CN116358492A - Tunnel intelligent detection device and method - Google Patents
Tunnel intelligent detection device and method Download PDFInfo
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- CN116358492A CN116358492A CN202310640903.5A CN202310640903A CN116358492A CN 116358492 A CN116358492 A CN 116358492A CN 202310640903 A CN202310640903 A CN 202310640903A CN 116358492 A CN116358492 A CN 116358492A
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- 238000001514 detection method Methods 0.000 title claims abstract description 122
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims description 18
- 238000007689 inspection Methods 0.000 claims 4
- 238000010586 diagram Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- G—PHYSICS
- 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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- 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
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- 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
- G01N2021/8887—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 based on image processing techniques
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention relates to the field of tunnel detection. The invention discloses a tunnel intelligent detection device and a method, wherein the device comprises the following steps: the device comprises a first detection structure, a second detection structure, an adjusting part, a camera part, a measuring part and a control part; the first detection structure is used for acquiring tunnel section information; the second detection structure is used for acquiring the gesture information of the camera part; the camera part is connected with the adjusting part, and the adjusting part, the first detection structure and the second detection structure are respectively and electrically connected with the control part; the control part is used for receiving feedback information of the first detection structure and the second detection structure, establishing a rectangular coordinate system according to the feedback information of the first detection structure and the second detection structure, and controlling the adjusting part to adjust the corresponding camera part. According to the invention, the control part controls the adjusting part to automatically adjust the position and the orientation of the camera part, so that the automation degree of the adjusting process is high, the workload is reduced, and the detection efficiency is improved.
Description
Technical Field
The invention relates to the field of tunnel detection, in particular to an intelligent tunnel detection device and method.
Background
Apparent defects such as cracks and deformation of tunnel lining are major potential safety hazards for subway operation, so that rapid detection and treatment of defects become a major technical requirement for safe operation of tunnels. Researchers often use CCD cameras as the main imaging devices in the rapid detection and treatment of diseases. For a large-section engineering structure body such as a tunnel, the imaging view field of a single camera is limited, so that researchers form a linear array or an arc array by using a plurality of CCD cameras, a wider view field is obtained, image data of a half or whole lining section can be acquired at one time, the array camera is required to be imaged clearly by adopting a light source illumination system because of poor illumination condition in the tunnel, and a camera part formed by the CCD array cameras and an illumination light source is arranged on a movable platform, so that the image data measurement acquisition and disease detection of the tunnel lining section are realized.
In the process of implementing the invention, the prior art has at least the following technical problems: when being equipped with a plurality of camera portions on the mobile platform, need adjust the position and the orientation of every camera portion according to the tunnel condition before the detection, work load is big, has reduced detection efficiency.
Disclosure of Invention
In view of the above, the invention provides a tunnel intelligent detection device and a tunnel intelligent detection method.
Specifically, the method comprises the following technical scheme:
in one aspect, a tunnel intelligent detection device is provided, including:
the device comprises a first detection structure, a second detection structure, an adjusting part, a camera part, a measuring part and a control part;
the first detection structure is used for acquiring tunnel section information;
the second detection structure is used for acquiring the gesture information of the camera part;
the camera part and the adjusting part are arranged in one-to-one correspondence, the camera part is connected with the adjusting part, and the adjusting part, the first detecting structure and the second detecting structure are respectively and electrically connected with the control part;
the control part is used for receiving feedback information of the first detection structure and the second detection structure, establishing a rectangular coordinate system according to the feedback information of the first detection structure and the second detection structure, and controlling the adjusting part to adjust the corresponding camera part.
Preferably, the first detection structure comprises a distance sensor and a driving motor;
the distance sensor is arranged on the first side of the tunnel intelligent detection device, the distance sensor is connected with the driving motor through a rotating shaft, and the axis of the rotating shaft is positioned on the central axial surface of the tunnel;
the driving motor is electrically connected with the distance sensor and the control part, and the control part is used for controlling the driving motor to drive the distance sensor to circumferentially rotate around the axis of the rotating shaft.
Preferably, the second detection structure is an angle sensor;
each camera part is provided with at least one angle sensor, and the angle sensors are used for acquiring a first included angle parameter between a main optical axis of the camera part and a horizontal plane;
the angle sensor is electrically connected with the control part.
Preferably, the adjusting part comprises a first driving piece and a second driving piece, and the first driving piece and the second driving piece are respectively and electrically connected with the control part;
the first driving piece is used for driving the camera part to perform circumferential rotation motion around the y axis;
the second driving piece is used for driving the camera part to move linearly along the x axis and the z axis;
the tunnel intelligent detection device comprises a support plate;
the second driving piece is arranged on the supporting plate, the first driving piece is arranged on the second driving piece, and the camera part is arranged on the first driving piece.
Preferably, the tunnel intelligent detection device comprises a support plate;
the support plates extend along the width direction of the tunnel intelligent detection device, at least two support plates are arranged, and the two support plates are arranged in parallel;
at least one camera portion is disposed on a first side of each support plate, at least one camera portion is disposed on a second side of each support plate, and the first side of the support plate and the second side of the support plate are disposed opposite each other.
Another aspect provides a tunnel intelligent detection method, including:
the first detection structure detects tunnel section information;
the control part obtains the tunnel section information, calculates and obtains a plurality of section coordinate points according to the tunnel section information, and determines a first characteristic coordinate point in the section coordinate points;
the second detection structure detects the posture information of the camera part;
the control part obtains the gesture information, the control part calculates and obtains the rotation angle of the camera part according to the gesture information and the first characteristic coordinate point, and the control part controls the adjusting part to drive the camera part to rotate the rotation angle so as to enable the projection point of the main optical axis of the camera part on the tunnel section to overlap with the first characteristic coordinate point;
the control part is used for setting an initial coordinate point and a preset object distance of the camera part, obtaining a target coordinate point of the camera part according to the initial coordinate point, the first characteristic coordinate point and the preset object distance, and controlling the adjusting part to drive the camera part to move to the target coordinate point so that the object distance of the camera part reaches the preset object distance.
Preferably, the first detection structure detects that the tunnel section information includes distance information corresponding to the angle information;
the control part calculates and obtains a plurality of section coordinate points according to the tunnel section information, and the method comprises the following steps:
and establishing a rectangular coordinate system where the tunnel section takes the axis of the rotating shaft of the first detection structure as an origin, and calculating and obtaining a section coordinate point corresponding to each angle by the control part according to each angle information and the corresponding distance information.
Preferably, the control unit identifies a first feature coordinate point among the plurality of cross-sectional coordinate points, including:
the control part identifies a plurality of section coordinate points in the to-be-detected area, and equally divides the plurality of section coordinate points in the to-be-detected area into a plurality of groups along the circumferential direction of the tunnel section, wherein the plurality of section coordinate points in each group of section coordinate points are sequentially distributed along the circumferential direction of the tunnel section;
the control part determines first characteristic coordinate points of each group of section coordinate points, wherein the first characteristic coordinate points are positioned in the middle of each group of section coordinate points.
Preferably, the control part obtains the attitude information including a first included angle parameter between a main optical axis of the camera part and a horizontal plane;
the control section calculating a rotation angle of the camera section from the pose information and the first feature coordinate point includes:
the control part calculates and obtains a second included angle parameter between the connecting line between the first characteristic coordinate point and the initial coordinate point and the horizontal plane;
the control part calculates and obtains the difference value or sum value between the first included angle parameter and the second included angle parameter, namely the rotation angle of the camera part.
Preferably, the control unit calculates a target coordinate point of the camera unit according to the initial coordinate point, the first characteristic coordinate point, and the preset object distance, including:
the control part calculates and obtains the length of a connecting line between the first characteristic coordinate point and the initial coordinate point, namely an initial object distance;
the control part calculates and obtains a second included angle parameter between a connecting line between the first characteristic coordinate point and the initial coordinate point and a horizontal plane;
the control part calculates and obtains the target coordinate point according to the initial object distance, the second included angle parameter and the preset object distance;
the first feature coordinate point, the initial coordinate point, and the target coordinate point are collinear.
The technical scheme provided by the invention has the beneficial effects that at least:
according to the invention, the control part controls the adjusting part to automatically adjust the position and the orientation of the camera part, so that the automation degree of the adjusting process is high, the workload is reduced, and the detection efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an adjustment flow of a camera portion according to an embodiment of the invention;
FIG. 2 is a diagram illustrating a camera portion adjustment coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic view illustrating arrangement of light source irradiation areas of a camera portion along a tunnel cross-section circumference according to an embodiment of the present invention;
fig. 4 is a schematic view of a camera shooting area of a camera part according to an embodiment of the present invention arranged along a tunnel cross section circumference;
FIG. 5 is a schematic structural diagram of a tunnel intelligent detection device according to an embodiment of the present invention;
FIG. 6 is a schematic top view of a tunnel intelligent detection device according to an embodiment of the invention;
FIG. 7 is a schematic diagram of a right side view of a tunnel intelligent detection device according to an embodiment of the invention;
FIG. 8 is a schematic diagram of the front view of a tunnel intelligent detection device according to an embodiment of the present invention;
FIG. 9 is a schematic view of the structure of section A-A in FIG. 8;
fig. 10 is a schematic view of an adjusting portion according to an embodiment of the invention.
Reference numerals in the drawings are respectively expressed as:
100-a tunnel intelligent detection device; 111-a first camera section; 112-a second camera section; 113-a third camera section; 114-a fourth camera section; 115-a fifth camera section; 116-sixth camera portion; 117-seventh camera section; 118-eighth camera section; 121-a support plate; 130-a first detection structure; 141-a first adjustment plate; 142-a second adjustment plate; 143-a first slide hole; 144-second slide hole; 145-third slide hole.
Specific embodiments of the present invention have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to make the technical scheme and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
A tunnel intelligent detection device 100 is described below. In the implementation, the parameters of the lens of the camera part in the tunnel intelligent detection device are adjusted according to the application scene, and the adjustment of the parameters of the camera part does not exist in the adjustment process.
As shown in fig. 5 to 10, a tunnel intelligent detection device 100 includes: the first detecting structure 130, the second detecting structure, the adjusting portion, the camera portion, the measuring portion, and the control portion; the first detecting structure 130 is configured to obtain tunnel section information; the second detection structure is used for acquiring the gesture information of the camera part; the camera parts and the adjusting parts are arranged in one-to-one correspondence, the camera parts are connected with the adjusting parts, and the adjusting parts, the first detection structure 130 and the second detection structure are respectively and electrically connected with the control part; the control part is used for receiving feedback information of the first detection structure 130 and the second detection structure, establishing a rectangular coordinate system according to the feedback information of the first detection structure 130 and the second detection structure, and controlling the adjusting part to adjust the corresponding camera part.
According to the embodiment, the control part controls the adjusting part to automatically adjust the position and the orientation of the camera part, so that the automation degree of the adjusting process is high, the workload is reduced, and the detection efficiency is improved.
Further, as shown in fig. 5, the tunnel intelligent detection device 100 includes a support plate 121; the support plates 121 extend along the width direction of the tunnel intelligent detection device 100, at least two support plates 121 are arranged, and the two support plates 121 are arranged in parallel; at least one camera portion is provided at a first side of each support plate 121, at least one camera portion is provided at a second side of each support plate 121, and the first side of the support plate 121 and the second side of the support plate 121 are disposed opposite to each other.
Further, as shown in fig. 6, in the present embodiment, two support plates 121 are provided on the base of the tunnel intelligent detection device 100, including a left support plate 121 and a right support plate 121. The width direction of the tunnel intelligent detection device 100 refers to the vertical direction in fig. 6.
Further, as oriented in fig. 6, a first side of the support plate 121 refers to a left side of the support plate 121 and a second side of the support plate 121 refers to a right side of the support plate 121. In the present embodiment, two camera parts are provided on the first side of the support plate 121, and two camera parts are provided on the second side of the support plate 121. Four camera portions on the left side support plate image the left half tunnel liner (as shown in fig. 3) and four camera portions on the right side support plate image the right half tunnel liner (as shown in fig. 3).
Further, in this embodiment, as shown in fig. 5, 6, 7, 8 and 9, the plurality of camera portions are arranged in staggered manner along the travelling direction of the tunnel intelligent detection device 100, so that the design can avoid that the plurality of camera portions are located on the same circumference to cause the volume of the tunnel intelligent detection device 100 to be too large, so that the volume of the tunnel intelligent detection device 100 can be effectively reduced, the tunnel intelligent detection device 100 can be applied to a narrow subway tunnel, and also can be applied to a highway tunnel and a railway tunnel, and the application range of the tunnel intelligent detection device 100 is improved.
Further, in the present embodiment, as shown in fig. 5, 6, 7, 8 and 9, the light path emitted from the light source of at least one of the plurality of camera parts located on the same support plate 121 passes through the vertical middle axis surface of the tunnel section.
As shown in fig. 8, the first camera portion 111, the second camera portion 112, the third camera portion 113, and the fourth camera portion 114 are located on the same support plate 121, and the light paths emitted from the light sources of the first camera portion 111, the second camera portion 112, and the third camera portion 113 pass through the vertical middle axial plane of the tunnel section. Specifically, the first camera section 111, the second camera section 112, and the third camera section 113 are located on the right side of the z-axis, and the light source irradiation areas of the first camera section 111, the second camera section 112, and the third camera section 113 are located on the tunnel section on the left side of the z-axis. The fifth camera portion 115, the sixth camera portion 116, the seventh camera portion 117, and the eighth camera portion 118 are located on the same support plate 121, and the optical paths emitted from the light sources of the sixth camera portion 116, the seventh camera portion 117, and the eighth camera portion 118 pass through the vertical middle axial plane of the tunnel section. Specifically, the sixth camera section 116, the seventh camera section 117, and the eighth camera section 118 are located on the left side of the z-axis, and the light source irradiation areas of the sixth camera section 116, the seventh camera section 117, and the eighth camera section 118 are located on the tunnel section on the right side of the z-axis. The design further effectively reduces the volume of the tunnel intelligent detection device 100, can enable the tunnel intelligent detection device 100 to be applied to narrow subway tunnels, can also be applied to highway tunnels and railway tunnels, and improves the application range of the tunnel intelligent detection device 100.
A first adjustment scheme of the camera section in the tunnel intelligent detection device 100 is described below.
As shown in fig. 9 and 10, the support plate 121 is provided with a first adjustment plate 141 and a second adjustment plate 142, the first adjustment plate 141 and the second adjustment plate 142 are slidably connected, and the second adjustment plate 142 and the support plate 121 are slidably connected.
The first adjustment plate 141 is provided with a first sliding hole 143, and the first sliding hole 143 is an arc-shaped hole. The second adjusting plate 142 is provided with a second sliding hole 144, and the second sliding hole 144 is a horizontal bar-shaped hole. The support plate 121 is provided with a third sliding hole 145, and the third sliding hole 145 is a vertical bar-shaped hole.
The first adjusting member is connected to the second adjusting plate 142 through the first sliding hole 143, the first adjusting member is a screw, and the camera part is fixed to the first adjusting plate 141. When the orientation of the camera portion is adjusted, the first adjusting member is unscrewed, the first adjusting plate 141 is rotated to slide the first adjusting member along the first slide hole 143, and when the camera portion is adjusted in place, the first adjusting member is screwed.
The second adjusting member penetrates the first sliding hole 143 and the second sliding hole 144, the second adjusting member is a screw, and the second adjusting plate 142 is slidably connected with the supporting plate 121. When the object distance of the camera part is adjusted, the second adjusting piece is unscrewed, the second adjusting plate 142 is driven to move in the horizontal direction and the vertical direction, and when the object distance is adjusted in place, the second adjusting piece is screwed.
Further, the camera section is provided with a distance sensor for measuring an object distance of the camera section.
The scheme is suitable for being applied to the manual adjustment process of the camera part, and has a simple and reliable structure. The adjustment of the camera section can also be achieved by providing a driving member to drive the circumferential rotational movement of the first adjustment plate 141 and the linear movement of the second adjustment plate 142, using the tunnel intelligent detection method described above.
A second adjustment structure of the camera section in the tunnel intelligent detection device 100 is described below.
Further, the first detecting structure 130 includes a distance sensor and a driving motor; the distance sensor is arranged on the first side of the tunnel intelligent detection device, the distance sensor is connected with the driving motor through a rotating shaft, and the axis of the rotating shaft is positioned on the central axial surface of the tunnel; the driving motor is electrically connected with the distance sensor and the control part, and the control part is used for controlling the driving motor to drive the distance sensor to circumferentially rotate around the axis of the rotating shaft. As oriented in fig. 6, the first side of the tunnel intelligent detection device 100 refers to the right side of the tunnel intelligent detection device 100.
Specifically, the driving motor adopts a stepping motor or a servo motor. The control part controls the rotation of the driving motor, and the rotation angle can be controlled by the control part. The distance sensor is connected with the driving motor through a rotating shaft, and the control part controls the probe of the distance sensor to be a rotation starting point when the probe is vertically downward, so that the rotation angle of the distance sensor is judged.
The second detection structure is an angle sensor; each camera part is provided with at least one angle sensor, and the angle sensor is used for acquiring a first included angle parameter between a main optical axis of the camera part and a horizontal plane; the angle sensor is electrically connected with the control part.
The adjusting part comprises a first driving piece and a second driving piece; the second driving member is an XY linear motor, and is connected to the support plate 121. The second driving piece is used for driving the camera part to move linearly along the x axis and the z axis; the first driving piece is a DD motor, the second driving piece is connected with the first driving piece, and the first driving piece is used for driving the camera part to do circumferential rotation motion around the y axis.
The tunnel intelligent detection device 100 includes a first adjustment plate 141 and a second adjustment plate 142; the second driving piece is disposed on the support plate 121, the second adjustment plate 142 is disposed on the second driving piece, the first driving piece is disposed on the second adjustment plate 142, the first adjustment plate 141 is disposed on the first driving piece, and the camera portion is disposed on the first adjustment plate 141. The first driving piece and the second driving piece are respectively and electrically connected with the control part.
In the tunnel intelligent detection method, all parameters of the camera part are adjusted according to the application scene, and the adjustment of the camera parameters of the camera part does not exist in the tunnel intelligent detection method.
As shown in fig. 1, a tunnel intelligent detection method includes:
s100: the first detecting structure 130 detects tunnel section information, and it is understood that the tunnel section information detected by the first detecting structure 130 is transmitted to the control part in real time.
S200: the control part obtains tunnel section information, the control part calculates and obtains a plurality of section coordinate points according to the tunnel section information, and the control part determines a first characteristic coordinate point in the plurality of section coordinate points.
S300: the second detecting structure detects the gesture information of the camera part, and it can be understood that the gesture information of the camera part detected by the second detecting structure is transmitted to the control part in real time.
S400: the control part obtains attitude information, and the control part calculates and obtains the rotation angle of the camera part according to the attitude information and the first characteristic coordinate point, and the control part controls the adjusting part to drive the camera part to rotate the rotation angle so that the projection point of the main optical axis of the camera part on the tunnel section is overlapped with the first characteristic coordinate point.
S500: the control part is used for controlling the adjusting part to drive the camera part to move to the target coordinate point so that the object distance of the camera part reaches the preset object distance.
Furthermore, the control part controls the adjusting part to automatically adjust the position and the orientation of the camera part, so that the automation degree of the adjusting process is high, the workload is reduced, and the detection efficiency is improved.
Further, the first detecting structure 130 detects that the tunnel section information includes distance information corresponding to the angle information in step S100. The first detecting structure 130 includes a distance sensor and a driving motor, the distance sensor and the driving motor are connected through a rotating shaft, the driving motor drives the distance sensor to circumferentially rotate around an axis of the rotating shaft, and the axis of the rotating shaft is located on a vertical middle shaft surface of the tunnel. The distance sensor rotates 360 degrees circumferentially around the axis of the rotating shaft, the control part controls the driving motor to rotate 1 degree in angle, the distance sensor measures to obtain distance information of a tunnel section, the distance sensor rotates 360 degrees circumferentially, and then the distance information of 360 tunnel sections under each angle can be obtained, and the information forms the tunnel section information.
Further, in step S200, the control unit calculating a plurality of section coordinate points according to the tunnel section information includes: as shown in fig. 2, a rectangular coordinate system where the tunnel cross section is located with the axis of the rotation shaft of the first detection structure 130 as the origin o is established, and the control part calculates and obtains a cross section coordinate point corresponding to each angle according to each angle information and the distance information corresponding to each angle information.
It is understood that the angular precision of the circumferential rotation of the distance sensor can be adjusted according to the requirement, and the angular precision can be 1 degree or 0.1 degree. For example, as shown in fig. 2, the axis of the rotation of the first detecting structure 130 is at the origin o of the coordinate system, and the rectangular coordinate system has the positive x-axis direction horizontally to the left and the positive z-axis direction vertically to the top. The angle parameter and the distance parameter of the first feature coordinate point a1 are known amounts, and the control section may calculate and obtain the x-axis coordinate value and the z-axis coordinate value in the first feature coordinate point a1 based on the angle parameter and the distance parameter of the first feature coordinate point a 1.
Further, the control unit in step S200 identifies a first feature coordinate point among the plurality of cross-section coordinate points, including: s210: the control part identifies a plurality of section coordinate points in the to-be-detected area, and equally divides the plurality of section coordinate points in the to-be-detected area into a plurality of groups along the circumferential direction of the tunnel section, wherein the plurality of section coordinate points in each group of section coordinate points are sequentially distributed along the circumferential direction of the tunnel section;
s220: the control part determines a first characteristic coordinate point of each group of section coordinate points, wherein the first characteristic coordinate point is positioned in the middle of each group of section coordinate points.
Further, as shown in fig. 2, the section coordinate point a4 and the section coordinate point a4 ' are respectively a left boundary point and a right boundary point of the tunnel lining wall and the ground, and the control portion may automatically identify the section coordinate point a4 and the section coordinate point a4 ', and determine that a plurality of section coordinate points located above a connecting line of the section coordinate point a4 and the section coordinate point a4 ' are located in the region to be detected.
Further, as shown in fig. 2, the number of sets of cross-section coordinate points and the number of camera portions are correspondingly set, that is, the control portion groups the plurality of cross-section coordinate points in the region to be detected according to the number of camera portions, each set of cross-section coordinate points corresponds to one camera portion, and the coverage angle of each set of cross-section coordinate points is equal to the light source irradiation angle of the camera portion. For example, the following description will be made of a procedure of adjusting the orientation of one camera section. In fig. 2, a plurality of section coordinate points from the interrupted surface coordinate point a1 'to the section coordinate point a 1' are a group, a tunnel section area from the section coordinate point a1 'to the section coordinate point a1″ is an area to be measured, a coverage area between a projection coordinate point a 3' and a projection coordinate point a3″ of a light source of a camera part on the tunnel section is a light source irradiation area of the camera part, and the circumferential lengths of the area to be measured and the light source irradiation area along the tunnel section are equal. The first feature coordinate point a1 is located in the middle of the set of cross-section coordinate points from the cross-section coordinate point a 1' to the cross-section coordinate point a1″.
Further, the control section obtains the attitude information in step S400 including a first angle parameter between the main optical axis of the camera section and the horizontal plane. The following describes a camera portion orientation adjustment step. As shown in fig. 2, the camera portion is provided with a second detection structure, and the second detection structure is configured to measure a first included angle parameter w1 between a main optical axis of a light source of the camera portion and a horizontal plane, and feed back the measured first included angle parameter w1 to the control portion.
The step S400 of the control unit calculating the rotation angle of the camera unit according to the attitude information and the first feature coordinate point includes:
s410: the control part calculates and obtains a second included angle parameter between a connecting line between the first characteristic coordinate point and the initial coordinate point and the horizontal plane;
s420: the control part calculates and obtains the difference value or sum value between the first included angle parameter and the second included angle parameter, namely the rotation angle of the camera part.
The first detection structure 130 and the camera portion are both disposed on the base of the tunnel intelligent detection device 100, the position of the first detection structure 130 is unchanged, the initial position of the camera portion and the relative position between the first detection structure 130 are known amounts, and an initial coordinate point of the camera portion can be preset in the control portion.
Wherein step S420 the control unit calculates a difference or sum between the first angle parameter and the second angle parameter, that is, the rotation angle of the camera unit includes:
s421: the control part judges the position relationship between the projection point of the main optical axis of the light source of the camera part on the tunnel section and the horizontal plane passing through the initial coordinate point and the z axis according to the first included angle parameter;
s422: the control part judges the position relationship between the first characteristic coordinate point and the z axis according to the positive and negative of the x axis coordinate value of the first characteristic coordinate point, and judges the position relationship between the first characteristic coordinate point and the horizontal plane passing through the initial coordinate point according to the z axis coordinate value of the first characteristic coordinate point and the z axis coordinate value of the initial coordinate point;
s423: the control part judges the difference or sum between the first included angle parameter and the second included angle parameter when calculating the rotation angle according to the judging result in the step S421 and the judging result in the step S422, and judges the rotation direction of the camera part.
The following describes a procedure of adjusting the orientation of a camera unit. The second detection structure is an angle sensor, the first included angle parameter of the upper side of the horizontal plane is larger than 0, and the variation range is 0-180 degrees; the first included angle parameter of the lower side of the horizontal plane is smaller than 0, and the variation range is 0- (-180) DEG. As shown in fig. 2, an included angle between a main optical axis of a light source of the camera portion and a horizontal plane is a first included angle parameter w1, and an included angle parameter between a connecting line between the first characteristic coordinate point a1 and the initial coordinate point a2 and the horizontal plane is a second included angle parameter w2. According to step S421, the control unit determines that the projection point a3 of the main optical axis of the light source of the camera unit on the tunnel cross section is located at the lower side of the horizontal plane passing through the initial coordinate point a2 and at the left side of the z-axis according to the first angle parameter w1 being smaller than 0; according to step S422, the control unit determines that the first feature coordinate point a1 is located on the left side of the z axis according to the x-axis coordinate value of the first feature coordinate point a1 being greater than 0, and determines that the first feature coordinate point a1 is located on the upper side of the horizontal plane passing through the initial coordinate point a2 according to the z-axis coordinate value of the first feature coordinate point a1 being greater than the initial coordinate value a 2; according to the judgment result in step S421 and the judgment result in step S422, it is judged that the projection point a3 of the main optical axis of the light source of the camera section on the tunnel section is located at the lower side of the first characteristic coordinate point a1, and the projection point a3 of the main optical axis of the light source of the camera section on the tunnel section is located at the lower side of the horizontal plane passing through the initial coordinate point a2, and the first characteristic coordinate point a1 is located at the upper side of the horizontal plane passing through the initial coordinate point a 2; further, in step S423, the control unit determines that the first angle parameter w1 and the second angle parameter w2 take absolute values and sum values, respectively, when the rotation angle is calculated, and determines that the rotation direction of the camera unit is clockwise. The projection point a3 (as shown in fig. 2) of the main optical axis of the camera part on the tunnel section and the first characteristic coordinate point a1 are overlapped when the camera part rotates in place, and the light source irradiation angle of the camera part is equal to the angle to be measured.
Further, the orientation of one camera section is adjusted up to this point.
Further, when a plurality of camera sections are provided, it is necessary to determine a first characteristic coordinate point in the set of cross-sectional coordinate points corresponding to each camera section, that is, a plurality of camera sections are provided, a plurality of first characteristic coordinate points are provided, and one camera section corresponds to one first characteristic coordinate point. Steps S300 and S400 are repeated to adjust the orientation of each camera section one by one.
Further, as shown in fig. 3, the light source irradiation areas of the plurality of camera sections are arranged circumferentially along the axis of the tunnel section, and the light source irradiation areas of the adjacent two camera sections do not overlap. The image exposure degree caused by overlarge light source intensity is avoided, and the image is unclear.
Further, in step S500, the control unit calculates a target coordinate point of the camera unit according to the initial coordinate point, the first feature coordinate point, and the preset object distance, including:
s510: the control part calculates and obtains the length of a connecting line between the first characteristic coordinate point and the initial coordinate point, namely the initial object distance;
s520: the control part calculates and obtains a second included angle parameter between a connecting line between the first characteristic coordinate point and the initial coordinate point and the horizontal plane;
s530: the control part calculates and obtains a target coordinate point according to the initial object distance, the second included angle parameter and the preset object distance;
the first feature coordinate point, the initial coordinate point, and the target coordinate point are collinear.
Further, the following description will be made with respect to an object distance adjustment step of one camera section. As shown in fig. 2, the length of the line between the first characteristic coordinate point a1 and the initial coordinate point a2 is the initial object distance; since the lens of the camera portion is fixed, the object distance of the camera portion is a known amount, and the object distance can be preset in the control portion in advance. The second included angle parameter in step S520 may directly call the second included angle parameter w2 calculated in step S410. The target coordinate point a2 'is obtained through calculation, namely the horizontal movement distance L1 and the vertical movement distance L2 of the camera part can be obtained, the control part controls the adjusting part to drive the camera part to move in the horizontal direction and the vertical direction by the corresponding horizontal movement distance L1 and the vertical movement distance L2, and the camera part can reach the target coordinate point a 2'. Thus, the orientation of one camera unit is adjusted.
Further, when a plurality of camera sections are provided, it is necessary to determine a first characteristic coordinate point in the set of cross-sectional coordinate points corresponding to each camera section, that is, the plurality of camera sections are provided, the plurality of first characteristic coordinate points and the plurality of initial coordinate points are provided, and one camera section corresponds to one first characteristic coordinate point and one initial coordinate point. Step S500 is repeated to adjust the object distance and orientation of each camera section.
Further, the camera sections include a first camera section 111, a second camera section 112, a third camera section 113, a fourth camera section 114, a fifth camera section 115, a sixth camera section 116, a seventh camera section 117, and an eighth camera section 118. Eight initial coordinate points are set in the control part, and the eight initial coordinate points are set in one-to-one correspondence with the eight camera parts. The control part equally divides a plurality of section coordinate points in the region to be detected into eight groups, a first characteristic coordinate point is determined in each group of section coordinate points, and the eight first characteristic coordinate points are arranged in one-to-one correspondence with the eight camera parts. The adjusting parts are arranged in eight, the adjusting parts and the camera parts are arranged in a one-to-one correspondence, and the control part controls the eight adjusting parts to adjust the eight camera parts simultaneously or sequentially.
Further, the preset object distances of the plurality of cameras are equal, and the camera parameters of the plurality of cameras are the same.
Further, as shown in fig. 4, the camera shooting areas of the plurality of camera sections are arranged circumferentially along the axis of the tunnel section, with the shooting areas of adjacent two camera sections partially overlapping. Image deletion is avoided.
Further, as shown in fig. 5, in this embodiment, the photographing angle of the camera is 31.6 °, the object distance of the camera is 3100mm, and the photographing areas of the adjacent cameras overlap by 20 cm.
Further, when the tunnel intelligent detection method in this embodiment is applied, the camera parameters of the camera portion are set according to the specific application scenario. After the adjustment of the plurality of camera parts is finished, the light source irradiation areas of the two adjacent camera parts are not overlapped (as shown in fig. 3), and the camera shooting areas of the two adjacent camera parts are partially overlapped (as shown in fig. 4). The camera section employs a linear camera and a linear light source.
Specifically, when the above detection method is applied to the second adjustment structure of the camera section in the tunnel intelligent detection device 100, the detection method is as follows:
s100: the first detecting structure 130 detects tunnel section information, and it is understood that the tunnel section information detected by the first detecting structure 130 is transmitted to the control part in real time.
S200: the control part obtains tunnel section information, the control part calculates and obtains a plurality of section coordinate points according to the tunnel section information, and the control part determines a first characteristic coordinate point in the plurality of section coordinate points.
S300: the second detecting structure detects the gesture information of the camera part, and it can be understood that the gesture information of the camera part detected by the second detecting structure is transmitted to the control part in real time.
S400: the control part obtains attitude information, and the control part calculates and obtains the rotation angle of the camera part according to the attitude information and the first characteristic coordinate point, and the control part controls the adjusting part to drive the camera part to rotate the rotation angle so that the projection point of the main optical axis of the camera part on the tunnel section is overlapped with the first characteristic coordinate point.
Wherein the control part controls the adjusting part to drive the camera part to rotate by a rotation angle comprises:
the control part controls the first driving part to drive the first adjusting plate 141 to rotate relative to the second adjusting plate 142, and the rotation angle is the calculated rotation angle.
S500: the control part is used for controlling the adjusting part to drive the camera part to move to the target coordinate point so that the object distance of the camera part reaches the preset object distance.
Wherein the control section controlling the adjusting section to drive the camera section to move to the target coordinate point includes:
the control part controls the second driving part to drive the second adjustment plate 142 to perform a linear motion along the x-axis and the z-axis so that the camera part moves to the target coordinate point.
In the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. The specification and examples are to be regarded in an illustrative manner only.
The foregoing is only illustrative of the present invention and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present invention.
Claims (10)
1. Tunnel intelligent detection device, its characterized in that includes:
the device comprises a first detection structure, a second detection structure, an adjusting part, a camera part, a measuring part and a control part;
the first detection structure is used for acquiring tunnel section information;
the second detection structure is used for acquiring the gesture information of the camera part;
the camera part and the adjusting part are arranged in one-to-one correspondence, the camera part is connected with the adjusting part, and the adjusting part, the first detecting structure and the second detecting structure are respectively and electrically connected with the control part;
the control part is used for receiving feedback information of the first detection structure and the second detection structure, establishing a rectangular coordinate system according to the feedback information of the first detection structure and the second detection structure, and controlling the adjusting part to adjust the corresponding camera part.
2. The intelligent tunnel inspection device according to claim 1, wherein,
the first detection structure comprises a distance sensor and a driving motor;
the distance sensor is arranged on the first side of the tunnel intelligent detection device, the distance sensor is connected with the driving motor through a rotating shaft, and the axis of the rotating shaft is positioned on the central axial surface of the tunnel;
the driving motor is electrically connected with the distance sensor and the control part, and the control part is used for controlling the driving motor to drive the distance sensor to circumferentially rotate around the axis of the rotating shaft.
3. The intelligent tunnel inspection device according to claim 1, wherein,
the second detection structure is an angle sensor;
each camera part is provided with at least one angle sensor, and the angle sensors are used for acquiring a first included angle parameter between a main optical axis of the camera part and a horizontal plane;
the angle sensor is electrically connected with the control part.
4. The intelligent tunnel inspection device according to claim 1, wherein,
the adjusting part comprises a first driving piece and a second driving piece, and the first driving piece and the second driving piece are respectively and electrically connected with the control part;
the first driving piece is used for driving the camera part to perform circumferential rotation motion around the y axis;
the second driving piece is used for driving the camera part to move linearly along the x axis and the z axis;
the tunnel intelligent detection device comprises a support plate;
the second driving piece is arranged on the supporting plate, the first driving piece is arranged on the second driving piece, and the camera part is arranged on the first driving piece.
5. The intelligent tunnel inspection device according to claim 1, wherein,
the tunnel intelligent detection device comprises a support plate;
the support plates extend along the width direction of the tunnel intelligent detection device, at least two support plates are arranged, and the two support plates are arranged in parallel;
at least one camera portion is disposed on a first side of each support plate, at least one camera portion is disposed on a second side of each support plate, and the first side of the support plate and the second side of the support plate are disposed opposite each other.
6. The intelligent tunnel detection method is characterized by comprising the following steps of:
the first detection structure detects tunnel section information;
the control part obtains the tunnel section information, calculates and obtains a plurality of section coordinate points according to the tunnel section information, and determines a first characteristic coordinate point in the section coordinate points;
the second detection structure detects the posture information of the camera part;
the control part obtains the gesture information, the control part calculates and obtains the rotation angle of the camera part according to the gesture information and the first characteristic coordinate point, and the control part controls the adjusting part to drive the camera part to rotate the rotation angle so as to enable the projection point of the main optical axis of the camera part on the tunnel section to overlap with the first characteristic coordinate point;
the control part is used for setting an initial coordinate point and a preset object distance of the camera part, obtaining a target coordinate point of the camera part according to the initial coordinate point, the first characteristic coordinate point and the preset object distance, and controlling the adjusting part to drive the camera part to move to the target coordinate point so that the object distance of the camera part reaches the preset object distance.
7. The tunnel intelligent detection method according to claim 6, wherein,
the first detection structure detects that the tunnel section information comprises distance information corresponding to the angle information;
the control part calculates and obtains a plurality of section coordinate points according to the tunnel section information, and the method comprises the following steps:
and establishing a rectangular coordinate system where the tunnel section takes the axis of the rotating shaft of the first detection structure as an origin, and calculating and obtaining a section coordinate point corresponding to each angle by the control part according to each angle information and the corresponding distance information.
8. The tunnel intelligent detection method according to claim 6, wherein,
the control section identifying a first feature coordinate point among the plurality of section coordinate points includes:
the control part identifies a plurality of section coordinate points in the to-be-detected area, and equally divides the plurality of section coordinate points in the to-be-detected area into a plurality of groups along the circumferential direction of the tunnel section, wherein the plurality of section coordinate points in each group of section coordinate points are sequentially distributed along the circumferential direction of the tunnel section;
the control part determines first characteristic coordinate points of each group of section coordinate points, wherein the first characteristic coordinate points are positioned in the middle of each group of section coordinate points.
9. The tunnel intelligent detection method according to claim 6, wherein,
the control part obtains the attitude information comprising a first included angle parameter between a main optical axis of the camera part and a horizontal plane;
the control section calculating a rotation angle of the camera section from the pose information and the first feature coordinate point includes:
the control part calculates and obtains a second included angle parameter between the connecting line between the first characteristic coordinate point and the initial coordinate point and the horizontal plane;
the control part calculates and obtains the difference value or sum value between the first included angle parameter and the second included angle parameter, namely the rotation angle of the camera part.
10. The tunnel intelligent detection method according to claim 6, wherein,
the control part calculating and obtaining the target coordinate point of the camera part according to the initial coordinate point, the first characteristic coordinate point and the preset object distance comprises the following steps:
the control part calculates and obtains the length of a connecting line between the first characteristic coordinate point and the initial coordinate point, namely an initial object distance;
the control part calculates and obtains a second included angle parameter between a connecting line between the first characteristic coordinate point and the initial coordinate point and a horizontal plane;
the control part calculates and obtains the target coordinate point according to the initial object distance, the second included angle parameter and the preset object distance;
the first feature coordinate point, the initial coordinate point, and the target coordinate point are collinear.
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