CN113686883A - Equipment and method for detecting blind area of roadway - Google Patents

Equipment and method for detecting blind area of roadway Download PDF

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CN113686883A
CN113686883A CN202111145433.2A CN202111145433A CN113686883A CN 113686883 A CN113686883 A CN 113686883A CN 202111145433 A CN202111145433 A CN 202111145433A CN 113686883 A CN113686883 A CN 113686883A
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scanning
control device
roadway
blind
information
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CN113686883B (en
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孙超
苗隆鑫
余林波
叶力
曹勉
郭乃宇
丁建军
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Wuhan Chewang Zhilian Technology Co ltd
Jianghan University
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Jianghan University
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    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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Abstract

本申请涉及一种用于巷道盲区检测的设备及方法，该设备包括：移动装置，多自由度运动装置，控制装置以及扫描装置；控制装置根据预先对巷道壁进行扫描得到的初始点云信息及栅格地图信息确定盲区的位置信息，并基于所述位置信息确定盲区行进路径，发送相应的驱动信号至移动装置；移动装置根据驱动信号移动至盲区；控制装置向多自由度运动装置发送与盲区相对应的位姿指令；多自由度运动装置根据位姿指令调整位姿；控制装置发送扫描信号至扫描装置，扫描装置根据扫描信号对盲区进行扫描，得到盲区扫描信息，将盲区扫描信息反馈至控制装置。本申请能够实现对巷道盲区的扫描。

Figure 202111145433

The present application relates to a device and method for detecting blind areas in a roadway. The device includes: a mobile device, a multi-degree-of-freedom motion device, a control device, and a scanning device; the control device is based on initial point cloud information obtained by scanning the roadway wall in advance; The grid map information determines the location information of the blind area, and determines the blind area travel path based on the location information, and sends the corresponding driving signal to the mobile device; the mobile device moves to the blind area according to the driving signal; the control device sends the multi-degree-of-freedom motion device with the blind area. Corresponding pose command; the multi-degree-of-freedom motion device adjusts the pose according to the pose command; the control device sends a scanning signal to the scanning device, and the scanning device scans the blind spot according to the scanning signal, obtains the blind spot scanning information, and feeds back the blind spot scanning information to the control device. The present application can realize the scanning of the blind area of the roadway.

Figure 202111145433

Description

Equipment and method for detecting blind area of roadway
Technical Field
The application relates to the technical field of roadway scanning, in particular to equipment and a method for detecting blind areas of a roadway.
Background
For roadway engineering, in the process of point cloud scanning of a roadway, scanning blind areas are easily caused by the blocking of some obstacles, and the conventional three-dimensional laser scanning devices for mine roadway engineering and tunnel engineering mostly adopt ground static station type and mobile three-dimensional laser scanning, so that the problem of scanning the blind areas cannot be solved. For the ground static standing type three-dimensional laser scanning equipment, the following defects exist: 1. due to self condition limitation, the scanner cannot be moved in the scanning process, and the autonomous scanning capability is lacked. 2. Because the setting position is limited, scanning can not be carried out aiming at some laser scanning blind areas. For a mobile three-dimensional laser scanning device, the following drawbacks exist: because the mobile three-dimensional scanning equipment can only move along the central line of the tunnel, the scanning cannot be carried out aiming at the blind area of the laser scanning.
Disclosure of Invention
In view of this, the present application provides an apparatus and a method for detecting blind areas of a roadway, so as to solve the technical problem that blind areas of the roadway cannot be scanned.
In order to solve the above problem, in a first aspect, the present application provides an apparatus for detecting blind areas in a roadway, including a moving device, a multiple degree of freedom moving device, a control device, and a scanning device, wherein:
one end of the multi-degree-of-freedom motion device is fixedly arranged on the moving device, the other end of the multi-degree-of-freedom motion device is connected with the scanning device, and the control device is fixedly connected with the moving device, the multi-degree-of-freedom motion device and the scanning device; the control device is used for determining the position information of a blind area of the roadway according to initial point cloud information and grid map information which are obtained by scanning the roadway in advance, and determining a blind area advancing path based on the position information;
the control device is also used for sending a corresponding driving signal to the mobile device according to the blind area advancing path; the mobile device moves to the blind area according to the driving signal;
the control device is also used for sending a corresponding pose instruction to the multi-degree-of-freedom motion device according to the blind area advancing path; the multi-degree-of-freedom motion device adjusts the pose according to the pose instruction;
the control device is also used for sending corresponding scanning signals to the scanning device according to the blind area advancing path; and the scanning device scans the blind area according to the scanning signal to obtain blind area scanning information, and feeds the blind area scanning information back to the control device.
Optionally, the equipment for detecting the blind area of the roadway further comprises a navigation device arranged at the front end of the mobile device, and a depth camera is installed in the navigation device:
the navigation device is connected with the control device and used for acquiring real-time image data information through the depth camera and sending the real-time image data information to the control device in the moving process of the mobile device;
the control device is further used for analyzing whether an obstacle exists in front of the mobile device according to the real-time image data information, and if so, sending an obstacle avoidance pose instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom movement device is further used for adjusting the pose according to the obstacle avoidance pose instruction so as to avoid the obstacle.
Optionally, the mobile device includes a mobile platform, a servo deceleration motor and a mobile control module, the servo deceleration motor and the mobile control module are fixedly mounted in the mobile platform, the mobile control module is connected with the control device, the servo deceleration motor is used for providing power for the mobile device, the mobile control module includes a servo deceleration motor driving unit and a first embedded processing unit, the first embedded processing unit is used for receiving a driving signal sent by the control device, and controls the servo deceleration motor driving unit to drive the servo deceleration motor to work according to the driving signal so as to enable the mobile device to move.
Optionally, the multi-degree-of-freedom motion device comprises a multi-degree-of-freedom motion platform, a multi-degree-of-freedom mechanical arm and a multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion platform is fixed at the top of the mobile platform, the multi-degree-of-freedom motion control module is installed in the multi-degree-of-freedom motion platform, one end of the multi-degree-of-freedom mechanical arm is arranged in the multi-degree-of-freedom motion platform, and the other end of the multi-degree-of-freedom mechanical arm is connected with the scanning device; the multi-degree-of-freedom motion control module is respectively connected with the control device and the multi-degree-of-freedom mechanical arm; the multi-degree-of-freedom motion control module comprises a second embedded processing unit, and the second embedded processing unit is used for receiving the pose instruction sent by the control device and controlling the multi-degree-of-freedom mechanical arm to adjust the pose according to the pose instruction.
Optionally, the equipment for detecting blind areas of the roadway further includes:
the scanning equipment switching device is arranged between the multi-degree-of-freedom movement device and the scanning device, is also connected with the control device and is internally provided with a servo motor;
the scanning device comprises a three-dimensional laser scanner, a CCD camera and an infrared thermal imager, the three-dimensional laser scanner, the CCD camera and the infrared thermal imager are respectively and fixedly installed at the tail end of the scanning equipment switching device, and the three-dimensional laser scanner, the CCD camera and the infrared thermal imager are respectively connected with the control device;
the scanning equipment switching device is used for receiving the switching signal sent by the control device and driving the servo motor to operate according to the switching signal so as to switch the three-dimensional laser scanner, the CCD camera and the infrared thermal imager in the scanning device.
In a second aspect, the present application provides a method for scanning blind areas of a roadway of an apparatus for detecting blind areas of a roadway, where the method for scanning blind areas of a roadway includes:
the control device determines position information of a blind area of a roadway according to initial point cloud information and raster map information obtained by scanning the roadway in advance, determines a blind area advancing path based on the position information, and sends a corresponding driving signal to the mobile device according to the blind area advancing path;
the mobile device moves to the blind area according to the driving signal;
the control device sends a pose instruction corresponding to the blind area to the multi-degree-of-freedom motion device;
the multi-degree-of-freedom motion device adjusts the pose according to the pose instruction;
the control device sends a scanning signal to the scanning device; and the scanning device scans the blind area according to the scanning signal to obtain blind area scanning information, and feeds the blind area scanning information back to the control device.
Optionally, the control device determines position information of a blind area of the roadway according to initial point cloud information obtained by scanning the roadway in advance and raster map information, and determines a blind area travel path based on the position information, including:
the control device controls the mobile device to move according to a preset initial path and acquires real-time image data information sent by a depth camera in the navigation device;
the control device analyzes whether an obstacle exists in front of the mobile device according to the real-time image data information;
if so, the control device sends a pose transformation instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is further used for adjusting the pose according to the pose transformation instruction so as to achieve a preset initial scanning pose; the control device analyzes and obtains an obstacle avoidance path, controls the mobile device to move continuously according to the obstacle avoidance path, and controls the scanning device to scan the roadway wall to obtain initial point cloud information and grid map information;
the control device carries out three-dimensional reconstruction on the initial point cloud information to obtain an initial roadway model, and constructs a roadway grid map according to the grid map information;
and the control device determines the blind area three-dimensional coordinates of the tunnel according to the initial tunnel model and plans the blind area advancing path according to the tunnel grid map.
Optionally, the blind area includes a scanning blind area or a hole disease area, and the control device sends a scanning signal to the scanning device; the scanning device scans the blind area according to the scanning signal to obtain blind area point cloud information, and feeds the blind area point cloud information back to the control device, and the method comprises the following steps:
the control device sends scanning signals to a three-dimensional laser scanner in the scanning device, the three-dimensional laser scanner scans scanning blind areas or hole disease areas to obtain point cloud information of the scanning blind areas or the hole disease areas, and the point cloud information of the scanning blind areas or the hole disease areas is fed back to the control device.
Optionally, the blind area further includes a water seepage damaged area, and the control device sends a scanning signal to the scanning device; the scanning device scans the blind area according to the scanning signal to obtain blind area point cloud information, and feeds the blind area point cloud information back to the control device, and the method comprises the following steps:
the control device sends a switching signal to a scanning equipment switching device, and the scanning equipment switching device drives a servo motor to operate to switch a three-dimensional laser scanner in the scanning device into an infrared thermal imager;
the control device sends a scanning signal to an infrared thermal imager in the scanning device, the infrared thermal imager scans the water seepage damage area to obtain water seepage damage image information, and the water seepage damage image information is fed back to the control device.
Optionally, the blind area further includes a pipeline crack damaged area, and the control device sends a scanning signal to the scanning device; the scanning device scans the blind area according to the scanning signal to obtain blind area point cloud information, and feeds the blind area point cloud information back to the control device, and the method comprises the following steps:
the control device sends a switching signal to the scanning equipment switching device, and the scanning equipment switching device drives the servo motor to operate to switch the three-dimensional laser scanner in the scanning device into the CCD camera;
the control device sends a scanning signal to a CCD camera in the scanning device, the CCD camera scans a pipeline crack disease area to obtain pipeline crack disease image information, and the pipeline crack disease image information is fed back to the control device.
The beneficial effects of adopting the above embodiment are: the control device determines the related three-dimensional coordinates and path planning of the blind area of the roadway, the mobile device moves to the blind area, and after the pose of the multi-degree-of-freedom motion device is adjusted, the scanning signals scan the blind area to obtain blind area scanning information. Because the control device can find and determine the blind area related information of the roadway after scanning the roadway wall in advance and move the blind area to the blind area, the scanning device can scan the blind area after the pose of the multi-freedom-degree motion device connected with the scanning device is adjusted, and the blind area of the roadway is scanned.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of an apparatus for detecting blind areas in a roadway according to the present application;
fig. 2 is a front view of a structure of an embodiment of the apparatus for detecting blind areas in a roadway provided in the present application;
fig. 3 is a top view of a structure of an embodiment of the apparatus for detecting blind areas in a roadway provided in the present application;
fig. 4 is a left side view of a structure of an embodiment of the apparatus for detecting blind areas in a roadway provided in the present application;
FIG. 5 is a cross-sectional view of an embodiment of the apparatus for blind roadway area detection provided in the present application;
fig. 6 is a flowchart of a method according to an embodiment of the blind area scanning method for a roadway provided in the present application.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the application and together with the description, serve to explain the principles of the application and not to limit the scope of the application.
In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The application provides an equipment for tunnel blind area detects, refer to fig. 1 and show, fig. 1 is the structural schematic diagram of an equipment embodiment for tunnel blind area detects that this application provided. The equipment for detecting blind areas of the roadway comprises:
a moving device 101, a multi-degree-of-freedom motion device 102, a control device 103 and a scanning device 104; one end of the multi-degree-of-freedom motion device 102 is fixed on the moving device 103, the other end of the multi-degree-of-freedom motion device 102 is connected with the scanning device 104, and the control device 103 is connected with the moving device 101, the multi-degree-of-freedom motion device 102 and the scanning device 104.
The control device 103 determines the three-dimensional coordinates and path planning related to the blind area according to initial point cloud information and grid map information obtained by scanning the roadway wall in advance, and sends corresponding driving signals to the mobile device 101; the mobile device 101 moves to the blind area according to the driving signal; the control device 103 sends a pose instruction corresponding to the blind area to the multi-degree-of-freedom motion device 102; the multiple degrees of freedom motion device 102 adjusts the pose according to the pose instruction; the control device 103 sends a scanning signal to the scanning device 104, and the scanning device 104 scans the blind area according to the scanning signal to obtain blind area scanning information and feeds the blind area scanning information back to the control device 103.
In this embodiment, the control device 103 determines the relevant three-dimensional coordinates and path plan of the blind area of the roadway, the mobile device 101 moves to the blind area, and after the pose of the multi-degree-of-freedom motion device 102 is adjusted, the scanning signal scans the blind area to obtain the blind area scanning information. Because the control device 103 can find and determine the blind area related information of the roadway after scanning the roadway wall in advance and move the blind area to the blind area, the scanning device 104 can scan the blind area after the pose of the multi-freedom-degree motion device 102 connected with the scanning device 104 is adjusted, thereby realizing the scanning of the blind area of the roadway.
Specifically, referring to fig. 2, 3, 4, 5, in an alternative embodiment,
the moving device 101 comprises a moving platform 201 and a moving control module 202, the multiple-degree-of-freedom moving device 102 comprises a multiple-degree-of-freedom moving platform 203, a multiple-degree-of-freedom mechanical arm 204 and a multiple-degree-of-freedom moving control module 205, and the equipment for detecting the blind area of the roadway further comprises: navigation means 206, scanning device switching means 207.
Specifically, a relatively large space is stored inside the mobile platform 201, and the space is used for installing a storage battery device, a mobile control module 202 and four servo speed reduction motors; the mobile platform 201 has 4 mecanum wheels mounted around it. In this embodiment, the four servo deceleration motors are used for providing power for the moving platform 201; the mecanum wheel is fixed at the end of the servo deceleration motor through a coupling, and in other alternative embodiments, the mecanum wheel can be fixed at the end of the servo deceleration motor through a crawler belt method and the like.
The multi-degree-of-freedom motion platform 203 is arranged at the top of the mobile platform 201; the multi-degree-of-freedom motion platform 203 includes a multi-degree-of-freedom mechanical arm 204 such as a six-axis mechanical arm; a large space is stored in the multi-degree-of-freedom motion platform 203, and the space is used for installing the control device 103 and the multi-degree-of-freedom motion control module 205. Specifically, in the present embodiment, the multiple degree of freedom motion platform 203 is fixed on the upper portion of the moving platform 201 by bolts; the control device 103 is fixed inside the multi-degree-of-freedom motion platform 203 through bolts. The multi-degree-of-freedom motion control module 205 is fixed inside the multi-degree-of-freedom motion platform 203 through bolts. The multi-degree-of-freedom robot 204, for example, a six-axis robot, is fixed to the upper portion of the moving platform 201 by bolts.
The mobile control module 202 is arranged inside the mobile platform 201; the motion control module 202 includes a selection switch, a four-way servo deceleration motor driving unit and an embedded processing unit. Specifically, the mobile control module 202 is fixedly arranged in the mobile platform 201 through bolts; the selection switch is fixedly arranged outside the mobile platform 201 through a bolt; the four-way servo reducing motor driving unit is fixedly arranged in the mobile platform 201 through bolts; the embedded processing unit is fixedly arranged in the mobile platform 201 through bolts, and outputs high and low levels through an I/O (input/output) of the embedded processing unit to control the four-way servo reducing motor driving unit.
The multi-degree-of-freedom motion control module 205 is arranged inside the multi-degree-of-freedom motion platform 203; the multiple degree of freedom motion control module 205 includes a selection switch and an embedded processing unit. Specifically, the multiple degree of freedom motion control module 205 is fixedly arranged in the multiple degree of freedom motion platform 203 through bolts; the selection switch is fixedly arranged outside the multi-degree-of-freedom motion platform 203 through bolts; the embedded processing unit is fixedly arranged in the multi-degree-of-freedom motion platform 203 through bolts, and the embedded processing unit outputs signals to control the six-axis mechanical arm device.
The scanning device switching device 207 includes a servo motor; the scanning equipment switching device 207 is arranged at the tail end of the multi-degree-of-freedom motion platform 203 and is positioned at the tail end of the six-axis mechanical arm; the scanning switching device 207 is connected with the tail end of the multi-degree-of-freedom motion platform 203 through a flange plate; the servo motor is fixedly arranged inside the scanning device switching device 207 through a bolt.
The navigation device 206 comprises a depth camera; the depth camera is fixed outside the mobile platform 201 through bolts; the depth camera is connected with the control device 103 through a USB3.0 interface.
The scanning device 104 includes: the three-dimensional laser scanning equipment is fixed at the tail end of the scanning equipment switching device 207 through a flange plate bolt and is connected with the control device 103 through a gigabit network cable interface RJ-45; the high-precision CCD camera is fixed at the tail end of the scanning equipment switching device 207 through a flange plate bolt and is connected with the control device 103 through a gigabit network cable interface RJ-45; the infrared thermal imager is fixed at the tail end of the scanning equipment switching device 207 through a flange plate bolt and is connected with the control device 103 through a gigabit network cable interface RJ-45.
The equipment for detecting the blind areas of the roadway further comprises a storage battery device, wherein the storage battery device comprises a storage battery, and the storage battery is fixedly arranged inside the mobile platform 201. Specifically, in the present embodiment, the storage battery is fixedly disposed in the moving platform 201 through a bolt, and in other alternative embodiments, the storage battery may be fixedly disposed in the moving platform 201 through other means, such as a shaft pin, and the like. The charging wire with the battery is connected, the charging wire gives the battery charges, makes mobile platform 201 not receive the space restriction.
The control device 103 is arranged inside the multi-degree-of-freedom motion platform 203, is respectively connected with the power storage device, the motion control module 202, the multi-degree-of-freedom motion control module 205, the scanning device switching device 207, the navigation device 206 and the scanning device 104, and is used for controlling the operation of the mobile platform 201 and the multi-degree-of-freedom motion platform 203, controlling the scanning device switching device 207, collecting, processing and analyzing navigation information of the navigation device 206 and point cloud information of the scanning device 104, and sending position information of obstacles, diseases and blind areas.
In an alternative embodiment, the control device 103 comprises: 1. the motion control unit is connected with the motion control module 202 through a UART (universal asynchronous receiver/transmitter) in a serial port communication protocol; the multi-freedom-degree motion control module 205 is connected with a TCP/IP protocol through a network cable interface RJ-45; and is connected with the scanning device switching device 207 through an IO port. 2. A measurement control unit connected to the navigation device 206 via a USB3.0 interface; the scanning device 104 is connected by the connection described above for the scanning device 104. 3. And the information processing unit is arranged inside the multi-degree-of-freedom motion platform 203 through bolts. 4. And the data storage device is arranged in the multi-degree-of-freedom motion platform 203 through a bolt and is connected with the information processing unit through a USB3.0 interface.
Referring to fig. 6, which is a method flowchart of an embodiment of a blind area scanning method for a device for detecting a blind area of a roadway according to the present application, a specific structure of the device for detecting a blind area of a roadway refers to the above embodiment, and details are not repeated herein, and the blind area scanning method for a roadway includes the following steps:
step S601, the control device determines position information of a blind area of a roadway according to initial point cloud information and raster map information obtained by scanning the roadway in advance, determines a blind area advancing path based on the position information, and sends a corresponding driving signal to the mobile device according to the blind area advancing path;
step S602, the mobile device moves to the blind area according to the driving signal;
step S603, the control device sends a pose instruction corresponding to the blind area to the multi-degree-of-freedom motion device;
step S604, the multi-degree-of-freedom motion device adjusts the pose according to the pose instruction;
step S605, the control device sends a scanning signal to the scanning device; and the scanning device scans the blind area according to the scanning signal to obtain blind area scanning information, and feeds the blind area scanning information back to the control device.
In the embodiment, the control device determines the related three-dimensional coordinates and path planning of the blind area of the roadway, the mobile device moves to the blind area, and after the pose of the multi-degree-of-freedom motion device is adjusted, the scanning signal scans the blind area to obtain the scanning information of the blind area. Because the control device can find and determine the blind area related information of the roadway after scanning the roadway wall in advance and move the blind area to the blind area, the scanning device can scan the blind area after the pose of the multi-freedom-degree motion device connected with the scanning device is adjusted, and the blind area of the roadway is scanned.
Further, in an embodiment, step S601 includes:
the control device determines the related three-dimensional coordinates of the blind area and the path planning according to initial point cloud information and grid map information which are obtained by scanning the roadway wall in advance, and the method comprises the following steps:
the control device controls the mobile device to move according to a preset initial path and acquires real-time image data information sent by a depth camera in the navigation device;
the control device analyzes whether an obstacle exists in front of the mobile device according to the real-time image data information;
if so, the control device sends a pose transformation instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is further used for adjusting the pose according to the pose transformation instruction so as to achieve a preset initial scanning pose; the control device analyzes and obtains an obstacle avoidance path, controls the mobile device to move continuously according to the obstacle avoidance path, and controls the scanning device to scan the roadway wall to obtain initial point cloud information and grid map information;
the control device carries out three-dimensional reconstruction on the initial point cloud information to obtain an initial roadway model, and constructs a roadway grid map according to the grid map information;
and the control device determines the blind area three-dimensional coordinates of the tunnel according to the initial tunnel model and plans the blind area advancing path according to the tunnel grid map.
Specifically, when needs scan the tunnel, at first charge the battery through the charging wire, the charging wire plug inserts 220V commercial power and charges, and the battery is full of the back, removable charging wire. The method comprises the steps that a selection switch located on a mobile platform and a selection switch located on a multi-degree-of-freedom motion platform are pressed, a storage battery starts to supply power to a mobile control module and four servo speed reduction motors in the mobile platform, the multi-degree-of-freedom motion control module in the multi-degree-of-freedom motion platform and six-axis mechanical arms, the servo motors in a scanning equipment switching device are supplied with power to a depth camera in a navigation device, a three-dimensional laser scanning device, a high-precision CCD camera and an infrared thermal imager in the scanning device are supplied with power, and an information processing unit and a data storage unit in the control device are supplied with power.
The control device operates according to a designated program, image data information transmitted by a depth camera in the navigation device is obtained, the image data information is stored in a data storage unit, the control device analyzes and judges the transmitted image data information to determine whether an obstacle exists in the front of the navigation device, if the obstacle does not exist, the control device sends a driving signal to the movement control module, the movement control module drives four servo speed reduction motors to operate, so that the moving platform moves towards a designated planned direction, if the obstacle exists, the control device analyzes to obtain an obstacle avoidance path, and sends a driving signal to the movement control module, and the movement control module drives the four servo speed reduction motors to operate, so that the moving platform moves towards the designated direction; meanwhile, the control device sends a pose transformation instruction to the multi-degree-of-freedom motion control module, and the multi-degree-of-freedom motion control module drives the six-axis mechanical arm to realize pose transformation so as to achieve a preset scanning pose.
The control device sends scanning signals to the three-dimensional laser scanning equipment, the three-dimensional laser scanning equipment starts to scan the roadway wall and sends point cloud information to the control device, and the control device stores the point cloud information in the data storage unit.
And repeating the steps to realize the rough scanning of the tunnel and the information acquisition of the grid map of the tunnel engineering.
And the control device reads the point cloud information in the data storage unit through the information processing unit, completes the construction of the tunnel model through three-dimensional reconstruction, and also reads the tunnel grid map information in the data storage unit to complete the construction of the tunnel grid map. And then, the information processing unit finds out the blind areas including the scanning blind area, the disease area and the like of the current coarse scanning model through analyzing the roadway model to obtain the three-dimensional coordinate information of the scanning blind area and the disease area.
And the control device finishes path planning to the blind area and the disease area according to the analysis grid map, sends a control signal to the mobile control module, and drives the mobile platform to move to the appointed blind area and the disease position to reach the target area.
Further, the blind area includes scanning blind area, hole disease area, infiltration disease area, pipeline crack disease area, and the scanning step to different grade type area is as follows:
aiming at scanning of a scanning blind area, the control device sends a corresponding pose instruction to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends a corresponding control signal to the six-axis mechanical arm to avoid the blind area shielded by an obstacle, the control device sends a scanning signal to three-dimensional laser scanning equipment in the scanning device, point cloud information of the blind area obtained by the scanning device is sent to the control device, the control device stores the point cloud information of the blind area into a data storage unit, and then the point cloud information data of the blind area is analyzed to complete the completion of a roadway model.
Aiming at the scanning of the crack and hole disease area of the roadway wall, the control device sends a corresponding pose instruction to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends a corresponding control signal to the six-axis mechanical arm to reach the position of the crack and hole disease area of the roadway wall, the control device sends a scanning signal to three-dimensional laser scanning equipment in the scanning device, point cloud information of the crack and hole disease area of the roadway wall obtained by the scanning device is sent to the control device, the control device stores the obtained point cloud information into a data storage unit, and then point cloud information data of the crack and hole disease area of the roadway wall are analyzed to obtain detailed disease information of the crack and hole disease of the roadway wall.
Aiming at the scanning of the water seepage damaged area, the control device sends a corresponding pose instruction to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends a corresponding control signal to the six-axis mechanical arm to reach the position of the water seepage damaged area, the control device sends a control signal to the scanning equipment switching device, the scanning equipment switching device drives a motor to operate, the switching from the three-dimensional laser scanning equipment to the infrared thermal imager is realized, the control device sends a scanning signal to the infrared thermal imager in the scanning device and sends image information of the water seepage damaged area obtained by the scanning device to the control device, the control device stores the obtained image information into a data storage unit, and then image information data of the water seepage damaged area is analyzed to obtain detailed damage information of the water seepage damaged area.
Aiming at the scanning of the crack and the broken disease area of the pipeline, the control device sends a corresponding pose instruction to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends a corresponding control signal to the six-axis mechanical arm to reach the position of the crack and the broken disease area of the pipeline, the control device sends a control signal to the scanning equipment switching device, the scanning equipment switching device drives a motor to operate to realize the switching from the three-dimensional laser scanning equipment to the high-precision CCD camera, the control device sends a scanning signal to the high-precision CCD camera in the scanning device to send the image information of the crack and the broken disease area of the pipeline obtained by the scanning device to the control device, the control device stores the obtained image information into a data storage unit, and analyzing the image information data of the pipeline crack and the broken disease area to obtain detailed disease information of the pipeline crack and the broken disease.
The embodiment can realize autonomous roadway path planning, complete the construction of a roadway three-dimensional model and a grid map, complete the identification of roadway disease areas and the acquisition of blind area point cloud information on the basis, and realize the completion of the roadway three-dimensional model and the detailed detection and scanning of the disease areas.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.

Claims (10)

1.一种用于巷道盲区检测的设备，其特征在于，包括移动装置，多自由度运动装置，控制装置以及扫描装置，其中：1. a kind of equipment for roadway blind spot detection, is characterized in that, comprises mobile device, multi-degree-of-freedom motion device, control device and scanning device, wherein: 所述多自由度运动装置一端固定安装在所述移动装置上，所述多自由度运动装置另一端连接于所述扫描装置，所述控制装置与所述移动装置、多自由度运动装置、扫描装置均固定连接；所述控制装置用于根据预先对巷道进行扫描得到的初始点云信息及栅格地图信息确定巷道盲区的位置信息，并基于所述位置信息确定盲区行进路径；One end of the multi-degree-of-freedom motion device is fixedly installed on the mobile device, and the other end of the multi-degree-of-freedom motion device is connected to the scanning device. The devices are all fixedly connected; the control device is used to determine the location information of the blind area of the roadway according to the initial point cloud information and grid map information obtained by scanning the roadway in advance, and determine the blind area travel path based on the location information; 所述控制装置还用于根据所述盲区行进路径发送相应的驱动信号至所述移动装置；所述移动装置根据所述驱动信号移动至所述盲区；The control device is further configured to send a corresponding driving signal to the mobile device according to the blind zone travel path; the mobile device moves to the blind zone according to the driving signal; 所述控制装置还用于根据所述盲区行进路径发送相应的位姿指令至所述多自由度运动装置；所述多自由度运动装置根据所述位姿指令调整位姿；The control device is further configured to send a corresponding pose instruction to the multi-DOF motion device according to the blind zone travel path; the multi-DOF motion device adjusts the pose according to the pose instruction; 所述控制装置还用于根据所述盲区行进路径发送相应的扫描信号至所述扫描装置；所述扫描装置根据所述扫描信号对盲区进行扫描，得到盲区扫描信息，并将所述盲区扫描信息反馈至所述控制装置。The control device is further configured to send a corresponding scanning signal to the scanning device according to the blind zone travel path; the scanning device scans the blind zone according to the scanning signal to obtain blind zone scanning information, and transmits the blind zone scanning information. feedback to the control device. 2.根据权利要求1所述的用于巷道盲区检测的设备，其特征在于，所述用于巷道盲区检测的设备还包括设置于所述移动装置前端的导航装置，且所述导航装置中安装有深度相机：2 . The device for roadway blind spot detection according to claim 1 , wherein the device for roadway blind spot detection further comprises a navigation device arranged at the front end of the mobile device, and the navigation device is installed in the navigation device. 3 . There are depth cameras: 所述导航装置与所述控制装置连接，所述导航装置用于在所述移动装置移动过程中，通过所述深度相机获取实时图像数据信息，并将所述实时图像数据信息发送至所述控制装置；The navigation device is connected to the control device, and the navigation device is used for acquiring real-time image data information through the depth camera during the movement of the mobile device, and sending the real-time image data information to the control device device; 所述控制装置还用于，根据所述实时图像数据信息分析所述移动装置前方有无障碍物，若有，则向所述多自由度运动装置发送避障位姿指令；所述多自由度运动装置还用于根据所述避障位姿指令调整位姿以避开障碍物。The control device is further configured to analyze whether there is an obstacle in front of the mobile device according to the real-time image data information, and if there is any obstacle, send an obstacle avoidance posture instruction to the multi-degree-of-freedom motion device; The motion device is further configured to adjust the posture according to the obstacle avoidance posture instruction to avoid obstacles. 3.根据权利要求1或2所述的用于巷道盲区检测的设备，其特征在于，所述移动装置包括移动平台、伺服减速电机及移动控制模块，所述伺服减速电机及移动控制模块固定安装在所述移动平台内，所述移动控制模块与所述控制装置连接，所述伺服减速电机用于为所述移动装置提供动力，所述移动控制模块包括伺服减速电机驱动单元及第一嵌入式处理单元，所述第一嵌入式处理单元用于接收所述控制装置发送的驱动信号，并根据所述驱动信号控制所述伺服减速电机驱动单元驱动所述伺服减速电机工作以使所述移动装置移动。3. The device for roadway blind spot detection according to claim 1 or 2, wherein the mobile device comprises a mobile platform, a servo gear motor and a mobile control module, and the servo gear motor and the mobile control module are fixedly installed In the mobile platform, the mobile control module is connected with the control device, the servo gear motor is used to provide power for the mobile device, and the mobile control module includes a servo gear motor drive unit and a first embedded a processing unit, the first embedded processing unit is configured to receive a drive signal sent by the control device, and control the servo gear motor drive unit to drive the servo gear motor to work according to the drive signal to make the mobile device work move. 4.根据权利要求1或2所述的用于巷道盲区检测的设备，其特征在于，所述多自由度运动装置包括多自由度运动平台、多自由度机械臂及多自由度运动控制模块，所述多自由度运动平台固定在所述移动平台顶部，所述多自由度运动控制模块安装于所述多自由度运动平台内，所述多自由度机械臂一端设置在所述多自由度运动平台内，所述多自由度机械臂另一端与所述扫描装置连接；所述多自由度运动控制模块分别与所述控制装置、所述多自由度机械臂连接；所述多自由度运动控制模块包括第二嵌入式处理单元，所述第二嵌入式处理单元用于接收所述控制装置发送的位姿指令，并根据所述位姿指令控制所述多自由度机械臂调整位姿。4. The device for roadway blind spot detection according to claim 1 or 2, wherein the multi-degree-of-freedom motion device comprises a multi-degree-of-freedom motion platform, a multi-degree-of-freedom robotic arm and a multi-degree-of-freedom motion control module, The multi-DOF motion platform is fixed on the top of the mobile platform, the multi-DOF motion control module is installed in the multi-DOF motion platform, and one end of the multi-DOF mechanical arm is arranged on the multi-DOF motion platform. Inside the platform, the other end of the multi-degree-of-freedom mechanical arm is connected to the scanning device; the multi-degree-of-freedom motion control module is respectively connected to the control device and the multi-degree-of-freedom mechanical arm; the multi-degree-of-freedom motion control module The module includes a second embedded processing unit, and the second embedded processing unit is configured to receive the pose instruction sent by the control device, and control the multi-degree-of-freedom mechanical arm to adjust the pose according to the pose instruction. 5.根据权利要求1或2所述的用于巷道盲区检测的设备，其特征在于，所述用于巷道盲区检测的设备还包括：5. The device for detecting blind spots in roadways according to claim 1 or 2, wherein the device for detecting blind spots in roadways further comprises: 设置于所述多自由度运动装置与所述扫描装置之间的扫描设备切换装置，所述扫描设备切换装置还与所述控制装置连接，所述扫描设备切换装置中安装有伺服电机；a scanning device switching device arranged between the multi-degree-of-freedom motion device and the scanning device, the scanning device switching device is also connected with the control device, and a servo motor is installed in the scanning device switching device; 所述扫描装置包括三维激光扫描仪、CCD相机、红外热成像仪，所述三维激光扫描仪、CCD相机、红外热成像仪分别固定安装在所述扫描设备切换装置末端，所述三维激光扫描仪、CCD相机、红外热成像仪分别与所述控制装置连接；The scanning device includes a three-dimensional laser scanner, a CCD camera, and an infrared thermal imager. The three-dimensional laser scanner, the CCD camera, and the infrared thermal imager are respectively fixed and installed at the end of the scanning device switching device. The three-dimensional laser scanner , CCD camera and infrared thermal imager are respectively connected with the control device; 所述扫描设备切换装置用于接收所述控制装置发送的切换信号，并根据所述切换信号驱动所述伺服电机运转以针对所述扫描装置中的三维激光扫描仪、CCD相机、红外热成像仪进行切换。The scanning device switching device is configured to receive a switching signal sent by the control device, and drive the servo motor to operate according to the switching signal to target the three-dimensional laser scanner, CCD camera, and infrared thermal imager in the scanning device to switch. 6.一种基于权利要求1至5中任一项所述的用于巷道盲区检测设备的巷道盲区检测方法，其特征在于，该巷道盲区扫描方法包括：6. A roadway blind spot detection method based on the roadway blind spot detection device according to any one of claims 1 to 5, wherein the roadway blind spot scanning method comprises: 控制装置根据预先对巷道进行扫描得到的初始点云信息及栅格地图信息确定巷道盲区的位置信息，基于所述位置信息确定盲区行进路径，并根据所述盲区行进路径发送相应的驱动信号至移动装置；The control device determines the location information of the blind area of the roadway according to the initial point cloud information and grid map information obtained by scanning the roadway in advance, determines the blind area travel path based on the location information, and sends a corresponding drive signal to the mobile phone according to the blind area travel path. device; 所述移动装置根据驱动信号移动至所述盲区；the mobile device moves to the blind area according to the driving signal; 所述控制装置向多自由度运动装置发送与所述盲区相应的位姿指令；The control device sends a pose instruction corresponding to the blind zone to the multi-degree-of-freedom motion device; 所述多自由度运动装置根据所述位姿指令调整位姿；The multi-degree-of-freedom motion device adjusts the pose according to the pose instruction; 所述控制装置发送扫描信号至扫描装置；所述扫描装置根据扫描信号对所述盲区进行扫描，得到盲区扫描信息，并将所述盲区扫描信息反馈至所述控制装置。The control device sends a scan signal to the scan device; the scan device scans the blind area according to the scan signal to obtain blind area scan information, and feeds back the blind area scan information to the control device. 7.根据权利要求6所述的巷道盲区扫描方法，其特征在于，所述控制装置根据预先对巷道进行扫描得到的初始点云信息及栅格地图信息确定巷道盲区的位置信息，基于所述位置信息确定盲区行进路径，包括：7. The method for scanning a blind area of a roadway according to claim 6, wherein the control device determines the location information of the blind area of the roadway according to initial point cloud information and grid map information obtained by scanning the roadway in advance, and based on the position information to determine the blind spot travel path, including: 所述控制装置控制所述移动装置按预设初始路径移动，并获取导航装置中深度相机发送的实时图像数据信息；The control device controls the mobile device to move according to a preset initial path, and acquires real-time image data information sent by a depth camera in the navigation device; 所述控制装置根据所述实时图像数据信息分析所述移动装置前方有无障碍物；The control device analyzes whether there is an obstacle in front of the mobile device according to the real-time image data information; 若有，则所述控制装置向多自由度运动装置发送位姿变换指令；所述多自由度运动装置还用于根据所述位姿变换指令调整位姿以达到预设初始扫描位姿；所述控制装置分析得出避障路径，并控制所述移动装置按所述避障路径继续移动，所述控制装置控制扫描装置对巷道壁进行扫描，得到初始点云信息及栅格地图信息；If so, the control device sends a pose transformation instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is further configured to adjust the pose according to the pose transformation instruction to achieve a preset initial scanning pose; The control device analyzes and obtains an obstacle avoidance path, and controls the mobile device to continue to move according to the obstacle avoidance path, and the control device controls the scanning device to scan the roadway wall to obtain initial point cloud information and grid map information; 所述控制装置对所述初始点云信息进行三维重构，获取初始巷道模型，并根据所述栅格地图信息构建巷道栅格地图；The control device performs three-dimensional reconstruction on the initial point cloud information, obtains an initial roadway model, and constructs a roadway grid map according to the grid map information; 所述控制装置根据所述初始巷道模型确定出巷道的盲区三维坐标，并根据所述巷道栅格地图进行盲区行进路径规划。The control device determines the three-dimensional coordinates of the blind area of the roadway according to the initial roadway model, and performs blind area travel path planning according to the roadway grid map. 8.根据权利要求6或7所述的巷道盲区扫描方法，其特征在于，所述盲区包括扫描盲区或孔洞病害区域，所述控制装置发送扫描信号至扫描装置；扫描装置根据扫描信号对所述盲区进行扫描，得到盲区点云信息，并将盲区点云信息反馈至控制装置，包括：8. The roadway blind area scanning method according to claim 6 or 7, wherein the blind area comprises a scan blind area or a hole disease area, and the control device sends a scan signal to the scan device; Scan the blind area to obtain the point cloud information of the blind area, and feed back the point cloud information of the blind area to the control device, including: 所述控制装置发送扫描信号至扫描装置中的三维激光扫描仪，所述三维激光扫描仪对扫描盲区或孔洞病害区域进行扫描，得到扫描盲区或孔洞病害区域点云信息并将扫描盲区或孔洞病害区域点云信息反馈至所述控制装置。The control device sends a scanning signal to the three-dimensional laser scanner in the scanning device, and the three-dimensional laser scanner scans the scanning blind area or the hole disease area, obtains the point cloud information of the scanning blind area or the hole disease area, and scans the blind area or the hole disease area. The regional point cloud information is fed back to the control device. 9.根据权利要求8所述的巷道盲区扫描方法，其特征在于，所述盲区还包括渗水病害区域，所述控制装置发送扫描信号至扫描装置；扫描装置根据扫描信号对所述盲区进行扫描，得到盲区点云信息，并将盲区点云信息反馈至控制装置，包括：9. The roadway blind spot scanning method according to claim 8, wherein the blind spot further comprises a water seepage disease area, the control device sends a scanning signal to the scanning device; the scanning device scans the blind spot according to the scanning signal, Obtain the blind spot point cloud information, and feed back the blind spot point cloud information to the control device, including: 所述控制装置发送切换信号至扫描设备切换装置，所述扫描设备切换装置驱动伺服电机运转将所述扫描装置中的三维激光扫描仪切换为红外热成像仪；The control device sends a switching signal to the scanning device switching device, and the scanning device switching device drives the servo motor to operate to switch the three-dimensional laser scanner in the scanning device to an infrared thermal imager; 所述控制装置发送扫描信号至所述扫描装置中的红外热成像仪，所述红外热成像仪对渗水病害区域进行扫描，得到渗水病害图像信息并将所述渗水病害图像信息反馈至所述控制装置。The control device sends a scanning signal to an infrared thermal imager in the scanning device, and the infrared thermal imager scans the water seepage disease area, obtains water seepage disease image information, and feeds back the water seepage disease image information to the control device device. 10.根据权利要求8所述的巷道盲区扫描方法，其特征在于，所述盲区还包括管道裂缝病害区域，所述控制装置发送扫描信号至扫描装置；扫描装置根据扫描信号对所述盲区进行扫描，得到盲区点云信息，并将盲区点云信息反馈至控制装置，包括：10. The roadway blind spot scanning method according to claim 8, wherein the blind spot further comprises a pipeline crack disease area, the control device sends a scanning signal to the scanning device; the scanning device scans the blind spot according to the scanning signal , obtain the blind spot point cloud information, and feed back the blind spot point cloud information to the control device, including: 所述控制装置发送切换信号至扫描设备切换装置，扫描设备切换装置驱动伺服电机运转将所述扫描装置中的三维激光扫描仪切换为CCD相机；The control device sends a switching signal to the scanning device switching device, and the scanning device switching device drives the servo motor to operate to switch the three-dimensional laser scanner in the scanning device to a CCD camera; 所述控制装置发送扫描信号至所述扫描装置中的CCD相机，所述CCD相机对管道裂缝病害区域进行扫描，得到管道裂缝病害图像信息并将所述管道裂缝病害图像信息反馈至所述控制装置。The control device sends a scanning signal to the CCD camera in the scanning device, and the CCD camera scans the pipeline crack disease area, obtains pipeline crack disease image information, and feeds back the pipeline crack disease image information to the control device .
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