tunnel lining, and the detection and repair work in the tunnel operation period can be carried out more smoothly.
In order to achieve the above and other related objects, the present invention provides a mobile projection apparatus for projecting and displaying lining damage information on an outer surface of a tunnel lining, comprising: the system comprises a vehicle body, a light source system, a control system and a projection unit; the light source system, the control system and the projection unit are all arranged on the vehicle body; the light source system is used for providing proper brightness for the projection unit;
the control system comprises a positioning unit, a ranging unit, a system storage server and a communication unit; when the system works, the positioning unit acquires current positioning data of the position of a vehicle body, the current positioning data is sent to a cloud server through the communication unit, a control system retrieves disease information data corresponding to the current positioning data from a disease information data packet stored in the cloud server, and the disease information data is downloaded to the system storage server in an image form for projection, wherein the disease information data packet has lining disease information corresponding to all linings in a tunnel measured in advance;
the distance measuring unit measures distance data from the outer surface of the lining to the projection unit before each projection and transmits the distance data to the system storage server;
and the system storage server controls the projection unit to project the downloaded image onto the outer surface of the lining of the tunnel according to the distance data.
Preferably, the projection unit further includes a zoom unit controlled by the control system, and during projection, the system storage server calculates a zoom instruction required by the zoom system according to the distance data and transmits the zoom instruction to the zoom unit, and the zoom unit zooms according to the zoom instruction, so that the projection unit projects the downloaded image onto the outer surface of the whole lining corresponding to the position of the vehicle body.
Preferably, the zoom unit comprises a micromotion motor and a zoom lens driven by the micromotion motor; the projection unit is arranged on a support, and the support is used for adjusting the installation angle and the facing direction of the projection unit.
Preferably, the projection unit further includes a laser projector and an auxiliary camera, and the auxiliary camera is coaxial with a lens of the laser projector.
Preferably, before the positioning unit performs positioning, a plurality of control point locations are arranged in the tunnel of the working route, and the positioning unit is subjected to error calibration by using control point coordinates obtained by measuring with a total station.
Preferably, the system storage server has a storage unit for recording positioning information, ranging information, and disease information images of each working position and forming a database with the data.
The invention also provides a method for displaying lining disease information in a projection manner on the outer surface of the tunnel lining, which comprises the following steps:
1) the control system controls the vehicle body to move to a working position, acquires current positioning data of the vehicle body, sends the current positioning data to the cloud server, calls disease information data corresponding to the current positioning data from a disease information data packet stored in the cloud server, and downloads the disease information data to the system storage server in an image form for projection, wherein the disease information data packet has lining disease information corresponding to all linings in a tunnel measured in advance;
2) starting a ranging unit in a control system, measuring distance data from the outer surface of the lining to the projection unit before each projection, and transmitting the distance data to the system storage server;
3) and the system storage server controls the projection unit to project the downloaded image onto the outer surface of the lining of the tunnel according to the distance data.
Preferably, in step 3), before each projection, the projection unit performs adaptive projection geometric correction according to a preset standard process, where the preset standard process includes:
the laser projector projects a coding characteristic diagram to a non-planar area on the outer surface of the tunnel lining to serve as active structural light;
the auxiliary camera lens is coaxially arranged with the lens of the laser projector and used for collecting a characteristic image formed by the coding characteristic diagram;
the characteristic image is subjected to image processing to obtain a characteristic point set, triangular meshing is carried out on the characteristic image by adopting a Delaunay triangulation algorithm, and a coordinate conversion relation between an original lining disease projection image and the characteristic image is established;
according to the coordinate conversion relation, carrying out bilinear interpolation transformation on a single triangular grid coverage area in the original lining disease projection image to obtain a triangular image subjected to geometric correction; after geometric transformation is carried out on all the triangular meshes, the triangular meshes are spliced again into a complete geometric correction image to be projected so as to obtain a corrected projection image;
and the auxiliary camera acquires the corrected projection image again, detects whether the geometric correction result meets the precision requirement, and repeats geometric correction if the geometric correction result does not meet the precision requirement until the geometric correction result obtained from the corrected projection image meets the precision requirement.
Preferably, the projection unit further includes a zoom unit controlled by the control system, and during projection, the system storage server calculates a zoom instruction required by the zoom system according to the distance data and transmits the zoom instruction to the zoom unit, and the zoom unit zooms according to the zoom instruction, so that the projection unit projects the downloaded image onto the outer surface of the whole lining corresponding to the position of the vehicle body.
As described above, the mobile projection device for projecting and displaying lining damage information on the outer surface of the tunnel lining according to the present invention has the following beneficial effects: 1. the efficiency is improved: the mobile device is suitable for projection of tunnel lining disease information in various operation periods, and can effectively reduce manual repeated mechanical work and improve detection and repair work efficiency in the tunnel operation period through interaction with measurement data of a cloud and automatic ranging zooming projection under a control system. 2. The cost is saved: the device and the method are suitable for the non-planar area projection of the tunnel lining surface, integrate the self-adaptive projection geometric correction algorithm of a single projection system, and save the reconstruction cost of multiple devices or the complicated manual projection image orthographic work by adopting a quick non-reconstruction method.
Drawings
Fig. 1 is a schematic structural view of the tunnel lining disease movable projection device of the present invention.
Fig. 2 is a schematic view of the system composition of the tunnel lining disease movable projection device of the present invention.
Fig. 3 is a schematic view of a using flow of the tunnel lining disease movable projection device of the invention.
1 vehicle body
2 projection unit
3 positioning unit
4 system storage server
5 distance measuring unit
6 support
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, the mobile projection device for displaying lining damage information by projection on the outer surface of a tunnel lining of the invention comprises a vehicle body 1, a light source system, a projection unit 2 and a control system, wherein the projection unit 2 and the control system are installed on the vehicle body; the control system comprises a positioning unit 3, a ranging unit 5, a system storage server 4 and a communication unit 7; during working, the positioning unit 3 acquires current positioning data of the position of the vehicle body 1, the current positioning data is sent to the cloud server through the communication unit 7, the control system retrieves disease information data corresponding to the current positioning data from a disease information data packet stored in the cloud server, and the disease information data is downloaded to the system storage server in an image form for projection, wherein the disease information data packet has lining disease information corresponding to all linings in a tunnel obtained through measurement in advance, and the lining disease information specifically comprises lining disease information such as cracks, leakage, large deformation, and voids generated between a supporting structure and surrounding rocks; the distance measuring unit 5 measures the distance data from the outer surface of the lining to the projection unit 2 before each projection, and transmits the distance data to the system storage server 4; the system storage server 4 controls the projection unit 2 to adaptively project the downloaded image onto the outer surface of the lining of the tunnel according to the distance data, wherein most of the outer surface of the lining of the tunnel is a non-planar area in this embodiment.
The mobile device can move in the tunnel, can position and acquire the lining damage information corresponding to the current position, and directly display the lining damage information on the outer surface of the tunnel in an image form, so that the tunnel operation period damage information acquired through detection work can be efficiently and accurately visualized, self-adaptive projection is performed on the outer surface of the tunnel lining containing a non-planar area, the detection result is visually displayed, the safety state of the tunnel structure can be comprehensively and timely mastered, and the smooth development of detection and repair work is ensured.
The projection surface of the projection unit 2 of this embodiment is the outer surface of the tunnel lining, and the projection unit further includes a zoom unit connected to and controlled by the control system, and the zoom unit includes a micro motor and a zoom lens driven by the micro motor. The projection unit 2 is also fixed on a support 6, the support 6 can adjust the angle and change the direction, so that a projection picture can cover the outer surface of the whole tunnel lining, and the support 6 is preferably a multi-joint mechanical arm; before the projection unit 2 projects the lining damage information each time, the projection unit performs adaptive projection geometric correction according to a preset standard flow, and eliminates geometric distortion generated when the lining damage information and the image are projected to a non-planar lining area or cannot be projected forward due to conditions.
In this embodiment, the projection unit 2 includes a laser projector, which can project various auxiliary feature images and structured light according to actual needs, in addition to a basic projection function; the laser projector is provided with an auxiliary camera which finishes camera calibration and is arranged close to the coaxial direction of the lens laser projector, the auxiliary camera can acquire images in real time for algorithm analysis, data and feedback are provided for adaptive projection geometric correction, and meanwhile, whether the projection environment changes or not can be monitored in real time. The projection unit 2 is also provided with a double-shaft digital inclinometer for providing pose information for the projection unit, is used for calculating in the self-adaptive projection geometric correction and is matched with the bracket 6 to complete the adjustment of the projection angle.
As shown in fig. 2 and 3, in the highway and railway tunnel, the step of displaying lining damage information on the outer surface of the tunnel lining by self-adaptive projection is as follows: it can be implemented by using the mobile projection device;
i) after moving automobile body 1 to the work position, start positioning unit 3 among the control system, for accurate projection disease position, set up a plurality of control point location in the tunnel of working line, use the total powerstation to measure the control point coordinate who obtains, carry out error calibration to the positioning data that positioning unit 3 obtained.
Ii) the calibrated positioning data is transmitted to the system storage server 4 and sent to the cloud server through the communication unit 7, and the system is further controlled to retrieve disease information data corresponding to the current positioning data from a disease information data packet stored in the cloud server and download the disease information data to the system storage server 4 in an image form for projection, as shown in fig. 3, wherein the disease information data packet has lining disease information corresponding to all linings in the tunnel measured in advance.
And iii) after confirming that the working position damage information is acquired, starting a distance measuring unit 5 included in the control system, wherein before each projection, the distance measuring unit 5 measures the distance data from the outer surface of the lining to the projection unit 2 and transmits the distance data to the system storage server 4, as shown in FIG. 3.
Iv) after obtaining the distance data measured by the distance measuring unit 5, the system storage server 4 immediately calculates zoom data required by the zoom unit as shown in fig. 3, and transmits the zoom data to the zoom unit for zooming, so as to ensure that the size and the angle of a projection picture formed by projection of the projection unit 2 are proper, that is, the projection picture can be fully distributed on the outer surface of the whole lining at the corresponding position.
V) the projection unit 2 is selected from a laser projector, and besides the basic projection function, the laser projector can throw in various auxiliary characteristic images and structural light according to the actual requirement; before the projection unit 2 projects the lining damage information each time, the projection unit performs adaptive projection geometric correction according to a preset standard flow, and eliminates geometric distortion generated when the lining damage information and the image are projected to a non-planar lining area or cannot be projected forward due to conditions.
The specific steps of the preset standard process for performing the adaptive projection geometric correction include:
the laser projector projects a coding characteristic diagram to a non-planar area on the outer surface of the tunnel lining to serve as active structural light;
the auxiliary camera acquires a characteristic image formed by the coding characteristic diagram;
after image processing is carried out on the characteristic image, acquiring a characteristic point set serving as a vertex set, and carrying out triangulation on the characteristic image by adopting a Delaunay triangulation algorithm to obtain a triangular mesh description set C related to the characteristic image; according to the one-to-one correspondence relationship between the original lining back disease projection image (referred to as an original image in the specification) and the collected feature points of the feature image, connecting the corresponding points in the original image according to the triangular network description set C of the feature image to obtain a triangular mesh description set P of the original image;
calculating the coordinate transformation relation between the corresponding triangles according to C and P, namely selecting three groups of corresponding vertexes of a single triangle as sampling points, and calculating a homography matrix as a coordinate transformation matrix H of all coordinate points in the division area of the corresponding triangular mesh; carrying out bilinear interpolation transformation on a single triangular grid coverage area in an original lining back disease projection image by using a homography matrix H to obtain a triangular image subjected to geometric correction;
performing the geometric transformation on all the triangular mesh area images to obtain a discrete triangular image set, and splicing the discrete triangular image set into a complete geometric correction image serving as projection to obtain a corrected projection image;
the auxiliary camera collects the projection image after geometric correction again, and detects whether the geometric correction result meets the precision requirement; if not, repeating geometric correction until the geometric correction result of the corrected projection image meets the precision requirement.
In the working process of completing the whole tunnel, the system storage server 4 can automatically record the data of positioning, distance measurement, disease information image and the like of each working position to form a database, and can manually input the detection and repair working results of each working position. The method has the advantages that the defect information visualization of the tunnel operation period obtained through detection work is realized efficiently and accurately, meanwhile, the manual repeated mechanical work is effectively reduced, and the detection and repair work efficiency of the tunnel operation period is improved.
The tunnel lining damage mobile adaptive projection apparatus provided in the embodiment of the present invention is described in detail above, and for those skilled in the art, there may be variations in the specific implementation and application scope according to the idea of the embodiment of the present invention.
Claims (9)
1. A portable projection arrangement of lining disease information is shown in projection at tunnel lining surface, its characterized in that includes: the system comprises a vehicle body, a light source system, a control system and a projection unit; the control system and the projection unit are arranged on the vehicle body; the light source system is used for providing proper brightness for the projection unit;
the control system comprises a positioning unit, a ranging unit, a system storage server and a communication unit; when the system works, the positioning unit acquires current positioning data of the position of a vehicle body, the current positioning data is sent to a cloud server through the communication unit, a control system retrieves disease information data corresponding to the current positioning data from a disease information data packet stored in the cloud server, and the disease information data is downloaded to the system storage server in an image form for projection, wherein the disease information data packet has lining disease information corresponding to all linings in a tunnel measured in advance;
the distance measuring unit measures distance data from the outer surface of the lining to the projection unit before each projection and transmits the distance data to the system storage server;
and the system storage server controls the projection unit to project the downloaded image onto the outer surface of the lining of the tunnel according to the distance data.
2. A mobile projection device according to claim 1 wherein: and the projection unit further comprises a zooming unit controlled by the control system, during projection, the system storage server calculates a zooming instruction required by the zooming system according to the distance data and transmits the zooming instruction to the zooming unit, and the zooming unit zooms according to the zooming instruction so that the projection unit projects the downloaded image onto the outer surface of the whole lining corresponding to the position of the vehicle body.
3. A mobile projection device according to claim 2 wherein: the zoom unit comprises a micromotor and a zoom lens driven by the micromotor; the projection unit is arranged on a support, and the support is used for adjusting the installation angle and the facing direction of the projection unit.
4. The mobile adaptive projection device for tunnel lining diseases according to claim 1, characterized in that: the projection unit further comprises a laser projector and an auxiliary camera, and the auxiliary camera and the lens of the laser projector are coaxially arranged.
5. The mobile adaptive projection device for tunnel lining diseases according to claim 1, characterized in that: before the positioning unit is used for positioning, a plurality of control point positions are arranged in a tunnel of a working route, and the positioning unit is subjected to error calibration by using control point coordinates obtained by measuring through a total station.
6. The mobile adaptive projection device for tunnel lining diseases according to claim 1, characterized in that: the system storage server is provided with a storage unit which records positioning information, ranging information and disease information images of each working position and forms a database by data.
7. A method for displaying lining disease information on the outer surface of a tunnel lining in a projection manner is characterized by comprising the following steps:
1) the control system controls the vehicle body to move to a working position, acquires current positioning data of the vehicle body, sends the current positioning data to the cloud server, calls disease information data corresponding to the current positioning data from a disease information data packet stored in the cloud server, and downloads the disease information data to the system storage server in an image form for projection, wherein the disease information data packet has lining disease information corresponding to all linings in a tunnel measured in advance;
2) starting a ranging unit in a control system, measuring distance data from the outer surface of the lining to the projection unit before each projection, and transmitting the distance data to the system storage server;
3) and the system storage server controls the projection unit to project the downloaded image onto the outer surface of the lining of the tunnel according to the distance data.
8. The method for displaying lining disease information on the external surface of the tunnel lining by projection according to claim 7, wherein in the step 3), the projection unit performs adaptive projection geometric correction according to a preset standard process before each projection, and the preset standard process comprises:
the laser projector projects a coding characteristic diagram to a non-planar area on the outer surface of the tunnel lining to serve as active structural light;
the auxiliary camera lens is coaxially arranged with the lens of the laser projector and used for collecting a characteristic image formed by the coding characteristic diagram;
the characteristic image is subjected to image processing to obtain a characteristic point set, triangular meshing is carried out on the characteristic image by adopting a Delaunay triangulation algorithm, and a coordinate conversion relation between an original lining disease projection image and the characteristic image is established;
according to the coordinate conversion relation, carrying out bilinear interpolation transformation on a single triangular grid coverage area in the original lining disease projection image to obtain a triangular image subjected to geometric correction; after geometric transformation is carried out on all the triangular meshes, the triangular meshes are spliced again into a complete geometric correction image to be projected so as to obtain a corrected projection image;
and the auxiliary camera acquires the corrected projection image again, detects whether the geometric correction result meets the precision requirement, and repeats geometric correction if the geometric correction result does not meet the precision requirement until the geometric correction result obtained from the corrected projection image meets the precision requirement.
9. The method for displaying lining damage information on the outer surface of a tunnel lining in a projection manner according to claim 7, wherein the projection unit further comprises a zoom unit controlled by the control system, during projection, the system storage server calculates a zoom instruction required by the zoom system according to the distance data and transmits the zoom instruction to the zoom unit, and the zoom unit zooms according to the zoom instruction, so that the projection unit projects the downloaded image onto the whole outer surface of the lining corresponding to the position of the vehicle body.
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| CN202011185489.6A CN112312104B (en) | 2020-10-29 | 2020-10-29 | Mobile device and method for displaying lining damage information in projection mode on outer surface of tunnel lining |
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| DE102011080339A1 (en) * | 2011-08-03 | 2013-02-07 | Robert Bosch Gmbh | Mobile projection system for projecting predetermined image on assigned projection surface in predetermined space profile, has projection device for converting predistorted image data and for projecting image on assigned projection surface |
| JP2015121054A (en) * | 2013-12-25 | 2015-07-02 | 岐阜工業株式会社 | Illumination device for concrete form |
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