CN115127516A - Multifunctional tunnel detection vehicle based on passenger car chassis - Google Patents
Multifunctional tunnel detection vehicle based on passenger car chassis Download PDFInfo
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Abstract
The invention discloses a multifunctional tunnel detection vehicle based on a passenger vehicle chassis, which comprises: the synchronous control circuit device and the industrial control cabinet are arranged in an operation chamber of the front vehicle body; the rotatable arc-shaped sensor bracket is arranged on a rear vehicle chassis, and the synchronous control circuit device provides synchronous signals for the tunnel section image acquisition system and the lining three-dimensional contour measurement system; the tunnel section image acquisition system is used for acquiring a tunnel section image; the lining three-dimensional contour measuring system is used for constructing a tunnel lining three-dimensional contour; the road environment camera is arranged at the top of the front vehicle body operation room; the generator is arranged on a rear chassis and supplies power to the industrial control cabinet, the tunnel section image acquisition system and the tunnel section image acquisition system. The invention can quickly, simply and conveniently detect the problems of water seepage, water leakage and void of the lining of the tunnel, and meanwhile, the road environment camera can detect the environmental information around the vehicle, thereby ensuring the safety of the detection vehicle.
Description
Technical Field
The invention belongs to the technical field of road tunnel detection, and relates to a multifunctional tunnel detection vehicle based on a passenger car chassis.
Background
According to statistics, the serious water leakage phenomenon exists in both railway tunnels and highway tunnels nowadays, and about 30 percent of tunnels in some urban subways have water leakage diseases. Due to the fact that the construction time of the tunnel is different, the design standard and the construction process level are different, and due to the difference that the tunnel passes through geological conditions along the line, the tunnel is prone to diseases such as lining cracking, tunnel water leakage, tunnel freeze injury, lining corrosion and cavities in the long-term use process compared with a common road. Among them, the lining leakage water seriously affects the safety of the tunnel, and easily causes tunnel circuit damage, equipment corrosion, lining structure damage, concrete frost heaving cracking and the like. With the continuous increase of the operation time of the tunnel facility, tunnel diseases are increased gradually. The maintenance efficiency is improved, the maintenance cost is reduced, and the method is of great importance to the tunnel industry of China.
The traditional manual detection method is that detection personnel walk in a tunnel, observe and record the shape and the position of a crack, and detect the position and the degree of a disease through various handheld instruments. The method has low efficiency, consumes time and labor, and is difficult to ensure the periodicity and timeliness of detection; the detection work is difficult to complete within a limited time, the road sealing is needed, a large number of personnel are consumed, the detection speed is low, and the requirements of the speediness and the accuracy of the highway detection cannot be met.
At present, the existing tunnel detection vehicle on the market is of a box-type structure based on the transformation of a truck chassis, and is limited by regulations, so that when the vehicle runs, a detector cannot operate an instrument in a workshop. When a camera collects, the camera support needs to protrude out of the two sides of the vehicle body, and the problems that the whole vehicle is large in size, inconvenient to detect parking of the vehicle and the like exist. In addition, the existing tunnel detection vehicle technology mainly aims at the detection of the section and the tunnel lining of the double-lane tunnel, and can not meet the requirement of multi-lane tunnel detection.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a multifunctional tunnel detection vehicle based on a passenger car chassis, which can quickly and safely detect the problems of water seepage, water leakage and void of a lining of a tunnel.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a multifunctional tunnel inspection vehicle based on a passenger vehicle chassis comprises: the system comprises a front vehicle body operating room, a rotatable arc-shaped sensor support, a middle support, a road environment camera, a rear vehicle chassis, a generator, an industrial control cabinet, a rear vehicle body, a synchronous control circuit device, a tunnel section image acquisition system and a lining three-dimensional contour measuring system;
the synchronous control circuit device and the industrial control cabinet are arranged in an operation chamber of the front vehicle body; the rotatable arc-shaped sensor bracket is arranged on the rear vehicle chassis,
the tunnel section image acquisition system comprises tunnel section image acquisition devices of a left lane and a right lane and a tunnel section image acquisition device of a middle lane; the lining three-dimensional contour measuring system comprises a left lane lining three-dimensional contour measuring device, a right lane lining three-dimensional contour measuring device and a middle lane lining three-dimensional contour measuring device;
the middle support is arranged on the roof of an operation room of a front vehicle body and is used for carrying a middle lane tunnel section image acquisition device and a middle lane lining three-dimensional contour measuring device;
the left lane and right lane tunnel section image acquisition device and the left lane and right lane lining three-dimensional contour measuring device are arranged on the rotatable arc-shaped sensor bracket;
the synchronous control circuit device provides synchronous signals for the tunnel section image acquisition system and the lining three-dimensional contour measurement system; the tunnel section image acquisition system is used for acquiring a tunnel section image; the lining three-dimensional contour measuring system is used for constructing a tunnel lining three-dimensional contour;
the rear chassis is arranged on the rear vehicle body; the road environment camera is arranged at the top of the front vehicle body operation room;
the generator is arranged on the rear chassis and used for supplying power to the industrial control cabinet, the tunnel section image acquisition system and the tunnel section image acquisition system.
The invention is further improved in that:
the device also comprises a working chair, a working platform and a GPS positioning antenna; the working chair and the working platform are both arranged in the front vehicle body operating room; the GPS positioning antenna is arranged on the top of the front vehicle body operation room.
The road environment camera comprises a first road environment camera, a second road environment camera, a third road environment camera and a safety monitoring camera; the first road environment camera, the second road environment camera and the third road environment camera are used for monitoring the surrounding environment of the vehicle, and the GPS positioning antenna is used for positioning the position information of the vehicle; the safety monitoring camera is used for monitoring whether people and motor vehicles approach in a close range.
The rotatable arc-shaped sensor bracket comprises an arc-shaped bracket and a rotating disc; the arc support is connected with a rotating disc, and the rotating disc is arranged on a rear chassis of the passenger car through a central rotating shaft.
The left and right lane tunnel section image acquisition device comprises a first illumination array and a first area array camera array; the first area array camera array is arranged on the first area array camera support, and the first area array camera support is arranged at the central groove of the arc-shaped support; the first lighting array is an LED stroboscopic lighting array, and is arranged on the upper surface of the arc-shaped support in a left-right double-row mode; the installation surface of the first illumination array has an inclination angle with the horizontal plane, so that the left and right rows of illumination areas are overlapped.
The left and right lane lining three-dimensional contour measuring device comprises a plurality of groups of structured light systems; the structured light system comprises a first line laser array and a first three-dimensional contour reconstruction system camera array; the first line laser array and the first three-dimensional contour reconstruction system camera array are arranged on the first three-dimensional contour reconstruction system arc-shaped support, and the first three-dimensional contour reconstruction system arc-shaped support is arranged on the side face of the arc-shaped support.
The rotatable arc-shaped sensor support further comprises a first wedge-shaped support, and the first three-dimensional contour reconstruction system camera array is arranged on the first wedge-shaped support, so that a relative included angle is formed between an optical axis of the first three-dimensional contour reconstruction system camera array and the first line laser array; the first line laser arrays are arranged on the same axis, and the emitted laser beams are irradiated on the same straight line.
The middle lane tunnel section image acquisition device comprises a second illumination array and a second area array camera array; the second lighting array is LED stroboscopic lighting lamps which are arranged in a left row and a right row, and each row consists of a plurality of stroboscopic lighting lamp bead rectangular arrays; the second illumination array is arranged on the surface of the middle bracket, and an inclination angle exists between the installation surface of the second illumination array and the horizontal plane, so that the left and right rows of illumination areas are overlapped;
the second area array camera array is arranged on the second area array camera support, and the second area array camera support is arranged in a central groove of the middle support.
The middle lane lining three-dimensional contour measuring device comprises a plurality of groups of structured light units, wherein each structured light unit comprises a second line laser array and a second three-dimensional contour reconstruction system camera array; the second line laser array and the second three-dimensional contour reconstruction system camera array are arranged on the second three-dimensional contour reconstruction system arc-shaped bracket; the second three-dimensional contour reconstruction system arc-shaped bracket is arranged on the surface of the middle bracket;
the second three-dimensional contour reconstruction system comprises a first three-dimensional contour reconstruction system arc support, a second three-dimensional contour reconstruction system arc support and a second wedge support, wherein the second three-dimensional contour reconstruction system arc support is provided with a second three-dimensional contour reconstruction system arc support, and a second line laser array is arranged on the second wedge support.
The synchronization control circuit device includes: the device comprises an encoder, a frequency division plate, a driving plate and a switching power supply;
the encoder is connected with the frequency dividing plate, the frequency dividing plate is connected with the first lighting array and the drive plate simultaneously, the switch power supply is connected with the drive plate and used for supplying power to the drive plate, and the drive plate is connected with the first area array camera array.
The industrial control cabinet is respectively connected with the road environment camera, the second area array camera array and the first area array camera array and used for storing pictures shot by the road environment camera, the second area array camera array and the first area array camera array.
Compared with the prior art, the invention has the following beneficial effects:
the invention adopts the tunnel section image acquisition system and the lining three-dimensional contour measurement system to acquire the tunnel section image and construct the tunnel lining three-dimensional contour, can quickly and simply detect the problems of water seepage, water leakage and void of the lining of the tunnel, and simultaneously can detect the environmental information around the vehicle by the road environment camera, thereby ensuring the safety of the detection vehicle.
Drawings
In order to more clearly explain the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is an overall structural view of a specific embodiment of the tunnel inspection vehicle;
FIG. 2 is a side view of the tunnel inspection vehicle;
FIG. 3 is a schematic view of the interior side structure of the tunnel inspection vehicle;
FIG. 4 is a schematic top view of the tunnel inspection vehicle;
FIG. 5 is a signal diagram of a synchronous control circuit according to the present invention;
FIG. 6 is a schematic view of a camera with a rotating arc-shaped support and a middle support according to the present invention;
FIG. 7 is a schematic view of the LED illumination angles of the rotating arc support and the middle support of the present invention;
FIG. 8 is a left perspective view of the rotating arc support of the present invention;
FIG. 9 is a right perspective view of the rotating arc support of the present invention;
FIG. 10 is a view of the installation structure of the intermediate bracket according to the present invention;
FIG. 11 is a perspective view of the intermediate bracket of the present invention;
FIG. 12 is a schematic view of the angular mounting of the light source and camera on the rotating arc support;
FIG. 13 is a schematic view of the light source and camera angle mounting on the intermediate support;
fig. 14 is a schematic view of the light source coverage area on the middle support.
Wherein, 1-a generator, 2-a front vehicle body operation room, 3-a rotatable arc sensor support, 4-a rear vehicle chassis, 5-a GPS positioning antenna, 6-a road environment camera, 6 a-a first road environment camera, 6 b-a second road environment camera, 6 c-a third road environment camera, 6 d-a safety monitoring camera, 7-a workbench, 8-a working chair, 9-an industrial control cabinet, 10-a rear vehicle body, 11-a middle support, 3-1-a rotating disc, 3-2-an arc support, 3-3-a first area array camera array, 3-4-a first illumination array, 3-5-a first line laser array, 3-6-a first three-dimensional contour reconstruction system camera array, 3-7-a first three-dimensional contour reconstruction system arc-shaped support, 3-8-a first wedge-shaped support, 3-9-a first planar array camera support, 11-1-a second illumination array, 11-2-a second planar array camera array, 11-3-a second planar array camera support, 11-4-a second line laser array, 11-5-a second three-dimensional contour reconstruction system camera array, 11-6-a second three-dimensional contour reconstruction system arc-shaped support and 11-7-a second wedge-shaped support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the present invention is used, the description is merely for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, cannot be understood as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the term "horizontal", if present, does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be broadly construed and interpreted as including, for example, fixed connections, detachable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, 2, 3 and 4, the invention is a multifunctional tunnel inspection vehicle based on a passenger vehicle chassis, comprising: rotatable arc sensor support 3, middle support 11, road environment camera 6, rear chassis 4, generator 1, industrial control rack 9, rear car body 10, synchronous control circuit device, tunnel section image acquisition system and the three-dimensional profile measurement system of lining cutting.
The synchronous control circuit device and the industrial control cabinet 9 are arranged in the front vehicle body operation chamber 2; the industrial control cabinet 9 is arranged at the rear part of the front vehicle operation room 2, and various devices in the vehicle are centrally installed, protected and uniformly installed in the industrial control cabinet 9. The rotatable arc-shaped sensor bracket 3 is arranged on a rear chassis 4, and the tunnel section image acquisition system comprises tunnel section image acquisition devices of a left lane and a right lane and a tunnel section image acquisition device of a middle lane; the lining three-dimensional contour measuring system comprises a left lane lining three-dimensional contour measuring device, a right lane lining three-dimensional contour measuring device and a middle lane lining three-dimensional contour measuring device;
the middle support 11 is arranged on the roof of the front vehicle body operation room 2 and used for carrying a middle lane lining three-dimensional contour measuring device, and the middle lane lining three-dimensional contour measuring device acquires a tunnel lining surface image of a middle lane; the left and right lane tunnel section image acquisition devices and the left and right lane lining three-dimensional contour measuring devices are arranged on the rotatable arc-shaped sensor bracket 3; the synchronous control circuit device provides synchronous signals for the tunnel section image acquisition system and the lining three-dimensional contour measurement system; the tunnel section image acquisition system is used for acquiring a tunnel section image; the lining three-dimensional contour measuring system is used for constructing a tunnel lining three-dimensional contour; the rear chassis 4 is arranged on the rear vehicle body 10; the road environment camera 6 is arranged on the top of the front vehicle body operation room 2; the generator 1 is arranged on a rear vehicle chassis 4, is close to a front vehicle body operation room 2, and is used for supplying power to an industrial control cabinet 9, a tunnel section image acquisition system and a tunnel section image acquisition system.
The device also comprises a working chair 8, a working platform 7 and a GPS positioning antenna 5; the working chair 8 and the working platform 7 are both arranged in the front vehicle body operation chamber 2; a GPS positioning antenna 5 is mounted on the top of the front vehicle body operation room 2.
The road environment cameras 6 include a first road environment camera 6a, a second road environment camera 6b, a third road environment camera 6c, and a safety monitoring camera 6 d; the first road environment camera 6a, the second road environment camera 6b and the third road environment camera 6c are used for monitoring the surrounding environment of the vehicle, wherein the first road environment camera 6a, the second road environment camera 6b and the third road environment camera 6c respectively shoot the left front environment, the right front environment and the right front environment of the vehicle body; the GPS positioning antenna 5 is used for positioning the position information of the vehicle; the safety monitoring camera 6d is used for monitoring whether people and motor vehicles approach to each other in a close distance.
The rotatable arc-shaped sensor bracket 3 comprises an arc-shaped bracket 3-2 and a rotating disc 3-1; the arc-shaped support 3-2 is connected with the rotary disc 3-1, and the rotary disc 3-1 is arranged on a rear chassis 4 of the passenger car through a central rotating shaft.
The industrial control cabinet 9 is respectively connected with the road environment camera 6, the second area-array camera array 11-2 and the first area-array camera array 3-3 and is used for storing photos shot by the road environment camera 6, the second area-array camera array 11-2 and the first area-array camera array 3-3.
The double-row LED stroboscopic illumination arrays 3-4 are respectively arranged on the left side and the right side of the upper surface of the arc-shaped support 3-2, the area-array camera arrays 3-3 are arranged on the camera supports 3-9 of the central groove of the arc-shaped support 3-1, and the camera supports 3-9 are arranged on the arc-shaped support 3-2. The synchronous control circuit device is arranged in an industrial control cabinet 9 of a front vehicle body operation room 2, the device provides synchronous trigger signals for the double-row LED stroboscopic illumination array and the area array camera array, the area array camera array 3-3 collects tunnel section image data, and the double-row LED stroboscopic illumination array 3-4 provides auxiliary illumination for the area array camera array.
As shown in fig. 5, the encoder is connected to the frequency dividing board, the frequency dividing board is connected to the lighting device, and the driving board, the switching power supply is connected to the driving board for supplying power to the driving board, and the driving board is connected to the shooting camera. Wherein, the shooting camera is a first area array camera array 3-3; the lighting device is a first lighting array 3-4;
the pulse signal is generated by a speed measuring device encoder installed on a rear wheel of a passenger car, part of the pulse signal generated by the encoder is input into an LED lamp driving board through a frequency division board to control the on-off of a first lighting array 3-4, so that the stroboscopic lighting effect is achieved, the other part of the pulse signal triggers the first array camera array 3-3 to take a picture, after the first array camera array 3-3 takes a picture, the first lighting array 3-4 is closed, a switching power supply supplies power for the LED driving board, and the driving board controls the on-off of the current of the first lighting array 3-4 by using the small voltage of the pulse signal to achieve the stroboscopic effect of the first lighting array 3-4.
As shown in fig. 6 and 7, in order to realize the splicing of the tunnel images of the left lane, the middle lane and the right lane, when the three-lane actual shooting is performed, the camera shooting area and the LED lighting area have certain overlapping areas in the left middle lane and the right middle lane. Wherein, install camera and lighting device on rotatable arc sensor support 3, rotatable arc sensor support 3 can be around rotation axis horizontal rotation 180, in the detection of three lane tunnel sections of reality works, rotatable arc sensor support 3 rotates to required direction, rotatable arc sensor support 3 need not outstanding automobile body to solve driving safety problem, detect the car simultaneously and need not go in reverse and gather about the tunnel section image, need not seal the way and detect, improve detection efficiency greatly. When a right lane tunnel is detected, the rotatable arc-shaped sensor bracket 3 rotates to the right side, and a right half tunnel lining surface image is acquired; when a left lane tunnel is detected, the rotatable arc-shaped sensor bracket 3 rotates to the left side, and a lining surface image of a left half tunnel is collected; when detecting the middle lane tunnel, an image of the middle tunnel lining surface is acquired using the middle support 11. And finally, image splicing is carried out according to the shooting overlapping areas of the left lane, the middle lane and the right lane, and the acquisition of the full section of the tunnel is realized.
The tunnel section image acquisition system comprises a left lane tunnel section image acquisition device, a right lane tunnel section image acquisition device and a middle lane tunnel section image acquisition device. As shown in fig. 8 and 9, the left and right lane tunnel section image acquisition system includes a first illumination array 3-4 and a first area-array camera array 3-3 for acquiring a tunnel section image, and can accurately locate the position information of a tunnel defect by combining the data information of an encoder, and the whole tunnel section image acquisition system is installed on an arc-shaped support 3-2. The first lighting array 3-4 is an LED stroboscopic lighting array, is arranged in two rows from left to right, and each row consists of a plurality of stroboscopic lighting lamp arrays and is used for assisting in lighting in the shooting process of the area-array camera; the first illumination array 3-4 is arranged on the upper surface of the arc-shaped support 3-2, particularly, an inclination angle of 5-8 degrees exists between the installation surface of the first illumination array 3-4 and the horizontal plane, and the left and right rows of illumination areas of the first illumination array 3-4 are overlapped to form a high-brightness smooth surface so as to meet the shooting requirement; the first area array camera array 3-3 is arranged on the first area array camera support 3-9, and the first area array camera support 3-9 is arranged at a central groove of the arc-shaped support 3-2.
As shown in fig. 10, the middle support 11 is used for mounting a middle lane tunnel section image acquisition device for acquiring a tunnel lining surface image of a middle lane. The second lighting array 11-1 is LED stroboscopic lighting lamps arranged in left and right double rows, each row is composed of a plurality of stroboscopic lighting lamp bead arrays and is used for auxiliary lighting in the shooting process of the area-array camera; the second illumination array 11-1 is arranged on the surface of the middle bracket 11, particularly, an inclination angle of 4-4.5 degrees is formed between the installation surface of the second illumination array 11-1 and the horizontal plane, and the left and right rows of illumination areas are overlapped to form a high-brightness smooth surface so as to meet the shooting requirement; the second area-array camera array 11-2 is arranged on the second area-array camera support 11-3, and the second area-array camera support 11-3 is arranged at a central groove of the middle support 11; in order to obtain complete images of the tunnels of the left lane, the middle lane and the right lane, each camera shooting area of the tunnel section image acquisition system should have a certain overlapping part, in order to meet the requirement of the minimum resolution of the images, the most suitable number of cameras for shooting the left lane and the right lane is 27, the cameras are arranged on the arc-shaped supports 3-2, the most suitable number of cameras for shooting the middle lane is 21, and the cameras are uniformly arranged on the second planar array camera supports 11-3. The camera at the bottom of the arc-shaped support 3-2 is small in object shooting distance, the object shooting distance towards the top of the arc-shaped support is larger, and proper cameras are selected according to different object distances. After the acquisition is finished, firstly splicing 27 camera image data according to the overlapping area to obtain left and right lane tunnel section images, then splicing 21 cameras in the middle lane to obtain a middle lane tunnel section image, and then splicing according to the left, middle and right lane tunnel section image overlapping images to obtain a complete tunnel lining surface image.
The lining three-dimensional contour measuring system comprises a left lane lining three-dimensional contour measuring device, a right lane lining three-dimensional contour measuring device and a middle lane lining three-dimensional contour measuring device. As shown in fig. 8, the left and right lane lining three-dimensional contour measuring device includes a plurality of groups of structured light systems composed of first line laser arrays 3-5 and first three-dimensional contour reconstruction system camera arrays 3-6 distributed on both sides, for constructing left and right lane tunnel lining three-dimensional contours. The first line laser array 3-5 and the first three-dimensional contour reconstruction system camera array 3-6 are installed on the first three-dimensional contour reconstruction system arc support 3-7, and the first three-dimensional contour reconstruction system arc support 3-7 is installed on the side face of the arc support 3-2. The first line laser arrays 3-5 are arranged on the same axis, emitted laser beams are made to strike the same straight line, the first three-dimensional contour reconstruction system camera arrays 3-6 are arranged on the first wedge-shaped supports 3-8, and a certain relative included angle is formed between the optical axis of the first three-dimensional contour reconstruction system camera arrays 3-6 and the first line laser arrays 3-5.
As shown in fig. 11, the middle lane lining three-dimensional profile measuring apparatus includes: the plurality of groups of structured light units are composed of second line laser arrays 11-4 and 2 second three-dimensional contour reconstruction system camera arrays 11-5 which are distributed on two sides, and the plurality of groups of structured light units are arranged on the second three-dimensional contour reconstruction system arc-shaped support 11-6. The second three-dimensional contour reconstruction system arc-shaped bracket 11-6 is arranged on the surface of the middle bracket 11; the second line laser array 11-4 and the second three-dimensional contour reconstruction system camera array 11-5 of the middle lane 11 are installed in a similar way and in a similar position to those of the left and right lanes. The middle lane lining three-dimensional contour measuring device further comprises a second wedge-shaped support 11-7, the second wedge-shaped support 11-7 is located on the second three-dimensional contour reconstruction system arc-shaped support 11-6, and the second line laser array 11-4 is installed on the second wedge-shaped support 11-7.
Because the structured light has the characteristics of high precision, easy extraction of light strip image information and the like, the invention adopts the data real-time acquisition technology of the infrared laser and the area-array camera to realize the rapid acquisition of the three-dimensional profile information of the detected tunnel section. Laser beams emitted by the multiple groups of second line laser arrays 11-4 are expanded by the lens and then irradiate on the half tunnel lining surface in a straight line to form a laser line, the laser line is deformed due to the height fluctuation of the lining surface, and the laser stripe image is shot by the second three-dimensional contour reconstruction system camera arrays 11-5 distributed on the two sides of the laser. The deformation degree of the stripes depends on the relative positions where the second line laser array 11-4 and the second three-dimensional contour reconstruction system camera array 11-5 are installed and the contour of the surface of the measured lining. Splicing the stripe images acquired by the structured light units consisting of each group of the second line laser arrays 11-4 and the second three-dimensional contour reconstruction system camera arrays 11-5, calculating and analyzing the spliced stripe images according to a laser triangulation method to obtain the three-dimensional contour information of the lining surface of the corresponding lane tunnel, and then splicing the lining surfaces of the left lane tunnel, the middle lane tunnel and the right lane tunnel to obtain the three-dimensional contour information of the complete lining surface.
As shown in fig. 12, the arc-shaped bracket is rotated from the perspective of the front vehicle, 3-4 is the first illumination array, and 3-3 is the first area-array camera array. The P point is an intersection point of an optical axis of the first area-array camera array 3-3 and an optical axis of the first illumination array 3-4, the P point, the optical axis of the first area-array camera array 3-3 and the optical axis of the first illumination array 3-4 are intersected on the arc surface of the tunnel, the first area-array camera array 3-3 is installed on the arc support 3-2, an included angle between the optimal installation plane and the horizontal plane is 5-8 degrees, the distance between a camera in the first area-array camera array 3-3 and the first illumination array 3-4 is generally 35cm, and the distance is marked as l c (ii) a The distance between the camera and the arc surface of the tunnel is 250-350 cm and is marked as l s Therefore, the included angle between the installation plane and the horizontal plane is as follows:
as shown in FIG. 13, 11-1 is a second illumination array and 11-2 is a second area-array camera array. The O point is the intersection point of the optical axis of the second area-array camera array 11-2 and the optical axis of the second illumination array 11-1, the three are intersected on the arc surface of the tunnel, the tunnel is high, the installation plane is reselected, the distance between the camera in the second area-array camera array 11-2 and the second illumination array 11-1 is generally 35cm, the distance between the camera in the second area-array camera array 11-2 and the arc surface of the tunnel is 400-500 cm at the moment, and the included angle between the installation plane and the horizontal plane is 4-4.5 degrees according to the formula (1).
As shown in fig. 14, the lighting of the single-chip LED rectangular array on the inner wall of the tunnel is similar to an elliptical area, and the two rows of LED rectangular arrays are opened simultaneously, and the light surfaces of the two rows of LED rectangular arrays on the inner wall of the tunnel are overlapped, so that a brighter lighting band is formed, which is beneficial for a camera to acquire image data. The LED stroboscopic illumination system comprises a plurality of LED lamp beads, each row of LED stroboscopic illumination systems comprises a plurality of LED rectangular arrays, the LED rectangular arrays are arranged on the upper surface of a rotating arc-shaped support with an inclination angle of 5-8 degrees, and light surfaces of the LED rectangular arrays in the left row and the LED rectangular arrays in the right row are overlapped to play a role of light condensation; in order to obtain a whole uniform bright illumination light band, each row of adjacent two LED rectangular array illumination areas should have a certain overlapping area to compensate for the attenuation around the single LED rectangular array illumination area, so that a uniform and bright illumination light band is obtained, and finally the shooting area of the camera is a rectangular illumination light band with uniform brightness. The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a multi-functional tunnel detects car based on passenger train chassis which characterized in that includes: the system comprises a front vehicle body operating room (2), a rotatable arc-shaped sensor support (3), a middle support (11), a road environment camera (6), a rear vehicle chassis (4), a generator (1), an industrial control cabinet (9), a rear vehicle body (10), a synchronous control circuit device, a tunnel section image acquisition system and a lining three-dimensional contour measuring system;
the synchronous control circuit device and the industrial cabinet (9) are arranged in the front vehicle body operating room (2); the rotatable arc-shaped sensor bracket (3) is arranged on a rear vehicle chassis (4),
the tunnel section image acquisition system comprises tunnel section image acquisition devices of a left lane and a right lane and a tunnel section image acquisition device of a middle lane; the lining three-dimensional contour measuring system comprises a left lane lining three-dimensional contour measuring device, a right lane lining three-dimensional contour measuring device and a middle lane lining three-dimensional contour measuring device;
the middle support (11) is arranged on the roof of a front vehicle body operation room (2) and is used for carrying a middle lane tunnel section image acquisition device and a middle lane lining three-dimensional contour measuring device;
the left and right lane tunnel section image acquisition devices and the left and right lane lining three-dimensional contour measuring devices are arranged on the rotatable arc-shaped sensor bracket (3);
the synchronous control circuit device provides synchronous signals for the tunnel section image acquisition system and the lining three-dimensional contour measurement system; the tunnel section image acquisition system is used for acquiring a tunnel section image; the lining three-dimensional contour measuring system is used for constructing a tunnel lining three-dimensional contour;
the rear vehicle chassis (4) is arranged on a rear vehicle body (10); the road environment camera (6) is arranged at the top of the front vehicle body operation room (2);
the power generator (1) is installed on the rear chassis (4) and used for supplying power to the industrial control cabinet (9), the tunnel section image acquisition system and the tunnel section image acquisition system.
2. The multifunctional tunnel inspection vehicle based on the passenger vehicle chassis is characterized by further comprising a working chair (8), a working platform (7) and a GPS positioning antenna (5); the working chair (8) and the working platform (7) are both arranged in the front vehicle body operating room (2); the GPS positioning antenna (5) is arranged on the top of the front vehicle body operation room (2).
3. The passenger vehicle chassis-based multifunctional tunnel inspection vehicle of claim 2, wherein the road environment cameras (6) comprise a first road environment camera (6a), a second road environment camera (6b), a third road environment camera (6c) and a safety monitoring camera (6 d); the first road environment camera (6a), the second road environment camera (6b) and the third road environment camera (6c) are used for monitoring the surrounding environment of the vehicle, and the GPS positioning antenna (5) is used for positioning the position information of the vehicle; the safety monitoring camera (6d) is used for monitoring whether a person or a motor vehicle approaches in a close range.
4. The passenger vehicle chassis-based multifunctional tunnel inspection vehicle according to claim 1, wherein the rotatable arc-shaped sensor bracket (3) comprises an arc-shaped bracket (3-2) and a rotating disc (3-1); the arc-shaped support (3-2) is connected with the rotating disc (3-1), and the rotating disc (3-1) is installed on a rear vehicle chassis (4) of the passenger vehicle through a central rotating shaft.
5. The multifunctional tunnel inspection vehicle based on the passenger vehicle chassis is characterized in that the left and right lane tunnel section image acquisition devices comprise a first illumination array (3-4) and a first area array camera array (3-3); the first area array camera array (3-3) is arranged on the first area array camera support (3-9), and the first area array camera support (3-9) is arranged at the central groove of the arc-shaped support (3-2); the first lighting array (3-4) is an LED stroboscopic lighting array, and is arranged on the upper surface of the arc-shaped support (3-2) in a left-right double row; the installation surface of the first lighting array (3-4) has an inclination angle with the horizontal plane, so that the left and right rows of lighting areas coincide.
6. The multifunctional passenger vehicle chassis-based tunnel inspection vehicle of claim 1, wherein the left and right lane lining three-dimensional contour measuring device comprises a plurality of groups of structured light systems; the structured light system comprises a first line laser array (3-5) and a first three-dimensional contour reconstruction system camera array (3-6); the first line laser array (3-5) and the first three-dimensional contour reconstruction system camera array (3-6) are installed on a first three-dimensional contour reconstruction system arc-shaped support (3-7), and the first three-dimensional contour reconstruction system arc-shaped support (3-7) is installed on the side face of the arc-shaped support (3-2);
the rotatable arc-shaped sensor support (3) further comprises a first wedge-shaped support (3-8), and the first three-dimensional contour reconstruction system camera array (3-6) is arranged on the first wedge-shaped support (3-8) so that a relative included angle is formed between the optical axis of the first three-dimensional contour reconstruction system camera array (3-6) and the first line laser array (3-5); the first line laser arrays (3-5) are arranged on the same axis, and emitted laser beams are irradiated on the same straight line.
7. The multifunctional tunnel inspection vehicle based on a passenger vehicle chassis is characterized in that the middle lane tunnel section image acquisition device comprises a second illumination array (11-1) and a second area-array camera array (11-2); the second lighting array (11-1) is LED stroboscopic lighting lamps which are arranged in a left row and a right row, and each row is composed of a plurality of stroboscopic lighting lamp bead rectangular arrays; the second lighting array (11-1) is arranged on the surface of the middle bracket (11), and the mounting surface of the second lighting array (11-1) and the horizontal plane have an inclination angle, so that the left and right rows of lighting areas are superposed;
the second area-array camera array (11-2) is arranged on the second area-array camera support (11-3), and the second area-array camera support (11-3) is arranged at the central groove of the middle support (11).
8. The multifunctional passenger car chassis-based tunnel inspection vehicle according to claim 1, wherein the middle lane lining three-dimensional contour measuring device comprises a plurality of groups of structured light units, the structured light units comprise a second line laser array (11-4) and a second three-dimensional contour reconstruction system camera array (11-5); the second line laser array (11-4) and the second three-dimensional contour reconstruction system camera array (11-5) are installed on the second three-dimensional contour reconstruction system arc-shaped support (11-6); the second three-dimensional contour reconstruction system arc-shaped bracket (11-6) is arranged on the surface of the middle bracket (11);
the three-dimensional contour reconstruction system further comprises a second wedge-shaped support (11-7), the second wedge-shaped support (11-7) is located on the second three-dimensional contour reconstruction system arc-shaped support (11-6), and the second line laser array (11-4) is installed on the second wedge-shaped support (11-7).
9. The multifunctional passenger vehicle chassis-based tunnel inspection vehicle of claim 1, wherein the synchronization control circuit means comprises: the device comprises an encoder, a frequency division plate, a driving plate and a switching power supply;
the encoder is connected with a frequency division plate, the frequency division plate is simultaneously connected with a first lighting array (3-4) and a drive board, the switching power supply is connected with the drive board and used for supplying power to the drive board, and the drive board is connected with a first area array camera array (3-3).
10. The multifunctional tunnel inspection vehicle based on the passenger vehicle chassis is characterized in that the industrial control cabinet (9) is respectively connected with the road environment camera (6), the second area array camera array (11-2) and the first area array camera array (3-3) and used for storing pictures taken by the road environment camera (6), the second area array camera array (11-2) and the first area array camera array (3-3).
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