CN115127516B - Multifunctional tunnel detection vehicle based on chassis of passenger car - Google Patents
Multifunctional tunnel detection vehicle based on chassis of passenger car Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a multifunctional tunnel detection vehicle based on a chassis of a passenger car, which comprises the following components: the synchronous control circuit device and the industrial control cabinet are arranged in the front vehicle body operating room; the rotatable arc-shaped sensor bracket is arranged on the rear chassis, and the synchronous control circuit device provides synchronous signals for the tunnel section image acquisition system and the lining three-dimensional profile measurement system; the tunnel section image acquisition system is used for acquiring tunnel section images; the lining three-dimensional contour measurement 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 the 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 rapidly and simply 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 environment 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 chassis of a passenger car.
Background
According to statistics, serious water leakage phenomena exist in the railway tunnel and the highway tunnel at present, and about 30% of tunnels in some urban subways have water leakage diseases. Because the tunnel construction time is different, the design standard and the construction process level are different, and the tunnel passes through the geological condition difference along the line, the tunnel is more easy to generate damage such as lining crack, tunnel leakage water, tunnel freeze injury, lining corrosion, cavity and the like in the long-term use process compared with the common road. Wherein, the safety of the tunnel is seriously affected by the water leakage of the lining, which is easy to cause the damage of the tunnel circuit, the rust of equipment, the damage of lining structure, the frost heaving and cracking of concrete, etc. Tunnel defects will also increase gradually as tunnel facility operation time increases. The maintenance efficiency is improved, the maintenance cost is reduced, and the method is important to tunnel business in China.
The traditional manual detection method is that a detector walks in the tunnel, the shape and the position of a crack are observed and recorded, and the position and the degree of the disease are detected through various handheld instruments. The method has low efficiency, time consumption and labor consumption, and is difficult to ensure the periodicity and timeliness of detection; the detection work is difficult to complete in a limited time, the sealing is needed, a large number of people are consumed, the detection speed is low, and the requirements of the rapidness and the accuracy of the expressway detection cannot be met.
Currently, the existing tunnel detection vehicles on the market are box-type structures based on the transformation of truck chassis, are limited by regulations, and detection staff cannot operate instruments in workshops when the vehicles run. When the camera is used for collecting, the camera support needs to protrude out of two sides of the vehicle body, and the problems that the whole vehicle is large in size, the parking of the vehicle is inconvenient to detect and the like exist. In addition, the conventional tunnel detection vehicle technology mainly aims at the section and tunnel lining detection of a double-lane tunnel, and cannot 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 chassis of a passenger car, which can be used for rapidly and safely detecting the problems of water seepage, water leakage and void of lining of a tunnel.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a multifunctional tunnel inspection vehicle based on a passenger car chassis, comprising: the system comprises a front car body operation room, a rotatable arc-shaped sensor bracket, a middle bracket, a road environment camera, a rear car chassis, a generator, an industrial control cabinet, a rear car body, a synchronous control circuit device, a tunnel section image acquisition system and a lining three-dimensional contour measurement system;
the synchronous control circuit device and the industrial control cabinet are arranged in the front vehicle body operating room; the rotatable arc-shaped sensor bracket is arranged on the chassis of the rear vehicle,
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; the lining three-dimensional contour measurement system comprises a left lane lining three-dimensional contour measurement device, a right lane lining three-dimensional contour measurement device and a middle lane lining three-dimensional contour measurement device;
the middle bracket is arranged on the roof of the front vehicle body operation room and is used for carrying a middle lane tunnel section image acquisition device and a middle lane lining three-dimensional contour measurement device;
the left and right lane tunnel section image acquisition device and the left and right lane lining three-dimensional contour measurement 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 tunnel section images; the lining three-dimensional contour measurement 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 is used for supplying power to the industrial control cabinet, the tunnel section image acquisition system and the tunnel section image acquisition system.
The invention further improves that:
the device also comprises a working chair, a working table and a GPS positioning antenna; the working chair and the working table are both arranged in the front vehicle body operating room; the GPS positioning antenna is arranged at 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 personnel and motor vehicles approach closely.
The rotatable arc-shaped sensor bracket comprises an arc-shaped bracket and a rotary disc; the arc-shaped support is connected with the rotary disc, and the rotary disc is arranged on the rear chassis of the passenger car through the central rotary 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 a first area array camera bracket, and the first area array camera bracket is arranged at a central groove of the arc-shaped bracket; the first illumination array is an LED stroboscopic illumination array and is arranged on the upper surface of the arc-shaped bracket in a left-right double row manner; the mounting surface of the first illumination array is inclined to the horizontal so that the left and right rows of illumination areas coincide.
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 profile reconstruction system camera array is arranged on the first wedge-shaped support, so that a relative included angle is formed between the optical axis of the first three-dimensional profile reconstruction system camera array and the first line laser array; the first line laser arrays are mounted on the same axis, and the emitted laser beams are irradiated on the same line.
The middle lane tunnel section image acquisition device comprises a second illumination array and a second area array camera array; the second illumination array is a left-right double-row LED stroboscopic illumination lamp, and each row is composed of a plurality of stroboscopic illumination lamp bead rectangular arrays; the second lighting array is arranged on the surface of the middle bracket, and the installation surface of the second lighting array has an inclination angle with the horizontal plane, so that the left lighting area and the right lighting area are overlapped;
the second area array camera array is installed on the second area array camera support, and the second area array camera support is installed at the central groove of the middle support.
The middle lane lining three-dimensional contour measuring device comprises a plurality of groups of structural light units, wherein each structural 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 arc-shaped bracket of the second three-dimensional contour reconstruction system; the arc-shaped bracket of the second three-dimensional contour reconstruction system is arranged on the surface of the middle bracket;
the system further comprises a second wedge-shaped bracket, wherein the second wedge-shaped bracket is positioned on the arc-shaped bracket of the second three-dimensional contour reconstruction system, and the second line laser array is installed on the second wedge-shaped bracket.
The synchronous 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 division plate, the frequency division plate is simultaneously connected with the first illumination array and the driving plate, the switching power supply is connected with the driving plate and used for supplying power to the driving plate, and the driving plate is connected with the first area array camera array.
The industrial control cabinet is respectively connected with the road environment camera, the second array camera array and the first array camera array and used for storing photos shot by the road environment camera, the second array camera array and the first 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 lining water seepage, water leakage and void of the tunnel, and simultaneously can detect the environmental information around the vehicle by the road environment camera to ensure the safety of the detection vehicle.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an overall block diagram 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 internal lateral structure of the tunnel inspection vehicle;
FIG. 4 is a schematic top view of the tunnel inspection vehicle;
FIG. 5 is a schematic diagram of the synchronous control circuit according to the present invention;
FIG. 6 is a schematic view of a camera shooting of a rotating arc bracket and an intermediate bracket of the present invention;
FIG. 7 is a schematic view of LED illumination angles of a rotating arc bracket and an intermediate bracket according to the present invention;
FIG. 8 is a left perspective view of the rotary arc bracket of the present invention;
FIG. 9 is a right-hand perspective view of the rotary arc bracket of the present invention;
FIG. 10 is a block diagram of the device position mounting of the intermediate bracket of 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 a light source to a camera on a rotating arc bracket;
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 intermediate support.
The three-dimensional profile reconstruction system comprises a 1-generator, a 2-front car body operation room, a 3-rotatable arc sensor support, a 4-rear car chassis, a 5-GPS positioning antenna, a 6-road environment camera, a 6 a-first road environment camera, a 6 b-second road environment camera, a 6 c-third road environment camera, a 6 d-safety monitoring camera, a 7-workbench, an 8-working chair, a 9-industrial control cabinet, a 10-rear car body, an 11-middle support, a 3-1-rotating disc, a 3-2-arc support, a 3-3-first area array camera array, a 3-4-first illumination array, a 3-5-first line laser array, a 3-6-first three-dimensional profile reconstruction system camera array, a 3-7-first three-dimensional profile reconstruction system arc support, a 3-8-first wedge support, a 3-9-first area array camera support, an 11-1-second illumination array, an 11-2-second area array camera array, an 11-3-second area array camera support, an 11-4-second line profile reconstruction system, an 11-5-second line laser array 11-second line profile reconstruction system, a three-dimensional profile reconstruction system and a 11-dimensional three-dimensional arc support.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the 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 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "upper," "lower," "horizontal," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not 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. As "horizontal" merely means that its 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 also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1, 2, 3 and 4, the present invention is a multifunctional tunnel inspection vehicle based on a chassis of a passenger car, including: the system comprises a rotatable arc-shaped sensor bracket 3, a middle bracket 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 profile measurement system.
The synchronous control circuit device and the industrial control cabinet 9 are arranged in the front vehicle body operation room 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 intensively and uniformly installed in the industrial control cabinet 9. The rotatable arc-shaped sensor bracket 3 is arranged on the rear chassis 4, and 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; the lining three-dimensional contour measurement system comprises a left lane lining three-dimensional contour measurement device, a right lane lining three-dimensional contour measurement device and a middle lane lining three-dimensional contour measurement device;
the middle bracket 11 is arranged on the roof of the front vehicle body operation room 2 and is used for carrying a middle lane lining three-dimensional contour measuring device which is used for collecting tunnel lining surface images of a middle lane; the left and right lane tunnel section image acquisition device and the left and right lane lining three-dimensional contour measurement device 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 tunnel section images; the lining three-dimensional contour measurement system is used for constructing a tunnel lining three-dimensional contour; the rear chassis 4 is mounted on the rear vehicle body 10; the road environment camera 6 is installed on top of the front vehicle body operation room 2; the generator 1 is arranged on the rear chassis 4 and is closely adjacent to the front vehicle body operation room 2 and used for supplying power to the industrial control cabinet 9, the tunnel section image acquisition system and the tunnel section image acquisition system.
The device also comprises a working chair 8, a working table 7 and a GPS positioning antenna 5; the working chair 8 and the working table 7 are both arranged in the front vehicle body operation room 2; a GPS positioning antenna 5 is mounted on top of the front vehicle body operation room 2.
The road environment camera 6 includes a first road environment camera 6a, a second road environment camera 6b, a third road environment camera 6c, and a safety monitoring camera 6d; 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, the right front 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 to monitor whether there is a person or a motor vehicle approaching closely.
The rotatable arc sensor bracket 3 comprises an arc bracket 3-2 and a rotary disc 3-1; the arc-shaped bracket 3-2 is connected with the rotary disc 3-1, and the rotary disc 3-1 is arranged on the 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 panel camera array 11-2 and the first panel camera array 3-3 and is used for storing photos shot by the road environment camera 6, the second panel camera array 11-2 and the first panel camera array 3-3.
The double-row LED stroboscopic lighting 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 array 3-3 is arranged on the camera support 3-9 of the central groove of the arc-shaped support 3-1, and the camera support 3-9 is arranged on the arc-shaped support 3-2. The synchronous control circuit device is arranged in an industrial control cabinet 9 of the front vehicle body operation room 2, provides synchronous trigger signals for the double-row LED stroboscopic lighting array and the area array camera array, and the area array camera array 3-3 acquires tunnel section image data, and the double-row LED stroboscopic lighting array 3-4 provides auxiliary lighting for the area array camera array.
As shown in fig. 5, the encoder is connected to the frequency dividing plate, the frequency dividing plate is simultaneously connected to the lighting device, and the driving plate, the switching power supply is connected to the driving plate, and the driving plate is connected to the photographing camera. The shooting camera is a first area array camera array 3-3; the lighting device is a first lighting array 3-4;
pulse signals are generated by a speed measuring device encoder arranged on the rear wheels of the passenger car, part of the pulse signals generated by the encoder are input into an LED lamp driving plate through a frequency dividing plate to control the on-off of the first illumination array 3-4, so that the stroboscopic illumination effect is achieved, the other part of the pulse signals trigger the first area array camera array 3-3 to shoot, after the first area array camera array 3-3 shoots, the first illumination array 3-4 is closed, a switching power supply supplies power to the LED driving plate, and the driving plate controls the current on-off of the first illumination array 3-4 by utilizing the small voltage of the pulse signals, so that the stroboscopic effect of the first illumination array 3-4 is achieved.
As shown in fig. 6 and 7, in order to achieve the stitching of the left, middle and right three-lane tunnel images, when three-lane actual shooting is performed, the camera shooting area and the LED illumination area have a certain overlapping area 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 rotate 180 around the rotation axis level, and in the three lane tunnel section detection work of reality, rotatable arc sensor support 3 is rotatory to required direction, and rotatable arc sensor support 3 need not to outstanding automobile body to solve driving safety problem, detect the car simultaneously and need not reverse the driving and gather the tunnel and control section image, need not seal the road 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 left half tunnel lining surface image is acquired; when detecting a middle lane tunnel, a middle tunnel lining surface image is acquired using the middle bracket 11. And finally, image splicing is carried out according to the left, middle and right lane shooting overlapping areas, so that the full section of the tunnel is acquired.
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 comprises a first illumination array 3-4 and a first area array camera array 3-3, and is used for acquiring tunnel section images, combining data information of an encoder to accurately position information of tunnel defects, and the whole tunnel section image acquisition system is installed on an arc-shaped bracket 3-2. The first illumination arrays 3-4 are LED stroboscopic illumination arrays and are arranged in left and right rows, and each row consists of a plurality of stroboscopic illumination arrays and is used for assisting illumination 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 bracket 3-2, particularly, the installation surface of the first illumination array 3-4 has an inclination angle of 5-8 degrees with 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 light surface, so that shooting requirements are met; wherein, first area array camera array 3-3 installs on first area array camera support 3-9, and first area array camera support 3-9 installs in arc support 3-2 central groove department.
As shown in fig. 10, the intermediate bracket 11 is used for mounting an intermediate lane tunnel cross-section image acquisition device for acquiring a tunnel lining surface image of an intermediate lane. The second illumination array 11-1 is a left-right double-row LED stroboscopic illumination lamp, and each row is composed of a plurality of stroboscopic illumination lamp bead arrays and is used for assisting illumination in the shooting process of the area array camera; the second lighting array 11-1 is arranged on the surface of the middle bracket 11, particularly, the installation surface of the second lighting array 11-1 has an inclination angle of 4-4.5 degrees with the horizontal plane, and the left and right rows of lighting areas are overlapped to form a high-brightness light surface, so that the shooting requirement is met; 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; in order to obtain complete images of the left, middle and right lane tunnels, a certain overlapping part is needed for each camera shooting area of the tunnel section image acquisition system, the optimal number of cameras for shooting the left and right lanes is 27, the optimal number of cameras for shooting the middle lane is 21, and the cameras for shooting the left and right lanes are uniformly arranged on the second area array camera support 11-3. The camera shooting object distance at the bottom of the arc-shaped support 3-2 is small, the larger the shooting object distance towards the top of the arc-shaped support is, and proper cameras are selected for different object distances. After the acquisition is completed, the 27 camera image data are spliced according to the overlapping area to obtain left and right lane tunnel section images, then the middle lane 21 cameras are spliced to obtain a middle lane tunnel section image, and then the left, middle and right lane tunnel section images are spliced according to the overlapping images, so that a complete tunnel lining surface image is obtained.
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 device for measuring the three-dimensional contour of the lining of the left and right lanes comprises a plurality of groups of structured light systems consisting of a first line laser array 3-5 and first three-dimensional contour reconstruction system camera arrays 3-6 distributed on two sides, and the structured light systems are used for constructing the three-dimensional contour of the lining of the tunnel of the left and right lanes. The first line laser array 3-5 and the first three-dimensional contour reconstruction system camera array 3-6 are arranged on the 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 arranged on the side face of the arc-shaped support 3-2. The first line laser arrays 3-5 are arranged on the same axis, so that emitted laser beams are emitted on the same line, and the first three-dimensional contour reconstruction system camera arrays 3-6 are arranged on the first wedge-shaped support 3-8, so that 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 intermediate lane lining three-dimensional contour measuring apparatus includes: and a plurality of groups of structured light units are formed by a second line laser array 11-4 and 2 second three-dimensional contour reconstruction system camera arrays 11-5 distributed on two sides, and a 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 bracket 11-6 is installed on the surface of the middle bracket 11; the second line laser array 11-4 of the middle lane 11, the second three-dimensional contour reconstruction system camera array 11-5, and the mounting method and the position are similar to those of the left and right lanes. The intermediate lane lining three-dimensional profile measuring device further comprises a second wedge-shaped bracket 11-7, the second wedge-shaped bracket 11-7 is positioned on the arc-shaped bracket 11-6 of the second three-dimensional profile reconstruction system, and the second line laser array 11-4 is installed on the second wedge-shaped bracket 11-7.
Because the structured light has the characteristics of high precision, easy extraction of light bar image information and the like, the invention adopts the real-time data acquisition technology of an infrared laser and an area array camera to realize the rapid acquisition of the three-dimensional profile information of the detected tunnel section. The laser beams emitted by the plurality of groups of second line laser arrays 11-4 are spread by the lenses and then are irradiated on the surface of a half tunnel lining in a straight line mode to form a laser line, the laser line is deformed due to the fluctuation of the surface of the lining, and the laser stripe images are shot by the second three-dimensional contour reconstruction system camera arrays 11-5 distributed on the two sides of the laser. The degree of deformation of the fringes depends on the relative position of the second line laser array 11-4 and the installation of the second three-dimensional profile reconstruction system camera array 11-5, and the profile of the lining surface to be measured. The stripe images acquired by the structural light units formed by the second line laser arrays 11-4 and the second three-dimensional contour reconstruction system camera arrays 11-5 are spliced, the three-dimensional contour information of the corresponding lane tunnel lining surfaces can be obtained after calculation and analysis of the spliced stripe images according to a laser triangulation method, and then the three-dimensional contour information of the complete lining surfaces can be obtained after splicing the left, middle and right lane tunnel lining surfaces.
As shown in fig. 12, the arc-shaped support is rotated from the front view, 3-4 is a first illumination array, and 3-3 is a first area camera array. Wherein the point P is the optical axis of the first area camera array 3-3 and the first illumination array 3-4The intersection point of the optical axes, the intersection point of the optical axes and the first planar array camera array 3-3 are arranged on the arc-shaped bracket 3-2, the optimal included angle between the installation plane and the horizontal plane is 5-8 degrees, the distance between the cameras in the first planar array camera array 3-3 and the first illumination array 3-4 is generally 35cm, and the distance is denoted as l c The method comprises the steps of carrying out a first treatment on the surface of the The camera is 250-350 cm away from the cambered surface of the tunnel and is marked as l s 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 camera array. The point O 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, and the three points intersect on the arc surface of the tunnel, and because the tunnel is higher, the installation plane needs to be selected again, the distance between the camera in the second area array camera array 11-2 and the second illumination array 11-1 is generally 35cm, at this time, 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, and the included angle between the installation plane and the horizontal plane is 4-4.5 ° obtained by the formula (1).
As shown in FIG. 14, the lighting of the rectangular array of single LEDs on the inner wall of the tunnel is similar to an elliptical area, and the rectangular arrays of left and right rows of LEDs are opened and the light surfaces of the rectangular arrays of left and right rows of LEDs on the inner wall of the tunnel are overlapped, so that a brighter lighting band is formed, and the camera is beneficial to collecting image data. The LED stroboscopic lighting system comprises a plurality of LED rectangular arrays, wherein each row of LED stroboscopic lighting system comprises a plurality of LED rectangular arrays, the LED rectangular arrays are arranged on the upper surface of a rotary arc-shaped bracket with an inclination angle of 5-8 degrees, and the light surfaces of the left and right rows of LED rectangular arrays are mainly considered to coincide, so that a light condensation effect is achieved; in addition, the illumination light band area is nonuniform in brightness and has center to periphery attenuation, in order to obtain a uniform bright illumination light band, each row of two adjacent LED rectangular array illumination areas are provided with a certain overlapping area so as to compensate the attenuation of the periphery of the illumination area of the single LED rectangular area, so that a uniform and bright illumination light band is obtained, and finally, the camera shooting area 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, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. Multifunctional tunnel detects car based on passenger train chassis, its characterized in that includes: the system comprises a front vehicle body operation room (2), a rotatable arc-shaped sensor bracket (3), a middle bracket (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 profile measurement system;
the synchronous control circuit device and the industrial control cabinet (9) are arranged in the front vehicle body operation room (2); the rotatable arc-shaped sensor bracket (3) is arranged on the rear chassis (4),
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; the lining three-dimensional contour measurement system comprises a left lane lining three-dimensional contour measurement device, a right lane lining three-dimensional contour measurement device and a middle lane lining three-dimensional contour measurement device;
the middle support (11) is arranged on the roof of the 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 measurement device;
the left and right lane tunnel section image acquisition device and the left and right lane lining three-dimensional contour measurement device are arranged on a rotatable arc-shaped sensor bracket (3);
the left and right lane tunnel section image acquisition device comprises 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 illumination array (3-4) is an LED stroboscopic illumination array and is arranged on the upper surface of the arc-shaped bracket (3-2) in a left-right double row manner; the installation surface of the first illumination array (3-4) has an inclination angle with the horizontal plane, so that the left and right rows of illumination areas are overlapped;
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 illumination array (11-1) is a left-right double-row LED stroboscopic illumination lamp, and each row is composed of a plurality of stroboscopic illumination lamp bead rectangular arrays; the second illumination array (11-1) is arranged on the surface of the middle bracket (11), and the installation surface of the second illumination array (11-1) has an inclination angle with the horizontal plane, so that the left and right rows of illumination areas are overlapped; 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);
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 profile 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 arranged on the first three-dimensional contour reconstruction system arc-shaped bracket (3-7), and the first three-dimensional contour reconstruction system arc-shaped bracket (3-7) is arranged on the side surface of the arc-shaped bracket (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 emitted to the same line;
the intermediate lane lining three-dimensional contour measurement device comprises a plurality of groups of structure light units, wherein the structure 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 arranged on the second three-dimensional contour reconstruction system arc-shaped bracket (11-6); the arc-shaped bracket (11-6) of the second three-dimensional contour reconstruction system is arranged on the surface of the middle bracket (11); the system further comprises a second wedge-shaped bracket (11-7), wherein the second wedge-shaped bracket (11-7) is positioned on the arc-shaped bracket (11-6) of the second three-dimensional contour reconstruction system, and the second line laser array (11-4) is arranged on the second wedge-shaped bracket (11-7);
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 tunnel section images; the lining three-dimensional profile measuring system is used for constructing a tunnel lining three-dimensional profile;
the rear 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 arranged on the rear chassis (4) and is used for supplying power to the industrial control cabinet (9) and the tunnel section image acquisition system.
2. The multifunctional tunnel inspection vehicle based on a passenger car chassis according to claim 1, further comprising a work chair (8), a work table (7) and a GPS positioning antenna (5); the working chair (8) and the working table (7) are both arranged in the front vehicle body operation chamber (2); the GPS positioning antenna (5) is arranged at the top of the front vehicle body operation room (2).
3. The multifunctional tunnel inspection vehicle based on a passenger car chassis according to claim 2, wherein the road environment camera (6) comprises a first road environment camera (6 a), a second road environment camera (6 b), a third road environment camera (6 c) and a safety monitoring camera (6 d); the first road environment camera (6 a), the second road environment camera (6 b) and the third road environment camera (6 c) 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 (6 d) is used for monitoring whether personnel and motor vehicles approach closely.
4. The multifunctional tunnel inspection vehicle based on a passenger car chassis according to claim 1, wherein the rotatable arc sensor bracket (3) comprises an arc 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 the rear chassis (4) of the passenger car through a central rotating shaft.
5. The multifunctional tunnel inspection vehicle based on a passenger car chassis according to claim 1, wherein the synchronous control circuit device comprises: the device comprises an encoder, a frequency division plate, a driving plate and a switching power supply;
the encoder is connected with the frequency division plate, the frequency division plate is simultaneously connected with the first illumination array (3-4) and the driving plate, the switching power supply is connected with the driving plate and used for supplying power to the driving plate, and the driving plate is connected with the first area array camera array (3-3).
6. The multifunctional tunnel inspection vehicle based on the passenger car chassis according to claim 1, wherein 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 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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