CN114187414A - Three-dimensional roaming inspection method and system for roadway - Google Patents
Three-dimensional roaming inspection method and system for roadway Download PDFInfo
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Abstract
The invention provides a three-dimensional roaming inspection method and an inspection system for a tunnel, wherein the inspection method comprises the steps of establishing a three-dimensional live-action model consistent with the distribution of actual underground tunnels and equipment; actively transmitting real-time parameters of equipment to the three-dimensional real scene model through specific configuration; model exhibition and roaming inspection are carried out on through the show platform, the roaming inspection includes that the global roaming is patrolled and examined, the tunnel is roamed and is patrolled and examined, and under the global roaming inspection mode, the accessible the operation incident of show platform switches its tunnel internal roaming inspection to arbitrary equipment or tunnel. The inspection method meets the requirement of roaming inspection under an actual mine. The inspection system is used for realizing the inspection method, when actual underground conditions are monitored, underground automatic inspection can be completed only through the inspection system, and the inspection system is simple in operation process, safe and reliable.
Description
Technical Field
The invention relates to the technical field of automatic inspection of mines, in particular to a three-dimensional roaming inspection method and an inspection system for a roadway.
Background
In view of the high risk of the coal industry, in order to ensure the safe production under the mine, the environment condition of the underground tunnel and the operation condition of each device need to be monitored.
The existing monitoring modes are mainly divided into two types: the utility model provides a for artifical patrolling and examining in pit, but the complexity of limited in tunnel space in the pit and equipment kind, quantity, the artifical efficiency of patrolling and examining is lower, and receives the environmental impact in the pit, and the artifical safety risk that also exists of patrolling and examining. The other type is automatic underground inspection, the efficiency of the inspection mode is higher, and the safety risk during manual inspection is avoided.
However, the existing underground automatic inspection equipment realizes the acquisition of roadway environment and equipment state through data acquisition equipment and displays the roadway environment and the equipment state through a two-dimensional report form and the like. Therefore, the inspection mode is poor in intuition and not beneficial to viewing and analyzing related parameters.
Disclosure of Invention
The invention aims to provide a three-dimensional roaming inspection method for a roadway, which creates a three-dimensional live-action model consistent with the actual underground structure and equipment distribution, actively transmits real-time parameters of equipment to the three-dimensional live-action model through specific configuration, and sets a plurality of inspection modes which can be mutually switched so as to meet the roaming inspection requirements under the actual mine.
The invention also provides a tunnel three-dimensional roaming inspection system, which is used for realizing the inspection method, can finish underground automatic inspection only through the inspection system when monitoring the actual underground condition, and has simple operation process, safety and reliability.
In order to achieve the above purpose, the invention provides the following technical scheme:
a three-dimensional roaming inspection method for a tunnel comprises the following steps:
creating a three-dimensional live-action model, wherein the three-dimensional live-action model comprises a roadway model and an equipment model corresponding to the underground actual position; segmenting and splitting the roadway model according to actual operation requirements;
associating the three-dimensional live-action model with all roadway information and basic equipment information;
synchronously transmitting the real-time parameter information of each device to the three-dimensional real scene model through a WebSocket protocol;
the three-dimensional live-action model is visually displayed on the display platform, and the operation events of the display platform are directly related to the roadway models and the equipment models;
performing roaming inspection on the display platform, wherein the roaming inspection comprises global roaming inspection and in-tunnel roaming inspection; the global roaming inspection is used for checking the overall underground condition, and the in-tunnel roaming inspection is used for inspecting any tunnel and equipment; and the switching between the global roaming inspection and the in-tunnel roaming inspection at the tunnel or equipment is carried out through the operation event of any tunnel model or equipment model on the display platform.
In the inspection method, because the roadway model and the equipment model in the three-dimensional live-action model correspond to the underground actual position, are associated with the actual roadway information and the basic equipment information, and can receive the real-time parameters of the equipment, all operations during underground automatic inspection can be completed by means of the three-dimensional live-action model on the display platform.
The roadway model is segmented and split according to actual operation requirements, so that the visual display loading of the three-dimensional live-action model is faster; and when the underground roadway structure or the equipment placement position is changed in the later stage, only the corresponding section in the three-dimensional live-action model needs to be updated, and the associated configuration is carried out again. Compared with the common integrated model in which the three-dimensional live-action model needs to be established again, the method is more convenient and feasible.
Because a WebSocket protocol is adopted among all the tunnels, the equipment and the three-dimensional live-action model, the equipment can synchronously transmit the parameter information to the three-dimensional live-action model in real time without sending a request after connection is established, and therefore, temporary request loading is not needed when data is checked in inspection, and the method is quicker and more convenient.
And because the inspection method comprises global roaming inspection and in-tunnel roaming inspection, the inspection method not only can check the whole underground condition, but also can inspect any tunnel. And because the operation event of the display platform is directly associated with each tunnel model and equipment model, the global roaming inspection can be switched to the in-tunnel roaming inspection performed aiming at the target tunnel or the target equipment through the operation event. Compared with the common inspection mode which can only carry out roaming inspection according to a fixed path from the starting position of the model, the inspection method is faster and more flexible, and meets the requirement of actual inspection.
Further, an equipment list is created on the display platform, the equipment list is directly associated with each equipment model, and the global roaming inspection is switched to the in-tunnel roaming inspection aiming at the equipment through operating any equipment event in the equipment list.
Further, when carrying out the interior roaming of tunnel and patrolling and examining, carry out collision detection simultaneously, include:
sending detection signals to all directions by taking a patrol point as a center, and setting standard distances of the detection signals along all directions in a horizontal roadway model; defining a polling point as the position of a polling camera;
calculating the actual distance between the inspection point and the bottom surface of the roadway model, and if the actual distance is equal to the standard distance, continuing inspection; otherwise, correcting the position of the inspection point;
calculating the actual distance between the inspection point and the roadway wall of the roadway model, and if the actual distance is smaller than the standard distance, automatically stopping inspection along the direction; otherwise, the inspection is continued.
For the bottom surface of the roadway model, when the actual distance is not equal to the standard distance, the inspection is performed on the uphill or downhill, and the inspection point is corrected to optimize the inspection action in the non-horizontal roadway, so that the inspection action is closer to the manual inspection action, and the inspection effectiveness is improved.
And for the roadway wall of the roadway model, when the actual distance is smaller than the standard distance, the inspection in the direction is automatically stopped, so that the roadway wall can be used for preventing the target roadway model from penetrating out in the inspection, and the inspection is ensured to be carried out orderly and smoothly.
Further, the operation events comprise keyboard events and mouse events; the keyboard event corresponds to a direction key of a keyboard or a user-defined direction key of a user so as to control movement and a movement direction; the mouse event is used for controlling rotation and rotation direction and switching between global roaming inspection and in-tunnel roaming inspection.
And further, calculating a trigger instruction of the actual distance between the inspection point and the roadway wall of the roadway model as a corresponding keyboard event.
Further, the creating of the three-dimensional real scene model includes:
establishing a unified coordinate system;
creating a roadway model through a CAD drawing, and segmenting and splitting the roadway model according to actual operation requirements;
and creating equipment models, and adding each equipment model to the corresponding position of the roadway model according to the equipment distribution in the CAD drawing.
Further, the step of visually displaying the three-dimensional real-scene model on the display platform comprises:
loading the three-dimensional live-action model to a browser Web interface;
and rendering the three-dimensional real scene model through a ThreeJS three-dimensional engine, and adding related operation events.
The three-dimensional live-action model directly takes a browser Web interface as an access carrier, so that the inspection method is stronger in universality and more convenient and faster in inspection access.
A three-dimensional roaming inspection system for a tunnel is used for realizing the three-dimensional roaming inspection method for the tunnel, and comprises the following steps:
the model management module comprises a modeling module and a model configuration module;
the three-dimensional display module is used for carrying out a model loading module, a model rendering module and a roaming inspection module;
and the data management module comprises an equipment access module and an equipment query module.
Further, the three-dimensional display module still includes collision detection module, collision detection module uses the point of patrolling and examining as the center, collision detection module is used for carrying out collision detection when the tunnel is roamed and is patrolled and examined.
Furthermore, in the collision detection module, the standard distance between the inspection point and the bottom surface of the roadway is set to be 160cm, and the standard distance between the inspection point and the left and right side walls of the roadway is not less than 30 cm.
Has the advantages that:
according to the technical scheme, the invention provides a complete three-dimensional roaming inspection method for the roadway, wherein the three-dimensional live-action model in the inspection method corresponds to the underground actual position, is associated with the actual roadway information and the equipment information, and can receive the real-time parameter information of the equipment, so that the whole operation of underground automatic inspection can be completed by means of the three-dimensional live-action model on the display platform.
In the real-time parameter information transmission, a WebSocket protocol is adopted between each device and the three-dimensional live-action model, the device can synchronously transmit the parameter information to the three-dimensional live-action model in real time without sending a request after connection is established, and therefore, temporary request loading is not needed when data is checked in inspection, and the method is fast and convenient.
In the specific roaming inspection, two inspection modes of global roaming inspection and in-tunnel roaming inspection are set. Therefore, the underground overall condition can be checked, and any roadway can be patrolled. And because the operation event of the display platform is directly associated with each tunnel model and equipment model, the global roaming inspection can be switched to the in-tunnel roaming inspection performed aiming at the target tunnel or the target equipment through the operation event. Compared with the conventional inspection mode which can only carry out roaming inspection according to a fixed path from a starting position, the inspection method is faster and more flexible and better meets the requirement of actual inspection.
The invention also provides a tunnel three-dimensional roaming inspection system, which is used for realizing the inspection method, can finish underground automatic inspection only through the inspection system when monitoring the actual underground condition, and has simple operation process, safety and reliability.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a three-dimensional roaming inspection method for a roadway according to the invention;
FIG. 2 is a flow chart of the three-dimensional live-action model creation in FIG. 1;
FIG. 3 is a flow chart of collision detection during roaming inspection in a roadway;
fig. 4 is a structural diagram of the three-dimensional roaming inspection system for the roadway according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operational events, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operational events, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.
The invention provides a three-dimensional roaming inspection method for a roadway, which creates a three-dimensional live-action model consistent with the actual underground structure and equipment distribution, actively transmits real-time parameters of equipment to the three-dimensional live-action model through specific configuration, and sets a plurality of inspection modes which can be mutually switched, thereby meeting the roaming inspection requirements under the actual mine.
The invention also provides a tunnel three-dimensional roaming inspection system, which is used for realizing the inspection method, can finish underground automatic inspection only through the inspection system when monitoring the actual underground condition, and has simple operation process, safety and reliability.
The following describes the three-dimensional roaming inspection method for a roadway according to the present invention in detail with reference to the embodiments shown in the drawings.
As shown in fig. 1, the inspection method includes the following steps:
s102, creating a three-dimensional real scene model, wherein the three-dimensional real scene model comprises a roadway model and an equipment model corresponding to the underground actual position; segmenting and splitting the roadway model according to actual operation requirements;
s104, associating the three-dimensional live-action model with all roadway information and basic equipment information;
in this embodiment, the three-dimensional live-action model is specifically associated with information of each roadway and basic information of the equipment through a configuration file, so as to prepare for subsequent model loading. The configuration files comprise a roadway model configuration file and an equipment model configuration file. The roadway model configuration file comprises: the method comprises the following steps of (1) tunnel name, tunnel number and tunnel model file name; the device model configuration file includes: device name, device number, device type, device model file name.
S106, synchronously transmitting the real-time parameter information of each device to the three-dimensional live-action model through a WebSocket protocol;
when the step is carried out, the state data of all the devices need to be synchronized once for the first connection, and only the state change data needs to be received subsequently. When any parameter information of each device is uploaded, the following contents are included: equipment number, equipment name, parameter item value and parameter unit.
S108, visually displaying the three-dimensional live-action model on a display platform, and directly associating the operation event of the display platform with each roadway model and each equipment model;
in this embodiment, the operation event includes a keyboard event and a mouse event; the keyboard event corresponds to a direction key of a keyboard or a user-defined direction key of a user so as to control movement and a movement direction; the mouse event is used for controlling rotation and rotation direction and switching between subsequent roaming inspection modes.
S110, performing roaming inspection on the display platform, wherein the roaming inspection comprises global roaming inspection and in-tunnel roaming inspection; the global roaming inspection is used for checking the overall underground condition, and the in-tunnel roaming inspection is used for inspecting any tunnel and equipment; and the switching between the global roaming inspection and the in-tunnel roaming inspection at the tunnel or equipment is carried out through the operation event of any tunnel model or equipment model on the display platform.
As an optional implementation, an equipment list may also be created on the display platform, the equipment list is directly associated with each equipment model, and the global roaming inspection tour may also be switched to the in-tunnel roaming inspection tour for the equipment through an operation event for any equipment in the equipment list.
In the inspection method, because the roadway model and the equipment model in the three-dimensional live-action model correspond to the underground actual position, are associated with the actual roadway information and the equipment information and can receive the real-time parameter information of the equipment, all the operations of underground automatic inspection can be completed by means of the three-dimensional live-action model on the display platform.
Because a WebSocket protocol is adopted between each tunnel, equipment and the three-dimensional live-action model, the tunnel and the equipment can synchronously transmit the parameter information to the three-dimensional live-action model in real time without sending a request after connection is established, and therefore, temporary request loading is not needed when data is checked in the inspection process, and the method is quicker and more convenient.
And because the inspection method comprises global roaming inspection and in-tunnel roaming inspection, the inspection method not only can check the whole underground condition, but also can inspect any tunnel. And because the operation event of the display platform is directly associated with each tunnel model and equipment model, the global roaming inspection can be switched to the in-tunnel roaming inspection performed aiming at the target tunnel or the target equipment through the operation event. Compared with the conventional inspection mode which can only carry out roaming inspection according to a fixed path from a starting position, the inspection method is faster and more flexible and better meets the requirement of actual inspection.
As shown in fig. 2, the step of creating a three-dimensional real scene model in step S102 includes:
s202, establishing a unified coordinate system;
in this example, a right-handed coordinate system is used, and the X-axis forward direction is set to the right direction along the screen, the Y-axis forward direction is set to the upward direction along the screen, and the Z-axis forward direction is set to the direction pointing to the outside of the screen. Setting a main shaft road junction as a coordinate system origin (0,0,0), and setting the coordinate position of a subsequent model relative to the coordinate system origin; and the present example was modeled by a 1:1 scale, with a unit length of 1m on each axis.
S204, creating a roadway model through a CAD drawing, and segmenting and splitting the roadway model according to actual operation requirements;
in the specific establishing process, firstly, extracting roadway lead points and roadway width data according to CAD drawings provided by coal mine enterprises; then, a roadway model is created through 3D Max software, and the roadway model is segmented and split according to the roadway name (or number), key area, working face, rail roadway, belt roadway, ventilation roadway, water pump room, power distribution room and other area distribution marked on the CAD drawing; and finally, texture mapping is respectively carried out according to the ground at the top, the two sides and the bottom of the roadway, so that the similar effect inside the roadway is realized.
S206, creating equipment models, and adding each equipment model to a corresponding position of the roadway model according to equipment distribution in the CAD drawing;
in a specific creating process, device models are respectively created according to device types and texture maps are performed. In this embodiment, in order to optimize the loading speed and rendering performance of the later-stage model, a rectangular parallelepiped model is used to create an equipment model, so as to reduce the number of points and triangular surfaces of the model.
In the establishment of the three-dimensional live-action model, the tunnel model is segmented and split according to the actual operation requirements, so that the visual display and loading of the three-dimensional live-action model are faster; when the underground roadway structure or the equipment placement position is changed at the later stage, only the corresponding section in the three-dimensional live-action model needs to be updated, and the associated configuration is carried out again; compared with the existing integrated model which needs to be established again with the three-dimensional live-action model, the method is more convenient and feasible.
In step S108, the step of visually displaying the three-dimensional real-scene model on the display platform includes:
s402, loading the three-dimensional live-action model to a browser Web interface;
in the specific loading process of the embodiment, a system interface is accessed in a browser, and a roadway model configuration file and an equipment model configuration file are loaded and analyzed firstly; and then loading the created three-dimensional live-action model into the three-dimensional scene, and converting the three-dimensional live-action model into object model data in the three-dimensional scene. For the equipment model, the model is further required to be adjusted to the correct offset position and rotation angle according to the coordinates and rotation angle in the equipment model configuration file.
Because the three-dimensional live-action model directly takes a browser Web interface as an access carrier, the inspection method has stronger universality and inspection access is more convenient.
S404, rendering the three-dimensional real scene model through a ThreeJS three-dimensional engine, and adding related operation events.
In step S110, the global roaming inspection implementation step includes:
s502, in a ThreeJS three-dimensional engine, controlling the movement of an inspection point through a track controller OrbitControls, and respectively setting the coordinate positions of the inspection point and a control point;
defining a polling point as the position of a polling camera, and establishing the polling point according to the layout of a roadway model and an equipment model; and defining the control point as the next inspection point position when the control point moves linearly or rotates. And in order to enable the inspection camera to always observe the target roadway or the target equipment, the direction of the inspection camera is specified to be always directed to the control point.
S504, rotating, translating, zooming and other operations are carried out on the three-dimensional live-action model through the mouse event, so that the overall condition of the underground well can be checked.
In this step, the rotation operation specifically includes horizontal rotation and vertical rotation. When the vertical rotation is carried out, the rotation angle range is controlled to be 0-90 degrees, otherwise, the model is downward, and the real inspection scene is not met.
In step S110, collision detection is performed simultaneously when performing in-tunnel roaming inspection. As shown in fig. 3, the process includes the steps of:
s302, sending detection signals to all directions by taking a patrol point as a center, and setting standard distances of the detection signals along all directions in a horizontal roadway model;
the standard distance is used for forming a contrast reference in subsequent calculation optimization. In a specific arrangement, when a normal person walks in the roadway, the height of eyes from the ground is about 1.6 meters, and a reasonable observation distance needs to be kept between the eyes and the wall of the roadway. Therefore, the standard distance between a detection signal and the wall of the roadway is 30cm along the horizontal direction in the horizontal roadway model; and the standard distance from the bottom surface of the roadway along the vertical direction is 160 cm.
S304, calculating the actual distance between the inspection point and the bottom surface of the roadway model, and if the actual distance is equal to the standard distance, continuing inspection; otherwise, correcting the position of the inspection point;
s306, calculating the actual distance between the inspection point and the roadway wall of the roadway model, and if the actual distance is smaller than the standard distance, automatically stopping inspection along the direction; otherwise, the inspection is continued.
For step S306, in order to reduce the number of unnecessary calculations, the triggering instruction is a corresponding keyboard event. The actual distance between the inspection point corresponding to the direction and the bottom surface of the roadway model or the roadway wall can be calculated only when the corresponding direction key is pressed.
In the step S110, when the global roaming inspection is switched to the intra-tunnel roaming inspection through the operation event of any tunnel model or equipment model, a specific implementation process is as follows: double-clicking any roadway model or equipment model on a screen, and then transmitting a detection signal from the position of the inspection point to the coordinate position of a double-click point through Raycaster by a ThreeJS three-dimensional engine, and calculating and acquiring all model objects intersected with the signal and corresponding intersection points and triangular surface data; in order to reduce the calculation amount, whether the intersection points exist between the detection signal and all the roadway models or not is calculated. At this time, the calculation result of Raycaster returns data corresponding to all models, and the models are arranged from near to far according to the distance, and the obtained closest model is the object to be subjected to fixed point inspection.
When the global roaming inspection is switched to the in-tunnel roaming inspection through the equipment list, one specific implementation process is as follows: firstly, searching an equipment model object in a three-dimensional scene according to an equipment number, acquiring a coordinate position and a direction unit vector corresponding to an equipment model, and calculating the coordinate position of an inspection point of an inspection camera; at the moment, a detection signal in the vertical direction is transmitted through the position so as to correct a detection result through collision detection; and then, enabling the inspection camera to face the equipment according to the coordinate position of the equipment, and acquiring the direction unit vector of the inspection camera to further obtain the coordinate position of the control point. At the moment, the inspection camera is already arranged at the correct position inside the tunnel, and subsequent in-tunnel roaming inspection can be carried out.
The three-dimensional roaming system of the roadway disclosed by the invention is further specifically described below with reference to the embodiments shown in the drawings.
As shown in fig. 4, the inspection system includes:
the model management module comprises a modeling module and a model configuration module;
in this embodiment, the modeling module includes an equipment modeling module and a roadway modeling module, and the model configuration module includes an equipment model configuration module and a roadway model configuration module.
And in the equipment modeling module, the related specific equipment comprises a communication base station, a ground pressure sensor, a gas sensor, a control switch, a broadcast, an LED liquid crystal screen, an intelligent power supply and the like.
The three-dimensional display module is used for carrying out a model loading module, a model rendering module and a roaming inspection module;
and the data management module comprises an equipment access module and an equipment query module.
In order to realize collision detection during roaming inspection in the roadway, the three-dimensional display module further comprises a collision detection module. The collision detection module takes the inspection point as a center, sends detection signals to all directions of the roadway model, and calculates the actual distance between the inspection point and all directions of the roadway model.
And in the collision detection module, the standard distance between the inspection point and the bottom surface of the roadway is set to be 160cm, and the standard distance between the inspection point and the left and right side walls of the roadway is not less than 30 cm.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. A three-dimensional roaming inspection method for a tunnel is characterized by comprising the following steps:
creating a three-dimensional live-action model, wherein the three-dimensional live-action model comprises a roadway model and an equipment model corresponding to the underground actual position; segmenting and splitting the roadway model according to actual operation requirements;
associating the three-dimensional live-action model with all roadway information and basic equipment information;
synchronously transmitting the real-time parameter information of each device to the three-dimensional real scene model through a WebSocket protocol;
the three-dimensional live-action model is visually displayed on the display platform, and the operation events of the display platform are directly related to the roadway models and the equipment models;
performing roaming inspection on the display platform, wherein the roaming inspection comprises global roaming inspection and in-tunnel roaming inspection; the global roaming inspection is used for checking the overall underground condition, and the in-tunnel roaming inspection is used for inspecting any tunnel and equipment; and the switching between the global roaming inspection and the in-tunnel roaming inspection at the tunnel or equipment is carried out through the operation event of any tunnel model or equipment model on the display platform.
2. The roadway three-dimensional roaming inspection method according to claim 1, comprising the step of creating a device list on the display platform, wherein the device list is directly associated with each device model, and the global roaming inspection is switched to the in-roadway roaming inspection at the device through an operation event of any device in the device list.
3. The three-dimensional roaming inspection method for the roadway according to claim 1, wherein when the in-roadway roaming inspection is carried out, collision detection is carried out simultaneously, and the method comprises the following steps:
sending detection signals to all directions by taking a patrol point as a center, and setting standard distances of the detection signals along all directions in a horizontal roadway model; defining a polling point as the position of a polling camera;
calculating the actual distance between the inspection point and the bottom surface of the roadway model, and if the actual distance is equal to the standard distance, continuing inspection; otherwise, correcting the position of the inspection point;
calculating the actual distance between the inspection point and the roadway wall of the roadway model, and automatically stopping inspection along the direction if the actual distance is smaller than the standard distance; otherwise, the inspection is continued.
4. The three-dimensional roaming inspection method for the roadway according to claim 3, wherein the operation events comprise keyboard events and mouse events; the keyboard event corresponds to a direction key of a keyboard or a user-defined direction key of a user so as to control movement and a movement direction; the mouse event is used for controlling rotation and rotation direction and switching between global roaming inspection and in-tunnel roaming inspection.
5. The three-dimensional roaming inspection method for the roadway according to claim 4, wherein the triggering instruction for calculating the actual distance between the inspection point and the roadway wall of the roadway model is a corresponding keyboard event.
6. The three-dimensional roaming inspection method for the roadway according to claim 1, wherein the creating of the three-dimensional live-action model comprises:
establishing a unified coordinate system;
creating a roadway model through a CAD drawing, and segmenting and splitting the roadway model according to actual operation requirements;
and creating equipment models, and adding each equipment model to the corresponding position of the roadway model according to the equipment distribution in the CAD drawing.
7. The three-dimensional roaming inspection method for the roadway according to claim 1, wherein the step of visually displaying the three-dimensional live-action model on the display platform comprises the following steps:
loading the three-dimensional live-action model to a browser Web interface;
and rendering the three-dimensional real scene model through a ThreeJS three-dimensional engine, and adding related operation events.
8. A three-dimensional roaming inspection system for a tunnel is used for realizing the three-dimensional roaming inspection method for the tunnel according to any one of claims 1 to 7, and comprises the following steps:
the model management module comprises a modeling module and a model configuration module;
the three-dimensional display module comprises a model loading module, a model rendering module and a roaming inspection module;
and the data management module comprises an equipment access module and an equipment query module.
9. The roadway three-dimensional roaming inspection system according to claim 8, wherein the three-dimensional display module further comprises a collision detection module, and the collision detection module is used for collision detection during roadway roaming inspection.
10. The roadway three-dimensional roaming inspection system according to claim 9, wherein in the collision detection module, a standard distance between an inspection point and the bottom surface of the roadway is set to be 160cm, and a standard distance between the inspection point and the left and right side walls of the roadway is not less than 30 cm.
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