CN113686883B - Device and method for detecting roadway blind area - Google Patents

Abstract

The present application relates to a device and method for lane blind spot detection, the device comprising: a mobile device, a multi-degree-of-freedom motion device, a control device and a scanning device; the control device determines the position information of the blind spot according to the initial point cloud information and grid map information obtained by scanning the lane wall in advance, determines the blind spot travel path based on the position information, and sends a corresponding drive signal to the mobile device; the mobile device moves to the blind spot according to the drive signal; the control device sends a posture instruction corresponding to the blind spot to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device adjusts the posture according to the posture instruction; the control device sends a scanning signal to the scanning device, the scanning device scans the blind spot according to the scanning signal, obtains the blind spot scanning information, and feeds the blind spot scanning information back to the control device. The present application can realize the scanning of lane blind spots.

Description

Device and method for lane blind spot detection

Technical Field

The present application relates to the technical field of lane scanning, and in particular to a device and method for lane blind spot detection.

Background Art

For shaft and tunnel engineering, in the process of point cloud scanning of the tunnel, it is easy to cause scanning blind spots due to the obstruction of some obstacles. At present, most of the 3D laser scanning devices used in mine tunnel engineering and tunnel engineering are ground static and mobile 3D laser scanning, which cannot solve the above-mentioned blind spot scanning problem. For ground static 3D laser scanning equipment, there are the following defects: 1. Due to its own conditions, it is impossible to move the scanner during the scanning process and lacks autonomous scanning capabilities. 2. Due to the limited setting position, it is impossible to scan some blind spots of laser scanning. For mobile 3D laser scanning equipment, there are the following defects: Since the mobile 3D scanning equipment can only move along the center line of the tunnel, it is impossible to scan the blind spots of laser scanning.

Summary of the invention

In view of this, the present application provides a device and method for lane blind spot detection to solve the technical problem of being unable to scan lane blind spots.

In order to solve the above problems, in a first aspect, the present application provides a device for lane blind spot detection, including a mobile device, a multi-degree-of-freedom motion device, a control device and a scanning device, wherein:

One end of the multi-degree-of-freedom motion device is fixedly mounted on the mobile device, and the other end of the multi-degree-of-freedom motion device is connected to the scanning device. The control device is fixedly connected to the mobile device, the multi-degree-of-freedom motion device, and the scanning device. The control device is used to determine the position information of the blind area of the lane according to the initial point cloud information and grid map information obtained by scanning the lane in advance, and determine the travel path of the blind area based on the position information;

The control device is also used to send a corresponding driving signal to the mobile device according to the blind spot travel path; the mobile device moves to the blind spot according to the driving signal;

The control device is also used to send corresponding posture instructions to the multi-degree-of-freedom motion device according to the blind spot travel path; the multi-degree-of-freedom motion device adjusts the posture according to the posture instructions;

The control device is also used to send a corresponding scanning signal to the scanning device according to the blind spot travel path; the scanning device scans the blind spot according to the scanning signal, obtains blind spot scanning information, and feeds back the blind spot scanning information to the control device.

Optionally, the device for lane blind spot detection further includes a navigation device disposed at the front end of the mobile device, and a depth camera is installed in the navigation device:

The navigation device is connected to the control device, and the navigation device is used to obtain real-time image data information through the depth camera during the movement of the mobile device, and send the real-time image data information to the control device;

The control device is also used to analyze whether there is an obstacle in front of the mobile device based on the real-time image data information. If so, it sends an obstacle avoidance posture instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is also used to adjust its posture according to the obstacle avoidance posture instruction to avoid the obstacle.

Optionally, the mobile device includes a mobile platform, a servo reduction motor and a mobile control module, the servo reduction motor and the mobile control module are fixedly installed in the mobile platform, the mobile control module is connected to the control device, the servo reduction motor is used to provide power for the mobile device, the mobile control module includes a servo reduction motor drive unit and a first embedded processing unit, the first embedded processing unit is used to receive a drive signal sent by the control device, and control the servo reduction motor drive unit to drive the servo reduction motor to work according to the drive signal to move the mobile device.

Optionally, the multi-degree-of-freedom motion device includes 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-degree-of-freedom motion platform is fixed on 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 robotic arm is arranged in the multi-degree-of-freedom motion platform, and the other end of the multi-degree-of-freedom robotic 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 robotic arm; the multi-degree-of-freedom motion control module includes a second embedded processing unit, the second embedded processing unit is used to receive the posture command sent by the control device, and control the multi-degree-of-freedom robotic arm to adjust the posture according to the posture command.

Optionally, the device for lane blind spot detection further includes:

A scanning device switching device is arranged between the multi-degree-of-freedom motion device and the scanning device, the scanning device switching device is also connected to the control device, and a servo motor is installed in the scanning device switching device;

The scanning device includes a three-dimensional laser scanner, a CCD camera, and an infrared thermal imager, which are respectively fixedly mounted at the ends of the scanning device switching device, and are respectively connected to the control device;

The scanning device switching device is used to receive the switching signal sent by the control device, and drive the servo motor to operate according to the switching signal to switch the three-dimensional laser scanner, CCD camera, and infrared thermal imager in the scanning device.

In a second aspect, the present application provides a lane blind spot scanning method of the device for lane blind spot detection as described above, the lane blind spot scanning method comprising:

The control device determines the position information of the blind spot of the lane according to the initial point cloud information and the grid map information obtained by scanning the lane in advance, determines the blind spot travel path based on the position information, and sends a corresponding driving signal to the mobile device according to the blind spot travel path;

The mobile device moves to the blind area according to the driving signal;

The control device sends a posture instruction corresponding to the blind spot to the multi-degree-of-freedom motion device;

The multi-degree-of-freedom motion device adjusts the posture according to the posture instruction;

The control device sends a scanning signal to the scanning device; the scanning device scans the blind area according to the scanning signal, obtains blind area scanning information, and feeds back the blind area scanning information to the control device.

Optionally, the control device determines the position information of the blind spot of the lane according to the initial point cloud information and grid map information obtained by scanning the lane in advance, and determines the blind spot travel path based on the position information, including:

The control device controls the mobile device to move along a preset initial path and obtains real-time image data information sent by a depth camera in the navigation device;

The control device analyzes whether there is an obstacle in front of the mobile device according to the real-time image data information;

If yes, the control device sends a posture change instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is also used to adjust the posture according to the posture change instruction to achieve a preset initial scanning posture; the control device analyzes and obtains an obstacle avoidance path, and controls the mobile device to continue moving along the obstacle avoidance path, and the control device controls the scanning device to scan the tunnel wall to obtain initial point cloud information and raster map information;

The control device performs three-dimensional reconstruction on the initial point cloud information to obtain an initial lane model, and constructs a lane grid map according to the grid map information;

The control device determines the three-dimensional coordinates of the blind area of the lane according to the initial lane model, and plans a travel path in the blind area according to the lane 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 the blind area point cloud information, and feeds back the blind area point cloud information to the control device, including:

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 to obtain the point cloud information of the scanning blind area or the hole disease area and feeds back the point cloud information of the scanning blind area or the hole disease area to the control device.

Optionally, the blind area also includes a water seepage 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 the blind area point cloud information, and feeds back the blind area point cloud information to the control device, including:

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;

The control device sends a scanning signal to the infrared thermal imager in the scanning device, and the infrared thermal imager scans the water seepage disease area to obtain water seepage disease image information and feeds back the water seepage disease image information to the control device.

Optionally, the blind area also includes a pipeline crack 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 the blind area point cloud information, and feeds back the blind area point cloud information to the control device, including:

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;

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 to obtain pipeline crack disease image information and feeds back the pipeline crack disease image information to the control device.

The beneficial effect of adopting the above embodiment is that the three-dimensional coordinates and path planning related to the blind area of the lane are determined by the control device, the mobile device moves to the blind area, and after the multi-degree-of-freedom motion device adjusts its posture, the scanning signal scans the blind area to obtain blind area scanning information. Since the control device can find and determine the relevant information of the blind area of the lane after scanning the lane wall in advance, and move to the blind area, after the multi-degree-of-freedom motion device connected to the scanning device adjusts its posture, the scanning device can scan the blind area, thereby realizing the scanning of the blind area of the lane.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an embodiment of a device for lane blind spot detection provided by the present application;

FIG2 is a structural front view of an embodiment of a device for lane blind spot detection provided by the present application;

FIG3 is a top view of the structure of an embodiment of a device for lane blind spot detection provided by the present application;

FIG4 is a left side view of the structure of an embodiment of a device for lane blind spot detection provided by the present application;

FIG5 is a structural cross-sectional view of an embodiment of a device for lane blind spot detection provided by the present application;

FIG6 is a method flow chart of an embodiment of a lane blind area scanning method provided in the present application.

DETAILED DESCRIPTION

The preferred embodiments of the present application are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present application to illustrate the principles of the present application, and are not used to limit the scope of the present application.

In the description of the present application, “plurality” means two or more than two, unless otherwise clearly and specifically defined.

Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

The present application provides a device for lane blind spot detection, as shown in FIG1 , which is a schematic diagram of the structure of an embodiment of a device for lane blind spot detection provided by the present application. The device for lane blind spot detection includes:

A mobile device 101, a multi-degree-of-freedom motion device 102, a control device 103, and a scanning device 104; wherein one end of the multi-degree-of-freedom motion device 102 is fixed on the mobile device 103, and the other end of the multi-degree-of-freedom motion device 102 is connected to the scanning device 104, and the control device 103 is connected to the mobile 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 spot based on the initial point cloud information and grid map information obtained by pre-scanning the tunnel wall, and sends a corresponding driving signal to the mobile device 101; the mobile device 101 moves to the blind spot according to the driving signal; the control device 103 sends a posture instruction corresponding to the blind spot to the multi-degree-of-freedom motion device 102; the multi-degree-of-freedom motion device 102 adjusts its posture according to the posture instruction; the control device 103 sends a scanning signal to the scanning device 104, and the scanning device 104 scans the blind spot according to the scanning signal to obtain blind spot scanning information, and feeds back the blind spot scanning information to the control device 103.

In this embodiment, the control device 103 determines the three-dimensional coordinates and path planning related to the blind area of the lane, the mobile device 101 moves to the blind area, and after the multi-degree-of-freedom motion device 102 adjusts its posture, the scanning signal scans the blind area to obtain blind area scanning information. Since the control device 103 can find and determine the relevant information of the blind area of the lane after scanning the lane wall in advance, and move to the blind area, after the multi-degree-of-freedom motion device 102 connected to the scanning device 104 adjusts its posture, the scanning device 104 can scan the blind area, thereby realizing the scanning of the blind area of the lane.

Specifically, referring to FIG. 2 , FIG. 3 , FIG. 4 , and FIG. 5 , in an optional embodiment,

The mobile device 101 includes a mobile platform 201 and a mobile control module 202. The multi-degree-of-freedom motion device 102 includes a multi-degree-of-freedom motion platform 203, a multi-degree-of-freedom robotic arm 204 and a multi-degree-of-freedom motion control module 205. The equipment for lane blind spot detection also includes: a navigation device 206 and a scanning device switching device 207.

Specifically, there is a large space inside the mobile platform 201, which is used to install the battery device, the mobile control module 202 and four servo reduction motors; four Mecanum wheels are installed around the mobile platform 201. In this embodiment, the four servo reduction motors are used to provide power to the mobile platform 201; the Mecanum wheel is fixed to the end of the servo reduction motor through a coupling, and in other optional embodiments, the Mecanum wheel can be fixed to the end of the servo reduction motor by a crawler or the like.

The multi-degree-of-freedom motion platform 203 is arranged on 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; there is a large space inside the multi-degree-of-freedom motion platform 203, and the space is used to install the control device 103 and the multi-degree-of-freedom motion control module 205. Specifically, in this embodiment, the multi-degree-of-freedom motion platform 203 is fixed to the upper part of the mobile platform 201 by bolts; the control device 103 is fixed to the inside of the multi-degree-of-freedom motion platform 203 by bolts. The multi-degree-of-freedom motion control module 205 is fixed to the inside of the multi-degree-of-freedom motion platform 203 by bolts. The multi-degree-of-freedom mechanical arm 204, such as a six-axis mechanical arm, is fixed to the upper part of the mobile platform 201 by bolts.

The mobile control module 202 is set inside the mobile platform 201; the mobile control module 202 includes a selection switch, a four-way servo reduction motor drive unit and an embedded processing unit. Specifically, the mobile control module 202 is fixedly set inside the mobile platform 201 by bolts; the selection switch is fixedly set outside the mobile platform 201 by bolts; the four-way servo reduction motor drive unit is fixedly set inside the mobile platform 201 by bolts; the embedded processing unit is fixedly set inside the mobile platform 201 by bolts, and the four-way servo reduction motor drive unit is controlled by the high and low levels of the embedded processing unit I/O output.

The multi-degree-of-freedom motion control module 205 is arranged inside the multi-degree-of-freedom motion platform 203; the multi-degree-of-freedom motion control module 205 includes a selection switch and an embedded processing unit. Specifically, the multi-degree-of-freedom motion control module 205 is fixedly arranged inside the multi-degree-of-freedom motion platform 203 by bolts; the selection switch is fixedly arranged outside the multi-degree-of-freedom motion platform 203 by bolts; the embedded processing unit is fixedly arranged inside the multi-degree-of-freedom motion platform 203 by bolts, and the embedded processing unit outputs a signal to control the six-axis robotic arm device.

The scanning device switching device 207 includes a servo motor; the scanning device switching device 207 is arranged at the end of the multi-degree-of-freedom motion platform 203, located at the end of the six-axis robotic arm; the scanning switching device 207 is connected to the end of the multi-degree-of-freedom motion platform 203 through a flange; the servo motor is fixed inside the scanning device switching device 207 by bolts.

The navigation device 206 includes a depth camera; the depth camera is fixed to the outside of the mobile platform 201 by bolts; the depth camera is connected to the control device 103 via a USB 3.0 interface.

The scanning device 104 includes: a three-dimensional laser scanning device, which is fixed to the end of the scanning device switching device 207 by flange bolts, and the three-dimensional laser scanning device is connected to the control device 103 via a gigabit network cable interface RJ-45; a high-precision CCD camera, which is fixed to the end of the scanning device switching device 207 by flange bolts, and the high-precision CCD camera is connected to the control device 103 via a gigabit network cable interface RJ-45; an infrared thermal imager, which is fixed to the end of the scanning device switching device 207 by flange bolts, and the infrared thermal imager is connected to the control device 103 via a gigabit network cable interface RJ-45.

The device for lane blind spot detection also includes a battery device, the battery device includes a battery, and the battery is fixedly arranged inside the mobile platform 201. Specifically, in this embodiment, the battery is fixedly arranged inside the mobile platform 201 by bolts, and in other optional embodiments, the battery can be fixedly arranged inside the mobile platform 201 by other means such as axle pins. The charging line is connected to the battery, and the charging line charges the battery, so that the mobile platform 201 is not limited by space.

The control device 103 is arranged inside the multi-degree-of-freedom motion platform 203, and is respectively connected to the power storage device, the mobile 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 to control the operation of the mobile platform 201 and the multi-degree-of-freedom motion platform 203, and control the scanning device switching device 207, collect, process and analyze the navigation information of the navigation device 206 and the point cloud information of the scanning device 104, and send obstacle, disease and blind spot location information.

In an optional embodiment, the control device 103 includes: 1. A motion control unit, connected to the mobile control module 202 via UART with a serial communication protocol; connected to the multi-degree-of-freedom motion control module 205 via a network cable interface RJ-45 with a TCP/IP protocol; and connected to the scanning device switching device 207 via 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 via the connection method described in the above scanning device 104. 3. An information processing unit, the information processing unit is arranged inside the multi-degree-of-freedom motion platform 203 by bolts. 4. A data storage unit, the data storage device is arranged inside the multi-degree-of-freedom motion platform 203 by bolts, and connected to the information processing unit via a USB3.0 interface.

6 is a method flow chart of an embodiment of a lane blind area scanning method of a device for lane blind area detection provided by the present application. The specific structure of the device for lane blind area detection refers to the above embodiment and will not be repeated here. The lane blind area scanning method includes the following steps:

Step S601: The control device determines the position information of the blind spot of the lane according to the initial point cloud information and the grid map information obtained by scanning the lane in advance, determines the blind spot travel path based on the position information, and sends a corresponding driving signal to the mobile device according to the blind spot travel path;

Step S602: the mobile device moves to the blind area according to the driving signal;

Step S603: the control device sends a posture instruction corresponding to the blind spot to the multi-degree-of-freedom motion device;

Step S604, the multi-degree-of-freedom motion device adjusts the posture according to the posture instruction;

Step S605: the control device sends a scanning signal to the scanning device; the scanning device scans the blind area according to the scanning signal, obtains blind area scanning information, and feeds back the blind area scanning information to the control device.

In this embodiment, the control device determines the three-dimensional coordinates and path planning related to the blind area of the lane, the mobile device moves to the blind area, and after the multi-degree-of-freedom motion device adjusts its posture, the scanning signal scans the blind area to obtain blind area scanning information. Since the control device can find and determine the relevant information of the blind area of the lane after scanning the lane wall in advance, and move to the blind area, after the multi-degree-of-freedom motion device connected to the scanning device adjusts its posture, the scanning device can scan the blind area, thereby realizing the scanning of the blind area of the lane.

Further, in one embodiment, step S601 includes:

The control device determines the three-dimensional coordinates and path planning related to the blind area based on the initial point cloud information and grid map information obtained by scanning the tunnel wall in advance, including:

The control device controls the mobile device to move along a preset initial path and obtains real-time image data information sent by a depth camera in the navigation device;

The control device analyzes whether there is an obstacle in front of the mobile device according to the real-time image data information;

If yes, the control device sends a posture change instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is also used to adjust the posture according to the posture change instruction to achieve a preset initial scanning posture; the control device analyzes and obtains an obstacle avoidance path, and controls the mobile device to continue moving along the obstacle avoidance path, and the control device controls the scanning device to scan the tunnel wall to obtain initial point cloud information and grid map information;

The control device performs three-dimensional reconstruction on the initial point cloud information to obtain an initial lane model, and constructs a lane grid map according to the grid map information;

The control device determines the three-dimensional coordinates of the blind area of the lane according to the initial lane model, and plans a travel path in the blind area according to the lane grid map.

Specifically, when the lane needs to be scanned, the battery is first charged through the charging cable, and the charging cable plug is connected to the 220V mains for charging. After the battery is fully charged, the charging cable can be removed. Press the selection switch on the mobile platform and the selection switch on the multi-degree-of-freedom motion platform, and the battery starts to supply power to the mobile control module and four servo reduction motors in the mobile platform, to the multi-degree-of-freedom motion control module and the six-axis robotic arm in the multi-degree-of-freedom motion platform, to the servo motor in the scanning device switching device, to the depth camera in the navigation device, to the three-dimensional laser scanning device, the high-precision CCD camera and the infrared thermal imager in the scanning device, and to the information processing unit and the data storage unit in the control device.

The control device runs according to the specified program, obtains the image data information transmitted by the depth camera in the navigation device, and stores the image data information in the data storage unit. The control device determines whether there is an obstacle in front by analyzing and judging the transmitted image data information. If there is no obstacle, the control device sends a driving signal to the mobile control module, and the mobile control module drives the four servo reduction motors to operate, so that the mobile platform moves in the specified planned direction. If there is an obstacle, the control device analyzes and obtains the obstacle avoidance path, and sends a driving signal to the mobile control module. The mobile control module drives the four servo reduction motors to operate, so that the mobile platform moves in the specified direction; at the same time, the control device sends a posture transformation instruction to the multi-degree-of-freedom motion control module, and the multi-degree-of-freedom motion control module drives the six-axis robot arm to realize posture transformation to achieve the predetermined scanning posture.

The control device sends a scanning signal to the three-dimensional laser scanning device, and the three-dimensional laser scanning device starts to scan the tunnel wall and sends the point cloud information to the control device, and the control device stores the point cloud information in the data storage unit.

Repeat the above steps to achieve a rough scan of the tunnel and information collection of the raster map of the tunnel project.

The control device reads the point cloud information in the data storage unit through the information processing unit, completes the construction of the lane model through three-dimensional reconstruction, and also reads the lane grid map information in the data storage unit to complete the construction of the lane grid map. Afterwards, the information processing unit analyzes the lane model to find out the blind areas existing in the current rough scanning model, including scanning blind areas, diseased areas, etc., and obtains the three-dimensional coordinate information of the scanning blind areas and diseased areas.

The control device completes the path planning to the blind spot and the diseased area according to the analysis grid map. The control device sends a control signal to the mobile control module, and the mobile control module drives the mobile platform to move to the designated blind spot and the diseased location to reach the target area.

Furthermore, the blind area includes scanning blind area, hole disease area, water seepage disease area, pipeline crack disease area, and the scanning steps for different types of areas are as follows:

For scanning blind spots, the control device sends corresponding posture instructions to the multi-degree-of-freedom motion control module, and the multi-degree-of-freedom motion control module sends corresponding control signals to the six-axis robotic arm to avoid blind spots blocked by obstacles. The control device sends scanning signals to the three-dimensional laser scanning device in the scanning device, and sends the point cloud information of the blind spots obtained by the scanning device to the control device. The control device stores the point cloud information of the blind spots in the data storage unit, and then analyzes the point cloud information data of the blind spots to complete the completion of the lane model.

For scanning of the tunnel wall cracks and hole disease areas, the control device sends corresponding posture instructions to the multi-degree-of-freedom motion control module, and the multi-degree-of-freedom motion control module sends corresponding control signals to the six-axis robotic arm to reach the location of the tunnel wall cracks and hole disease areas. The control device sends a scanning signal to the three-dimensional laser scanning device in the scanning device, and sends the point cloud information of the tunnel wall cracks and hole disease areas obtained by the scanning device to the control device. The control device stores the obtained point cloud information in the data storage unit, and then analyzes the point cloud information data of the tunnel wall cracks and hole disease areas to obtain detailed disease information of the tunnel wall cracks and hole diseases.

For scanning of the water seepage disease area, the control device sends corresponding posture instructions to the multi-degree-of-freedom motion control module, and the multi-degree-of-freedom motion control module sends corresponding control signals to the six-axis robotic arm to reach the location of the water seepage disease area. The control device sends a control signal to the scanning device switching device, and the scanning device switching device drives the motor to operate to realize the switch from the three-dimensional laser scanning device to the infrared thermal imager. The control device sends a scanning signal to the infrared thermal imager in the scanning device, and sends the image information of the water seepage disease area obtained by the scanning device to the control device. The control device stores the obtained image information in the data storage unit, and then analyzes the image information data of the water seepage disease area to obtain detailed disease information of the water seepage disease area.

For scanning of pipeline crack and rupture disease areas, the control device sends corresponding posture instructions to the multi-degree-of-freedom motion control module, and the multi-degree-of-freedom motion control module sends corresponding control signals to the six-axis robot arm to reach the location of the pipeline crack and rupture disease area. The control device sends a control signal to the scanning device switching device, and the scanning device switching device drives the motor to operate to realize the switch from the three-dimensional laser scanning device to the high-precision CCD camera. The control device sends a scanning signal to the high-precision CCD camera in the scanning device, and sends the image information of the pipeline crack and rupture disease area obtained by the scanning device to the control device. The control device stores the obtained image information in the data storage unit, and then analyzes the image information data of the pipeline crack and rupture disease area to obtain detailed disease information of the pipeline crack and rupture disease.

This embodiment can realize autonomous tunnel path planning, complete the construction of tunnel three-dimensional model and grid map, and on this basis complete the identification of tunnel diseased areas and the acquisition of blind spot point cloud information, realize the completion of tunnel three-dimensional model and detailed detection and scanning of diseased areas.

It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

Any reference to memory, storage, database or other media used in the embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims (10)

1. The utility model provides a be used for tunnel blind area detection's equipment which characterized in that includes mobile device, multi freedom motion device, controlling means and scanning device, wherein:

One end of the multi-freedom-degree movement device is fixedly arranged on the moving device, the other end of the multi-freedom-degree movement device is connected with the scanning device, and the control device is fixedly connected with the moving device, the multi-freedom-degree movement device and the scanning device; the control device is used for determining the position information of a roadway blind area according to initial point cloud information and grid map information which are obtained by scanning the roadway in advance, and determining a blind area travelling path based on the position information;

The control device is also used for sending corresponding driving signals to the mobile device according to the blind area travelling path; the moving device moves to the blind area according to the driving signal;

the control device is also used for sending corresponding pose instructions to the multi-degree-of-freedom motion device according to the blind area advancing path; the multi-freedom-degree 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.

2. The apparatus for roadway blind spot detection of claim 1, further comprising a navigation device disposed at a front end of the mobile device, and wherein a depth camera is mounted in the navigation device:

The navigation device is connected with the control device and is 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 also 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-freedom-degree movement device is also used for adjusting the pose according to the obstacle avoidance pose instruction so as to avoid the obstacle.

3. The apparatus for roadway blind area detection according to claim 1 or 2, wherein the moving device comprises a moving platform, a servo gear motor and a moving control module, the servo gear motor and the moving control module are fixedly installed in the moving platform, the moving control module is connected with the control device, the servo gear motor is used for providing power for the moving device, the moving control module comprises a servo gear motor driving unit and a first embedded processing unit, and the first embedded processing unit is used for receiving a driving signal sent by the control device and controlling the servo gear motor driving unit to drive the servo gear motor to work according to the driving signal so as to enable the moving device to move.

4. The apparatus for roadway blind area detection according to claim 3, wherein the multiple degree of freedom motion device comprises a multiple degree of freedom motion platform, a multiple degree of freedom mechanical arm and a multiple degree of freedom motion control module, the multiple degree of freedom motion platform is fixed on the top of the motion platform, the multiple degree of freedom motion control module is installed in the multiple degree of freedom motion platform, one end of the multiple degree of freedom mechanical arm is arranged in the multiple degree of freedom motion platform, and the other end of the multiple 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-freedom-degree motion control module comprises a second embedded processing unit, wherein the second embedded processing unit is used for receiving a pose instruction sent by the control device and controlling the multi-freedom-degree mechanical arm to adjust the pose according to the pose instruction.

5. The apparatus for roadway blind spot detection of claim 1 or 2, wherein the apparatus for roadway blind spot detection further comprises:

The scanning equipment switching device is arranged between the multi-degree-of-freedom motion device and the scanning device, and is also connected with the control device, and a servo motor is arranged in the scanning equipment switching device;

The scanning device comprises a three-dimensional laser scanner, a CCD camera and an infrared thermal imager, wherein the three-dimensional laser scanner, the CCD camera and the infrared thermal imager are respectively and fixedly arranged at the tail end of the scanning device 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.

6. A blind roadway detection method for a blind roadway detection apparatus as claimed in any one of claims 1 to 5, characterized in that the blind roadway detection method comprises:

The control device determines the position information of a roadway blind area according to initial point cloud information and grid map information obtained by scanning the roadway in advance, determines a blind area traveling path based on the position information, and sends a corresponding driving signal to the mobile device according to the blind area traveling path;

the moving device moves to the blind area according to the driving signal;

the control device sends pose instructions corresponding to the blind areas to the multi-degree-of-freedom motion device;

the multi-freedom-degree motion device adjusts the pose according to the pose instruction;

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 scanning information, and feeds the blind area scanning information back to the control device.

7. The roadway blind area detection method of claim 6, wherein the control device determining position information of the roadway blind area based on initial point cloud information and raster map information obtained by scanning the roadway in advance, determining a blind area travel path based on the position information, comprises:

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 yes, the control device sends a pose transformation instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is also used for adjusting the pose according to the pose transformation instruction so as to reach the preset initial scanning pose; the control device analyzes and obtains an obstacle avoidance path and controls the mobile device to continuously 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;

The control device performs 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 performs blind area travelling path planning according to the tunnel grid map.

8. The roadway blind area detection method of claim 6, wherein the blind area comprises 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 back the blind area point cloud information to the control device, and the scanning device comprises:

The control device sends a scanning signal to a three-dimensional laser scanner in the scanning device, the three-dimensional laser scanner scans a scanning blind area or a hole disease area to obtain point cloud information of the scanning blind area or the hole disease area, and the point cloud information of the scanning blind area or the hole disease area is fed back to the control device.

9. The roadway blind area detection method of claim 8, wherein the blind area further comprises a water seepage 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 back the blind area point cloud information to the control device, and the scanning device comprises:

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 so as to switch a three-dimensional laser scanner in the scanning device into a thermal infrared imager;

The control device sends a scanning signal to an infrared thermal imager in the scanning device, and the infrared thermal imager scans a water seepage disease area to obtain water seepage disease image information and feeds the water seepage disease image information back to the control device.

10. The roadway blind area detection method of claim 8, wherein the blind area further comprises a pipe crack defect 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 back the blind area point cloud information to the control device, and the scanning device comprises:

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 so as to switch the three-dimensional laser scanner in the scanning device into a CCD camera;

the control device sends a scanning signal to a CCD (charge coupled device) camera in the scanning device, and the CCD camera scans a pipeline crack disease area to obtain pipeline crack disease image information and feeds the pipeline crack disease image information back to the control device.