CN114565845A - Intelligent inspection system for underground tunnel - Google Patents
Intelligent inspection system for underground tunnel Download PDFInfo
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- CN114565845A CN114565845A CN202210165384.7A CN202210165384A CN114565845A CN 114565845 A CN114565845 A CN 114565845A CN 202210165384 A CN202210165384 A CN 202210165384A CN 114565845 A CN114565845 A CN 114565845A
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/24—Querying
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- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
Abstract
The invention provides an intelligent inspection system for an underground tunnel. The system comprises: the inspection robot is arranged in a tunnel, the inspection robot is provided with an image acquisition device and a disease detection and treatment device in signal connection with the image acquisition device, the disease detection and treatment device comprises an image analysis module, a disease analysis module, a treatment scheme pushing module and an acceptance module, tunnel image data are acquired through the image acquisition device carried by the inspection robot, the tunnel image data are processed by using a trained deep learning model to obtain tunnel disease information, and a maintenance worker can maintain tunnel diseases according to the treatment scheme by matching the corresponding treatment scheme according to the tunnel disease information, so that the problems of large manual demand, low inspection efficiency, low automation degree, low equipment intelligence degree and the like in the conventional manual inspection are solved, the working intensity of the maintenance worker is reduced, and the inspection efficiency is improved, the operation and maintenance cost is reduced.
Description
Technical Field
The invention relates to the technical field of underground engineering operation and maintenance, in particular to an intelligent inspection system for an underground tunnel.
Background
Urban underground rail transit is an important component of a modern urban traffic system and is also the backbone force of the urban public traffic system, and plays an important role in improving the operation efficiency of urban public traffic, relieving urban traffic congestion, optimizing urban spatial layout and improving urban environment. In recent years, urban underground rail transit is built on a large scale, and underground rail transit facilities which are put into operation are increasing.
Due to the particularity of 'construction and operation and maintenance', a plurality of underground rail transit projects continuously enter an operation and maintenance period. The whole industry begins to show huge rigid requirements for guaranteeing operation safety, improving service quality and reducing operation cost, and underground rail transit operation and maintenance service increasingly becomes a new focus of attention of the whole industry.
At present, the operation and maintenance work of urban underground rail transit is also based on the field operation of a large number of personnel, but the condition of manual omission occurs occasionally due to factors such as night operation, hard working environment, difficult inspection task, uneven inspection personnel technology and the like, and the urban underground rail transit operation and maintenance faces multiple challenges such as large manual demand, low inspection efficiency, low operation and maintenance automation degree, low operation and maintenance equipment intelligence degree and the like.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent inspection system for an underground tunnel, which automatically inspects the tunnel by adopting intelligent equipment and an intelligent method and provides a disease treatment scheme, thereby saving a large amount of human resources and improving the inspection efficiency.
The invention provides an intelligent inspection system for an underground tunnel, which comprises an inspection robot arranged in the tunnel, an image acquisition device arranged on the inspection robot, and a disease detection processing device in signal connection with the image acquisition device, wherein the disease detection processing device comprises an image analysis module, a disease analysis module, a treatment scheme pushing module and an acceptance module;
the inspection robot is used for performing inspection in the tunnel according to a preset route;
the image acquisition device is used for acquiring images of the tunnel in the inspection process of the robot;
the image analysis module is used for receiving the image data acquired by the image acquisition device and detecting and processing tunnel diseases on the image data by using a pre-trained deep learning model to obtain tunnel disease information; the deep learning model is obtained by training collected tunnel disease image data and corresponding tunnel disease marking data;
the disease diagnosis module is used for carrying out data processing and fault diagnosis according to the tunnel disease information and matching a corresponding treatment scheme in a scheme library according to a disease diagnosis result; wherein, the scheme library stores the corresponding relation between the disease diagnosis result and the treatment scheme;
the management scheme pushing module is used for sending the management scheme to a maintenance personnel terminal so that maintenance personnel can maintain the tunnel defects according to the management scheme;
and the acceptance module is used for receiving the defect maintenance result uploaded by the maintenance personnel and completing the tunnel maintenance acceptance.
Furthermore, the inspection robot adopts a steel rail wheel type moving structure.
Further, the image acquisition device is a high-precision industrial camera.
Further, the disease detection processing device further comprises a tunnel display module for displaying the 3D tunnel model marked with the tunnel disease information.
Further, the disease detection processing device further comprises a disease correction module for correcting the tunnel disease information on the 3D tunnel model.
Further, the tunnel defect information detected by the defect diagnosis module comprises water leakage information, lining crack information, lining chipping information, joint opening information and segment dislocation information.
Further, the disease detection processing device further comprises an evaluation report output module, which is used for outputting a tunnel state evaluation report according to the tunnel disease information.
Furthermore, the disease detection processing device further comprises an associated storage module, and the associated storage module is used for storing the inspection record information and the tunnel disease information to a disease database in an associated manner.
Further, the disease detection processing device further comprises an expert online diagnosis module, and the expert online diagnosis module is used for carrying out data processing and fault diagnosis on the tunnel disease information through an expert to obtain expert diagnosis result information and an expert management scheme when the system cannot output a solution.
The invention provides an intelligent inspection system for an underground tunnel, which comprises an inspection robot arranged in the tunnel, an image acquisition device arranged on the inspection robot, and a disease detection processing device in signal connection with the image acquisition device, wherein the disease detection processing device comprises an image analysis module, a disease analysis module, a treatment scheme pushing module and an acceptance module; the inspection robot inspects in the tunnel according to a preset route; the image acquisition device acquires images of the tunnel in the inspection process of the robot; the image analysis module receives the image data acquired by the image acquisition device, and detects and processes the image data about tunnel diseases by using a pre-trained deep learning model to obtain tunnel disease information; the disease diagnosis module carries out data processing and fault diagnosis according to the tunnel disease information and matches a corresponding treatment scheme in a scheme library according to a disease diagnosis result; the management scheme pushing module sends the management scheme to a maintenance personnel terminal so that maintenance personnel can maintain the tunnel defects according to the management scheme; and the acceptance module receives the defect maintenance result uploaded by the maintenance personnel to complete the maintenance acceptance of the tunnel. According to the scheme provided by the invention, the image acquisition device carried by the inspection robot is used for acquiring tunnel image data, the tunnel image data is processed by using an image analysis algorithm based on deep learning to obtain tunnel disease information, and the corresponding management scheme is matched according to the tunnel disease information to provide maintenance personnel for maintaining tunnel diseases according to the management scheme.
It should be understood that what is described in the summary above is not intended to limit key or critical features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed to be used in the description of the embodiments or the prior art, and obviously, the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without inventive labor.
FIG. 1 is a schematic diagram of a scenario architecture upon which the present disclosure is based;
fig. 2 is a schematic structural diagram of an intelligent inspection system for an underground tunnel according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an intelligent inspection system for an underground tunnel according to a second embodiment of the present disclosure.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and the embodiments of the present invention are illustrative only and are not intended to limit the scope of the present invention.
Fig. 1 is a schematic view of a scene architecture on which the present disclosure is based, and as shown in fig. 1, a scene architecture on which the present disclosure is based may include an inspection robot 11, an image acquisition device 12, a disease detection processing device 13, and a terminal 14.
The inspection robot 11 is a device that is disposed in a tunnel and can move in the tunnel, the inspection robot 11 may specifically be a moving vehicle or a moving platform, and no particular limitation is imposed on the device, the inspection robot 11 is equipped with an image acquisition device 12, the image acquisition device 12 is in signal connection with a disease detection processing device 13, and the image acquisition device 12 may specifically be a device that has an image capturing function, and no particular limitation is imposed on the device.
The disease detection processing device 13 is a device having an arithmetic function, and the disease detection processing device 13 may be a hardware device equipped with a database or a server having a storage function, which is not limited in any way.
The terminal 14 is an electronic device in signal connection with the disease detection processing device 13, and the terminal 14 may specifically be a hardware device such as a notebook computer, a tablet computer, and a smart phone, which is not limited herein.
Specifically, after receiving a tunnel inspection instruction, the inspection robot 11 drives the image acquisition device 12 to inspect in the tunnel, the image acquisition device 12 acquires tunnel image data in the inspection process, the disease detection processing device 13 processes the tunnel image data by using a trained deep learning model to obtain tunnel disease information, and then the treatment scheme is matched according to the tunnel disease information to send to the terminal 14, so that maintenance personnel can maintain the tunnel disease according to the treatment scheme received by the terminal 14.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Example one
Fig. 2 is a schematic structural diagram of an intelligent inspection system for an underground tunnel according to an embodiment of the present disclosure. As shown in fig. 2, the intelligent inspection system for an underground tunnel provided by this embodiment includes an inspection robot 11 disposed in a tunnel, an image acquisition device 12 disposed on the inspection robot, and a disease detection processing device 13 in signal connection with the image acquisition device, where the disease detection processing device 13 includes an image analysis module 131, a disease analysis module 132, a treatment scheme pushing module 133, and an acceptance module 134;
the inspection robot 11 is used for performing inspection in the tunnel according to a preset route;
in this embodiment, because need patrol and examine each interval in tunnel, patrol and examine the equipment that the robot is for can removing in the tunnel.
In a possible embodiment, the inspection robot adopts a steel rail wheel type moving structure, and the inspection robot moves on the steel rail by using wheels to reach each tunnel section.
The image acquisition device 12 is used for acquiring images of the tunnel in the inspection process of the robot;
in this embodiment, the image acquisition device of accessible setting on patrolling and examining the robot shoots the image of each interval in tunnel for detect tunnel disease through image identification's mode.
In one possible embodiment, the image acquisition device is a high-precision industrial camera
The image analysis module 131 is configured to receive image data acquired by the image acquisition device, and perform detection processing on tunnel defects on the image data by using a pre-trained deep learning model to obtain tunnel defect information; the deep learning model is obtained by training collected tunnel disease image data and corresponding tunnel disease marking data;
the tunnel defect information detected by the defect diagnosis module comprises water leakage information, lining crack information, lining block falling information, joint opening information and segment staggering information.
The disease diagnosis module 132 is configured to perform data processing and fault diagnosis according to the tunnel disease information, and match a corresponding treatment scheme in a scheme library according to a disease diagnosis result; wherein, the scheme library stores the corresponding relation between the disease diagnosis result and the treatment scheme;
the management scheme pushing module 133 is configured to send the management scheme to a maintenance staff terminal, so that maintenance staff can maintain the tunnel defect according to the management scheme;
and the acceptance module 134 is used for receiving the defect maintenance result uploaded by the maintenance personnel and completing the tunnel maintenance acceptance.
In this embodiment, the image analysis module, the disease diagnosis module, the management scheme pushing module and the acceptance module sequentially perform tunnel disease detection, tunnel disease diagnosis, management scheme pushing and maintenance result acceptance, and the automatic processing of the whole process from tunnel images to tunnel disease maintenance is realized.
It should be noted that the image analysis module, the disease diagnosis module, the treatment scheme pushing module, the acceptance check module, and the like may be integrated on a background server, such as a computer, an industrial personal computer, and the like, and a specific implementation manner may be hardware, software, or a combination of software and hardware.
Particularly, in the practical application scene, when underground tunnel patrols and examines, it drives image acquisition device and removes the shooting image in the tunnel to patrol and examine the robot, image acquisition device gathers tunnel image data and sends to image analysis module at the removal in-process, image analysis module utilizes the degree of depth learning model that trains to detect the discernment tunnel image data and obtains tunnel disease information, disease diagnosis module matches corresponding treatment scheme according to tunnel disease information, treatment scheme propelling movement module sends the treatment scheme to user terminal, so that the maintenance personal maintains the tunnel disease according to the treatment scheme that the terminal received, the inspection module receives the disease maintenance result that the maintenance personal uploaded, confirm that the tunnel disease has accomplished the management.
It is thus clear that the intelligent system of patrolling and examining of underground tunnel that this embodiment provided compares in current manual work method of patrolling and examining, has realized through image intelligent analysis method that tunnel image to tunnel disease maintenance's full process automation is handled, has solved that the artifical demand that traditional manual work was patrolled and examined meets is big, the efficiency of patrolling and examining is low, the degree of automation of fortune dimension is low, the low scheduling problem of fortune dimension equipment intelligent degree, has reduced maintainer working strength, has practiced thrift a large amount of manpower resources, has improved the efficiency of patrolling and examining, has reduced fortune dimension cost.
Example two
On the basis of the foregoing embodiment, fig. 2 is a schematic structural diagram of an intelligent inspection system for an underground tunnel according to a second embodiment of the present disclosure, in order to visualize a tunnel defect and enable a user to better learn a defect condition and grasp a health state of the tunnel, as shown in fig. 2, preferably, the defect detection processing apparatus further includes a tunnel display module 135 for displaying a 3D stereoscopic tunnel model marked with tunnel defect information.
In this embodiment, the 3D stereoscopic tunnel model is a model constructed according to an internal form of an actual tunnel, and the detected tunnel defect information may be identified on the 3D stereoscopic tunnel model and displayed on the display component of the tunnel display module together with the 3D stereoscopic tunnel model.
Preferably, the disease detection processing apparatus further includes a disease correction module 136, configured to correct the tunnel disease information on the 3D stereoscopic tunnel model.
In the embodiment, a disease information correction function is provided, and for detected diseases, the disease grade, the disease type, the disease deletion and the like can be changed; and for undetected diseases, a manual marking function is provided, namely, the positions of the diseases can be manually marked on the provided 3D tunnel model, and detailed information such as the grade of the diseases, the type of the diseases and the like is remarked, so that the manual addition of the disease information is realized.
Preferably, the disease detection processing apparatus further includes an evaluation report output module 137, configured to output a tunnel state evaluation report according to the tunnel disease information.
In this embodiment, a tunnel state evaluation report may be output according to a predetermined template, where the report includes tunnel defect information, and is used for defect disposal, expert study and judgment, and leadership report.
Preferably, the disease detection processing apparatus further includes an associated storage module 138, configured to store the inspection record information and the tunnel disease information in an associated manner in a disease database.
In the embodiment, the inspection information at each time is recorded, and the inspection record information and the tunnel defect information obtained by each inspection are stored in an associated manner, so that the problem that the historical data of tunnel defects cannot be traced is solved, and a user can conveniently track the development of tunnel defects.
Preferably, the disease detection processing apparatus further includes an expert online diagnosis module 139, configured to perform data processing and fault diagnosis on the tunnel disease information through an expert to obtain expert diagnosis result information and an expert management scheme when the system cannot output a solution.
In the embodiment, the problem that the difficult and complicated diseases cannot be found from the bottom, the reason cannot be found and the problem that no treatment scheme is provided is solved.
It should be noted that the tunnel display module, the disease correction module, the evaluation report output module, the association storage module, the expert online diagnosis module, and the like may be integrated on a background server, such as a computer, an industrial personal computer, and the like, and the specific implementation manner may be hardware, software, or a combination of software and hardware.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The intelligent inspection system for the underground tunnel is characterized by comprising an inspection robot arranged in the tunnel, an image acquisition device arranged on the inspection robot and a disease detection processing device in signal connection with the image acquisition device, wherein the disease detection processing device comprises an image analysis module, a disease analysis module, a treatment scheme pushing module and an acceptance module;
the inspection robot is used for performing inspection in the tunnel according to a preset route;
the image acquisition device is used for acquiring images of the tunnel in the inspection process of the robot;
the image analysis module is used for receiving the image data acquired by the image acquisition device and detecting and processing tunnel diseases on the image data by using a pre-trained deep learning model to obtain tunnel disease information; the deep learning model is obtained by training collected tunnel disease image data and corresponding tunnel disease marking data;
the disease diagnosis module is used for carrying out data processing and fault diagnosis according to the tunnel disease information and matching a corresponding treatment scheme in a scheme library according to a disease diagnosis result; wherein, the scheme library stores the corresponding relation between the disease diagnosis result and the treatment scheme;
the management scheme pushing module is used for sending the management scheme to a maintenance personnel terminal so that maintenance personnel can maintain the tunnel diseases according to the management scheme;
and the acceptance module is used for receiving the disease maintenance result uploaded by the maintenance personnel and completing the maintenance acceptance of the tunnel.
2. The intelligent inspection system according to claim 1, wherein the inspection robot is of a rail wheel type mobile structure.
3. The intelligent inspection system according to claim 1, wherein the image capture device is a high precision industrial camera.
4. The intelligent inspection system according to claim 1, wherein the disease detection processing device further comprises a tunnel display module for displaying a 3D stereoscopic tunnel model identified with tunnel disease information.
5. The intelligent inspection system according to claim 4, wherein the disease detection processing device further comprises a disease correction module for correcting tunnel disease information on the 3D tunnel model.
6. The intelligent inspection system according to claim 1, wherein the tunnel defect information detected by the defect diagnosis module includes water leakage information, lining crack information, lining chipping information, joint opening information and segment dislocation information.
7. The intelligent inspection system according to claim 1, wherein the disease detection processing apparatus further includes an evaluation report output module for outputting a tunnel status evaluation report according to the tunnel disease information.
8. The intelligent inspection system according to claim 1, wherein the disease detection processing device further comprises an associated storage module for storing inspection record information and the tunnel disease information in an associated manner in a disease database.
9. The intelligent inspection system according to claim 1, wherein the disease detection and processing device further comprises an expert online diagnosis module, and the expert online diagnosis module is used for performing data processing and fault diagnosis on the tunnel disease information through an expert to obtain expert diagnosis result information and an expert management scheme when the system cannot output a solution.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115188090A (en) * | 2022-06-29 | 2022-10-14 | 日海通信服务有限公司 | Intelligent inspection maintenance method based on 5G communication |
| CN115392796A (en) * | 2022-10-27 | 2022-11-25 | 北京城建设计发展集团股份有限公司 | Relation map-based rapid intelligent diagnosis method for operating tunnel structure diseases |
| CN115908871A (en) * | 2022-10-27 | 2023-04-04 | 广州城轨科技有限公司 | Wearable equipment track equipment data detection method, device, equipment and medium |
| CN117351241A (en) * | 2023-10-18 | 2024-01-05 | 中交路桥科技有限公司 | Intelligent detection and assessment method, device, terminal and storage medium for tunnel defect |
| CN117351241B (en) * | 2023-10-18 | 2024-05-03 | 中交路桥科技有限公司 | Intelligent detection and assessment method, device, terminal and storage medium for tunnel defect |
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2022
- 2022-02-23 CN CN202210165384.7A patent/CN114565845A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115188090A (en) * | 2022-06-29 | 2022-10-14 | 日海通信服务有限公司 | Intelligent inspection maintenance method based on 5G communication |
| CN115392796A (en) * | 2022-10-27 | 2022-11-25 | 北京城建设计发展集团股份有限公司 | Relation map-based rapid intelligent diagnosis method for operating tunnel structure diseases |
| CN115392796B (en) * | 2022-10-27 | 2023-02-03 | 北京城建设计发展集团股份有限公司 | Relation map-based rapid intelligent diagnosis method for operating tunnel structure diseases |
| CN115908871A (en) * | 2022-10-27 | 2023-04-04 | 广州城轨科技有限公司 | Wearable equipment track equipment data detection method, device, equipment and medium |
| CN115908871B (en) * | 2022-10-27 | 2023-07-28 | 广州城轨科技有限公司 | Wearable equipment track equipment data detection method, device, equipment and medium |
| CN117351241A (en) * | 2023-10-18 | 2024-01-05 | 中交路桥科技有限公司 | Intelligent detection and assessment method, device, terminal and storage medium for tunnel defect |
| CN117351241B (en) * | 2023-10-18 | 2024-05-03 | 中交路桥科技有限公司 | Intelligent detection and assessment method, device, terminal and storage medium for tunnel defect |
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