CN207225178U - A kind of existing vcehicular tunnel vehicle - Google Patents

A kind of existing vcehicular tunnel vehicle Download PDF

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Publication number
CN207225178U
CN207225178U CN201721059707.5U CN201721059707U CN207225178U CN 207225178 U CN207225178 U CN 207225178U CN 201721059707 U CN201721059707 U CN 201721059707U CN 207225178 U CN207225178 U CN 207225178U
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camera
tunnel
radar
car
geological radar
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樊晓东
孟俊华
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Shaanxi Hairong intelligent Electromechanical Technology Co., Ltd
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Nanjing Fire Monkey Mdt Infotech Ltd
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Abstract

It the utility model is related to a kind of existing vcehicular tunnel vehicle, including dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protect equipment and storage system, dynamical system uses diesel, petrol power, electric power or the hybrid power of above-mentioned power mode combination, camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, geological radar includes high frequency antenna and low frequency electric wire, Precise Position System includes the range unit on wheel, infrared distance measuring device and GPS positioning device of checking the mark positioned at car body both sides;Display system includes real-time device status monitoring interface and real-time data collection checks interface;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device;Protecting equipment, it includes protective cover, heater, frost removal, fan and alarm device;Storage system is used to store the data collected.

Description

A kind of existing vcehicular tunnel vehicle
Technical field
A kind of Tunnel testing technical field is the utility model is related to, more particularly to a kind of existing vcehicular tunnel vehicle.
Background technology
With expanding economy, the traffic in China also develops rapidly, and the construction and research of vcehicular tunnel also achieve rapidly Development, ended for the end of the year 2012, national vcehicular tunnel is at 10022, mileage overall length has reached 805.27 myriametres, with tunnel Run time is progressively longer, and the visual defects such as percolating water or crack, peeling occurs in the tunnel structure based on concrete material, And tunnel cross-section deformation, be all unavoidable defect phenomenon, and the long-run development of disease to security cause Irreversible negative effect.Therefore, the maintenance to tunnel structure is the necessary hand run steadily in the long term for guarantee tunnel traffic Section.
The daily monitoring of operation tunnel at present, be unable to do without manual work mostly.For example, the inspection of Tunnel Lining Cracks Survey, identified using manually naked eyes, then photograph to record crack speciality form, manual record crack position with tape measure, camera Confidence ceases.Detected for the Lining Crack more than haunch with vault, then need to use scaffold or high altitude lifting platform car, examined Survey personnel could close contact to tunnel inner wall, using flashlight lighting, visually check the disease of haunch and vault.This method The Lining Crack accuracy rate detected is low, easy missing inspection, and in engineering is detected, personnel safety is poor, and detection efficiency is low, 1 kilometer 10 individual demand 1 of tunnel is completed when small, simultaneously because many positions in tunnel are not easy close to, it is necessary to be examined by vehicular tunnel Measurement equipment come complete detection work.
Chinese patent literature (application number:20171001877.6) a kind of existing vcehicular tunnel Vehicular system is disclosed, including Detection car acquisition subsystem, data management and analyzing subsystem and WEB the displaying subsystem being sequentially connected, wherein, detection car is adopted Subsystem is installed in a cargo, for gathering tunnel state data;Data management and analyzing subsystem are to the tunnel Road status data carries out image procossing;WEB shows subsystem to the data after the data management and analyzing subsystem processing Stored and shown.Although the patent document realizes integrated detection, the technical solution efficiency is not still high, and image Gather and analyze and is not accurate enough.
Therefore, there is an urgent need to develop a kind of Tunnel testing car, fast and accurately gathered with reaching defect information, improve disease The efficiency of evil monitoring.
Utility model content
Have that the degree of automation is high, safe efficient, multi-parameter the technical problem to be solved by the present invention is to provide one kind The existing vcehicular tunnel vehicle of comprehensive detection.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is realized in:The existing vcehicular tunnel Vehicle includes dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system System, protection equipment and storage system, it is the dynamical system, electric power system, camera system, geological radar, Precise Position System, dry Removal system, protection equipment and storage system is disturbed with control system to be connected;Wherein:The dynamical system is moved using diesel oil The hybrid power that power, petrol power, electric power or any of the above-described power mode are composed;Further include driver's cabin;Camera system System uses area array CCD camera, linear array CCD camera or CMOS cameras, and camera system further includes shooting speed adjusting apparatus;Geology thunder Up to including high frequency antenna and low frequency electric wire, its centre frequency is 75MHz-1.8GHz, is preferably 125MHz-1.75GHz;Geology thunder It is preferably 700mm × 480mm × 180mm up to cumulative volume≤800mm × 600mm × 220mm;Precise Position System includes being located at Range unit on wheel, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark;Display system includes real-time Equipment condition monitoring interface and real-time data collection check interface;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line Road compensation device, phase compensator, light compensation device, for exclude dust, fog, road surface be uneven, camera shooting away from From data distortion or error in data phenomenon caused by change, speed changing factor;Protection equipment includes protective cover, heater, removes White device, fan and alarm device, are damaged for preventing instrument because of fog, dust, high temperature or low temperature;Storage system is used to store The data collected.
Using above-mentioned technical proposal, it is by dynamical system, electric power system, geological radar, Precise Position System, display System, ELIMINATION OF ITS INTERFERENCE system are stored after coordinating the disease geo-radar image of camera system collection vcehicular tunnel by storage system, are realized vehicle-mounted Integration is detected work to tunnel, have ELIMINATION OF ITS INTERFERENCE system exclude dust, fog, road surface be uneven, camera shooting away from From data distortion or error in data phenomenon caused by change, speed changing factor so that the image of shooting is more accurate, and detection is more It is accurate to add;The control system uses industrial personal computer.
The utility model further improvement lies in that, the camera system includes two groups of A, B, wherein:
A groups include 8-12 platform cameras, are arranged at driver's cabin right rear side in quadrant camber, for shooting highway tunnel Road surface, the center of circle of the quarter circular arc have one to hang down respectively on the downside of the bottom of existing vcehicular tunnel vehicle or bottom Directly it is located in road surface to the camera of photographs and one parallel to the camera that road surface is shot to driver's cabin right rear side tunnel On two radius sides of quarter circular arc;
B groups include 6-10 platform cameras, and wherein at least 2 parallel and camera is downward, for shooting highway pavement.
The utility model further improvement lies in that, carry open type platform on rear side of the dynamical system, the open type is put down Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage are mounted with platform System;The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection Equipment is individually connected with storage system;The signal that described image conversion equipment receives radar is converted into digitized map Picture.
The utility model further improvement lies in that, the geological radar:Using arm processor, and built-in high speed DSP;Most Small resolution ratio is 5ps, system gain 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128- 4096 sampling points/scanning, it is manually adjustable;Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m.
The utility model further improvement lies in that, the geological radar collects the average, back of the body between the laggard trade of geologic signals It is imaged after scape elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system includes:
Image capture module, for gathering the three-dimensional structure disease of tunnel side wall lining cutting, tunnel and road surface angle and road surface Deformed with section structure;
Laser scanning module, for gathering tunnel entirety and local configuration disease.
The utility model further improvement lies in that, the Precise Position System further include velocity sensor, angular speed sensing Device and accelerometer, the route compensation device is infrared range-measurement system, it is connected with the camera system, and:
Infrared range-measurement system receives reflected signal to after lateral wall surface launching infrared light using the infrared sensor in it, then Transmitting and the time difference received are handled using ccd image, detection car and unilateral metope are calculated after signal processor processes Distance, then adjusts camera focus in real time according to distance change situation;Or
Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope, Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes The distance in face, then adjusts camera focus in real time according to distance change situation.
The utility model further improvement lies in that, the ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, the elasticity feeler lever Side be fixed on detection car car body on, another side contacts tunnel wall wall surface simultaneously detection car car body and tunnel wall surface it is straight Connecing and be horizontal, there is fibre optical sensor on the elasticity feeler lever, the fibre optical sensor is connected with the camera system, When detection car travels in vcehicular tunnel and detects disease, once the distance of car body and tunnel wall surface changes, light Fiber sensor can change to the real time length of the camera system feedback characteristics feeler lever, and the camera system then adjusts camera in real time Focal length.
The utility model further improvement lies in that, the geological radar further includes radar integral part, radar fixing device, thunder Up to wheel, telescopic shaft, hand push handle, display screen and action data automation, enable geological radar from existing vcehicular tunnel car Exclusive use is disassembled on, the radar integral part is integrated with high frequency antenna, low frequency electric wire and battery, and the radar is fixed Device is used to geological radar being fixed on existing vcehicular tunnel vehicle, and described 2-4 diameter of radar wheel is less than the wheel of 20cm, The telescopic shaft is telescopic mechanism of the total length in the range of 1.2-1.8m, the flexible axis connection radar integral part and hand push Handle, the display screen can real-time display radar imagery data, the action data automation uses binary channels host;With/ Or
The existing vcehicular tunnel vehicle further includes three-dimensional laser scanner, it is used to obtain tunnel surface disease geo-radar image Cloud data, then carries out a cloud using cloud data and forms three-dimensional laser disease database, the three-dimensional laser disease The camera disease database that database is obtained with camera system again is contrasted, merged, and forms accurate, clearly disease data Storehouse.
The utility model further improvement lies in that, the dynamical system using diesel, petrol power, electric power or The hybrid power that any of the above-described power mode is composed;Range unit on the wheel is used to measure vehicle wheel rotational speed, and will Vehicle wheel rotational speed feeds back to dynamical system, for adjusting detection car travel speed in real time;The protective cover is divided into holding state and work Make state two states, automatically into working status when Tunnel testing turner is made, at this time protective cover pack up and make camera system, Matter radar is exposed, and automatically into holding state when Tunnel testing car does not work, protective cover supports and will be all at this time Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection exist Within confined space.
The utility model further improvement lies in that, A groups camera include support system be used for by 8-12 platforms camera in four/ One circular arc type arranges, and the support system includes 8-12 tray box, quadrant arc bracket, main bracing frame and bottom Seat;The tray box is installed on the quadrant arc bracket by quadrant arc is evenly distributed, described four points One of arc-shaped bracket be installed on the base on, the floor installation is on the main bracing frame;The tray box passes through Guide rail is connected with the quadrant arc bracket and the tray box can slide on the guide rail and pass through clamp Locked into row position;The main bracing frame is lifting structure, and the main bracing frame adjusts height or hand by motor powered It is dynamic to adjust height.Main bracing frame is installed onboard by base fixed frame;Camera is integrated by camera pallet and is fixed on pallet In box;Tray box is in be detachably connected with the quadrant arc bracket;Sliding block is installed, tray box is installed on guide rail On sliding block, slided by sliding block on guide rail;The outer arcuate edge of quadrant bracket stretches out a equipped with 7-11 platform, 7-11 Platform is alternatively formed gear-like along outer arcuate edge;The tray box is set at interval of a platform distribution;Guide rail is equipped with two A clamp, sliding block are located among two clamps;The both ends of quadrant arc bracket are connected with installing plate, for by four / mono- arc-shaped bracket is fixed on base;Leave the space for storing cable in the bottom of quadrant arc bracket; The upper cover of tray box is equipped with the circular hole of two camera lenses for inlaying camera, and a square hole is equipped between two circular holes and is used to inlay Laser Measuring Distance meter;The both ends of front and rear two blocks of side plates of tray box are recessed inwardly to form middle protrusive board, are inlayed between two pieces of middle protrusive boards It is embedding that inertial navigator is installed, fixed plate is equipped with tray box, it is opposite with the circular hole of pallet box cover that camera is installed on fixed plate The position answered, fixed plate are installed on two blocks of the left and right side plate of tray box.
Compared with prior art, the utility model has the advantages that:The vcehicular tunnel Defect inspection car has The characteristics of the degree of automation is high, safe efficient, multi-parameter comprehensive detects, can rapidly and accurately gather tunnel defect information, and Processing draws tunnel defect as a result, improving the efficiency of Tunnel testing work, while saved Tunnel testing work by analysis Time, human cost is reduced, suitable for being widely popularized.
Brief description of the drawings
Fig. 1 is the structure diagram of the existing vcehicular tunnel vehicle of the utility model;
Fig. 2 is the system structure diagram of the existing vcehicular tunnel vehicle of the utility model.
Embodiment
Below in conjunction with the attached drawing in the implementation illustration of the utility model, to the technical scheme in the embodiment of the utility model Carry out clear, complete description.
Embodiment 1:The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, essence True alignment system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, phase Machine system, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system Connect;The existing vcehicular tunnel vehicle further includes driver's cabin;Wherein:The dynamical system uses petrol power, and camera system uses Area array CCD camera, linear array CCD camera or CMOS cameras, camera system further include shooting speed adjusting apparatus;Geological radar includes High frequency antenna and low frequency electric wire, its centre frequency are 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm;Precise Position System includes the range unit on wheel, the infrared distance measuring device positioned at car body both sides and checks the mark GPS positioning device;Display system includes real-time device status monitoring interface and real-time data collection checks interface;ELIMINATION OF ITS INTERFERENCE system System include repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for exclude dust, Fog, road surface is uneven, camera shooting distance changes, data distortion or error in data phenomenon caused by speed changing factor; Protection equipment includes protective cover, heater, frost removal, fan and alarm device, for preventing instrument because of fog, dust, high temperature Or low temperature and be damaged;Storage system is used to store the data collected;The camera system includes two groups of A, B, wherein:A groups are wrapped 8 cameras are included, are arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, described four points One of circular arc the center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have respectively one perpendicular to road surface to photographs Camera and one be located at the two of quarter circular arc to the camera that driver's cabin right rear side tunnel is shot parallel to road surface On a radius side;B groups include 6 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement;Institute Carry open type platform on rear side of dynamical system is stated, camera system, geological radar is mounted with the open type platform, is accurately positioned System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system;The electric power system and camera system, geology thunder Reach, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment be individually connected with storage system;The figure As the signal that conversion equipment receives radar is converted into digital picture;The geological radar:Using arm processor, and embed High-speed dsp;Minimum resolution is 5ps, system gain 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling Count as 128-4096 sampling points/scanning, it is manually adjustable;Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0- 8m;The geological radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after carry out Imaging, meanwhile, the camera system further includes:Image capture module, for gathering tunnel side wall lining cutting, tunnel and road surface angle Deformed with the three-dimensional structure disease and section structure on road surface;Laser scanning module, for gathering tunnel entirety and local configuration Disease, the Precise Position System further include velocity sensor, angular-rate sensor and accelerometer, the route compensation device It is infrared range-measurement system, it is connected with the camera system, and:Infrared range-measurement system utilizes after launching infrared light to bilateral metope Infrared sensor in it receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, through signal The distance of detection car and bilateral metope is calculated after processor processing, camera Jiao is then adjusted according to distance change situation in real time Away from;The ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, and the side of the elasticity feeler lever is fixed on detection car car body, opposite side Contact tunnel wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, has on the elasticity feeler lever Fibre optical sensor, the fibre optical sensor are connected with the camera system, when detection car is travelled and detected in vcehicular tunnel During disease, once the distance of car body and tunnel wall surface changes, fibre optical sensor can feed back bullet to the camera system Property feeler lever real time length change, the camera system then adjusts camera focus in real time;The existing vcehicular tunnel vehicle also wraps Three-dimensional laser scanner is included, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, is then carried out a little using cloud data Cloud forms three-dimensional laser disease database, the camera disease that the three-dimensional laser disease database is obtained with camera system again Database is contrasted, merged, and forms accurate, clearly disease database;The dynamical system uses petrol power;The car Range unit on wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back to dynamical system, for adjusting detection car in real time Travel speed;The protective cover is divided into holding state and working status two states, automatically into work when Tunnel testing turner is made Make state, protective cover is packed up and makes camera system at this time, geological radar is exposed, when Tunnel testing car does not work automatically into Holding state, at this time protective cover support and by whole camera system, geological radar, Precise Position System, display system, dry Removal system, protection equipment and storage system protection are disturbed within confined space;A groups camera includes support system and is used for 8 Camera is arranged in quadrant camber, and the support system includes 8 tray boxes, quadrant arc bracket, main body branch Support and base;The tray box is installed on the quadrant arc bracket by quadrant arc is evenly distributed, The quadrant arc bracket is installed on the base, and the floor installation is on the main bracing frame;The support Tray salver is connected by guide rail with the quadrant arc bracket and the tray box can slide on the guide rail and logical Clamp is crossed to lock into row position;The main bracing frame is lifting structure, and the main bracing frame is adjusted by motor powered Height or Manual height;Main bracing frame is installed onboard by base fixed frame;Camera is integrated solid by camera pallet It is scheduled in tray box;Tray box is in be detachably connected with the quadrant arc bracket;Sliding block, pallet are installed on guide rail Box is installed on sliding block, is slided by sliding block on guide rail;The outer arcuate edge of quadrant bracket stretches out equipped with 7 platforms, and 7 A platform is alternatively formed gear-like along outer arcuate edge;The tray box is set at interval of a platform distribution;Guide rail is equipped with Two clamps, sliding block are located among two clamps;The both ends of quadrant arc bracket are connected with installing plate, for inciting somebody to action Quadrant arc bracket is fixed on base;Leave the sky for storing cable in the bottom of quadrant arc bracket Between;The upper cover of tray box is equipped with the circular hole of two camera lenses for inlaying camera, and it is sharp for inlaying to be equipped with a square hole between two circular holes Optar;The both ends of front and rear two blocks of side plates of tray box are recessed inwardly to form middle protrusive board, two pieces of middle protrusive boards it Between inlay inertial navigator be installed, fixed plate is equipped with tray box, camera is installed on the circular hole of fixed plate and pallet box cover Corresponding position, fixed plate are installed on two blocks of the left and right side plate of tray box.
Embodiment 2:Difference from Example 1 is, infrared range-measurement system is to utilizing it after lateral wall surface launching infrared light Interior infrared sensor receives reflected signal, then transmitting and the time difference received is handled using ccd image, through signal processor The distance of detection car and unilateral metope is calculated after processing, camera focus is then adjusted according to distance change situation in real time;Specifically Ground:The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, Precise Position System, aobvious Show system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system, geology thunder Reach, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system be connected with control system;The vcehicular tunnel Detection vehicle further includes driver's cabin;Wherein:The dynamical system uses petrol power, and camera system is using area array CCD camera, line Array CCD camera or CMOS cameras, camera system further include shooting speed adjusting apparatus;Geological radar includes high frequency antenna and low frequency Electric wire, its centre frequency are 75MHz-1.8GHz;Geological radar cumulative volume 700mm × 480mm × 180mm;Precise Position System Including the range unit on wheel, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark;Display system Interface is checked including real-time device status monitoring interface and real-time data collection;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit is put Big device, line building-out unit, phase compensator, light compensation device, for excluding, dust, fog, road surface be uneven, phase Data distortion or error in data phenomenon caused by the change of machine shooting distance, speed changing factor;Equipment is protected to include protective cover, add Hot device, frost removal, fan and alarm device, are damaged for preventing instrument because of fog, dust, high temperature or low temperature;Storage system For storing the data collected;The camera system includes two groups of A, B, wherein:A groups include 8 cameras, at driver's cabin rear Right side is arranged in quadrant camber, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is in highway tunnel Road detection vehicle bottom or bottom on the downside of, have respectively one perpendicular to road surface to the camera of photographs and one parallel to road Camera towards the shooting of driver's cabin right rear side tunnel is located on two radius sides of quarter circular arc;B groups include 6 phases Machine, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement;Carry open type on rear side of the dynamical system Platform, is mounted with camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system on the open type platform System, protection equipment and storage system;The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system;Described image conversion equipment receives radar Signal is converted into digital picture;The geological radar:Using arm processor, and built-in high speed DSP;Minimum resolution is 5ps, System gain is 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128-4096 sampling points/scanning, It is manually adjustable;Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;The geological radar collects geology It is imaged between the laggard trade of signal after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system also wraps Include:Image capture module, for gathering the three-dimensional structure disease and section of tunnel side wall lining cutting, tunnel and road surface angle and road surface Malformation;Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System further includes Velocity sensor, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, itself and the camera system System is connected, and:Infrared range-measurement system receives reflection letter to after lateral wall surface launching infrared light using the infrared sensor in it Number, the time difference launched with receiving then is handled using ccd image, detection car and one side are calculated after signal processor processes The distance of metope, then adjusts camera focus in real time according to distance change situation;The ELIMINATION OF ITS INTERFERENCE system further includes elastic spy Bar, the side of the elasticity feeler lever are fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body Directly it is horizontal with tunnel wall surface, there is fibre optical sensor, the fibre optical sensor and institute on the elasticity feeler lever Camera system is stated to be connected, when detection car travels in vcehicular tunnel and detects disease, once car body and tunnel wall surface Distance change, fibre optical sensor can change to the real time length of the camera system feedback characteristics feeler lever, the camera System then adjusts camera focus in real time;The existing vcehicular tunnel vehicle further includes three-dimensional laser scanner, it is used to obtain tunnel The cloud data of road surface disease geo-radar image, then carries out a cloud using cloud data and forms three-dimensional laser disease database, The camera disease database that the three-dimensional laser disease database is obtained with camera system again is contrasted, merged, formed it is accurate, Clearly disease database;Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back to power System, for adjusting detection car travel speed in real time;The protective cover is divided into holding state and working status two states, tunnel Automatically into working status when detection turner is made, protective cover is packed up and makes camera system at this time, geological radar is exposed, tunnel Detection car is automatically into holding state when not working, and protective cover supports and by whole camera systems, geological radar, essence at this time True alignment system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space;A group cameras Including support system be used for by 8 cameras in quadrant camber arrange, the support system including 8 tray boxes, four points One of arc-shaped bracket, main bracing frame and base;Described in the tray box is installed on by quadrant arc is evenly distributed On quadrant arc bracket, the quadrant arc bracket is installed on the base, and the floor installation is in institute State on main bracing frame;The tray box is connected by guide rail with the quadrant arc bracket and the tray box can Slide on the guide rail and locked by clamp into row position;The main bracing frame is lifting structure, the main body branch Support adjusts height or Manual height by motor powered;Main bracing frame is installed onboard by base fixed frame;Phase Machine is integrated by camera pallet and is fixed in tray box;Tray box is in be detachably connected with the quadrant arc bracket; Sliding block is installed, tray box is installed on sliding block, is slided by sliding block on guide rail on guide rail;The outer arcuate edge of quadrant bracket Stretch out and be equipped with 7 platforms, 7 platforms are alternatively formed gear-like along outer arcuate edge;The tray box is flat at interval of one Platform distribution is set;Guide rail is equipped with two clamps, and sliding block is located among two clamps;The two of quadrant arc bracket End is connected with installing plate, for quadrant arc bracket to be fixed on base;The bottom of quadrant arc bracket Leave the space for storing cable;The upper cover of tray box is equipped with the circular hole of two camera lenses for inlaying camera, between two circular holes It is used to inlay laser range finder equipped with a square hole;The both ends of front and rear two blocks of side plates of tray box be recessed inwardly to be formed it is middle convex Plate, inlays between two pieces of middle protrusive boards and is provided with inertial navigator, and fixed plate is equipped with tray box, and camera is installed on fixation The corresponding position of circular hole of plate and pallet box cover, fixed plate are installed on two blocks of the left and right side plate of tray box.
Embodiment 3:Difference from Example 1 is that dynamical system is diesel systems;Specifically:The vcehicular tunnel is examined Measuring car includes dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE System, protection equipment and storage system, the dynamical system, electric power system, camera system, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system;The existing vcehicular tunnel vehicle, which further includes, to be driven Sail room;Wherein:The dynamical system uses diesel;Camera system uses area array CCD camera, linear array CCD camera or CMOS Camera, camera system further include shooting speed adjusting apparatus;Geological radar includes high frequency antenna and low frequency electric wire, its centre frequency For 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm;Precise Position System is included on wheel Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark;Display system includes real-time device shape State observation interface and real-time data collection check interface;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out Device, phase compensator, light compensation device, for exclude uneven dust, fog, road surface, the change of camera shooting distance, Data distortion caused by speed changing factor or error in data phenomenon;Equipment is protected to include protective cover, heater, frost removal, wind Fan and alarm device, are damaged for preventing instrument because of fog, dust, high temperature or low temperature;Storage system is collected for storage Data;The camera system includes two groups of A, B, wherein:A groups include 8 cameras, are in a quarter at driver's cabin right rear side Circular arc type arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is at the bottom of existing vcehicular tunnel vehicle On the downside of end or bottom, have respectively one perpendicular to road surface to the camera of photographs and one parallel to road surface to driver's cabin rear The camera of right side tunnel shooting is located on two radius sides of quarter circular arc;B groups include 6 cameras, wherein at least have Two camera is parallel and camera is downward, for shooting highway pavement;Carry open type platform on rear side of the dynamical system, it is described Be mounted with open type platform camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection set Standby and storage system;The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system System, protection equipment are individually connected with storage system;The signal that described image conversion equipment receives radar is converted into Digital picture;The geological radar:Using arm processor, and built-in high speed DSP;Minimum resolution is 5ps, and system gain is 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128-4096 sampling points/scanning, manually adjustable; Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;The geological radar carries out after collecting geologic signals It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system further includes:Image is adopted Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform; Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System further includes velocity pick-up Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, it is connected with the camera system Connect, and:Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope, Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes The distance in face, then adjusts camera focus in real time according to distance change situation;The ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, The side of the elasticity feeler lever is fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body and tunnel Road wall surface is directly horizontal, and has fibre optical sensor, the fibre optical sensor and the phase on the elasticity feeler lever Machine system is connected, and is travelled when detecting car in vcehicular tunnel and when detecting disease, once car body and tunnel wall surface away from From changing, fibre optical sensor can change to the real time length of the camera system feedback characteristics feeler lever, the camera system Camera focus is then adjusted in real time;The existing vcehicular tunnel vehicle further includes three-dimensional laser scanner, it is used to obtain tunnel table The cloud data of face disease geo-radar image, then carries out a cloud using cloud data and forms three-dimensional laser disease database, described The camera disease database that three-dimensional laser disease database is obtained with camera system again is contrasted, merged, and it is accurate, clear to be formed Disease database;Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back to dynamical system, For adjusting detection car travel speed in real time;The protective cover is divided into holding state and working status two states, Tunnel testing Automatically into working status when turner is made, protective cover is packed up and makes camera system at this time, geological radar is exposed, Tunnel testing Automatically into holding state when car does not work, protective cover supports and by whole camera system, geological radar, accurate fixed at this time Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space;A group cameras include Support system is used to arrange 8 cameras in quadrant camber, and the support system includes 8 tray boxes, a quarters Arc-shaped bracket, main bracing frame and base;The tray box is installed on described four points by quadrant arc is evenly distributed One of on arc-shaped bracket, the quadrant arc bracket is installed on the base, and the floor installation is in the master On body supporting rack;The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be in institute State and slide on guide rail and locked by clamp into row position;The main bracing frame is lifting structure, the main bracing frame Height or Manual height are adjusted by motor powered.Main bracing frame is installed onboard by base fixed frame;Camera leads to Cross camera pallet and integrate and be fixed in tray box;Tray box is in be detachably connected with the quadrant arc bracket;Guide rail On sliding block is installed, tray box is installed on sliding block, is slided by sliding block on guide rail;The outer arcuate edge of quadrant bracket is outside Extension is equipped with 7 platforms, and 7 platforms are alternatively formed gear-like along outer arcuate edge;The tray box is at interval of a platform point Cloth is set;Guide rail is equipped with two clamps, and sliding block is located among two clamps;The both ends of quadrant arc bracket connect Installing plate is connected to, for quadrant arc bracket to be fixed on base;Leave the bottom of quadrant arc bracket For storing the space of cable;The upper cover of tray box is equipped with the circular hole of two camera lenses for inlaying camera, is equipped between two circular holes One square hole is used to inlay laser range finder;The both ends of front and rear two blocks of side plates of tray box are recessed inwardly to form middle protrusive board, and two Inlayed among described in block between protrusive board and inertial navigator be installed, be equipped with fixed plate in tray box, camera be installed on fixed plate and The corresponding position of circular hole of pallet box cover, fixed plate are installed on two blocks of the left and right side plate of tray box.
Embodiment 4:Difference from Example 1 is that dynamical system is power driven system;Specifically:The vcehicular tunnel is examined Measuring car includes dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE System, protection equipment and storage system, the dynamical system, electric power system, camera system, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system;The existing vcehicular tunnel vehicle, which further includes, to be driven Sail room;Wherein:The dynamical system uses electric power;Camera system uses area array CCD camera, linear array CCD camera or CMOS phases Machine, camera system further include shooting speed adjusting apparatus;Geological radar includes high frequency antenna and low frequency electric wire, its centre frequency is 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm;Precise Position System is included on wheel Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark;Display system includes real-time device state Observation interface and real-time data collection check interface;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out dress Put, phase compensator, light compensation device, for excluding dust, fog, road surface is uneven, camera shooting distance changes, car Data distortion caused by fast changing factor or error in data phenomenon;Equipment is protected to include protective cover, heater, frost removal, fan And alarm device, it is damaged for preventing instrument because of fog, dust, high temperature or low temperature;Storage system is used to store what is collected Data;The camera system includes two groups of A, B, wherein:A groups include 8 cameras, are in quadrant at driver's cabin right rear side Camber arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is in the bottom of existing vcehicular tunnel vehicle Or on the downside of bottom, have respectively one it is right to driver's cabin rear parallel to road surface to the camera of photographs and one perpendicular to road surface The camera of side tunnel shooting is located on two radius sides of quarter circular arc;B groups include 6 cameras, wherein at least there is two Platform camera is parallel and camera is downward, for shooting highway pavement;Carry open type platform on rear side of the dynamical system, it is described spacious Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are mounted with open type platform And storage system;The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system System, protection equipment are individually connected with storage system;The signal that described image conversion equipment receives radar is converted into Digital picture;The geological radar:Using arm processor, and built-in high speed DSP;Minimum resolution is 5ps, and system gain is 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128-4096 sampling points/scanning, manually adjustable; Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;The geological radar carries out after collecting geologic signals It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system further includes:Image is adopted Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform; Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System further includes velocity pick-up Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, it is connected with the camera system Connect, and:Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope, Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes The distance in face, then adjusts camera focus in real time according to distance change situation;The ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, The side of the elasticity feeler lever is fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body and tunnel Road wall surface is directly horizontal, and has fibre optical sensor, the fibre optical sensor and the phase on the elasticity feeler lever Machine system is connected, and is travelled when detecting car in vcehicular tunnel and when detecting disease, once car body and tunnel wall surface away from From changing, fibre optical sensor can change to the real time length of the camera system feedback characteristics feeler lever, the camera system Camera focus is then adjusted in real time;The existing vcehicular tunnel vehicle further includes three-dimensional laser scanner, it is used to obtain tunnel table The cloud data of face disease geo-radar image, then carries out a cloud using cloud data and forms three-dimensional laser disease database, described The camera disease database that three-dimensional laser disease database is obtained with camera system again is contrasted, merged, and it is accurate, clear to be formed Disease database;Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back to dynamical system, For adjusting detection car travel speed in real time;The protective cover is divided into holding state and working status two states, Tunnel testing Automatically into working status when turner is made, protective cover is packed up and makes camera system at this time, geological radar is exposed, Tunnel testing Automatically into holding state when car does not work, protective cover supports and by whole camera system, geological radar, accurate fixed at this time Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space;A group cameras include Support system is used to arrange 8 cameras in quadrant camber, and the support system includes 8 tray boxes, a quarters Arc-shaped bracket, main bracing frame and base;The tray box is installed on described four points by quadrant arc is evenly distributed One of on arc-shaped bracket, the quadrant arc bracket is installed on the base, and the floor installation is in the master On body supporting rack;The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be in institute State and slide on guide rail and locked by clamp into row position;The main bracing frame is lifting structure, the main bracing frame Height or Manual height are adjusted by motor powered.Main bracing frame is installed onboard by base fixed frame;Camera leads to Cross camera pallet and integrate and be fixed in tray box;Tray box is in be detachably connected with the quadrant arc bracket;Guide rail On sliding block is installed, tray box is installed on sliding block, is slided by sliding block on guide rail;The outer arcuate edge of quadrant bracket is outside Extension is equipped with 7 platforms, and 7 platforms are alternatively formed gear-like along outer arcuate edge;The tray box is at interval of a platform point Cloth is set;Guide rail is equipped with two clamps, and sliding block is located among two clamps;The both ends of quadrant arc bracket connect Installing plate is connected to, for quadrant arc bracket to be fixed on base;Leave the bottom of quadrant arc bracket For storing the space of cable;The upper cover of tray box is equipped with the circular hole of two camera lenses for inlaying camera, is equipped between two circular holes One square hole is used to inlay laser range finder;The both ends of front and rear two blocks of side plates of tray box are recessed inwardly to form middle protrusive board, and two Inlayed among described in block between protrusive board and inertial navigator be installed, be equipped with fixed plate in tray box, camera be installed on fixed plate and The corresponding position of circular hole of pallet box cover, fixed plate are installed on two blocks of the left and right side plate of tray box.
Embodiment 5:Difference from Example 1 is that dynamical system mixes for petrol power system and electric propulsion system Power;Specifically:The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate fixed Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system;Should Existing vcehicular tunnel vehicle further includes driver's cabin;Wherein:The dynamical system mixes for petrol power system and electric propulsion system Power;Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, and camera system further includes shooting speed adjustment Device;Geological radar includes high frequency antenna and low frequency electric wire, its centre frequency is 125MHz-1.75GHz;Geological radar cumulative volume 700mm×480mm×180mm;Precise Position System includes the range unit on wheel, the infrared survey positioned at car body both sides Away from device and GPS positioning device of checking the mark;Display system includes real-time device status monitoring interface and real-time data collection checks boundary Face;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device, Data distortion caused by for excluding uneven dust, fog, road surface, the change of camera shooting distance, speed changing factor or Error in data phenomenon;Protection equipment includes protective cover, heater, frost removal, fan and alarm device, for preventing instrument because of mist Gas, dust, high temperature or low temperature and be damaged;Storage system is used to store the data collected;The camera system includes A, B two Group, wherein:A groups include 8 cameras, are arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel Surface, the center of circle of the quarter circular arc have one vertically respectively on the downside of the bottom of existing vcehicular tunnel vehicle or bottom It is located at four parallel to the camera that road surface is shot to driver's cabin right rear side tunnel to the camera of photographs and one in road surface On two radius sides of/mono- circular arc;B groups include 6 cameras, and wherein at least having two, camera is parallel and camera is downward, use In shooting highway pavement;Carry open type platform on rear side of the dynamical system, be mounted with the open type platform camera system, Geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system;The electric power system with Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are single respectively Solely it is connected;The signal that described image conversion equipment receives radar is converted into digital picture;The geological radar:Using Arm processor, and built-in high speed DSP;Minimum resolution is 5ps, system gain 160dB;Sweep speed for 20-100 scanning/ Second, it is manually adjustable;Sampling number is 128-4096 sampling points/scanning, manually adjustable;Measuring wheel is provided with, for horizontal distance mark Note;Investigation depth is 0-8m;The geological radar collect average, background elimination between the laggard trade of geologic signals, Real-Time Filtering, It is imaged after superposition denoising, meanwhile, the camera system further includes:Image capture module, for gather tunnel side wall lining cutting, Tunnel is deformed with the three-dimensional structure disease and section structure on road surface angle and road surface;Laser scanning module, it is whole for gathering tunnel Body and local configuration disease, the Precise Position System further include velocity sensor, angular-rate sensor and accelerometer, institute It is infrared range-measurement system to state route compensation device, it is connected with the camera system, and infrared range-measurement system is sent out to bilateral metope Penetrate after infrared light and receive reflected signal respectively using the infrared sensor in it, then handle transmitting using ccd image and receive Time difference, the distance of detection car and bilateral metope is calculated after signal processor processes, then according to distance change situation Adjustment camera focus in real time;The ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, and the side of the elasticity feeler lever is fixed on detection On car car body, another side contacts tunnel wall wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, institute Stating has fibre optical sensor on elastic feeler lever, the fibre optical sensor is connected with the camera system, when detection Che highways When being travelled in tunnel and detecting disease, once the distance of car body and tunnel wall surface changes, fibre optical sensor can be to institute The real time length change of camera system feedback characteristics feeler lever is stated, the camera system then adjusts camera focus in real time;The highway Tunnel testing vehicle further includes three-dimensional laser scanner, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, Ran Houli Carry out cloud with cloud data and form a three-dimensional laser disease database, the three-dimensional laser disease database again with camera system The camera disease database that system obtains is contrasted, merged, and forms accurate, clearly disease database;Survey on the wheel It is used to measure vehicle wheel rotational speed away from device, and vehicle wheel rotational speed is fed back into dynamical system, for adjusts detection car travel speed in real time; The protective cover is divided into holding state and working status two states, automatically into working status when Tunnel testing turner is made, this When protective cover is packed up and makes camera system, geological radar is exposed, automatically into holding state when Tunnel testing car does not work, Protective cover supports and by whole camera systems, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system at this time System, protection equipment and storage system protection are within confined space;A groups camera includes support system and is used to 8 cameras be in four / mono- circular arc type arranges, and the support system includes 8 tray boxes, quadrant arc bracket, main bracing frame and bottom Seat;The tray box is installed on the quadrant arc bracket by quadrant arc is evenly distributed, described four points One of arc-shaped bracket be installed on the base on, the floor installation is on the main bracing frame;The tray box passes through Guide rail is connected with the quadrant arc bracket and the tray box can slide on the guide rail and pass through clamp Locked into row position;The main bracing frame is lifting structure, and the main bracing frame adjusts height or hand by motor powered It is dynamic to adjust height.Main bracing frame is installed onboard by base fixed frame;Camera is integrated by camera pallet and is fixed on pallet In box;Tray box is in be detachably connected with the quadrant arc bracket;Sliding block is installed, tray box is installed on guide rail On sliding block, slided by sliding block on guide rail;The outer arcuate edge of quadrant bracket stretches out equipped with 7 platforms, 7 platform edges Outer arcuate edge is alternatively formed gear-like;The tray box is set at interval of a platform distribution;Guide rail is clamped down on equipped with two Device, sliding block are located among two clamps;The both ends of quadrant arc bracket are connected with installing plate, for by a quarter Arc-shaped bracket is fixed on base;Leave the space for storing cable in the bottom of quadrant arc bracket;Tray box Upper cover be equipped with the circular holes of two camera lenses for inlaying camera, being equipped with a square hole between two circular holes is used to inlay laser range finder; The both ends of front and rear two blocks of side plates of tray box are recessed inwardly to form middle protrusive board, inlay installation between two pieces of middle protrusive boards There is inertial navigator, fixed plate is equipped with tray box, camera is installed on fixed plate and the corresponding position of circular hole of pallet box cover Put, fixed plate is installed on two blocks of the left and right side plate of tray box.
Embodiment 6:It is composed with embodiment 1 for diesel and petrol power difference lies in, dynamical system mixed Close dynamical system;Specifically:The existing vcehicular tunnel vehicle include dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, Camera system, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system with control system phase Connection;The existing vcehicular tunnel vehicle further includes driver's cabin;Wherein:The dynamical system use dynamical system for diesel and The hybrid power system that petrol power is composed;Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, Camera system further includes shooting speed adjusting apparatus;Geological radar includes high frequency antenna and low frequency electric wire, its centre frequency is 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm;Precise Position System is included on wheel Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark;Display system includes real-time device state Observation interface and real-time data collection check interface;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out dress Put, phase compensator, light compensation device, for excluding dust, fog, road surface is uneven, camera shooting distance changes, car Data distortion caused by fast changing factor or error in data phenomenon;Equipment is protected to include protective cover, heater, frost removal, fan And alarm device, it is damaged for preventing instrument because of fog, dust, high temperature or low temperature;Storage system is used to store what is collected Data;The camera system includes two groups of A, B, wherein:A groups include 8 cameras, are in quadrant at driver's cabin right rear side Camber arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is in the bottom of existing vcehicular tunnel vehicle Or on the downside of bottom, have respectively one it is right to driver's cabin rear parallel to road surface to the camera of photographs and one perpendicular to road surface The camera of side tunnel shooting is located on two radius sides of quarter circular arc;B groups include 6 cameras, wherein at least there is two Platform camera is parallel and camera is downward, for shooting highway pavement;Carry open type platform on rear side of the dynamical system, it is described spacious Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are mounted with open type platform And storage system;The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system System, protection equipment are individually connected with storage system;The signal that described image conversion equipment receives radar is converted into Digital picture;The geological radar:Using arm processor, and built-in high speed DSP;Minimum resolution is 5ps, and system gain is 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128-4096 sampling points/scanning, manually adjustable; Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;The geological radar carries out after collecting geologic signals It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system further includes:Image is adopted Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform; Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System further includes velocity pick-up Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, it is connected with the camera system Connect, and:Infrared range-measurement system receives reflected signal to after lateral wall surface launching infrared light using the infrared sensor in it, then Transmitting and the time difference received are handled using ccd image, detection car and unilateral metope are calculated after signal processor processes Distance, then adjusts camera focus in real time according to distance change situation;Or after infrared range-measurement system launches infrared light to bilateral metope Reflected signal is received respectively using the infrared sensor in it, then handles transmitting and the time difference received, warp using ccd image The distance of detection car and bilateral metope is calculated after signal processor processes, camera is then adjusted according to distance change situation in real time Focal length;The ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, and the side of the elasticity feeler lever is fixed on detection car car body, another Side contacts tunnel wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, has on the elasticity feeler lever There is fibre optical sensor, the fibre optical sensor is connected with the camera system, when detection car is travelled and examined in vcehicular tunnel When surveying disease, once the distance of car body and tunnel wall surface changes, fibre optical sensor can be fed back to the camera system The real time length change of elastic feeler lever, the camera system then adjust camera focus in real time;The existing vcehicular tunnel vehicle is also Including three-dimensional laser scanner, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, is then carried out using cloud data Point cloud forms three-dimensional laser disease database, the camera disease that the three-dimensional laser disease database is obtained with camera system again Evil database is contrasted, merged, and forms accurate, clearly disease database;Range unit on the wheel is used to measure Vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into dynamical system, for adjusting detection car travel speed in real time;The protective cover is divided into Holding state and working status two states, automatically into working status when Tunnel testing turner is made, protective cover is packed up simultaneously at this time Camera system, geological radar is exposed, automatically into holding state, at this time protective cover support when Tunnel testing car does not work Get up and equipment and deposit whole camera systems, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection Storage system is protected within confined space;A groups camera includes support system and is used to arrange 8 cameras in quadrant camber Row, the support system include 8 tray boxes, quadrant arc bracket, main bracing frame and base;The tray box is pressed Quadrant arc is evenly distributed to be installed on the quadrant arc bracket, the quadrant arc bracket peace On the base, the floor installation is on the main bracing frame;The tray box by guide rail with described four/ One arc-shaped bracket is connected and the tray box can slide on the guide rail and is locked by clamp into row position;It is described Main bracing frame is lifting structure, and the main bracing frame adjusts height or Manual height by motor powered.Main body branch Support is installed onboard by base fixed frame;Camera is integrated by camera pallet and is fixed in tray box;Tray box with it is described Quadrant arc bracket is in be detachably connected;Sliding block is installed, tray box is installed on sliding block, exists by sliding block on guide rail Slided on guide rail;The outer arcuate edge of quadrant bracket stretches out replaces shape equipped with 7 platforms, 7 platforms along outer arcuate edge Into gear-like;The tray box is set at interval of a platform distribution;Guide rail is equipped with two clamps, and sliding block is located at two pincers Among device processed;The both ends of quadrant arc bracket are connected with installing plate, for quadrant arc bracket to be fixed on On base;Leave the space for storing cable in the bottom of quadrant arc bracket;The upper cover of tray box is equipped with two edges The circular hole of the camera lens of embedding camera, a square hole is equipped between two circular holes and is used to inlay laser range finder;Front and rear two pieces of tray box The both ends of side plate are recessed inwardly to form middle protrusive board, are inlayed between two pieces of middle protrusive boards and are provided with inertial navigator, support Fixed plate is equipped with tray salver, camera is installed on fixed plate and the corresponding position of circular hole of pallet box cover, and fixed plate is installed on On two blocks of the left and right side plate of tray box.
Embodiment 7:Difference lies in the geological radar further includes radar integral part, radar fixes dress with embodiment 1 Put, radar wheel, telescopic shaft, hand push handle, display screen and action data automation, geological radar is examined from vcehicular tunnel Exclusive use is disassembled on measuring car, the radar integral part is integrated with high frequency antenna, low frequency electric wire and battery, the radar Fixing device is used to geological radar being fixed on existing vcehicular tunnel vehicle, and described 2-4 diameter of radar wheel is less than 20cm's Wheel, the telescopic shaft are telescopic mechanism of the total length in the range of 1.2-1.8m, the flexible axis connection radar integral part With hand push handle, the display screen can real-time display radar imagery data, the action data automation uses binary channels master Machine;Specifically:The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, is accurately positioned System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system, Geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system;The public affairs Road Tunnel testing vehicle further includes driver's cabin;Wherein:The dynamical system uses petrol power;Camera system uses area array CCD Camera, linear array CCD camera or CMOS cameras, camera system further include shooting speed adjusting apparatus;Geological radar includes high frequency day Line and low frequency electric wire, its centre frequency are 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm;Essence True alignment system includes the range unit on wheel, the infrared distance measuring device positioned at car body both sides and GPS positioning of checking the mark dress Put;Display system includes real-time device status monitoring interface and real-time data collection checks interface;During ELIMINATION OF ITS INTERFERENCE system includes After device, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for excluding dust, fog, road surface Data distortion or error in data phenomenon caused by uneven, camera shooting distance change, speed changing factor;Protect equipment bag Include protective cover, heater, frost removal, fan and alarm device, for prevent instrument because of fog, dust, high temperature or low temperature and by Damage;Storage system is used to store the data collected;The camera system includes two groups of A, B, wherein:A groups include 8 cameras, Arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, the quarter circular arc The center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have respectively one perpendicular to camera from road surface to photographs and One is located on two radius sides of quarter circular arc parallel to road surface to the camera that driver's cabin right rear side tunnel is shot; B groups include 6 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement;After the dynamical system Pendant carries open type platform, and camera system, geological radar, Precise Position System, display system are mounted with the open type platform System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system;The electric power system and camera system, geological radar, be accurately positioned and be System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system;Described image conversion equipment will The signal that radar receives is converted into digital picture;The geological radar:Using arm processor, and built-in high speed DSP;It is minimum Resolution ratio is 5ps, system gain 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128- 4096 sampling points/scanning, it is manually adjustable;Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;The geology Radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after be imaged, meanwhile, institute Camera system is stated to further include:Image capture module, for gathering tunnel side wall lining cutting, tunnel and the three-dimensional on road surface angle and road surface Structural defect and section structure deformation;Laser scanning module is described accurate for gathering tunnel entirety and local configuration disease Alignment system further includes velocity sensor, angular-rate sensor and accelerometer, and the route compensation device is infrared range-measurement system, It is connected with the camera system, and:Infrared range-measurement system utilizes the infrared biography in it after launching infrared light to bilateral metope Sensor receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, after signal processor processes The distance of detection car and bilateral metope is calculated, camera focus is then adjusted according to distance change situation in real time;The interference row Except system further includes elastic feeler lever, the side of the elasticity feeler lever is fixed on detection car car body, another side contacts tunnel wall wall Surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, has fibre optical sensor on the elasticity feeler lever, The fibre optical sensor is connected with the camera system, when detection car travels in vcehicular tunnel and detects disease, once The distance of car body and tunnel wall surface changes, and fibre optical sensor can be to the real-time of the camera system feedback characteristics feeler lever Length change, the camera system then adjust camera focus in real time;The geological radar further includes radar integral part, radar is fixed Device, radar wheel, telescopic shaft, hand push handle, display screen and action data automation, enable geological radar from vcehicular tunnel Exclusive use is disassembled on detection vehicle, the radar integral part is integrated with high frequency antenna, low frequency electric wire and battery, the thunder It is used to geological radar being fixed on existing vcehicular tunnel vehicle up to fixing device, described 2-4 diameter of radar wheel is less than 20cm Wheel, the telescopic shaft is telescopic mechanism of the total length in the range of 1.2-1.8m, and the flexible axis connection radar integrates Portion and hand push handle, the display screen can real-time display radar imagery data, the action data automation uses binary channels Host;The existing vcehicular tunnel vehicle further includes three-dimensional laser scanner, it is used for the point for obtaining tunnel surface disease geo-radar image Cloud data, then carry out a cloud using cloud data and form three-dimensional laser disease database, the three-dimensional laser disease number The camera disease database obtained again with camera system according to storehouse is contrasted, merged, and forms accurate, clearly disease database; Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back to dynamical system, for adjusting in real time Detect car travel speed;The protective cover is divided into holding state and working status two states, and Tunnel testing turner is automatic when making Into working status, protective cover is packed up and makes camera system at this time, geological radar is exposed, when Tunnel testing car does not work certainly Dynamic to enter holding state, protective cover supports and by whole camera systems, geological radar, Precise Position System, display at this time System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space;A groups camera is used including support system In by 8 cameras in quadrant camber arrange, the support system include 8 tray boxes, quadrant arc bracket, Main bracing frame and base;The tray box is installed on the quadrant arc support by quadrant arc is evenly distributed On frame, the quadrant arc bracket is installed on the base, and the floor installation is on the main bracing frame;Institute State that tray box is connected by guide rail with the quadrant arc bracket and the tray box can slide on the guide rail And locked by clamp into row position;The main bracing frame is lifting structure, and the main bracing frame passes through motor powered Adjust height or Manual height;Main bracing frame is installed onboard by base fixed frame;Camera passes through camera pallet Into being fixed in tray box;Tray box is in be detachably connected with the quadrant arc bracket;Sliding block is installed on guide rail, Tray box is installed on sliding block, is slided by sliding block on guide rail;The outer arcuate edge of quadrant bracket stretches out flat equipped with 7 Platform, 7 platforms are alternatively formed gear-like along outer arcuate edge;The tray box is set at interval of a platform distribution;On guide rail Equipped with two clamps, sliding block is located among two clamps;The both ends of quadrant arc bracket are connected with installing plate, use It is fixed in by quadrant arc bracket on base;Leave for storing cable the bottom of quadrant arc bracket Space;The upper cover of tray box is equipped with the circular hole of two camera lenses for inlaying camera, and a square hole is equipped between two circular holes and is used to inlay Laser range finder;The both ends of front and rear two blocks of side plates of tray box are recessed inwardly to form middle protrusive board, two pieces of middle protrusive boards Between inlay inertial navigator be installed, fixed plate is equipped with tray box, camera is installed on the circle of fixed plate and pallet box cover The corresponding position in hole, fixed plate are installed on two blocks of the left and right side plate of tray box.
Embodiment 8:Difference from Example 1 is that the A groups in camera system include 8 cameras, and B groups include 10 Camera, specifically:The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate fixed Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system;Should Existing vcehicular tunnel vehicle further includes driver's cabin;Wherein:The dynamical system uses petrol power;Camera system is using face battle array CCD camera, linear array CCD camera or CMOS cameras, camera system further include shooting speed adjusting apparatus;Geological radar includes high frequency Antenna and low frequency electric wire, its centre frequency are 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm; Precise Position System includes range unit, the infrared distance measuring device positioned at car body both sides and the GPS positioning of checking the mark on wheel Device;Display system includes real-time device status monitoring interface and real-time data collection checks interface;ELIMINATION OF ITS INTERFERENCE system includes Repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for excluding dust, fog, road Face is uneven, camera shooting distance changes, data distortion or error in data phenomenon caused by speed changing factor;Protect equipment Including protective cover, heater, frost removal, fan and alarm device, for preventing instrument because of fog, dust, high temperature or low temperature and It is impaired;Storage system is used to store the data collected;The camera system includes two groups of A, B, wherein:A groups include 8 phases Machine, arranges at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, the quarter circular arc The center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have a camera perpendicular to road surface to photographs respectively With two radius sides for being located at parallel to road surface quarter circular arc to the camera that driver's cabin right rear side tunnel is shot On;B groups include 10 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement;The dynamical system System rear side carry open type platform, camera system, geological radar, Precise Position System, aobvious is mounted with the open type platform Show system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system;The electric power system and camera system, geological radar, accurately determine Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system;Described image converting means Put the signal for receiving radar and be converted into digital picture;The geological radar:Using arm processor, and built-in high speed DSP; Minimum resolution is 5ps, system gain 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128-4096 sampling points/scanning, it is manually adjustable;Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;It is described Geological radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after be imaged, together When, the camera system further includes:Image capture module, for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface Three-dimensional structure disease and section structure deformation;Laser scanning module, for gathering tunnel entirety and local configuration disease, institute State Precise Position System and further include velocity sensor, angular-rate sensor and accelerometer, the route compensation device is infrared Rangefinder, it is connected with the camera system, and:Infrared range-measurement system is utilized in it after launching infrared light to bilateral metope Infrared sensor receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, through signal processor The distance of detection car and bilateral metope is calculated after processing, camera focus is then adjusted according to distance change situation in real time;It is described ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, and the side of the elasticity feeler lever is fixed on detection car car body, another side contacts tunnel Road wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, on the elasticity feeler lever there is optical fiber to pass Sensor, the fibre optical sensor are connected with the camera system, when detection car travels in vcehicular tunnel and detects disease, Once the distance of car body and tunnel wall surface changes, fibre optical sensor can be to the camera system feedback characteristics feeler lever Real time length changes, and the camera system then adjusts camera focus in real time;The existing vcehicular tunnel vehicle further includes three-dimensional sharp Photoscanner, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, then carries out a cloud shape using cloud data Into three-dimensional laser disease database, the three-dimensional laser disease database again with camera system obtain camera disease database into Row contrast, fusion, form accurate, clearly disease database;Range unit on the wheel is used to measure vehicle wheel rotational speed, and Vehicle wheel rotational speed is fed back into dynamical system, for adjusting detection car travel speed in real time;The protective cover be divided into holding state and Working status two states, automatically into working status when Tunnel testing turner is made, at this time protective cover pack up and make camera system, Geological radar is exposed, and automatically into holding state when Tunnel testing car does not work, protective cover supports and will be complete at this time Portion's camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection Within confined space;A groups camera includes support system and is used to arrange 8 cameras in quadrant camber, the support System includes 8 tray boxes, quadrant arc bracket, main bracing frame and base;The tray box presses quadrant Arc uniform arrangement is installed on the quadrant arc bracket, and the quadrant arc bracket is installed on the bottom On seat, the floor installation is on the main bracing frame;The tray box passes through guide rail and the quadrant arc support Frame is connected and the tray box can slide on the guide rail and is locked by clamp into row position;The main bracing frame For lifting structure, the main bracing frame adjusts height or Manual height by motor powered;Main bracing frame passes through bottom The installation of seat fixed frame is onboard;Camera is integrated by camera pallet and is fixed in tray box;Tray box and the quadrant Arc-shaped bracket is in be detachably connected;Sliding block is installed, tray box is installed on sliding block, is slided by sliding block on guide rail on guide rail It is dynamic;The outer arcuate edge of quadrant bracket stretches out is alternatively formed gear-like equipped with 7 platforms, 7 platforms along outer arcuate edge; The tray box is set at interval of a platform distribution;Guide rail is equipped with two clamps, and sliding block is located among two clamps; The both ends of quadrant arc bracket are connected with installing plate, for quadrant arc bracket to be fixed on base;Four Leave the space for storing cable in the bottom of/mono- arc-shaped bracket;The upper cover of tray box is equipped with two mirrors for inlaying camera The circular hole of head, a square hole is equipped between two circular holes and is used to inlay laser range finder;The both ends of front and rear two blocks of side plates of tray box It is recessed inwardly to form middle protrusive board, is inlayed between two pieces of middle protrusive boards and inertial navigator is installed, be equipped with tray box Fixed plate, camera are installed on fixed plate and the corresponding position of circular hole of pallet box cover, and fixed plate is installed on a left side for tray box On right two blocks of side plates.
Embodiment 9:Difference from Example 1 is that A groups include 12 cameras in the camera system, and B groups include 6 Platform camera, specifically:The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate Alignment system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system; The existing vcehicular tunnel vehicle further includes driver's cabin;Wherein:The dynamical system uses petrol power;Camera system is using face battle array CCD camera, linear array CCD camera or CMOS cameras, camera system further include shooting speed adjusting apparatus;Geological radar includes high frequency Antenna and low frequency electric wire, its centre frequency are 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm; Precise Position System includes range unit, the infrared distance measuring device positioned at car body both sides and the GPS positioning of checking the mark on wheel Device;Display system includes real-time device status monitoring interface and real-time data collection checks interface;ELIMINATION OF ITS INTERFERENCE system includes Repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for excluding dust, fog, road Face is uneven, camera shooting distance changes, data distortion or error in data phenomenon caused by speed changing factor;Protect equipment Including protective cover, heater, frost removal, fan and alarm device, for preventing instrument because of fog, dust, high temperature or low temperature and It is impaired;Storage system is used to store the data collected;The camera system includes two groups of A, B, wherein:A groups include 12 phases Machine, arranges at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, the quarter circular arc The center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have a camera perpendicular to road surface to photographs respectively With two radius sides for being located at parallel to road surface quarter circular arc to the camera that driver's cabin right rear side tunnel is shot On;B groups include 6 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement;The dynamical system System rear side carry open type platform, camera system, geological radar, Precise Position System, aobvious is mounted with the open type platform Show system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system;The electric power system and camera system, geological radar, accurately determine Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system;Described image converting means Put the signal for receiving radar and be converted into digital picture;The geological radar:Using arm processor, and built-in high speed DSP; Minimum resolution is 5ps, system gain 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128-4096 sampling points/scanning, it is manually adjustable;Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;It is described Geological radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after be imaged, together When, the camera system further includes:Image capture module, for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface Three-dimensional structure disease and section structure deformation;Laser scanning module, for gathering tunnel entirety and local configuration disease, institute State Precise Position System and further include velocity sensor, angular-rate sensor and accelerometer, the route compensation device is infrared Rangefinder, it is connected with the camera system, and:Infrared range-measurement system is utilized in it after launching infrared light to bilateral metope Infrared sensor receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, through signal processor The distance of detection car and bilateral metope is calculated after processing, camera focus is then adjusted according to distance change situation in real time;It is described ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, and the side of the elasticity feeler lever is fixed on detection car car body, another side contacts tunnel Road wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, on the elasticity feeler lever there is optical fiber to pass Sensor, the fibre optical sensor are connected with the camera system, when detection car travels in vcehicular tunnel and detects disease, Once the distance of car body and tunnel wall surface changes, fibre optical sensor can be to the camera system feedback characteristics feeler lever Real time length changes, and the camera system then adjusts camera focus in real time;The existing vcehicular tunnel vehicle further includes three-dimensional sharp Photoscanner, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, then carries out a cloud shape using cloud data Into three-dimensional laser disease database, the three-dimensional laser disease database again with camera system obtain camera disease database into Row contrast, fusion, form accurate, clearly disease database;Range unit on the wheel is used to measure vehicle wheel rotational speed, and Vehicle wheel rotational speed is fed back into dynamical system, for adjusting detection car travel speed in real time;The protective cover be divided into holding state and Working status two states, automatically into working status when Tunnel testing turner is made, at this time protective cover pack up and make camera system, Geological radar is exposed, and automatically into holding state when Tunnel testing car does not work, protective cover supports and will be complete at this time Portion's camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection Within confined space;A groups camera includes support system and is used to arrange 12 cameras in quadrant camber, the support System includes 12 tray boxes, quadrant arc bracket, main bracing frame and base;The tray box presses quadrant Arc uniform arrangement is installed on the quadrant arc bracket, and the quadrant arc bracket is installed on the bottom On seat, the floor installation is on the main bracing frame;The tray box passes through guide rail and the quadrant arc support Frame is connected and the tray box can slide on the guide rail and is locked by clamp into row position;The main bracing frame For lifting structure, the main bracing frame adjusts height or Manual height by motor powered;Main bracing frame passes through bottom The installation of seat fixed frame is onboard;Camera is integrated by camera pallet and is fixed in tray box;Tray box and the quadrant Arc-shaped bracket is in be detachably connected;Sliding block is installed, tray box is installed on sliding block, is slided by sliding block on guide rail on guide rail It is dynamic;The outer arcuate edge of quadrant bracket stretches out is alternatively formed gear equipped with 11 platforms, 11 platforms along outer arcuate edge Shape;The tray box is set at interval of a platform distribution;Guide rail is equipped with two clamps, and sliding block is located in two clamps Between;The both ends of quadrant arc bracket are connected with installing plate, for quadrant arc bracket to be fixed on base; Leave the space for storing cable in the bottom of quadrant arc bracket;The upper cover of tray box inlays camera equipped with two The circular hole of camera lens, a square hole is equipped between two circular holes and is used to inlay laser range finder;The two of front and rear two blocks of side plates of tray box End is recessed inwardly to form middle protrusive board, is inlayed between two pieces of middle protrusive boards and is provided with inertial navigator, set in tray box There is fixed plate, camera is installed on fixed plate and the corresponding position of circular hole of pallet box cover, and fixed plate is installed on tray box On the side plate of two blocks of left and right.
Embodiment 10:Difference lies in A groups include 10 cameras in the camera system, and B groups include 8 with embodiment 1 Camera;Specifically:The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate fixed Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system;Its In:The dynamical system uses petrol power;Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, phase Machine system further includes shooting speed adjusting apparatus;Geological radar includes high frequency antenna and low frequency electric wire, its centre frequency is 125MHz-1.75GHz;Geological radar cumulative volume 700mm × 480mm × 180mm;Precise Position System is included on wheel Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark;Display system includes real-time device state Observation interface and real-time data collection check interface;ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out dress Put, phase compensator, light compensation device, for excluding dust, fog, road surface is uneven, camera shooting distance changes, car Data distortion caused by fast changing factor or error in data phenomenon;Equipment is protected to include protective cover, heater, frost removal, fan And alarm device, it is damaged for preventing instrument because of fog, dust, high temperature or low temperature;Storage system is used to store what is collected Data;The camera system includes two groups of A, B, wherein:A groups include 10 cameras, are in a quarter at driver's cabin right rear side Circular arc type arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is at the bottom of existing vcehicular tunnel vehicle On the downside of end or bottom, have respectively one perpendicular to road surface to the camera of photographs and one parallel to road surface to driver's cabin rear The camera of right side tunnel shooting is located on two radius sides of quarter circular arc;B groups include 8 cameras, wherein there is two Camera is parallel and camera is downward, for shooting highway pavement;Carry open type platform on rear side of the dynamical system, it is described to open wide Be mounted with formula platform camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and Storage system;The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, Protection equipment is individually connected with storage system;The signal that described image conversion equipment receives radar is converted into numeral Image;The geological radar:Using arm processor, and built-in high speed DSP;Minimum resolution is 5ps, and system gain is 160dB;Sweep speed is 20-100 scannings/second, manually adjustable;Sampling number is 128-4096 sampling points/scanning, manually adjustable; Measuring wheel is provided with, is marked for horizontal distance;Investigation depth is 0-8m;The geological radar carries out after collecting geologic signals It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system further includes:Image is adopted Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform; Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System further includes velocity pick-up Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, it is connected with the camera system Connect, and:Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope, Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes The distance in face, then adjusts camera focus in real time according to distance change situation;The ELIMINATION OF ITS INTERFERENCE system further includes elastic feeler lever, The side of the elasticity feeler lever is fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body and tunnel Road wall surface is directly horizontal, and has fibre optical sensor, the fibre optical sensor and the phase on the elasticity feeler lever Machine system is connected, and is travelled when detecting car in vcehicular tunnel and when detecting disease, once car body and tunnel wall surface away from From changing, fibre optical sensor can change to the real time length of the camera system feedback characteristics feeler lever, the camera system Camera focus is then adjusted in real time;The existing vcehicular tunnel vehicle further includes three-dimensional laser scanner, it is used to obtain tunnel table The cloud data of face disease geo-radar image, then carries out a cloud using cloud data and forms three-dimensional laser disease database, described The camera disease database that three-dimensional laser disease database is obtained with camera system again is contrasted, merged, and it is accurate, clear to be formed Disease database;Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back to dynamical system, For adjusting detection car travel speed in real time;The protective cover is divided into holding state and working status two states, Tunnel testing Automatically into working status when turner is made, protective cover is packed up and makes camera system at this time, geological radar is exposed, Tunnel testing Automatically into holding state when car does not work, protective cover supports and by whole camera system, geological radar, accurate fixed at this time Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space;A group cameras include Support system be used for by 10 cameras in quadrant camber arrange, the support system including 10 tray boxes, four/ One arc-shaped bracket, main bracing frame and base;The tray box is installed on described four by quadrant arc is evenly distributed On/mono- arc-shaped bracket, the quadrant arc bracket is installed on the base, and the floor installation is described On main bracing frame;The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be Slide on the guide rail and locked by clamp into row position;The main bracing frame is lifting structure, the body supports Frame adjusts height or Manual height by motor powered;Main bracing frame is installed onboard by base fixed frame;Camera Integrated and be fixed in tray box by camera pallet;Tray box is in be detachably connected with the quadrant arc bracket;Lead Sliding block is installed, tray box is installed on sliding block, is slided by sliding block on guide rail on rail;The outer arcuate edge of quadrant bracket to Outer extension is equipped with 9 platforms, and 9 platforms are alternatively formed gear-like along outer arcuate edge;The tray box is at interval of a platform Distribution is set;Guide rail is equipped with two clamps, and sliding block is located among two clamps;The both ends of quadrant arc bracket Installing plate is connected with, for quadrant arc bracket to be fixed on base;Stay the bottom of quadrant arc bracket It is useful for the space of storage cable;The upper cover of tray box is equipped with the circular hole of two camera lenses for inlaying camera, is set between two circular holes There is a square hole to be used to inlay laser range finder;The both ends of front and rear two blocks of side plates of tray box are recessed inwardly to form middle protrusive board, Inlayed between two pieces of middle protrusive boards and inertial navigator is installed, be equipped with fixed plate in tray box, camera is installed on fixed plate With the corresponding position of circular hole of pallet box cover, fixed plate is installed on two blocks of the left and right side plate of tray box.
The above is only the preferred embodiment of the utility model only, is not intended to limit the present invention, all at this The spirit of utility model and any modification, equivalent substitution, improvement and etc. within principle, done, should be included in the utility model Protection domain within.

Claims (10)

1. a kind of existing vcehicular tunnel vehicle, it is characterised in that including control system, dynamical system, electric power system, camera system System, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, wherein:
The mixing that dynamical system is composed using diesel, petrol power, electric power or any of the above-described power mode is moved Power, further includes driver's cabin;
Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, and camera system further includes shooting speed adjustment Device;
Geological radar includes high frequency antenna and low frequency electric wire, its centre frequency is 75MHz-1.8GHz, and geological radar cumulative volume≤ 800mm×600mm×220mm;
Precise Position System includes the range unit on wheel, infrared distance measuring device and GPS positioning positioned at car body both sides Device;
Display system includes real-time device status monitoring interface and real-time data collection checks interface;
ELIMINATION OF ITS INTERFERENCE system is for excluding dust, fog, road surface is uneven, camera shooting distance changes, speed changing factor Caused by data distortion or error in data phenomenon, it includes repeater, circuit amplifying device, line building-out unit, phase compensation Device, light compensation device;
Protection equipment is damaged for preventing instrument because of fog, dust, high temperature or low temperature, it includes protective cover, heater, defrosting Device, fan and alarm device;
Storage system is used to store the data collected.
2. existing vcehicular tunnel vehicle according to claim 1, it is characterised in that:The camera system includes two groups of A, B, Wherein:
A groups include 8-12 platform cameras, are arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel table Face, the center of circle of the quarter circular arc on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have respectively one perpendicular to Road surface is located at four points to the camera of photographs and one parallel to the camera that road surface is shot to driver's cabin right rear side tunnel One of on two radius sides of circular arc;
B groups include 6-10 platform cameras, and wherein at least 2 parallel and camera is downward, for shooting highway pavement.
3. existing vcehicular tunnel vehicle according to claim 2, it is characterised in that:Carry opens wide on rear side of the dynamical system Formula platform, is mounted with camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE on the open type platform System, protection equipment and storage system;The electric power system and camera system, geological radar, Precise Position System, display system System, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system;Described image conversion equipment receives radar Signal be converted into digital picture.
4. existing vcehicular tunnel vehicle according to claim 3, it is characterised in that the geological radar:
Using arm processor, and built-in high speed DSP;
Minimum resolution is 5ps, system gain 180dB;
Sweep speed is 30-200 scannings/second, manually adjustable;
Sampling number is 64-4096 sampling points/scanning, manually adjustable;
Measuring wheel is provided with, is marked for horizontal distance;
Investigation depth is 0-8m.
5. existing vcehicular tunnel vehicle according to claim 4, it is characterised in that the geological radar collects geology letter Average, background eliminations, Real-Time Filtering between number laggard trade, be imaged after being superimposed denoising, meanwhile, the camera system includes:
Image capture module, for gathering the three-dimensional structure disease of tunnel side wall lining cutting, tunnel and road surface angle and road surface and breaking Face malformation;
Laser scanning module, for gathering tunnel entirety and local configuration disease.
6. the existing vcehicular tunnel vehicle according to claim 2 or 4, it is characterised in that the Precise Position System also wraps Velocity sensor, angular-rate sensor and accelerometer are included, the route compensation device is infrared range-measurement system, itself and camera system It is connected, and:
Infrared range-measurement system is to lateral wall surface launchingInfrared lightReflected signal is received using the infrared sensor of infrared range-measurement system afterwards, so Afterwards using ccd image processing transmitting and the time difference received, detection car and unilateral metope are calculated after signal processor processes Distance, camera focus is then adjusted according to distance change situation in real time;Or
Infrared range-measurement system is launched to bilateral metopeInfrared lightReflection letter is received respectively using the infrared sensor of infrared range-measurement system afterwards Number, transmitting and the time difference received then are handled using ccd image, detection car and bilateral are calculated after signal processor processes The distance of metope, then adjusts camera focus in real time according to distance change situation.
7. existing vcehicular tunnel vehicle according to claim 5, it is characterised in that the ELIMINATION OF ITS INTERFERENCE system further includes bullet Property feeler lever, the elasticity feeler lever side is fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously in detection car car Body and tunnel wall surface are directly horizontal, and have a fibre optical sensor on the elasticity feeler lever, the fibre optical sensor and Camera system is connected, when detection car travels in vcehicular tunnel and detects disease, once car body and tunnel wall surface Distance changes, and fibre optical sensor can change to the real time length of camera system feedback characteristics feeler lever, and camera system is adjusted in real time Whole camera focus.
8. existing vcehicular tunnel vehicle according to claim 4 or 5, it is characterised in that:
The geological radar further include radar integral part, radar fixing device, radar wheel, telescopic shaft, hand push handle, display screen and Action data automation, enables geological radar to disassemble exclusive use, the radar from existing vcehicular tunnel vehicle Integral part is integrated with high frequency antenna, low frequency electric wire and battery, and the radar fixing device is used to geological radar being fixed on highway On Tunnel testing vehicle, described 2-4 diameter of radar wheel is less than the wheel of 20cm, and the telescopic shaft is total length in 1.2-1.8m In the range of telescopic mechanism, the flexible axis connection radar integral part and hand push handle, the display screen can real-time display thunders Up to imaging data, the action data automation uses binary channels host;And/or
The existing vcehicular tunnel vehicle further includes three-dimensional laser scanner, it is used for the point cloud for obtaining tunnel surface disease geo-radar image Data, then carry out a cloud using cloud data and form three-dimensional laser disease database, the three-dimensional laser disease data The camera disease database that storehouse is obtained with camera system again is contrasted, merged, and forms more accurate, clearly disease data Storehouse.
9. existing vcehicular tunnel vehicle according to claim 1 or 5, it is characterised in that:Range unit on the wheel Dynamical system is fed back to for measuring vehicle wheel rotational speed, and by vehicle wheel rotational speed, for adjusting detection car travel speed in real time;It is described anti- Shield is divided into holding state and working status two states, automatically into working status when Tunnel testing turner is made, protects at this time Cover is packed up and makes camera system, geological radar is exposed, and automatically into holding state when Tunnel testing car does not work, prevents at this time Shield support and by whole camera systems, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection Equipment and storage system protection are within confined space.
10. existing vcehicular tunnel vehicle according to claim 2, it is characterised in that:A group cameras are used for including support system 8-12 platforms camera is arranged in quadrant camber, the support system includes 8-12 tray box, quadrant arc Bracket, main bracing frame and base;The tray box is installed on the quadrant by quadrant arc is evenly distributed On arc-shaped bracket, the quadrant arc bracket is installed on the base, and the floor installation is in the body supports On frame;The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be in the guide rail It is upper to slide and locked by clamp into row position;The main bracing frame is lifting structure, and the main bracing frame passes through electricity Machine motorized adjustment height or Manual height.
CN201721059707.5U 2017-08-23 2017-08-23 A kind of existing vcehicular tunnel vehicle Active CN207225178U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109900208A (en) * 2019-03-28 2019-06-18 中铁十六局集团北京轨道交通工程建设有限公司 A kind of Tunneling by mining method excavation and first branch quality determining method
CN110530871A (en) * 2019-07-23 2019-12-03 长安大学 A kind of Tunnel Water Leakage recessiveness Defect inspection equipment
CN110726726A (en) * 2019-10-30 2020-01-24 中南大学 Quantitative detection method and system for tunnel forming quality and defects thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109900208A (en) * 2019-03-28 2019-06-18 中铁十六局集团北京轨道交通工程建设有限公司 A kind of Tunneling by mining method excavation and first branch quality determining method
CN110530871A (en) * 2019-07-23 2019-12-03 长安大学 A kind of Tunnel Water Leakage recessiveness Defect inspection equipment
CN110726726A (en) * 2019-10-30 2020-01-24 中南大学 Quantitative detection method and system for tunnel forming quality and defects thereof

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