CN115128081A - Multilane tunnel lining appearance detection platform and using method - Google Patents
Multilane tunnel lining appearance detection platform and using method Download PDFInfo
- Publication number
- CN115128081A CN115128081A CN202210469485.3A CN202210469485A CN115128081A CN 115128081 A CN115128081 A CN 115128081A CN 202210469485 A CN202210469485 A CN 202210469485A CN 115128081 A CN115128081 A CN 115128081A
- Authority
- CN
- China
- Prior art keywords
- platform
- detection
- lane
- tunnel
- lining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Biochemistry (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an appearance detection platform for a multi-lane tunnel lining and a using method thereof. The platform includes: the device comprises a rotary drive, a platform bottom plate, a bearing platform, a linear sliding table module, an outer cover plate, a detection module and a distance measuring sensor; the rotary drive can realize rotation of 0-180 degrees and position locking; the platform bottom plate is fixed with the rotary drive, and a circular bearing and a plurality of groups of bearings are arranged in the platform bottom plate, so that the platform plays a stabilizing role when rotating; the bearing platform is vertically arranged above the platform bottom plate through the octagonal corner piece, and 5 groups of linear sliding table modules are arranged according to a preset angle; the outer cover plate is connected with the bearing platform through the snap fasteners, and can be quickly disassembled. The detection device for detecting the appearance of the lining of the multi-lane tunnel and the using method provided by the invention have the advantages of high detection speed and simple adjustment steps, and are suitable for detecting the appearance of the lining of the conventional two-lane or three-lane highway tunnel.
Description
Technical Field
The invention relates to the technical field of tunnel maintenance, in particular to a multilane tunnel lining appearance detection platform and a using method thereof.
Background
The traffic transportation infrastructure is rapidly developed, the number and scale of highway tunnels are increased year by year, the maintenance management of the highway tunnels is gradually improved, the traditional tunnel detection needs workers to hold various professional instruments, and a tunnel detection mode of utilizing a climbing vehicle to operate is gradually replaced by rapid nondestructive professional detection equipment.
The highway tunnel is different from the railway tunnel, generally has the characteristics of large cross-sectional area, complex cross-sectional shape, multiple auxiliary facilities and the like, and compared with the rapid updating iteration of railway tunnel nondestructive testing equipment, the highway tunnel is newly equipped with new equipment and new technology which are relatively slowly developed, the main reasons are that highway maintenance and detection are generally entrusted to a third party, the highway operation pressure is large, the detection window period is generally difficult to coordinate, and therefore maintenance and detection operation is required to be carried out under the condition of not influencing traffic, and most of equipment with low detection speed is directly eliminated.
In recent years, few domestic enterprises research rapid nondestructive tunnel detection equipment, and basically focus on-site image data acquisition, storage and post-image processing. The light intensity change of the tunnel environment has great influence on the existing image acquisition equipment, the quality of acquired high-definition images cannot meet the requirement of post processing, and active lighting equipment is generally required to be added to a camera. In the current field of tunnel detection, a commonly used detection scheme is that a plurality of area array cameras are matched with an LED light supplement technology for active light supplement. The crack detection precision of the road tunnel structure reaches 0.2mm, the collection of the half tunnel lining section requires 30-40 mesa array cameras to work simultaneously, and each camera only collects a small width, which is very unfavorable for the later image processing; moreover, aiming at the detection of tunnels with different specifications, the 30-40 mesa array cameras need to be debugged again, so that the operation is complicated and the efficiency is low; secondly, most energy can be dissipated in the air by the LED long-distance supplementary lighting, a 1-2 times amount of high-power LED supplementary lighting light source is generally required to be matched with the area array camera, and manual supplementary lighting is required to be combined with brightness. Once the tunnel profile has a large change, the LED light supplementing belt can be deformed and dislocated, and the light supplementing effect is reduced.
Disclosure of Invention
The invention aims to provide a multi-lane tunnel lining appearance detection platform and a using method thereof, which can realize high detection speed of a detection device and simple adjustment steps and are suitable for the appearance detection of the conventional two-lane and three-lane highway tunnel lining.
In order to solve the technical problem, the invention provides a multilane tunnel lining appearance detection platform, which comprises: the device comprises a rotary drive, a platform bottom plate, a bearing platform, a linear sliding table module, an outer cover plate, a detection module and a distance measuring sensor; the rotary drive can realize rotation and position locking from 0 degree to 180 degrees; the platform bottom plate is fixed with the rotary drive, and a circular bearing and a plurality of groups of bearings are arranged in the platform bottom plate, so that the platform plays a stabilizing role when rotating; the bearing platform is vertically arranged above the platform bottom plate through the octagonal corner piece, and 5 groups of linear sliding table modules are arranged according to a preset angle; the outer cover plate is connected with the bearing platform through the snap fastener, so that the outer cover plate can be quickly disassembled; each group of linear sliding table modules is provided with a set of detection module, and a stepping motor in each linear sliding table module realizes that the detection module is locked at any position of the linear sliding table by driving a screw rod to rotate; meanwhile, a distance measuring sensor is arranged on the outer edge of each group of detection modules and is responsible for directly measuring the distance from the detection modules to the surface of the tunnel lining along the axis direction of the camera.
In some embodiments, the rotary drive is composed of components of a worm, a rotary support, a shell and a motor, is carried by various bearing platform vehicles, and can rotate and position-lock along the axis by 0-180 degrees.
In some embodiments, the platform bottom plate is fixed with the rotary drive, and can prevent dust and rain and protect a bearing and a mechanical mechanism of a worm in the rotary drive.
In some embodiments, the bearing platform is composed of an aluminum section frame, 8-hole corner fittings, a box buckle bottom plate and a sliding table connecting plate.
In some embodiments, the linear sliding table module is composed of a shell, a guide rail, a screw rod, a coupler and a stepping motor.
In some embodiments, the outer housing plate is connected to the load-bearing platform by snap-fit, which allows for quick removal.
In some embodiments, the detection module is a machine vision component specially developed for tunnel detection, integrates a camera, a laser, protection, synchronization and control into a whole, achieves IP67 protection as a whole, and has the functions of outdoor-20-50-degree temperature operation and automatic internal temperature and air pressure regulation.
In addition, the invention also provides a use method of the multilane tunnel lining appearance detection platform, which comprises the following steps: according to the number of lanes of the road and the lane where the apparent detection of the lining is the vehicle, the rotation angle of the slewing drive in the apparent detection platform of the lining of the multi-lane tunnel and the number of used detection modules are determined, and the apparent detection platform of the lining of the multi-lane tunnel is based on the apparent detection platform of the lining of the multi-lane tunnel.
In some embodiments, when detecting a two-lane road tunnel, the detection platform adjusting method includes: when a vehicle carrying the detection platform advances on the right lane and the detection platform is at a 0-degree position, the apparent disease of the right half lining of the two-lane highway tunnel can be detected, and at the moment, 1-5 detection modules are used; similarly, when the vehicle carrying the inspection platform is traveling in the left lane and the inspection platform is in the 180 ° position, the apparent damage of the left half lining of the two-lane highway tunnel can be detected, where the 1 to 5 detection modules are used.
In some embodiments, when detecting a three-lane road tunnel, the detection platform adjusting method includes: when a vehicle carrying the detection platform advances on the right lane and the detection platform is at a 0-degree position, the apparent disease of the right half lining of the three-lane highway tunnel can be detected, and at the moment, 1-5 detection modules are used; when a vehicle carrying the detection platform advances in a middle lane and the detection platform is at a 0-degree position, the apparent disease of the top lining of the three-lane highway tunnel can be detected, and a detection module 1-2 is used; when a vehicle carrying the detection platform travels in a left lane and the detection platform is in a 180-degree position, apparent lining diseases of the left half side of a three-lane highway tunnel can be detected, and the 1-5 detection modules are used at the moment.
After adopting such design, the invention has at least the following advantages:
1. the tunnel lining apparent detection platform device and the detection method are suitable for rapid nondestructive detection of two-lane and three-lane highway tunnel lining apparent diseases, traffic control is not needed, and the detection speed can reach 60-80 km/h;
2. the tunnel lining appearance detection platform device can obtain a full-contour image after 2 passes of a two-lane highway tunnel; obtaining a full-contour image after 3 passes of the three-lane highway tunnel;
3. when the method is used for detecting the appearance of the lining of the highway tunnel, when the actual tunnel section does not accord with the pre-input information, the parking adjustment is not needed, and the method is convenient, rapid and efficient;
4. the adjusting method of the invention can not change the fixed parameters of the detection module, and the performance of the detection module can not be influenced after long-term use.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 is an external view of the apparatus for apparent inspection of multiple tunnel linings of the present invention;
FIG. 2 is a mechanical schematic of the appearance inspection apparatus of the present invention;
FIG. 3 is a schematic illustration of the multi-cluster acquisition line splicing of the present invention;
FIG. 4 is a schematic view of the operation of the lining apparent collection device of the present invention in two right lanes;
FIG. 5 is a schematic view of the operation of the lining apparent collection device in the middle lane of the three lanes;
FIG. 6 is a schematic view of the operation of the lining apparent collection device of the present invention in the right lane of the three lanes;
FIG. 7 is a logic control diagram using the present invention;
FIG. 8 is a control interface schematic.
Description of reference numerals:
1 rotation drive 2 platform bottom plate
3 4 sharp slip table modules of load-bearing platform
5 outer cover plate 6 detection module
7 range sensor 301 aluminium alloy frame
3028 bottom plate of box fastener with corner fitting 303
304 slip table connecting plate 4011 # slip table module
4022 # sliding table module 4033 # sliding table module
4044 # sliding table module 4055 # sliding table module
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In order to solve the problems, the invention discloses a multilane tunnel lining appearance detection method, and a detection device realized by using the method has the advantages of high detection speed and simple adjustment steps, and is suitable for the appearance detection of the conventional two-lane and three-lane highway tunnel lining.
In order to achieve the above purpose, the invention provides the following technical scheme:
referring to fig. 1 and fig. 2, the device for implementing the method for detecting the appearance of the lining of the multilane tunnel provided by the invention comprises: rotation drive 1, platform bottom plate 2, load-bearing platform 3, sharp slip table module 4, outer cover plate 5, detection module 6, distance measuring sensor 7. Wherein, the rotary drive 1 can realize the rotation of 0-180 degrees and the position locking; the platform bottom plate 2 is fixed with the rotary drive 1, and a circular bearing and a plurality of groups of bearings are arranged in the platform bottom plate, so that the platform plays a stabilizing role when rotating; the bearing platform 3 is vertically arranged above the platform bottom plate 2 through an octagonal corner piece, and 5 groups of linear sliding table modules 4 are arranged according to a preset angle; the outer cover plate 5 is connected with the bearing platform 3 through a snap fastener, so that quick disassembly can be realized; each group of linear sliding table modules 4 is provided with a set of detection module 6, and a stepping motor in each linear sliding table module realizes that the detection module 6 is locked at any position of the linear sliding table by driving a screw rod to rotate; simultaneously, each group of detection module 6 outer edge is installed range sensor 7, and range sensor 7 is responsible for the direct measurement detection module 6 along camera axle center direction to the distance on tunnel lining surface.
The rotary drive 1 is composed of a worm, a rotary support, a shell, a motor and other parts, can be carried by various bearing platform vehicles, and can rotate and position lock along the axis at 0-180 degrees.
The platform bottom plate 2 is fixed with the rotary drive 1, and can prevent dust and rain and protect mechanical mechanisms such as a bearing, a worm and the like in the rotary drive 1. The inside is equipped with circular bearing and multiunit bearing, plays the stabilizing effect when the platform is rotatory.
The bearing platform 3 is composed of an aluminum profile frame 301, an 8-hole corner piece 302, a box buckle bottom plate 303 and a sliding table connecting plate 304. Bearing platform 3 passes through 8 hole corner fittings 302 and platform bottom plate 2 locking, and sharp slip table module 4 is fixed with bearing platform 3 through slip table connecting plate 304, and sharp slip table module 4 installation angle can be adjusted at appropriate within range.
The linear sliding table module 4 comprises a shell, a guide rail, a screw rod, a coupler, a stepping motor and the like. Step motor in the sharp slip table module 4 rotates through the drive lead screw and realizes that detection module 6 lock stops in sharp slip table optional position.
The outer cover plate 5 is connected with the bearing platform 3 through the snap fasteners, and can be quickly detached.
The detection module 6 is formed by a high-definition line scanning camera and a line laser light supplementing light source, a line scanning camera lens used from 1# to 5# is divided into long and short focal lenses with different focal lengths, the long and short focal lenses are adjusted in a collinear mode before the detection module 6 is installed, and enough light supplementing brightness and clear images can be obtained at a working distance of 3-5m during working. The 5 sets of module acquisition lines are parallel to each other and are not overlapped.
The detection module 6 is a machine vision component specially developed for tunnel detection customization, integrates a camera, laser, protection, synchronization and control into a whole, achieves IP67 protection integrally, and has the functions of outdoor-20-50-degree temperature work and automatic internal temperature and air pressure regulation.
And the distance measuring sensor 7 is arranged on the outer edge of the detection module 6 and is responsible for directly measuring the actual distance from the detection module 6 to the tunnel lining surface along the axis direction of the camera.
Referring to fig. 4, when detecting a two-lane highway tunnel, the adjustment method of the detection platform is as follows:
when a vehicle carrying the detection platform advances on the right lane and the detection platform is at a 0-degree position, the apparent disease of the right half lining of the two-lane highway tunnel can be detected, and a 1# to 5# detection module is used; similarly, when the vehicle carrying the detection platform runs on the left lane and the detection platform is in a 180-degree position, the apparent lining damage of the left half side of the two-lane highway tunnel can be detected, and the 1# to 5# detection modules are used.
Referring to fig. 5 and 6, when detecting a three-lane road tunnel, the adjustment method of the detection platform is as follows:
when a vehicle carrying the detection platform advances on the right lane and the detection platform is at a 0-degree position, the apparent disease of the right half lining of the three-lane highway tunnel can be detected, and a 1# to 5# detection module is used; when a vehicle carrying the detection platform advances in a middle lane and the detection platform is at a 0-degree position, the apparent disease of the top lining of the three-lane highway tunnel can be detected, and a 1# to 2# detection module is used; when a vehicle carrying the detection platform travels in a left lane and the detection platform is located at a 180-degree position, the apparent lining diseases of the left half side of the three-lane highway tunnel can be detected, and the 1# to 5# detection module is used.
In the two-lane road tunnel detection process and the three-lane road tunnel detection process, different detection modules can be started in a time division mode. In particular, referring to fig. 3, the same road segment may be divided into different collection lines. And starting a detection module corresponding to the acquisition line on the corresponding acquisition line.
In the detection process, the control process of each detection module is as shown in fig. 7. Specifically, first, the device is powered on; inputting section information of a tunnel to be detected; the detection module performs pre-adjustment; when a vehicle enters a tunnel, checking whether a detection module needs to be adjusted or not; if the adjustment is needed, controlling the stepping motor and adjusting the position of the detection module; if no adjustment is needed, performing detection; in the detection, whether the detection module needs to be adjusted or not is checked; if so, controlling the stepping motor and adjusting the position of the detection module; and if the adjustment is not needed, the equipment is closed after the detection is finished.
The lens selected by the detection module 6 has long focal length, high resolution and large depth of field, and when the profile of the section of the tunnel slightly changes or the working distance of the module changes within an allowable error range caused by the deviation of the driving track, the linear sliding table module 4 does not act; when the profile of the section of the tunnel is changed greatly or the working distance caused by the deviation of the driving track exceeds the allowable error range, the system gives an alarm and can set the automatic or manual control linear sliding table module 4 to correct and compensate.
Moreover, the detection process can be set through software of an upper computer. Specifically, the control interface is shown in fig. 8.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a multilane tunnel lining apparent testing platform which characterized in that includes: the device comprises a rotary drive, a platform bottom plate, a bearing platform, a linear sliding table module, an outer cover plate, a detection module and a distance measuring sensor; the rotary drive can realize rotation and position locking from 0 degree to 180 degrees; the platform bottom plate is fixed with the rotary drive, and a circular bearing and a plurality of groups of bearings are arranged in the platform bottom plate, so that the platform plays a stabilizing role when rotating; the bearing platform is vertically arranged above the platform bottom plate through the octagonal corner piece, and 5 groups of linear sliding table modules are arranged according to a preset angle; the outer cover plate is connected with the bearing platform through the snap fasteners, so that the outer cover plate can be quickly disassembled; each group of linear sliding table modules is provided with a set of detection module, and a stepping motor in each linear sliding table module realizes that the detection module is locked at any position of the linear sliding table by driving a screw rod to rotate; simultaneously, the outer edge of every group detection module is installed with range sensor, and range sensor is responsible for the direct measurement detection module and follows the distance of camera axle center direction to tunnel lining surface.
2. The appearance inspection platform for the lining of the multilane tunnel according to claim 1, wherein the rotary drive is composed of components of a worm, a rotary support, a shell and a motor, is carried by various platform vehicles, and can rotate and position-lock along the axis by 0-180 degrees.
3. The appearance detection platform for the multilane tunnel lining of claim 1, wherein a platform bottom plate is fixed with a rotary drive, and the platform bottom plate can be dustproof and rainproof and protect mechanical mechanisms of a bearing and a worm in the rotary drive.
4. The appearance detection platform of multilane tunnel lining of claim 1, characterized in that, load-bearing platform comprises aluminium alloy frame, 8 hole corner fittings, case buckle bottom plate, slip table connecting plate.
5. The appearance detection platform of multilane tunnel lining of claim 1, characterized in that, the straight line slip table module comprises shell, guide rail, lead screw, shaft coupling, step motor.
6. The multilane tunnel lining appearance inspection platform of claim 1, wherein the outer housing plate is connected to the load-bearing platform by snap fasteners to allow for quick removal.
7. The appearance inspection platform of the multilane tunnel lining of claim 1, characterized in that the inspection module is a machine vision component specially developed for tunnel inspection, integrates camera, laser, protection, synchronization and control into a whole, achieves IP67 protection as a whole, and has functions of outdoor-20 ° to 50 ° temperature operation and automatic internal temperature and air pressure adjustment.
8. A use method of a multilane tunnel lining appearance detection platform is characterized by comprising the following steps:
determining the rotation angle of the slewing drive in the multi-lane tunnel lining appearance detection platform according to the number of lanes of a road and the lane where a vehicle is located in the lining appearance detection platform, and the number of used detection modules, wherein the multi-lane tunnel lining appearance detection platform is the multi-lane tunnel lining appearance detection platform according to any one of claims 1 to 7.
9. The use method of the multi-lane tunnel lining appearance detection platform according to claim 8, wherein when the two-lane road tunnel is detected, the detection platform adjusting method comprises the following steps: when a vehicle carrying the detection platform advances on the right lane and the detection platform is at a 0-degree position, the apparent disease of the right half lining of the two-lane highway tunnel can be detected, and at the moment, 1-5 detection modules are used; similarly, when the vehicle carrying the detection platform travels in the left lane and the detection platform is in the 180 ° position, the apparent lining defect of the left half of the two-lane highway tunnel can be detected, and the 1 to 5 detection modules are used.
10. The use method of the multilane tunnel lining appearance detection platform according to claim 8, wherein when detecting a three-lane highway tunnel, the detection platform adjusting method comprises the following steps: when a vehicle carrying the detection platform advances on the right lane and the detection platform is at a 0-degree position, the apparent disease of the right half lining of the three-lane highway tunnel can be detected, and at the moment, 1-5 detection modules are used; when a vehicle carrying the detection platform advances in a middle lane and the detection platform is at a 0-degree position, the apparent disease of the top lining of the three-lane highway tunnel can be detected, and a detection module 1-2 is used; when a vehicle carrying the detection platform travels in a left lane and the detection platform is in a 180-degree position, apparent lining diseases of the left half side of a three-lane highway tunnel can be detected, and the 1-5 detection modules are used at the moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210469485.3A CN115128081A (en) | 2022-04-28 | 2022-04-28 | Multilane tunnel lining appearance detection platform and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210469485.3A CN115128081A (en) | 2022-04-28 | 2022-04-28 | Multilane tunnel lining appearance detection platform and using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115128081A true CN115128081A (en) | 2022-09-30 |
Family
ID=83375997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210469485.3A Pending CN115128081A (en) | 2022-04-28 | 2022-04-28 | Multilane tunnel lining appearance detection platform and using method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115128081A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593468A (en) * | 2023-04-13 | 2023-08-15 | 重庆切克威科技有限公司 | Vehicle-mounted tunnel detection system |
-
2022
- 2022-04-28 CN CN202210469485.3A patent/CN115128081A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593468A (en) * | 2023-04-13 | 2023-08-15 | 重庆切克威科技有限公司 | Vehicle-mounted tunnel detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11673587B2 (en) | Comprehensive inspection vehicle for subway tunnel | |
| KR101510336B1 (en) | Device for inspecting driver assistance system of vehicle | |
| CN103047930B (en) | A kind of vehicular subway tunnel disease data automatic acquisition system | |
| CN104655047A (en) | Rapid and comprehensive tunnel measurement system | |
| CN103194956B (en) | Road detection vehicle and utilize it to carry out the method for Road Detection | |
| CN101881000B (en) | Photographic measurement system and method for pavement evenness | |
| CN201983923U (en) | Automanual special vehicle lamp light detector | |
| CN101487224A (en) | High-speed road conditions detection vehicle | |
| CN112432610A (en) | Train clearance detection device and detection method | |
| CN109974745B (en) | Comprehensive calibration detection table for vehicle-mounted camera | |
| CN115128081A (en) | Multilane tunnel lining appearance detection platform and using method | |
| CN104167027A (en) | Tunnel cable fault inspection system and method | |
| CN112985311B (en) | Vehicle-mounted portable lightweight intelligent inspection method and system | |
| CN102211597A (en) | Dynamic acquiring device and method for track marks | |
| CN207163404U (en) | The system of continuous tracking measurement contact net geometric parameter | |
| CN110926417B (en) | Vehicle-mounted railway tunnel detection system based on machine vision | |
| CN104359465B (en) | A kind of laser level light self-checking device | |
| CN112103840A (en) | Railway contact net inspection robot | |
| CN217385250U (en) | Appearance detection platform for multilane tunnel lining | |
| CN109752170B (en) | Automobile headlamp detector adopting wheel searching for alignment measurement | |
| CN201413232Y (en) | Full-automatic lamplight detecting analyzer | |
| CN202757754U (en) | A detector for simultaneously detecting two headlights for an automotive vehicle | |
| CN213750759U (en) | Railway tunnel intelligent patrol vehicle based on SLAM technology | |
| CN102431485B (en) | Vehicle-mounted non-contact three-dimensional automatic human body measuring system | |
| CN104197926A (en) | Robot navigation device using active vision manner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |