CN115453946A - Tunnel diagnosis vehicle central control system and method - Google Patents
Tunnel diagnosis vehicle central control system and method Download PDFInfo
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Abstract
The invention relates to the technical field of traffic structure safety, and discloses a central control system and a method for a tunnel diagnostic vehicle, wherein the central control system for the tunnel diagnostic vehicle comprises a central controller, and a time-space synchronization subsystem and a tunnel detection subsystem which are in signal connection with the central controller, tunnel defect information of a current tunnel is acquired through a plurality of detection modules of the tunnel detection subsystem, so that the multidimensional structure safety detection is increased, the reliability of the structure safety detection is improved, the pertinence of the tunnel structure safety detection is improved, the central control system for the tunnel diagnostic vehicle is integrated and controlled through the central controller, the detection efficiency of the current tunnel detection is improved, and the detection effect of the current tunnel structure safety detection is optimized.
Description
Technical Field
The invention relates to the technical field of traffic structure safety, in particular to a central control system and a central control method for a tunnel diagnostic vehicle.
Background
Along with the continuous development of urban traffic, urban traffic infrastructure is also continuously extended and developed on the aspect of spatial layout, wherein the urban traffic infrastructure is extended to the ground through the underground tunnel, and a novel urban traffic mode is realized.
However, in the process of implementing an urban transportation mode through the underground tunnel, the underground tunnel still has many structural safety problems, and in the process of performing structural safety detection on the structural safety defects below the ground, the existing structural safety detection equipment cannot accurately identify the structural safety problems in the underground tunnel, and after the structural safety problems are detected, a targeted solution cannot be provided for various structural safety problems, so that the effect of performing structural safety detection on the structural safety defects occurring in the underground tunnel is poor.
Disclosure of Invention
The invention mainly aims to provide a central control system and a central control method for a tunnel diagnostic vehicle, and aims to optimize the detection effect of carrying out structural safety detection on structural safety defects of an underground tunnel.
In order to achieve the above object, the present invention provides a tunnel diagnosis vehicle central control system, including: the system comprises a central controller, and a space-time synchronization subsystem and a tunnel detection subsystem which are in signal connection with the central controller;
a space-time synchronization subsystem for outputting a space-time synchronization signal;
the central controller controls the tunnel detection subsystem to execute the work of detecting the diseases of the current tunnel based on the space-time synchronous signal;
the tunnel detection subsystem is used for executing tunnel defect detection work and feeding back tunnel defect information of the detected tunnel to the central controller;
and the central controller performs multidimensional information fusion on the tunnel defect information based on the tunnel defect information to acquire multidimensional monitoring information corresponding to the current tunnel, determines a target structure safety defect of the current tunnel based on the multidimensional monitoring information, and outputs a corresponding structure safety defect report.
Preferably, the central control system of the tunnel diagnosis vehicle is further connected with a cloud fine diagnosis platform;
after the target structure safety damage of the current tunnel is determined based on the multi-dimensional monitoring information, the method further comprises the following steps:
the cloud precision diagnosis platform is used for accurately diagnosing the preset type of target structure safety diseases;
and the central controller controls the cloud precise diagnosis platform to accurately diagnose the preset type of target structure security diseases based on the multidimensional monitoring information, and performs decision planning on the target structure security diseases to generate a corresponding accurate diagnosis report.
Preferably, the tunnel detection subsystem comprises: the system comprises an apparent damage and water leakage detection module, a deformation displacement detection module and a hidden disease detection module;
the apparent damage and water leakage detection module is used for detecting the damage and crack condition of the current tunnel;
the deformation displacement detection module is used for detecting the deformation displacement condition of the current tunnel;
the hidden disease detection module is used for detecting hidden diseases of the current tunnel;
and the central controller controls an apparent damage and water leakage detection module, a deformation displacement detection module and a hidden disease detection module in the tunnel detection subsystem to detect the current tunnel, and respectively acquires the damage crack condition, the deformation displacement condition and the hidden disease condition of the current tunnel.
Preferably, the tunnel detection subsystem further comprises: the unmanned aerial vehicle inspection system comprises an auxiliary detection module and an unmanned aerial vehicle scrutiny module;
the auxiliary detection module is used for acquiring basic tunnel information in the current tunnel;
the unmanned aerial vehicle scrutiny module is used for locally scrutinizing a preset target position and acquiring the specific disease condition of the target position;
the central controller controls the auxiliary detection module to acquire information of the current tunnel, and acquires basic tunnel information in the current tunnel;
the central controller controls a preset device of the unmanned aerial vehicle fine-checking module to perform local fine-checking on a target position preset in the current tunnel, and specific disease conditions of the target position are collected.
Preferably, the space-time synchronization subsystem comprises: the system comprises an encoder, a positioning navigation module and a data synchronization module;
an encoder for generating a pulse signal;
the positioning navigation module is used for accurately positioning the tunnel diagnosis vehicle based on the pulse signals;
the data synchronization module is used for realizing the time-space data synchronization of the central control system of the tunnel diagnostic vehicle and the current tunnel diagnostic vehicle;
the central controller controls an encoder of the time-space synchronization subsystem to generate a corresponding pulse signal, controls the positioning navigation module to accurately position the current tunnel diagnostic vehicle based on the pulse signal, acquires the time-space data of the current tunnel diagnostic vehicle, and synchronizes the time-space data to the data synchronization module.
Preferably, the central controller includes: the system comprises an information multi-dimensional fusion module, a front-end initial diagnosis module and a report feedback module;
the information multi-dimensional fusion module is used for carrying out multi-dimensional information fusion on the tunnel disease information acquired by the tunnel detection subsystem to acquire the multi-dimensional detection information of the current tunnel;
the front-end initial diagnosis module is used for carrying out disease front-end initial diagnosis on the current tunnel based on the multi-dimensional detection information of the current tunnel and determining the target structure safety disease in the current tunnel;
and the report feedback module is used for generating a corresponding structure safety defect report according to the target structure safety defect in the current tunnel and feeding back the structure safety defect report.
Preferably, the central controller and the space-time synchronization subsystem and the tunnel detection subsystem which are in signal connection with the central controller realize data transmission based on a preset data stream link;
the time-space synchronization subsystem realizes the transmission of time-space synchronization signals with the central controller through a preset time-space synchronization link;
and the tunnel detection subsystem realizes data transmission with the central controller through a preset system soft and hard synchronous link.
In order to achieve the above object, the present invention also provides a control method of a central control system of a tunnel diagnosis vehicle, which is applied to the central control system of the tunnel diagnosis vehicle, and the central control system of the tunnel diagnosis vehicle includes: the tunnel diagnosis vehicle central control system comprises a central controller for carrying out integrated control on each subsystem in the tunnel diagnosis vehicle central control system, a time-space synchronization subsystem and a tunnel detection subsystem, wherein the time-space synchronization subsystem and the tunnel detection subsystem are in electric signal connection with the central controller, and the control method of the tunnel diagnosis vehicle central control system comprises the following steps:
the central controller acquires a synchronous signal for controlling the tunnel diagnostic vehicle to carry out tunnel detection from the time-space synchronous subsystem;
based on the synchronous signal, the central controller controls the tunnel detection subsystem to detect the current tunnel, and tunnel defect information of the current tunnel is obtained;
and performing multidimensional information fusion on the tunnel defect information based on the tunnel defect information, acquiring multidimensional monitoring information corresponding to the current tunnel, determining a target structure safety defect of the current tunnel based on the multidimensional monitoring information, and outputting a corresponding structure safety defect report.
Preferably, the step of determining a target structural safety defect of the current tunnel based on the multidimensional monitoring information and outputting a corresponding structural safety defect report includes:
performing front-end preliminary diagnosis on the structural safety diseases in the current tunnel based on the multi-dimensional monitoring information, and determining the disease types of the structural safety diseases in the current tunnel;
if the structural safety fault is of a first preset type, carrying out solution matching on the structural safety fault of the first preset type, and determining an initial diagnosis report corresponding to the structural safety fault of the first preset type;
if the structure safety diseases are of a second preset type, uploading structure safety disease information corresponding to the structure safety diseases of the second preset type to a preset cloud precise diagnosis platform;
and performing accurate disease analysis on the second preset type of structural safety diseases based on the cloud end fine diagnosis platform, and determining a fine diagnosis evaluation report and management and maintenance corresponding to the second preset type of structural safety diseases.
Preferably, the step of performing a front-end initial diagnosis on the structural safety defect in the current tunnel and determining the defect type of the structural safety defect in the current tunnel includes:
determining disease information corresponding to the structural safety disease based on the multi-dimensional monitoring information;
extracting the characteristics of the structural safety defect according to the defect information, and determining the structural safety defect characteristics corresponding to the structural safety defect in the current tunnel;
and classifying the structure safety diseases according to the structure safety disease characteristics, and determining the disease types of the structure safety diseases.
The invention provides a central control system and a method for a tunnel diagnostic vehicle, wherein the central control method for the tunnel diagnostic vehicle is applied to the central control system for the tunnel diagnostic vehicle, and the central control system for the tunnel diagnostic vehicle comprises a central controller, and a time-space synchronization subsystem and a tunnel detection subsystem which are in signal connection with the central controller; a space-time synchronization subsystem for outputting a space-time synchronization signal; the central controller controls the tunnel detection subsystem to execute the work of detecting the diseases of the current tunnel based on the space-time synchronous signal; the tunnel detection subsystem is used for executing tunnel defect detection work and feeding back tunnel defect information of the detected tunnel to the central controller; and the central controller performs multidimensional information fusion on the tunnel defect information based on the tunnel defect information to acquire multidimensional monitoring information corresponding to the current tunnel, determines a target structure safety defect of the current tunnel based on the multidimensional monitoring information, and outputs a corresponding structure safety defect report.
The central control method of the tunnel diagnosis vehicle comprises the following steps: the central controller acquires a synchronous signal for controlling the tunnel diagnostic vehicle to carry out tunnel detection from the time-space synchronous subsystem; based on the synchronous signal, the central controller controls the tunnel detection subsystem to detect the current tunnel, and tunnel defect information of the current tunnel is obtained; and performing multidimensional information fusion on the tunnel disease information based on the tunnel disease information to obtain multidimensional monitoring information corresponding to the current tunnel, determining a target structure safety disease of the current tunnel based on the multidimensional monitoring information, and outputting a corresponding structure safety disease report.
According to the invention, a tunnel diagnosis vehicle central control system controls the tunnel diagnosis vehicle to carry out structural safety detection on a current tunnel, the structural safety diseases of the current tunnel are determined, the disease types of the structural safety diseases are determined by preliminarily classifying the structural safety diseases, the front-end diagnosis is carried out on the structural safety diseases of the preset types, and the corresponding preliminary diagnosis report is determined, so that the diagnosis efficiency of simple diseases in the current tunnel is improved in the process, the diagnosis report is sent in time, and the output efficiency of the detection report is improved; and real-time accurate disease analysis is carried out, the detection period of hidden diseases is shortened, and the detection rate is improved.
In addition, the invention integrates the space-time synchronization subsystem, the tunnel detection subsystem and the central controller, thereby realizing the detection scheme of the central control system of the tunnel diagnostic vehicle, acquiring the tunnel information of the current tunnel through a plurality of detection modules of the tunnel detection subsystem, increasing the information source of the structure safety detection, improving the reliability of the structure safety information for carrying out the structure safety detection, realizing the multi-dimensional fusion of tunnel disease information based on the central controller, improving the pertinence of the structure safety detection, realizing the output according to the structure safety disease matching solution and the evaluation report, improving the detection efficiency for detecting the current tunnel, and optimizing the detection effect for carrying out the structure safety detection on the current tunnel.
Drawings
Fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of a central control method for a tunnel diagnostic vehicle according to the present invention;
fig. 2 is a schematic system architecture diagram of a tunnel diagnostic vehicle according to an embodiment of the central control method of the tunnel diagnostic vehicle of the present invention;
FIG. 3 is a schematic flow chart diagram of a tunnel diagnostic vehicle central control method according to a first embodiment of the present invention;
FIG. 4 is a flowchart illustrating a central control method for a tunnel diagnostic vehicle according to a second embodiment of the present invention;
fig. 5 is a functional module schematic diagram of a tunnel diagnostic vehicle central control system of the tunnel diagnostic vehicle central control method of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specifically, referring to fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the central control method for a tunnel diagnostic vehicle of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, e.g. a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a system control program. The operating system is a program for managing and controlling hardware and software resources of the equipment, and supports the operation of a system control program and other software or programs; the network communication module is used for managing and controlling the network interface 1002; the user interface 1003 is mainly used for data communication with a client; the network interface 1004 is mainly used for establishing communication connection with a server; and the processor 1001 may be used to invoke a system control program stored in the memory 1005.
Wherein the system control program stored in the memory 1005, when executed by the processor, further implements the steps of:
the central controller acquires a synchronous signal for controlling the tunnel diagnostic vehicle to carry out tunnel detection from the space-time synchronous subsystem;
based on the synchronous signal, the central controller controls the tunnel detection subsystem to detect the current tunnel, and tunnel defect information of the current tunnel is obtained;
and performing multidimensional information fusion on the tunnel disease information based on the tunnel disease information to obtain multidimensional monitoring information corresponding to the current tunnel, determining a target structure safety disease of the current tunnel based on the multidimensional monitoring information, and outputting a corresponding structure safety disease report.
Further, the system control program stored in the memory 1005, when executed by the processor, further implements the steps of:
performing front-end initial diagnosis on the structural safety diseases in the current tunnel based on the multi-dimensional monitoring information, and determining the disease types of the structural safety diseases in the current tunnel;
if the structural safety fault is of a first preset type, carrying out solution matching on the structural safety fault of the first preset type, and determining an initial diagnosis report corresponding to the structural safety fault of the first preset type;
if the structural safety fault is of a second preset type, uploading structural safety fault information corresponding to the structural safety fault of the second preset type to a preset cloud precision diagnosis platform;
and performing accurate disease analysis on the second preset type of structural safety diseases based on the cloud end fine diagnosis platform, and determining a fine diagnosis evaluation report and a management and maintenance suggestion corresponding to the second preset type of structural safety diseases.
Further, the system control program stored in the memory 1005, when executed by the processor, further performs the steps of:
determining disease information corresponding to the structural safety diseases based on the multi-dimensional monitoring information;
extracting the characteristics of the structural safety defect according to the defect information, and determining the structural safety defect characteristics corresponding to the structural safety defect in the current tunnel;
and classifying the structure safety diseases according to the structure safety disease characteristics, and determining the disease types of the structure safety diseases.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 2, fig. 2 is a schematic diagram of a system architecture of a central control system of a tunnel diagnostic vehicle according to an embodiment of the central control method of a tunnel diagnostic vehicle of the present invention.
As shown in fig. 2, the system of the tunnel diagnosis vehicle central control system at least includes: the tunnel detection system comprises a central controller, and a space-time synchronization subsystem and a tunnel detection subsystem which are in signal connection with the central controller, wherein the space-time synchronization subsystem is used for outputting space-time synchronization signals; the central controller controls the tunnel detection subsystem to execute the work of detecting the diseases of the current tunnel based on the space-time synchronous signal; the tunnel detection subsystem is used for executing tunnel defect detection work and feeding back tunnel defect information of a detected tunnel to the central controller; and the central controller performs multidimensional information fusion on the tunnel defect information based on the tunnel defect information to acquire multidimensional monitoring information corresponding to the current tunnel, determines a target structure safety defect of the current tunnel based on the multidimensional monitoring information, and outputs a corresponding structure safety defect report.
Further, after the target structure safety defect of the current tunnel is determined based on the multi-dimensional monitoring information, the tunnel diagnostic vehicle central control system is further connected with a cloud precise diagnosis platform and used for precisely diagnosing a preset type of target structure safety defect, and the central controller controls the cloud precise diagnosis platform to precisely diagnose the preset type of target structure safety defect based on the multi-dimensional monitoring information, performs decision planning on the target structure safety defect and generates a corresponding precise diagnosis report.
Further, the tunnel detection subsystem comprises an apparent damage and water leakage detection module, a deformation displacement detection module and a hidden damage detection module, wherein the apparent damage and water leakage detection module is used for detecting the damage and crack conditions of the current tunnel; the deformation displacement detection module is used for detecting the deformation displacement condition of the current tunnel; the hidden disease detection module is used for detecting hidden diseases of the current tunnel. And the central controller controls an apparent damage and leakage water detection module, a deformation displacement detection module and a hidden disease detection module in the tunnel detection subsystem to detect the current tunnel, and respectively acquires the damage crack condition, the deformation displacement condition and the hidden disease condition of the current tunnel.
Furthermore, the tunnel detection subsystem further comprises an auxiliary detection module and an unmanned aerial vehicle scrutiny module, wherein the auxiliary detection module is used for acquiring basic tunnel information in the current tunnel; and the unmanned aerial vehicle fine-checking module is used for carrying out local fine-checking on a preset target position and acquiring the specific disease condition of the target position. The central controller acquires information of the current tunnel by controlling the auxiliary detection module to acquire basic tunnel information in the current tunnel; the central controller controls a preset device of the unmanned aerial vehicle fine-checking module to perform local fine-checking on a target position preset in the current tunnel, and specific disease conditions of the target position are collected.
Optionally, the time-space synchronization subsystem of the central control system of the tunnel diagnosis vehicle is configured to acquire a synchronization signal for controlling the central control system of the tunnel diagnosis vehicle to perform tunnel detection based on a preset accurate time-space synchronization technology; the tunnel detection subsystem is used for detecting the current tunnel based on each detection module of a preset monitoring and detection technology group and acquiring tunnel defect information of the current tunnel; the central controller is used for carrying out multi-dimensional information fusion on the tunnel disease information of the current tunnel based on a preset multi-dimensional information fusion technology, acquiring corresponding multi-dimensional monitoring information, carrying out information fusion on the acquired tunnel information of the current tunnel, acquiring corresponding multi-dimensional monitoring information, carrying out preliminary diagnosis on the current tunnel according to the multi-dimensional monitoring information, carrying out decision planning and feedback optimization, and acquiring a corresponding preliminary diagnosis report.
Further, the unmanned aerial vehicle scrutiny module in the tunnel detection subsystem is used for locally scrutinizing a preset target position and acquiring specific disease conditions of the target position, and the auxiliary detection module in the tunnel detection subsystem is used for acquiring basic tunnel information in a current tunnel, and specifically comprises: the system comprises an information acquisition device, a vehicle body electronic control device, an instrument, a display device and a visual front end. Specifically, the information acquisition device comprises a vibration monitoring device, a scene monitoring device, an obstacle avoidance radar device and a positioning and attitude determination device, and is used for acquiring tunnel information of a current tunnel where the tunnel diagnostic vehicle is located; the vehicle body sub-electric control device is connected with each electric control system connected with the power management module and used for managing each electric control system for carrying out structural safety detection in a system of a tunnel diagnosis vehicle central control system; the instrument and the display device are visual front ends which are connected with the central controller in the system of the cloud fine diagnosis platform and the central control system of the tunnel diagnosis vehicle, and the instrument and the display device can be used for visually managing data of structure safety detection.
Further, the time-space synchronization subsystem of the central control system of the tunnel diagnostic vehicle comprises: the system comprises an encoder, a positioning navigation module and a data synchronization module; the encoder is used for generating a pulse signal; the positioning navigation module is used for accurately positioning the tunnel diagnosis vehicle based on the pulse signals; and the data synchronization module is used for realizing the time-space data synchronization of the central control system of the tunnel diagnostic vehicle and the current tunnel diagnostic vehicle. The central controller generates a corresponding pulse signal by controlling an encoder of the time-space synchronization subsystem, controls the positioning navigation module to accurately position the current tunnel diagnostic vehicle based on the pulse signal, acquires the time-space data of the current tunnel diagnostic vehicle, and synchronizes the time-space data to the data synchronization module.
Further, the central controller of the central control system for the tunnel diagnosis vehicle comprises: the system comprises an information multi-dimensional fusion module, a front-end initial diagnosis module and a report feedback module; the information multi-dimensional fusion module is used for carrying out multi-dimensional information fusion on the tunnel disease information acquired by the tunnel detection subsystem to acquire multi-dimensional detection information of the current tunnel; the front-end initial diagnosis module is used for carrying out disease front-end initial diagnosis on the current tunnel based on the multi-dimensional detection information of the current tunnel and determining the target structure safety disease in the current tunnel; and the report feedback module is used for generating a corresponding structure safety defect report according to the target structure safety defect in the current tunnel and feeding back the structure safety defect report.
Furthermore, each module unit in the central control system of the tunnel diagnostic vehicle realizes data transmission based on a preset data stream link, and the time-space synchronization subsystem realizes time-space synchronization signal transmission with the central controller through a preset time-space synchronization link; and the tunnel detection subsystem realizes data transmission with the central controller through a preset system soft and hard synchronous link.
Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the central control method of the tunnel diagnostic vehicle of the present invention is provided.
Specifically, referring to fig. 3, fig. 3 is a schematic flow chart of a tunnel diagnostic vehicle central control method according to a first embodiment of the present invention, where the tunnel diagnostic vehicle central control method includes:
step S10, the central controller acquires a synchronous signal for controlling the tunnel diagnostic vehicle to carry out tunnel detection from the space-time synchronous subsystem;
step S20, based on the synchronous signal, the central controller controls the tunnel detection subsystem to detect the current tunnel and acquire tunnel defect information of the current tunnel;
and S30, carrying out multidimensional information fusion on the tunnel defect information based on the tunnel defect information, acquiring multidimensional monitoring information corresponding to the current tunnel, determining the target structure safety defect of the current tunnel based on the multidimensional monitoring information, and outputting a corresponding structure safety defect report.
The tunnel diagnostic vehicle central control method controls the tunnel diagnostic vehicle to carry out structural safety detection on a current tunnel, determines the type of the structural safety defect by determining the structural safety defect of the current tunnel and preliminarily classifying the structural safety defect, carries out front-end diagnosis on the structural safety defect of a preset type, and determines a corresponding preliminary diagnosis report.
The respective steps will be described in detail below:
step S10, the central controller obtains a synchronous signal for controlling the tunnel diagnostic vehicle to carry out tunnel detection from the space-time synchronous subsystem;
in a specific embodiment, when the tunnel diagnosis vehicle runs in an underground tunnel, the tunnel detection subsystem carried by the tunnel diagnosis vehicle is controlled by the central control system of the tunnel diagnosis vehicle to acquire tunnel information of the tunnel in the preset range of the current tunnel of the tunnel diagnosis vehicle, tunnel information corresponding to the current tunnel is acquired, information fusion is performed based on the information multidimensional fusion subsystem, structural safety defect identification is performed according to the tunnel information after the information fusion, and the structural safety defect of the current tunnel is determined.
Specifically, the tunnel detection subsystem at least includes: the system comprises an apparent damage and leakage water detection module, a deformation displacement detection module and a hidden hazard detection module, and is used for acquiring tunnel information of the current tunnel based on the modules of the tunnel detection subsystem. When the tunnel diagnosis vehicle moves forwards for dynamic detection, based on preset multi-system accurate space-time synchronization, data alignment of the current tunnel of the tunnel diagnosis vehicle and an operation background is achieved, and specifically, the data alignment comprises time synchronization, process synchronization and coordinate synchronization.
Step S20, based on the synchronous signal, the central controller controls the tunnel detection subsystem to detect the current tunnel, and tunnel defect information of the current tunnel is obtained;
in a specific embodiment, the tunnel detection subsystem of the central control system of the tunnel diagnostic vehicle further includes an apparent damage and leakage water detection module, a deformation displacement detection module and a hidden hazard detection module, and the modules are used for carrying out structure safety identification on the structural safety defects in the current tunnel.
Optionally, in this embodiment, the apparent damage and the leaked water structure safety damage of the current tunnel are detected by the apparent damage and leaked water detection module, whether the apparent damage and the leaked water structure safety damage occur in the current tunnel is determined, and if the apparent damage and the leaked water structure safety damage occur in the current tunnel, the disease parameters corresponding to the apparent damage and the leaked water structure safety damage are collected by the apparent damage and leaked water detection module.
Optionally, the deformation displacement type structure safety fault of the current tunnel is detected by the deformation displacement detection module, whether the deformation displacement type structure safety fault occurs in the current tunnel is judged, and if the deformation displacement type structure safety fault occurs in the current tunnel, the deformation displacement detection module is used for collecting a fault parameter corresponding to the deformation displacement type structure safety fault.
Optionally, the hidden damage type structure safety diseases of the current tunnel are detected through the hidden damage detection module, whether hidden damage type structure safety diseases exist in the current tunnel or not is judged, if the hidden damage type structure safety diseases exist in the current tunnel, the disease parameters corresponding to the deformation displacement type structure safety diseases are collected through the hidden damage detection module, specific explanation is needed, the hidden damage can be defined as non-fatal damage occurring in the current tunnel, namely the hidden damage cannot affect the structural safety of the current tunnel to a preset degree within a preset time, but still has certain harmfulness along with the lapse of time, further accurate disease analysis is needed to be carried out through a cloud precision diagnosis platform aiming at the hidden damage, and the disease parameters of the corresponding hidden damage type structure safety diseases are determined.
As a specific embodiment, the tunnel detection subsystem of the central control system of the tunnel diagnostic vehicle comprises an auxiliary detection module and an unmanned aerial vehicle scrutiny module, and the auxiliary detection module in the tunnel detection subsystem is used for performing structural safety defect detection based on a preset monitoring and detection technology group on the whole tunnel space in the current tunnel to obtain the tunnel basic information of the current tunnel; and locally and finely inspecting a target position corresponding to the structural safety defect of the current tunnel through an unmanned aerial vehicle fine inspection module in the tunnel detection subsystem to obtain the specific defect condition of the target position.
Optionally, the tunnel detection subsystem includes an auxiliary detection module and an unmanned aerial vehicle scrutiny module, and the auxiliary detection module in the tunnel detection subsystem performs structural safety defect detection based on a preset monitoring and detection technology group on the whole tunnel space in the current tunnel to obtain tunnel basic information of the current tunnel; the method comprises the steps of carrying out local fine-checking on a target position corresponding to the current tunnel with the structural safety defect through an unmanned aerial vehicle fine-checking module in the tunnel detection subsystem, and obtaining the specific defect condition of the target position, wherein the local fine-checking mode can be that the image information of the specific part of the target position is obtained, the specific structural culture of the target position is obtained, and the like.
Optionally, the monitoring technology group included in the auxiliary detection module may include: the method comprises detection technologies such as a deformation detection technology based on a three-dimensional laser radar, a hidden disease detection technology based on a ground penetrating radar, an impact echo and a sound vibration method, an apparent defect detection technology based on three-dimensional visual information, a track geometric shape and position detection technology based on a total station and inertial navigation, an apparent disease detection technology based on visible light and infrared, a high-precision positioning and attitude determination method and the like.
Optionally, the mode of performing local fine-checking by the unmanned aerial vehicle fine-checking module may be that local fine-checking is performed on a target position where a structural safety defect occurs in the current tunnel, local defect information on the target position where the structural safety defect occurs in the current tunnel is acquired through a photographing device and a detection device preset in the unmanned aerial vehicle fine-checking system, and a specific defect condition of the target position is determined based on the local defect information.
Further, based on the disease parameters corresponding to the apparent damage and the structural safety diseases of the seepage water, the deformation displacement detection module collects the disease parameters corresponding to the structural safety diseases of the deformation displacement, the tunnel information of the current tunnel, the disease parameters of the hidden damage structural safety diseases, the tunnel basic information of the current tunnel and the concrete disease condition of the current tunnel, and the structural safety diseases actually existing in the current tunnel are determined.
And S30, carrying out multidimensional information fusion on the tunnel defect information based on the tunnel defect information, acquiring multidimensional monitoring information corresponding to the current tunnel, determining the target structure safety defect of the current tunnel based on the multidimensional monitoring information, and outputting a corresponding structure safety defect report.
In a specific embodiment, the information fusion is performed through the tunnel disease information in the current tunnel collected by the apparent damage and leakage water detection module, the deformation displacement detection module, the hidden hazard detection module, the auxiliary detection module and the unmanned aerial vehicle scrutiny module in the tunnel detection subsystem, and the multidimensional monitoring information after the information fusion is realized is obtained through the central controller.
Optionally, the central controller may obtain the multidimensional monitoring information after the information fusion, and perform the information fusion on the tunnel information of the current tunnel according to the multidimensional monitoring information, specifically, by inputting the multidimensional monitoring information subjected to the multi-source heterogeneous fusion processing into the corresponding recognition and diagnosis algorithm.
In a specific embodiment, the report output subsystem matches solutions of structural safety hazards to determine corresponding solutions, wherein the corresponding solutions may be determined by matching historical big data according to the structural safety hazards and querying solutions in the historical data; or the tunnel disease information corresponding to the structural safety disease in the current tunnel is uploaded to a preset cloud precision diagnosis platform for precision diagnosis, and a corresponding solution is determined.
Tunnel disease information in the current tunnel is gathered through predetermined tunnel detection subsystem at this embodiment, gathers the disease information in current tunnel based on predetermined supervision detection technology crowd, has increased the data source that carries out the structure safety disease and judges, has promoted the rate of accuracy of structure safety disease discernment, has promoted the accuracy nature of structure safety disease discernment, optimizes the detection effect who carries out structure safety detection to current tunnel.
Further, a second embodiment of the control method of the tunnel diagnostic vehicle according to the embodiment of the present application is proposed based on the first embodiment of the control method of the tunnel diagnostic vehicle according to the embodiment of the present application.
The second embodiment of the method for controlling a tunnel diagnostic vehicle is different from the first embodiment of the method for controlling a tunnel diagnostic vehicle in that, in step S30, the present embodiment refines "determining a target structural safety defect of a current tunnel based on the multidimensional monitoring information, and outputting a corresponding structural safety defect report", and specifically includes, with reference to fig. 4:
s31, performing front-end initial diagnosis on the structural safety diseases in the current tunnel based on the multi-dimensional monitoring information, and determining the disease types of the structural safety diseases in the current tunnel;
further, the step of performing a front-end initial diagnosis on the structural safety defect in the current tunnel and determining the defect type of the structural safety defect in the current tunnel includes:
determining disease information corresponding to the structural safety disease based on the multi-dimensional monitoring information;
extracting the characteristics of the structural safety defect according to the defect information, and determining the structural safety defect characteristics corresponding to the structural safety defect in the current tunnel;
and classifying the structure safety diseases according to the structure safety disease characteristics, and determining the disease types of the structure safety diseases.
S32, if the structural safety fault is of a first preset type, carrying out solution matching on the structural safety fault of the first preset type, and determining a preliminary diagnosis report corresponding to the structural safety fault of the first preset type;
s33, if the structural safety diseases are of a second preset type, uploading structural safety disease information corresponding to the structural safety diseases of the second preset type to a preset cloud precision diagnosis platform;
and S34, based on the cloud fine diagnosis platform, performing accurate disease analysis on the second preset type of structural safety diseases, and determining a fine diagnosis evaluation report and a management and maintenance suggestion corresponding to the second preset type of structural safety diseases.
In a specific embodiment, the tunnel disease information in the current tunnel collected by the apparent damage and leakage water detection module, the deformation displacement detection module, the hidden hazard detection module, the auxiliary detection module and the unmanned aerial vehicle scrutiny module in the tunnel detection subsystem is subjected to information fusion, the multidimensional monitoring information after the information fusion is obtained through the central controller, and according to the multidimensional monitoring information, the front-end preliminary diagnosis is performed on the structural safety disease existing in the current tunnel to determine the type of the structural safety disease.
Further, the method for performing the front-end preliminary diagnosis on the structural safety defect of the current tunnel through the central controller according to the multi-dimensional monitoring information may be that the multi-dimensional monitoring information subjected to the multi-source heterogeneous fusion processing is input into a corresponding identification and diagnosis algorithm, the structural safety defect existing in the current tunnel is identified according to the multi-dimensional monitoring information, and then the front-end preliminary diagnosis is performed on the structural safety defect according to historical diagnosis data in the identification and diagnosis algorithm.
Further, feature extraction is carried out on the structural safety fault existing in the current tunnel determined according to the identification and diagnosis algorithm of the central controller, corresponding structural safety fault features are determined, the structural safety fault is classified according to the structural safety fault features, and the fault type of the structural safety fault is determined.
Optionally, the above-mentioned manner of determining the disease type of the structural safety disease may be to perform multi-feature fusion on the features acquired by each system through complementary feature extraction, perform vector stacking on the fused multi-feature, extract feature parameters of a unified disease from the vector stacking, and determine the disease type of the structural safety disease according to the feature parameters.
In a specific embodiment, if the disease type of the structural safety disease existing in the current tunnel is a first preset type, that is, the damage degree of the structural safety disease existing in the current tunnel reaches a preset standard, if the structural safety disease is not processed in time, a fatal damage is caused, that is, the structural safety disease is a fatal damage, the first preset type of fatal damage needs to be preliminarily diagnosed through a central controller of a central control system of a tunnel diagnostic vehicle, solution matching is performed according to the disease type of the structural safety disease and a disease parameter, a corresponding solution is determined, and the fatal damage is avoided in time.
Optionally, the matching of the solutions of the first preset type of structural safety hazards is performed to determine corresponding solutions, and the manner of determining the corresponding solutions may be to perform matching according to the structural safety hazards through historical big data, query solutions in the historical data, and perform real-time alarm and structural safety hazard alarm based on the solutions.
In a specific embodiment, if the disease type of the structural safety disease existing in the current tunnel is a second preset type, that is, the damage degree of the structural safety disease existing in the current tunnel does not reach a preset standard, and no fatal damage is caused by processing the structural safety disease when the problem occurs, that is, the structural safety disease is a non-fatal damage, the non-fatal damage of the second preset type and corresponding disease parameters need to be uploaded to a cloud precision diagnosis platform, precision disease analysis is performed by the cloud precision diagnosis platform according to the disease parameters corresponding to the non-fatal damage of the second preset type based on cloud big data, an accurate structural safety disease of the non-fatal damage of the second preset type is determined, and a corresponding assessment report and a management and maintenance suggestion are generated based on the accurate structural safety disease.
Further, the above-mentioned method for performing accurate disease analysis by the cloud precision diagnosis platform according to the disease parameters corresponding to the second preset type of non-fatal damage may be that, by acquiring tunnel disease information acquired by a tunnel detection subsystem in the central control system of the tunnel diagnostic vehicle, the damage inference is performed on the second preset type of non-fatal damage, structural safety disease changes that may occur with the passage of time in the second preset type of non-fatal damage are determined, a corresponding assessment report is generated according to the structural safety disease changes corresponding to the second preset type of non-fatal damage, and historical big data matching is performed by the cloud precision diagnosis platform according to the assessment report, so as to determine a corresponding management and maintenance suggestion.
The tunnel information of the current tunnel is obtained through various detection modes, the information source of the structure safety detection is increased, the reliability of the structure safety information of the structure safety detection is improved, the structure safety detection is refined through front-end diagnosis and disease type classification of the structure safety diseases, the pertinence of the structure safety detection is improved, the matching of the solution scheme according to the structure safety diseases is achieved through the cloud precision diagnosis platform, and the detection effect of the structure safety detection of the current tunnel is optimized.
In addition, an embodiment of the present invention further provides a central control system for a tunnel diagnostic vehicle, and referring to fig. 5, fig. 5 is a schematic view of a functional module of the central control system for a tunnel diagnostic vehicle according to the embodiment of the central control method for a tunnel diagnostic vehicle of the present invention. As shown in fig. 5, the tunnel diagnostic vehicle central control system includes:
the time-space synchronization subsystem 10 is used for acquiring a synchronization signal for controlling the tunnel diagnostic vehicle to carry out tunnel detection from the time-space synchronization subsystem by the central controller;
the tunnel detection subsystem 20 is used for controlling the tunnel detection subsystem to detect the current tunnel based on the synchronous signal so as to acquire tunnel defect information of the current tunnel;
and the central controller 30 is configured to perform multidimensional information fusion on the tunnel defect information based on the tunnel defect information, acquire multidimensional monitoring information corresponding to the current tunnel, determine a target structure safety defect of the current tunnel based on the multidimensional monitoring information, and output a corresponding structure safety defect report.
Please refer to the above embodiments, which are not described herein again.
In addition, an apparatus is further provided in an embodiment of the present invention, where the apparatus includes a memory, a processor, and a system control program stored in the memory and executable on the processor, and the system control program, when executed by the processor, implements the steps of the central control method for a tunnel diagnostic vehicle according to the above embodiment.
In addition, to achieve the above object, the present invention further provides a medium which is a computer-readable storage medium on which a system control program is stored, the system control program, when executed by a processor, implementing the steps of the tunnel diagnostic vehicle central control method as described above.
Since the system control program is executed by the processor, all technical solutions of all the foregoing embodiments are adopted, so that at least all the beneficial effects brought by all the technical solutions of all the foregoing embodiments are achieved, and details are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention essentially or contributing to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A central control system for a tunnel diagnostic cart, comprising: the system comprises a central controller, and a space-time synchronization subsystem and a tunnel detection subsystem which are in signal connection with the central controller;
the space-time synchronization subsystem is used for outputting a space-time synchronization signal;
the central controller controls the tunnel detection subsystem to execute the work of detecting the diseases of the current tunnel based on the space-time synchronous signal;
the tunnel detection subsystem is used for executing tunnel defect detection work and feeding back tunnel defect information of a detected tunnel to the central controller;
and the central controller performs multidimensional information fusion on the tunnel defect information based on the tunnel defect information, acquires multidimensional monitoring information corresponding to the current tunnel, determines a target structure safety defect of the current tunnel based on the multidimensional monitoring information, and outputs a corresponding structure safety defect report.
2. The central control system of a tunnel diagnostic vehicle of claim 1, further connected to a cloud diagnostic platform;
after the target structure safety damage of the current tunnel is determined based on the multi-dimensional monitoring information, the method further comprises the following steps:
the cloud precision diagnosis platform is used for accurately diagnosing the preset type of target structure safety diseases;
and the central controller controls the cloud precise diagnosis platform to accurately diagnose the preset type of target structure security diseases based on the multidimensional monitoring information, and performs decision planning on the target structure security diseases to generate a corresponding accurate diagnosis report.
3. The tunnel diagnostic vehicle central control system of claim 1, wherein the tunnel detection subsystem comprises: the system comprises an apparent damage and leakage water detection module, a deformation displacement detection module and a hidden disease detection module;
the apparent damage and water leakage detection module is used for detecting the damage and crack condition of the current tunnel;
the deformation displacement detection module is used for detecting the deformation displacement condition of the current tunnel;
the hidden disease detection module is used for detecting hidden diseases of the current tunnel;
and the central controller controls an apparent damage and leakage water detection module, a deformation displacement detection module and a hidden disease detection module in the tunnel detection subsystem to detect the current tunnel, and respectively acquires the damage crack condition, the deformation displacement condition and the hidden disease condition of the current tunnel.
4. The tunnel diagnostic vehicle central control system of claim 1, wherein the tunnel inspection subsystem further comprises: the unmanned aerial vehicle inspection system comprises an auxiliary detection module and an unmanned aerial vehicle scrutiny module;
the auxiliary detection module is used for acquiring basic tunnel information in the current tunnel;
the unmanned aerial vehicle scrutiny module is used for locally scrutinizing a preset target position and acquiring the specific disease condition of the target position;
the central controller controls the auxiliary detection module to acquire information of the current tunnel and acquire basic tunnel information in the current tunnel;
the central controller controls a preset device of the unmanned aerial vehicle fine-checking module to perform local fine-checking on a target position preset in the current tunnel, and specific disease conditions of the target position are collected.
5. The tunnel diagnostic vehicle central control system of claim 1, wherein the spatiotemporal synchronization subsystem comprises: the system comprises an encoder, a positioning navigation module and a data synchronization module;
an encoder for generating a pulse signal;
the positioning navigation module is used for accurately positioning the tunnel diagnostic vehicle based on the pulse signals;
the data synchronization module is used for realizing the time-space data synchronization of the central control system of the tunnel diagnostic vehicle and the current tunnel diagnostic vehicle;
the central controller controls an encoder of the time-space synchronization subsystem to generate a corresponding pulse signal, controls the positioning navigation module to accurately position the current tunnel diagnostic vehicle based on the pulse signal, acquires the time-space data of the current tunnel diagnostic vehicle, and synchronizes the time-space data to the data synchronization module.
6. The tunnel diagnostic vehicle central control system of claim 1, wherein the central controller comprises: the system comprises an information multi-dimensional fusion module, a front-end initial diagnosis module and a report feedback module;
the information multi-dimensional fusion module is used for carrying out multi-dimensional information fusion on the tunnel disease information acquired by the tunnel detection subsystem to acquire the multi-dimensional detection information of the current tunnel;
the front-end initial diagnosis module is used for carrying out disease front-end initial diagnosis on the current tunnel based on the multi-dimensional detection information of the current tunnel and determining the target structure safety disease in the current tunnel;
and the report feedback module is used for generating a corresponding structure safety defect report according to the target structure safety defect in the current tunnel and feeding back the structure safety defect report.
7. The central control system of tunnel diagnostic vehicle as claimed in claims 1 to 6, wherein the central controller and the spatio-temporal synchronization subsystem and the tunnel detection subsystem in signal connection with the central controller realize the transmission of data based on a preset data stream link;
the time-space synchronization subsystem realizes the time-space synchronization signal transmission with the central controller through a preset time-space synchronization link;
and the tunnel detection subsystem realizes data transmission with the central controller through a preset system soft and hard synchronous link.
8. A control method of a tunnel diagnostic vehicle central control system, the tunnel diagnostic vehicle central control system comprising: the tunnel diagnosis vehicle central control system comprises a central controller for carrying out integrated control on all subsystems in the tunnel diagnosis vehicle central control system, a time-space synchronization subsystem and a tunnel detection subsystem, wherein the time-space synchronization subsystem and the tunnel detection subsystem are in electric signal connection with the central controller, and the control method of the tunnel diagnosis vehicle central control system comprises the following steps:
the central controller acquires a synchronous signal for controlling the tunnel diagnostic vehicle to carry out tunnel detection from the space-time synchronous subsystem;
based on the synchronous signal, the central controller controls the tunnel detection subsystem to detect the current tunnel, and tunnel defect information of the current tunnel is obtained;
and performing multidimensional information fusion on the tunnel disease information based on the tunnel disease information to obtain multidimensional monitoring information corresponding to the current tunnel, determining a target structure safety disease of the current tunnel based on the multidimensional monitoring information, and outputting a corresponding structure safety disease report.
9. The method for controlling a central control system of a tunnel diagnostic vehicle according to claim 8, wherein the step of determining a target structural safety defect of a current tunnel based on the multi-dimensional monitoring information and outputting a corresponding structural safety defect report comprises:
performing front-end initial diagnosis on the structural safety diseases in the current tunnel based on the multi-dimensional monitoring information, and determining the disease types of the structural safety diseases in the current tunnel;
if the structural safety fault is of a first preset type, carrying out solution matching on the structural safety fault of the first preset type, and determining an initial diagnosis report corresponding to the structural safety fault of the first preset type;
if the structural safety fault is of a second preset type, uploading structural safety fault information corresponding to the structural safety fault of the second preset type to a preset cloud precision diagnosis platform;
and performing accurate disease analysis on the second preset type of structural safety diseases based on the cloud end fine diagnosis platform, and determining a fine diagnosis evaluation report and a management and maintenance suggestion corresponding to the second preset type of structural safety diseases.
10. The method for controlling a central control system of a tunnel diagnostic vehicle according to claim 9, wherein the step of performing a front-end preliminary diagnosis of the structural safety defect in the current tunnel and determining the defect type of the structural safety defect in the current tunnel comprises:
determining disease information corresponding to the structural safety disease based on the multi-dimensional monitoring information;
extracting the characteristics of the structural safety diseases according to the disease information, and determining structural safety disease characteristics corresponding to the structural safety diseases in the current tunnel;
and classifying the structure safety diseases according to the structure safety disease characteristics, and determining the disease types of the structure safety diseases.
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| CN202211187555.2A CN115453946A (en) | 2022-09-27 | 2022-09-27 | Tunnel diagnosis vehicle central control system and method |
| PCT/CN2022/127480 WO2024065919A1 (en) | 2022-09-27 | 2022-10-25 | Central control system for tunnel diagnosis vehicle, and method |
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| CN102435173B (en) * | 2011-09-21 | 2013-03-13 | 北京市市政工程研究院 | System and method for quickly inspecting tunnel disease based on machine vision |
| JP2015121416A (en) * | 2013-12-20 | 2015-07-02 | パイオニア株式会社 | Tunnel section detection device, control method, program, and storage medium |
| CN104749187A (en) * | 2015-03-25 | 2015-07-01 | 武汉武大卓越科技有限责任公司 | Tunnel lining disease detection device based on infrared temperature field and gray level image |
| CN106053475B (en) * | 2016-05-24 | 2018-10-23 | 浙江工业大学 | Tunnel defect tunneling boring dynamic device for fast detecting based on active panoramic vision |
| WO2021068848A1 (en) * | 2019-10-09 | 2021-04-15 | 山东大学 | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method |
| CN114511014A (en) * | 2022-01-21 | 2022-05-17 | 北京城建勘测设计研究院有限责任公司 | Subway tunnel water leakage detection system and method based on image deep learning algorithm |
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