CN113763583A - Tunnel inspection equipment and tunnel inspection method - Google Patents
Tunnel inspection equipment and tunnel inspection method Download PDFInfo
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- CN113763583A CN113763583A CN202010427150.6A CN202010427150A CN113763583A CN 113763583 A CN113763583 A CN 113763583A CN 202010427150 A CN202010427150 A CN 202010427150A CN 113763583 A CN113763583 A CN 113763583A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The application provides a tunnel inspection device and a tunnel inspection method, wherein the tunnel inspection device comprises the following components: the track assembly is connected with an inspection robot in a hanging mode; the functional case of the inspection robot is integrated with an environment testing device, an alarming device, a thermal imaging device, a communication device and a driving device, the camera device is connected to the bottom surface of the case and can axially rotate and vertically swing, the driving device is used for driving the inspection robot to run along the track assembly, and the environment testing device, the alarming device, the thermal imaging device and the driving device are all electrically connected with the communication device; the background monitoring system is in information connection with the communication device to receive data sent by the inspection robot, process the data, make early warning judgment and control the inspection robot to perform on-site emergency treatment. The tunnel inspection equipment and the tunnel inspection method can achieve continuous dynamic monitoring of a tunnel site, achieve visual visualization of data, save storage space, and achieve disaster early warning and site emergency treatment.
Description
Technical Field
The application belongs to the technical field of tunnel monitoring, and particularly relates to tunnel inspection equipment and a tunnel inspection method.
Background
At present, in an urban road network, as a tunnel has the characteristics of narrow space, large traffic flow, high vehicle speed, poor illumination, poor air quality, complex internal structure, relative sealing, unclear visual field and the like, in the tunnel, more and intractable traffic accidents occur, the traffic accidents occurring in the tunnel can cause long traffic interruption time, and the work of post-processing, rescue and the like of the accidents is greatly limited, so that the strengthening of the safe operation management of the tunnel is very important, and the stable and safe operation of the tunnel is related to the safe, rapid and smooth operation of the urban road network.
However, in the existing tunnel, a fixed discrete video acquisition mode is usually adopted for a tunnel monitoring system, and on one hand, due to the limited number of cameras arranged in the tunnel and the limited visual field due to the unadjustable distance between the visual angle and the accident site, fuzzy qualitative judgment can be provided only for the accident site far away from the cameras, and the accident site cannot be observed and guided to approach the accident site at the first time after the accident occurs, so that accident misjudgment is easy to occur, that is, it is difficult to provide quantitative analysis for tunnel monitoring personnel to realize system data sharing; on the other hand, the camera cannot analyze the accident scene due to the fixed position of the camera, and meanwhile, the camera only has a shooting function, cannot realize linkage alarm, easily delays the best rescue opportunity, and causes accident potential. In addition, in the existing tunnel monitoring, the monitoring process and the patrol process in the tunnel cannot be organically combined together, the patrol in the tunnel is still realized by manually matching with a patrol vehicle, the efficiency is low, the traffic safety is not facilitated, the air quality in the tunnel is poor, the visual field is poor, the attention of workers is limited, and the careless omission is easy to occur.
Therefore, how to make traffic environment more convenient, safe and high-efficient in the tunnel to and can in time deal with the accident in the tunnel, guarantee driving safety in the tunnel effectively, just become the problem that needs to solve in the present tunnel monitoring design scheme urgently.
Disclosure of Invention
An object of the embodiment of the application is to provide a tunnel inspection device to solve the technical problem that tunnel monitoring equipment in the prior art can not realize linkage early warning and disaster site processing.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: provided is a tunnel inspection device including:
the track assembly is arranged on the wall surface of the tunnel;
the inspection robot is movably connected to the track assembly along the extending direction of the track assembly; the inspection robot comprises a functional case and a camera device, wherein the functional case comprises an environment testing device, an alarming device, a thermal imaging device, a communication device and a driving device, the camera device is connected to the bottom surface of the functional case and can rotate around the vertical axial direction of the camera device relative to the functional case, the lens end of the camera device swings up and down around a fulcrum connected with the functional case, the driving device is used for driving the inspection robot to move along a track assembly, and the environment testing device, the alarming device, the thermal imaging device and the driving device are all electrically connected with the communication device; and the number of the first and second groups,
the background monitoring system is in communication connection with the communication device, receives the data sent by the inspection robot, processes the data and then makes early warning judgment, and controls the inspection robot to perform on-site emergency treatment according to the result of the early warning judgment.
Optionally, the inspection robot further comprises a cradle head, the camera device is connected with the functional cabinet through the cradle head, the driving device is connected with the cradle head, and the cradle head is driven by the driving device to drive the camera device to rotate 360 degrees in the horizontal direction and rotate 180 degrees in the vertical plane;
the alarm device comprises a real-time interphone and an audible and visual alarm, the thermal imaging device and the environment testing device are electrically connected with the audible and visual alarm, the real-time interphone is in communication connection with the background monitoring system through the communication device, and the audible and visual alarm is in communication connection with the background monitoring system through the communication device;
the environment testing device comprises a gas detector and a temperature and humidity sensor, wherein the gas detector and the temperature and humidity sensor are both connected with the alarm device, and the gas detector and the temperature and humidity sensor are also both in communication connection with the background monitoring system through the communication device.
Optionally, the tunnel inspection equipment further comprises an obstacle stopping module, the obstacle stopping module comprises an infrared detector, and the infrared detector is electrically connected with the driving device and the alarm device and is in communication connection with the background monitoring system through a communication device.
Optionally, the rail assembly comprises a traveling rail and a plurality of suspension brackets, one end of each suspension bracket is fixedly connected with the wall surface of the tunnel, the other end of each suspension bracket is fixedly connected with the traveling rail, the traveling rail comprises a plurality of straight sections and a plurality of bent sections, the straight sections are arranged at intervals, and two adjacent straight sections are connected through one bent section;
the inspection robot further comprises a traveling mechanism, one end of the traveling mechanism is connected with the traveling rail in a sliding mode, and the other end of the traveling mechanism is connected with the functional case.
Optionally, a plurality of charging ports are distributed on the walking track at intervals, a rechargeable battery is arranged in the functional case, a charging interface is arranged at one end, connected with the walking track, of the walking mechanism, and the charging interface is in contact with the charging ports to charge when the inspection robot runs to the charging ports.
The application also provides a tunnel inspection method, which is completed by using the tunnel inspection equipment as before, and the tunnel inspection method comprises the following steps:
s1, when the inspection robot moves on the track assembly along a preset operation route, a camera device arranged on the inspection robot shoots real-time scenes in the tunnel, a plurality of tunnel scene images shot at different time points are obtained, the tunnel scene images are uploaded to a background monitoring system, and the background monitoring system processes the tunnel scene images to form a tunnel panoramic plane image;
s2, the background monitoring system establishes a tunnel three-dimensional image with corresponding time point information according to the tunnel panoramic plane image;
and S3, arranging the tunnel three-dimensional images corresponding to the time points in time sequence to form a four-dimensional database simultaneously comprising the shape information and the time information of the inner surface of the tunnel.
Optionally, step S1 includes the steps of:
s10, the background monitoring system controls the camera device to be started, and controls the holder to rotate so as to adjust the shooting visual angle of the camera device to a preset value;
s20, the inspection robot moves on the track assembly at a preset speed, and the camera device shoots the inner surface form of the tunnel according to a preset frequency to obtain a plurality of tunnel scene images;
and S30, the background monitoring system performs overlapping splicing processing on the multiple tunnel scene images, and calculates and removes redundant image data to form a tunnel panoramic plane image.
Optionally, after the inspection robot finishes one inspection, all the tunnel scene images shot within the inspection time are sent to the background monitoring system and are subjected to overlapping and splicing processing to form a tunnel panoramic plane image, and redundant image data generated during the overlapping and splicing processing are deleted.
Optionally, the tunnel inspection method further includes a field early warning processing step, and the field early warning processing step includes:
s41, in the running shooting process of the inspection robot, the thermal imaging device arranged on the inspection robot sends a thermal imaging image to the background monitoring system, and the environment testing device sends gas detection data, temperature data and humidity data to the background monitoring system;
s42, the background monitoring system compares and checks the thermal imaging image, the gas detection data, the temperature data and the humidity data, and if the comparison result exceeds a warning value, an early warning instruction is sent to the inspection robot;
and S43, controlling the alarm device to give an alarm in the tunnel after the inspection robot obtains the early warning instruction.
Optionally, the on-site warning processing step further includes:
the background monitoring system simultaneously sends out an early warning instruction, a moving instruction and preset moving route data to the inspection robot so as to control the inspection robot to move to an accident site according to the preset moving route.
The application provides a tunnel inspection equipment's beneficial effect lies in: because the inspection robot can move on the track assembly, the camera device can axially rotate and vertically swing relative to the functional case, and the inspection robot is in information connection with the background monitoring system through the communication device, in actual operation, compared with the current common fixed and discrete tunnel inspection mode, the inspection robot can automatically or remotely inspect the tunnel site under the control of the background monitoring system, not only can timely feed back real-time pictures, abnormal traffic accidents and the like in the tunnel, improve the operating efficiency and quality of the tunnel, really play a role in synergy, but also can uninterruptedly and repeatedly inspect the tunnel, realize continuous and dynamic acquisition of the operating state of the tunnel, further realize complete coverage of all corners of the tunnel, and can acquire the clearest site picture in the first time when an emergency occurs, and transmitted to the background monitoring system. Moreover, as the functional case of the inspection robot is also integrated with other functional components such as an environment testing device, an alarming device, a thermal imaging device and the like, when an accident occurs in the tunnel, the detection image or data can be detected by the components such as the thermal imaging device and the like and sent to the background monitoring system, and when the background monitoring system automatically or manually judges that the accident is an abnormal condition, an early warning instruction can be sent to the alarming device to alarm; meanwhile, the inspection robot can enter an accident site at the first time by controlling the movement of the inspection robot, and alarm data such as videos, images and harmful gas content in the air of the site can be sent back to the background monitoring system; meanwhile, emergency fire-fighting measures can be carried out on the spot through remote commands such as an alarm device connected with the communication device, and effective measures can be taken for specific parts in the tunnel if necessary, so that better disaster prevention and reduction effects are achieved. In addition, the background monitoring system establishes three-dimensional image data according to each tunnel scene image, and adds a time dimension to establish a four-dimensional database of the inner surface form of the tunnel, so that massive historical data is changed into visual and fresh data, a data base is laid for constructing an intelligent system, tunnel disease traceability can be facilitated in the future, data traceability is maintained, and data retrieval speed is increased.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an angle of a tunnel inspection apparatus provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of another angle of the tunnel inspection device according to the embodiment of the present application;
FIG. 3 is an enlarged schematic view at A in FIG. 2;
FIG. 4 is a schematic structural diagram of a track assembly provided in an embodiment of the present application;
fig. 5 is a schematic diagram of a module structure of the tunnel inspection equipment provided in the embodiment of the present application;
fig. 6 is a flowchart illustrating a tunnel inspection method according to an embodiment of the present application.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | |
| 100 | |
200 | |
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| 300 | |
400 | |
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| 210 | |
220 | |
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| 211 | |
212 | |
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| 213 | |
214 | |
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| 215 | |
230 | |
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| 212a | Real-time interphone | 212b | Audible and |
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| | Gas detector | 211b | Temperature and |
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| 240 | |
241 | |
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| 110 | |
120 | |
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| 111 | |
112 | |
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| 113 | |
250 | |
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| 251 | |
252 | |
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| 310 | |
320 | |
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| 330 | |
214a | |
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| 214b | |
260 | Traveling mechanism |
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present application are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The embodiment of the application provides a tunnel inspection device.
Referring to fig. 1, 3 and 5, in one embodiment, the tunnel inspection apparatus includes a rail assembly 100, an inspection robot 200 and a background monitoring system 300. Wherein the rail assembly 100 is installed on a wall surface of the tunnel 400; the inspection robot 200 is hung on the track assembly 100; the inspection robot 200 comprises a functional case 210 and a camera 220, wherein an environment testing device 211, an alarming device 212, a thermal imaging device 213, a communication device 214 and a driving device 215 are integrated on the functional case 210, the camera 220 is connected to the bottom surface of the case and can axially rotate and vertically swing relative to the functional case 210, the driving device 215 is used for driving the inspection robot 200 to operate along the track assembly 100, and the environment testing device 211, the alarming device 212, the thermal imaging device 213 and the driving device 215 are electrically connected with the communication device 214; the background monitoring system 300 is in information connection with the communication device 214 to receive the data sent by the inspection robot 200, process the data, make early warning judgment and control the inspection robot 200 to perform on-site emergency treatment.
Based on the structural design, in the embodiment, because the inspection robot 200 can move on the track assembly 100, the camera device 220 can axially rotate and swing up and down relative to the functional case 210, and the inspection robot 200 is in information connection with the background monitoring system 300 through the communication device 214, in actual operation, compared with the current common fixed and discrete tunnel inspection mode, the inspection robot 200 of the present application can autonomously or remotely inspect the tunnel site under the control of the background monitoring system 300, not only can timely feed back real-time images, abnormal traffic accidents and the like in the tunnel 400, improve the working efficiency and quality of tunnel operation, really play a role in synergy, but also can uninterruptedly and repeatedly inspect the tunnel 400, realize continuous and dynamic acquisition of the tunnel operation state, and further realize complete coverage of all corners of the tunnel 400, when an emergency occurs, the clearest scene picture can be acquired at the first time and transmitted to the background monitoring system 300. Moreover, because the functional chassis 210 of the inspection robot 200 is also integrated with other functional components such as the environment testing device 211, the alarm device 212, the thermal imaging device 213 and the like, when an accident occurs in the tunnel 400, the detection image or data can be detected by the components such as the thermal imaging device 213 and the like and sent to the background monitoring system 300, and when the background monitoring system 300 automatically or manually judges that the accident is an abnormal condition, the early warning instruction can be sent to the alarm device 212 to give an alarm; meanwhile, the inspection robot 200 can enter the accident site at the first time by controlling the movement of the inspection robot 200, and alarm data such as videos, images and harmful gas content in the air of the site can be sent back to the background monitoring system 300; meanwhile, emergency fire-fighting measures can be executed on the spot through remote commands such as the alarm device 212 connected with the communication device 214, and effective measures can be taken on specific parts in the tunnel 400 if necessary, so that better disaster prevention and reduction effects are achieved.
It should be noted that, in the technical solution of the present application, the protection level of the whole tunnel inspection device should reach IP65, and the protection level of the core component should reach IP66, so that the tunnel inspection device can completely meet the requirement of the special environment of the tunnel 400.
Referring to fig. 1 to 3, in the embodiment, the inspection robot 200 further includes a cradle head 230, the camera 220 is connected to the functional cabinet 210 through the cradle head 230, the driving device 215 is connected to the cradle head 230, and the cradle head 230 is driven by the driving device 215 to drive the camera 220 to rotate 360 degrees in the horizontal direction and 180 degrees in the vertical direction. In other words, the camera device 220 disposed below the functional chassis 210 can adjust the angle in each direction through the cradle head 230, thereby facilitating the shooting of better and clearer tunnel images. The protection grade of the holder 230 is IP66, and angle adjustment of 0-360 degrees in the horizontal direction and-90 degrees in the vertical direction can be realized; in the key mode, the rotation speed of the motor is 100 DEG/S in both vertical and horizontal directions, and in the manual mode, the rotation speed of the motor is 0.5 DEG/S to 100 DEG/S in both vertical and horizontal directions. Here, the image pickup device 220 is a high-definition color camera, and preferably a day and night network high-definition all-in-one machine is used. Specifically, the detailed performance parameters of the high-definition color camera are as follows: the pixel is 200 ten thousand, the maximum resolution is 1920 multiplied by 1080, the minimum illumination is 0.01Lux, the horizontal visual angle is 65.1 to 2.34 degrees (wide-angle-telescope), the minimum object distance range is 10mm (wide-angle) to 1500mm (far-end), the automatic focusing mode is realized, the focal length range is 4.3mm to 129mm, the 30-time optical zoom is realized, the functions of exposure compensation, white balance self-adjustment and the like are realized, the day-night switching mode of ICR infrared filter type automatic switching is supported, the 3D-DNR and the low code rate are supported, and the device can be applied to various illumination shooting and data transmission environments.
In addition, in the present embodiment, the thermal imaging device 213 is specifically a thermal infrared imager, which is a detection device that detects infrared energy in a non-contact manner and converts the infrared energy into an electrical signal, so as to generate a thermal image and a temperature value on a display, and can calculate the temperature value. Thus, the background monitoring system 300 can automatically or manually determine whether the temperature in the tunnel 400 is abnormal, such as fire, through the thermal image measured by the thermal infrared imager. Specifically, the thermal infrared imager adopts an uncooled vanadium oxide focal plane detector leading in the industry, has the advantages of high sensitivity and good image quality, adopts a starlight-level 1/1.9' 200-thousand CMOS image sensor, can perfectly show a low-illumination environment, and is more suitable for a dim environment in the tunnel 400. Meanwhile, the thermal infrared imager supports the functions of multi-frame-in-one wide dynamic and advanced image noise reduction and the like so as to perfectly show day and night video images, and also supports 14 pseudo-color adjustability such as white heat, black heat, fusion, rainbow, autumn, afternoon, iron oxide red, amber and the like; the infrared thermal imager has an accurate three-dimensional positioning function, can capture a target more conveniently, quickly and accurately, and particularly can support automatic and manual tracking, single-scene and multi-scene cruise tracking and hot spot tracking. In addition, the thermal infrared imager is designed to support 30-time optical zoom by visible light, has an innovative tracking algorithm, and can automatically lock a target and automatically adjust the focal length of a lens so as to obtain an optimal video image. In the aspect of communication performance, the thermal infrared imager adopts a single IP scheme, has rich network expansion capability, is easy to access various video monitoring platforms, supports various clients such as WEB, mobile phone and PC to preview and view video images, supports IP white list and blacklist, MAC white list and blacklist and multilevel user management, and further realizes humanized monitoring confidentiality and authority management; low code stream transmission with more bandwidth saving is adopted, and network protocols such as GBT28181 and ONVIF are supported, so that networking is more convenient; and the SD card is used for local storage, and the continuous transmission of the disconnected network is supported.
Further, referring to fig. 5, in the present embodiment, the alarm device 212 includes a real-time interphone 212a and an audible and visual alarm 212b, the thermal imaging device 213 and the environment testing device 211 are electrically connected to the audible and visual alarm 212b, and the real-time interphone 212a is communicatively connected to the background monitoring system 300 through the communication device 214. It can be understood that when the background monitoring system 300 finds that there is a difference in the image or data transmitted from the thermal imaging device 213 or the environmental testing device 211, an automatic or manual early warning judgment is started, and when it is determined that there is indeed an abnormal situation in the tunnel 400, an alarm instruction is sent out, so as to control the audible and visual alarm 212b to send out light or sound for warning, and of course, the staff of the background monitoring system 300 can also communicate emergency guidance measures with the field staff of the tunnel through the real-time interphone 212a according to the transmitted field image, so as to obtain a better disease prevention and disaster relief effect. Of course, the audible and visual alarm 212b may further include a warning light or the like besides the warning function, specifically, the warning light may be a three-color light or a breathing light or the like, the protection level of the warning light reaches IP66, the warning light has good waterproof, moistureproof and dustproof performances, and different colors of the warning light can be used to indicate various current states of the inspection robot 200, such as normal operation, stoppage, failure, insufficient battery power and the like.
Further, referring to fig. 5, in this embodiment, the environment testing device 211 includes a gas detector 211a and a temperature and humidity sensor 211b, the gas detector 211a and the temperature and humidity sensor 211b are both connected to the alarm device 212, and the gas detector 211a and the temperature and humidity sensor 211b are also both in communication connection with the background monitoring system 300 through the communication device 214, so that when the air condition and the temperature and humidity in the tunnel 400 are abnormally changed, the air condition and the temperature and humidity can be timely sensed by the environment testing device 211 and uploaded to the background monitoring system 300 to determine whether there is a danger in the environment in the tunnel 400. The gas detector 211a may be configured to test real-time environmental gas parameters of any tunnel segment, and the detectable gas includes H2S, CO, O2, CH4, smoke, and the like. The gas detector 211a also has the functions of auto-zero calibration and auto-sampling at preset intervals, which are typically set to 30 seconds at the time of factory shipment, but may be adjusted according to actual requirements. In the present embodiment, the temperature and humidity sensor 211b has a temperature measuring range of-40 ℃ to +85 ℃ and a humidity measuring range of 0% to 100% RH, a temperature measuring accuracy of ± 0.5 ℃, and a humidity measuring accuracy of ± 2% RH.
Further, in this embodiment, the tunnel inspection equipment further includes an obstacle stopping module 240, the obstacle stopping module 240 includes an infrared detector 241, and the infrared detector 241 is electrically connected to the driving device 215 and the alarm device 212, and is in communication connection with the background monitoring system 300 through the communication device 214. Specifically, the infrared detector 241 has a protection level of IP65, a sensing distance range of 350mm to 4000mm, and a minimum response delay of 285 ms. Here, the obstacle stopping module 240 mainly functions to automatically detect the surrounding environment of the inspection robot 200 by using the infrared detector 241, and when it is recognized that an obstacle exists on the inspection route and cannot safely pass through the inspection route, it can control the inspection robot 200 to automatically stop and alarm.
Referring to fig. 1 to 4, in the present embodiment, the rail assembly 100 includes a traveling rail 110 and a plurality of suspension brackets 120, one end of each suspension bracket 120 is fixedly connected to a wall surface above the tunnel 400, the traveling rail 110 includes a plurality of straight sections 111 and a plurality of curved sections 112, the plurality of straight sections 111 are arranged at intervals, two adjacent straight sections 111 are connected by one curved section 112, and the traveling rail 110 is bent in a zigzag shape by sequentially splicing the plurality of straight sections 111 and the plurality of curved sections 112; the inspection robot 200 further includes a traveling mechanism 260, one end of the traveling mechanism 260 is slidably connected to the traveling rail 110, and the other end is connected to the functional chassis 210. In actual operation, the driving device 215 may drive the inspection robot 200 and the traveling mechanism 260 to slide or stay at a certain position along the traveling rail 110. It can be understood that the design of the circuitous bending shape of the walking track 110 can realize the free movement in the length and width directions, effectively increase the detection range of the inspection robot 200, so that when an accident occurs in the tunnel 400, the inspection robot 200 can be close to the accident site at the first time along the walking track 110, thereby shooting a clearer picture in real time. Specifically, in the present embodiment, the upper end of the suspension bracket 120 is fixed to the tunnel wall surface by using a bolt, and the lower end of the suspension bracket 120 is fixed to the traveling rail 110 by welding, but in other embodiments, the suspension bracket 120 and the traveling rail 110 may be fixedly connected by, for example, but not limited to, a bolt connection. Here, the cross section of the traveling rail 110 is various, and in this embodiment, the cross section is specifically rectangular, the length of the rail of the straight section 111 is not less than 4 meters, the minimum bending radius of the bending section 112 is 800mm, and the bending radian can be 30 degrees, 45 degrees, 90 degrees, and the like; the load capacity of the running rail 110 is 80 kg; the suspension brackets 120 are installed on the straight section 111 every 3 meters, and on the curved section 112 every 0.5 meters; of course, in other embodiments, the cross section and size of the traveling rail 110 and the number and position of the suspension brackets 120 may also be designed according to the actual tunnel terrain and monitoring requirements. In addition, considering that the requirement on track corrosion resistance is high after long-term use in the tunnel, the walking track 110, the suspension bracket 120 and the like are spliced and installed on site by adopting high-strength aluminum alloy sections, and the high-strength aluminum alloy sections are subjected to special oxidation treatment, so that the corrosion resistance can be improved, the surface hardness can be improved, and the wear resistance of the sections can be further improved.
Further, as shown in fig. 3, in this embodiment, a plurality of charging ports 113 are distributed at intervals on the traveling rail 110, a rechargeable battery (not shown) is disposed in the functional chassis 210, a charging interface electrically connected to the rechargeable battery is disposed at one end of the traveling mechanism 260 connected to the traveling rail 110, and when the inspection robot 200 runs to the charging port 113, the charging interface is in contact with the charging port 113 for charging. Therefore, the power supply of the inspection robot 200 can be realized by adopting the distributed charging port 113 and a contact type charging mode without configuring a special charging pile for charging, and the 24-hour real-time power supply can be realized to meet the requirement of the inspection robot 200 on endurance. Specifically, each distributed charging port 113 adopts alternating current 220V as power input, so that reliable operation of the inspection robot 200 in the tunnel 400 can be effectively ensured; the inspection robot 200 adopts a signal transmission mode of PLC power carrier, and the specific voltage does not exceed 36V so as to meet the requirement of safe voltage; when the whole set of power supply system of the tunnel inspection equipment normally works, the total power is less than 1000W, and when the tunnel inspection equipment does not turn and does not ascend a slope, the working current of the inspection robot 200 can be as low as 1.5A; on a single-segment route, the capacity of the rechargeable battery carried by the inspection robot 200 meets the full-load walking mileage of 500 meters.
Further, referring to fig. 5, in this embodiment, the tunnel inspection device further includes a positioning module 250 disposed on the functional chassis 210, the positioning module 250 includes a code scanner 251 and a code wheel 252, a plurality of code boards (not shown) for scanning by the code scanner 251 are disposed on the running track at intervals, and both the code scanner 251 and the code wheel 252 are in communication connection with the background monitoring system 300 through a communication device. Therefore, when the inspection robot 200 runs along the track, mileage calibration can be performed in a photoelectric code scanning mode, and accurate positioning is performed through the code disc 252, so that accurate fixed-point stop is realized. Specifically, the inspection robot 200 reads the mileage through the code wheel 252, and when the inspection robot 200 detects a starting point, a proper inspection scheme can be selected according to the distance information of the stop point; the inspection robot 200 is in a low-speed stop-ready state when the inspection robot reaches the accurate stop station, and the inspection robot 200 stops the station accurately when detecting the stop station; the code plates arranged on the running track in a segmented manner can realize the regular calibration of the traveling mileage, so that the accumulated mileage error is avoided; in addition, when the code plate is used for detection, distance integration is carried out through the code wheel 252 in the inspection robot 200, and accurate positioning navigation is realized through external detection and internal distance recursion. Here, the bar scanner 251 includes a photoelectric sensor and a odometer, and during the movement of the inspection robot 200, the bar scanner 251 recognizes the passing code board ID and uploads the passing code board ID, thereby implementing a positioning function, and simultaneously outputting movement direction data of the robot. In this embodiment, the tunnel inspection device specifically adopts the photoelectric code scanning navigation and combines with the code disc 252 for positioning, but the design is not limited thereto, in other embodiments, in some special environments, the RFID (radio frequency Identification) and the code disc 252 navigation can be optionally adopted, and in common standard environments, the photoelectric code scanning navigation and the code disc 252 are adopted to acquire mileage information.
Specifically, in the present embodiment, as shown in fig. 5, the background monitoring system 300 includes a host 310, a display end 320, and a function module group 330. The host 310 is used for receiving data sent by the inspection robot 200, wherein the data comprises electronic images, various environmental test data and the like; the display end 320 is connected with the host 310 and is used for displaying the running state of the inspection robot 200 and the internal form of the tunnel 400; the function module group 330 is connected with the host 310 and displayed on the display terminal 320, and the function module group 330 includes a real-time monitoring module, an inspection plan module, a remote control module, an inspection report module and a history report module. Specifically, the display end 320 may be various display screens, and the real-time monitoring module is mainly used for checking information such as a current position of the inspection robot 200, an inspection route, equipment information to be inspected, real-time high definition and infrared video in the inspection process, and a real-time inspection result in the inspection process in the inspection state on the monitoring screen of the display end 320; the inspection plan module is mainly used for editing inspection tasks, making inspection plans and issuing conventional inspection tasks according to requirements, and also comprises two parts of task arrangement and task editing; the remote control module is mainly used for remotely controlling the inspection robot 200; the polling report module is mainly used for displaying each polling report; the historical report module is mainly used for checking and displaying each historical report so as to conveniently trace the source of various problems in the tunnel.
Further, referring to fig. 5, in the present embodiment, the communication module includes a signal converter 214a and a signal transceiver 214b electrically connected to each other, the signal converter 214a is electrically connected to the image capturing device 220, the environment testing device 211, the alarm device 212, and the thermal imaging device 213, and the signal transceiver 214b is communicatively connected to the host 310. Data signals sent by various components such as, but not limited to, the image pickup device 220, the environment testing device 211, the alarm device 212, the thermal imaging device 213, and the like are converted by the signal converter 214a and then sent to the host 310 through the signal transceiver 214b, and accordingly, signals sent by the host 310 are also received by the signal transceiver 214b and then sent to the corresponding components after being converted by the signal converter 214a, so that the control of the components is realized. In addition, the communication module also comprises components such as a direct current stabilized power supply, an optical cable, an optical fiber distribution box switch and the like. The signal transceiver 214b is usually a directional antenna, and the signal converter 214a is mainly used for building a wireless communication network platform, so as to realize information transmission between the background monitoring system 300 and the inspection robot 200 in the whole device, and certainly, the communication module also allows other wireless devices conforming to the international standard to access the network. It should be noted that, in order to make the communication of this tunnel inspection equipment reach unobstructed and stable index, the protection grade of communication module especially signal converter 214a should reach more than IP65 to guarantee that signal converter 214a can directly use under the condition that has harmful gas, dust and drenching water, and need not set up extra protection casing. In this embodiment, the signal converter 214a is designed for the carrier level, is stable and reliable, does not need maintenance for long-term operation, and has specific technical parameters of lightning protection type, 2.4GHz radio frequency unit, and 150Mbps maximum bandwidth; the highest receiving sensitivity reaches-80 dBm, and the coverage performance is excellent; maximum output gain of 20dBm (500 mW); optimizing the optimal link rate and balancing and optimizing the load.
The present application further provides a tunnel inspection method, please refer to fig. 6, in this embodiment, the tunnel inspection method is completed by using the tunnel inspection device as described above, and the tunnel inspection method includes:
s1, while the inspection robot 200 moves on the track assembly 100 along a preset operation route, the camera device 220 arranged on the inspection robot 200 shoots the real-time scenes in the tunnel 400 to obtain a plurality of tunnel scene images shot at different time points, and the tunnel scene images are uploaded to the background monitoring system 300, and the background monitoring system 300 processes the plurality of tunnel scene images to form a tunnel panoramic plane image;
s2, the background monitoring system 300 establishes a tunnel three-dimensional image with corresponding time point information according to the tunnel panoramic plane image;
specifically, after the planar image is constructed into the three-dimensional panoramic image, the planar image roams in the three-dimensional image of the tunnel, so that image distortion can be prevented, and the tunnel is more intuitive and convenient for disease identification in the tunnel 400.
And S3, arranging a plurality of tunnel three-dimensional images with different corresponding time points in time sequence to form a four-dimensional database which simultaneously comprises the shape information and the time information of the inner surface of the tunnel.
Here, the background monitoring system 300 establishes three-dimensional image data according to each tunnel scene image, and adds a time dimension to establish a four-dimensional database of tunnel inner surface morphology, so that massive historical data is changed into visual and vivid data, and a data basis is laid for constructing an intelligent system. Specifically, the tunnel three-dimensional images are arranged in a time dimension mode, and then daily maintenance and minor repair parts and time information in the tunnel are displayed in the database in a fusion mode, so that a four-dimensional database comprising tunnel inner surface form information can be realized, and therefore tunnel disease tracing, maintenance data tracing and data transferring speed improvement can be facilitated in the future.
Further, in the present embodiment, step S1 includes the following steps:
s10, the background monitoring system 300 controls the camera device 220 to start, and controls the cradle head 230 to rotate to adjust the shooting angle of view of the camera device 220 to a preset value;
s20, the inspection robot 200 moves on the track assembly 100 at a predetermined speed, and the camera 220 shoots the inner surface form of the tunnel according to a predetermined frequency to obtain a plurality of tunnel scene images;
specifically, after the image pickup device 220 captures and acquires the tunnel scene image, the image may be stored in a corresponding storage module of the tunnel inspection device, and uploaded to the server of the host 310 of the background monitoring system 300 in a wired or wireless transmission manner.
And S30, the background monitoring system 300 performs overlapping and splicing processing on the multiple tunnel scene images, and calculates and removes redundant image data to form a tunnel panoramic plane image.
Therefore, the tunnel scene images transmitted back from the site in the tunnel are overlapped, spliced and calculated through related software in background monitoring, redundant image data are removed, and a 'picture' is formed.
Further, in this embodiment, after one-time polling of the polling robot 200 is finished, all the tunnel scene images shot within the polling time are sent to the background monitoring system 300, and are subjected to overlapping and stitching processing to form one tunnel panoramic planar image, and redundant image data generated during the overlapping and stitching processing are deleted. It can be understood that in the current common tunnel monitoring, the shot dynamic video is generally sent to the processor and stored, but the tunnel inspection method can change the dynamic video into a fixed static picture, namely a tunnel panoramic plane image, the data volume required to be stored can be greatly reduced, and the data only needs to be stored once every day; after each inspection is finished, the multiple pictures are spliced into one picture, and redundant data is not stored, so that the storage space is saved greatly. After the image storage database is established, monitoring personnel can conveniently call and read pictures at various time points at any time, and disease judgment and source tracing in the tunnel are facilitated.
Further, in this embodiment, the tunnel inspection method further includes a field early warning processing step, and the field early warning processing step includes:
s41, in the running shooting process of the inspection robot 200, the thermal imaging device 213 arranged on the inspection robot 200 sends a thermal imaging image to the background monitoring system 300, and the environment testing device 211 sends gas detection data, temperature data and humidity data to the background monitoring system 300;
s42, the background monitoring system 300 compares and checks the thermal imaging image, the gas detection data, the temperature data and the humidity data, and if the comparison result exceeds a warning value, an early warning instruction is sent to the inspection robot 200;
and S43, after the inspection robot 200 acquires the early warning instruction, controlling the alarm device 212 to give an alarm in the tunnel 400.
Thus, when an abnormality occurs in the tunnel, for example, when a vehicle with an abnormal temperature exists in the tunnel, the abnormal temperature can be displayed by the thermal imaging image captured by the thermal imaging device 213, and then the thermal imaging image is manually judged by a monitoring person or automatically judged by the background monitoring system 300, so that an early warning instruction can be sent out at the first time, and after the early warning instruction is received by the alarm device 212, an alarm can be given in real time to remind the vehicle or the person in the tunnel of paying attention to prevent danger. It should be particularly noted that, in the actual early warning process, the occurrence of the accident in the tunnel may also be found by means of images or videos transmitted from the camera device 220 to the back-end monitoring system 300 by the monitoring personnel, or by means of an automatic accident recognition function provided in the back-end monitoring system 300. Of course, in other embodiments, the inspection robot 200 is also preset with an accident recognition function, so that the inspection robot 200 can quickly recognize an accident occurring within the shooting range.
Further, in this embodiment, the on-site early warning processing step further includes: the background monitoring system 300 simultaneously sends out an early warning instruction, a moving instruction and preset moving route data to the inspection robot 200 so as to control the inspection robot 200 to move to an accident scene according to the preset moving route. It can be understood that after a general accident occurs, the tunnel is necessary to be blocked, emergency personnel cannot reach the scene in time, and the inspection robot 200 is controlled by the background monitoring system 300 to move to the accident scene, so that the scene condition can be monitored in real time, the scene condition can be known at the first time, emergency is commanded, and the scene environment is monitored, so that the purpose of reducing the accident loss in the shortest time is achieved. For example, the monitoring personnel can call the scene through a real-time interphone or a loudspeaker integrated on the inspection robot 200 to guide the field personnel to leave the scene, that is, when an abnormal condition is found, the monitoring personnel can guide the field personnel to escape from the danger as quickly and orderly as possible, so that better disaster prevention and reduction effects are achieved.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The utility model provides a tunnel inspection equipment which characterized in that includes:
the track assembly is arranged on the wall surface of the tunnel;
the inspection robot is movably connected to the track assembly along the extending direction of the track assembly; the inspection robot comprises a functional case and a camera device, wherein the functional case comprises an environment testing device, an alarming device, a thermal imaging device, a communication device and a driving device, the camera device is connected to the bottom surface of the functional case and can rotate around the camera device in the vertical axial direction relative to the functional case, the lens end of the camera device swings up and down around a fulcrum connected with the functional case, the driving device is used for driving the inspection robot to run along the track assembly, and the environment testing device, the alarming device, the thermal imaging device and the driving device are all electrically connected with the communication device; and the number of the first and second groups,
the background monitoring system is in communication connection with the communication device, receives the data sent by the inspection robot, processes the data and then makes early warning judgment, and controls the inspection robot to perform on-site emergency treatment according to the result of the early warning judgment.
2. The tunnel inspection equipment according to claim 1, wherein the inspection robot further comprises a cradle head, the camera device is connected with the functional cabinet through the cradle head, the driving device is connected with the cradle head, and the cradle head is driven by the driving device to drive the camera device to rotate 360 degrees in the horizontal direction and rotate 180 degrees in the vertical plane;
the alarm device comprises a real-time interphone and an audible and visual alarm, the thermal imaging device and the environment testing device are electrically connected with the audible and visual alarm, the real-time interphone is in communication connection with the background monitoring system through the communication device, and the audible and visual alarm is in communication connection with the background monitoring system through the communication device;
the environment testing device comprises a gas detector and a temperature and humidity sensor, the gas detector is connected with the temperature and humidity sensor and the alarm device, and the gas detector is connected with the temperature and humidity sensor and the communication device is in communication connection with the background monitoring system.
3. The tunnel inspection device according to claim 1, further comprising an obstacle stopping module, wherein the obstacle stopping module includes an infrared detector, and the infrared detector is electrically connected with the driving device and the alarm device and is in communication connection with the background monitoring system through the communication device.
4. The tunnel inspection device according to claim 1, wherein the rail assembly includes a traveling rail and a plurality of suspension brackets, one end of each suspension bracket is fixedly connected with a wall surface of the tunnel, the other end of each suspension bracket is fixedly connected with the traveling rail, the traveling rail includes a plurality of straight sections and a plurality of bent sections, the plurality of straight sections are arranged at intervals, and two adjacent straight sections are connected through one bent section;
the inspection robot further comprises a traveling mechanism, one end of the traveling mechanism is connected with the traveling rail in a sliding mode, and the other end of the traveling mechanism is connected with the functional case.
5. The tunnel inspection device according to claim 4, wherein a plurality of charging ports are distributed on the traveling rail at intervals, a rechargeable battery is arranged in the functional case, a charging port is arranged at one end of the traveling mechanism connected with the traveling rail, and when the inspection robot runs to the charging port, the charging port and the charging port are in contact charging.
6. A tunnel inspection method, which is performed using the tunnel inspection apparatus according to any one of claims 1 to 5, the tunnel inspection method comprising:
s1, when the inspection robot moves on the track assembly along a preset operation route, a camera device arranged on the inspection robot shoots real-time scenes in the tunnel, a plurality of tunnel scene images shot at different time points are obtained, the tunnel scene images are uploaded to a background monitoring system, and the background monitoring system processes the tunnel scene images to form a tunnel panoramic plane image;
s2, the background monitoring system establishes a tunnel three-dimensional image with corresponding time point information according to the tunnel panoramic plane image;
and S3, arranging the tunnel three-dimensional images corresponding to different time points in a time sequence to form a four-dimensional database comprising scene information and time information in the tunnel.
7. The tunnel inspection method according to claim 6, wherein the step S1 includes the steps of:
s10, the background monitoring system controls the camera device to be started and controls the holder to rotate so as to adjust the shooting visual angle of the camera device to a preset value;
s20, the inspection robot moves on the track assembly at a preset speed, and the camera device shoots the inner surface form of the tunnel according to a preset frequency to acquire a plurality of tunnel scene images;
and S30, the background monitoring system performs overlapping and splicing processing on the tunnel scene images, and calculates and removes redundant image data to form the tunnel panoramic plane image.
8. The tunnel inspection method according to claim 6, wherein after one inspection of the inspection robot is finished, all the tunnel scene images shot in the inspection time are sent to the background monitoring system and subjected to overlapping and splicing processing to form one tunnel panoramic plane image, and redundant image data generated during the overlapping and splicing processing are deleted.
9. The tunnel inspection method according to claim 6, further comprising a field early warning processing step, the field early warning processing step including:
s41, in the running shooting process of the inspection robot, a thermal imaging device arranged on the inspection robot sends a thermal imaging image to the background monitoring system, and the environment testing device sends gas detection data, temperature data and humidity data to the background monitoring system;
s42, the background monitoring system compares and checks the thermal imaging image, the gas detection data, the temperature data and the humidity data, and if the comparison result exceeds a warning value, an early warning instruction is sent to the inspection robot;
and S43, the inspection robot acquires the early warning instruction and then controls an alarm device to give an alarm in the tunnel.
10. The tunnel inspection method according to claim 9, wherein the field pre-warning processing step further includes:
and the background monitoring system simultaneously sends the early warning instruction, the moving instruction and the preset moving route data to the inspection robot so as to control the inspection robot to move to an accident scene according to the preset moving route.
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| CN202010427150.6A CN113763583A (en) | 2020-05-19 | 2020-05-19 | Tunnel inspection equipment and tunnel inspection method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114463968A (en) * | 2021-12-14 | 2022-05-10 | 江苏齐物信息科技有限公司 | Inspection robot communication system and communication method based on Internet of things platform |
| CN114841944A (en) * | 2022-04-25 | 2022-08-02 | 中钢集团马鞍山矿山研究总院股份有限公司 | Tailing dam surface deformation inspection method based on rail-mounted robot |
| CN117437785A (en) * | 2023-12-20 | 2024-01-23 | 山东高速信息集团有限公司 | Expressway tunnel traffic jam early warning system |
-
2020
- 2020-05-19 CN CN202010427150.6A patent/CN113763583A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114463968A (en) * | 2021-12-14 | 2022-05-10 | 江苏齐物信息科技有限公司 | Inspection robot communication system and communication method based on Internet of things platform |
| CN114841944A (en) * | 2022-04-25 | 2022-08-02 | 中钢集团马鞍山矿山研究总院股份有限公司 | Tailing dam surface deformation inspection method based on rail-mounted robot |
| CN117437785A (en) * | 2023-12-20 | 2024-01-23 | 山东高速信息集团有限公司 | Expressway tunnel traffic jam early warning system |
| CN117437785B (en) * | 2023-12-20 | 2024-03-08 | 山东高速信息集团有限公司 | Expressway tunnel traffic jam early warning system |
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