WO2024065919A1

WO2024065919A1 - Central control system for tunnel diagnosis vehicle, and method

Info

Publication number: WO2024065919A1
Application number: PCT/CN2022/127480
Authority: WO
Inventors: 任伟新; 赵杨平; 王俊芳; 杜彦良
Original assignee: 深圳大学
Priority date: 2022-09-27
Filing date: 2022-10-25
Publication date: 2024-04-04
Also published as: CN115453946A

Abstract

The present application relates to the technical field of traffic structure safety. Provided are a central control system for a tunnel diagnosis vehicle, and a method. The central control system for a tunnel diagnosis vehicle comprises a central controller, and a spatio-temporal synchronization subsystem and a tunnel inspection subsystem which are in signal connection with the central controller, wherein tunnel disease information of the current tunnel is acquired by means of a plurality of detection modules of the tunnel inspection subsystem, and integrated control of the central control system for the tunnel diagnosis vehicle is achieved by means of the central controller.

Description

Central control system and method for tunnel diagnostic vehicle

This application claims priority to Chinese patent application filed on September 27, 2022, with application number 202211187555.2.

Technical Field

The present application relates to the technical field of traffic structure safety, and in particular to a central control system and method for a tunnel diagnostic vehicle.

Background technique

With the continuous development of urban transportation, the spatial layout of urban transportation infrastructure has also been continuously extended and developed. Among them, the extension of urban transportation infrastructure below the ground is achieved through underground tunnels, realizing a new mode of urban transportation.

However, in the process of realizing a mode of urban transportation through underground tunnels, there are still many structural safety problems in underground tunnels. In the process of structural safety detection of these structural safety defects below the ground, the existing structural safety detection equipment cannot accurately identify the structural safety problems in underground tunnels, and after detecting the structural safety problems, it is unable to propose targeted solutions to various structural safety problems, and the effect of structural safety detection of structural safety defects in underground tunnels is poor.

technical problem

The main purpose of this application is to propose a central control system and method for a tunnel diagnostic vehicle, aiming to optimize the detection effect of structural safety detection of structural safety defects in underground tunnels.

Technical Solutions

To achieve the above-mentioned object, the present application provides a central control system for a tunnel diagnostic vehicle, the central control system for a tunnel diagnostic vehicle comprising: a central controller and a time-space synchronization subsystem and a tunnel detection subsystem connected to the central controller by signal;

A space-time synchronization subsystem, used for outputting space-time synchronization signals;

The central controller controls the tunnel detection subsystem to perform disease detection on the current tunnel based on the time-space synchronization signal;

The tunnel detection subsystem is used to perform tunnel disease detection work and feed back the tunnel disease information of the detected tunnel to the central controller;

Based on the tunnel disease information, the central controller performs multi-dimensional information fusion on the tunnel disease information, obtains multi-dimensional monitoring information corresponding to the current tunnel, and based on the multi-dimensional monitoring information, determines the target structural safety disease of the current tunnel, and outputs the corresponding structural safety disease report.

In one embodiment, the central control system of the tunnel diagnostic vehicle is also connected to a cloud-based precision diagnosis platform;

After determining the target structural safety hazard of the current tunnel based on the multi-dimensional monitoring information, the method further includes:

The cloud-based precision diagnosis platform is used to accurately diagnose the safety defects of target structures of preset types;

The central controller controls the cloud-based precision diagnosis platform to accurately diagnose preset types of target structural safety defects based on the multi-dimensional monitoring information, makes decision-making plans for the target structural safety defects, and generates corresponding precise diagnosis reports.

In one embodiment, the tunnel detection subsystem includes: an apparent damage and water leakage detection module, a deformation and displacement detection module, and a hidden disease detection module;

Surface damage and water leakage detection module, used to detect damage and cracks in the current tunnel;

The deformation and displacement detection module is used to detect the deformation and displacement of the current tunnel;

Hidden disease detection module, used to detect hidden diseases in the current tunnel;

The central controller controls the apparent damage and water leakage detection module, the deformation and displacement detection module and the hidden disease detection module in the tunnel detection subsystem to detect the current tunnel, and obtains the damage and crack conditions, deformation and displacement conditions and hidden diseases of the current tunnel respectively.

In one embodiment, the tunnel detection subsystem further includes: an auxiliary detection module and a drone inspection module;

Auxiliary detection module, used to collect basic tunnel information in the current tunnel;

The drone inspection module is used to conduct a local inspection of a preset target location and collect specific disease conditions at the target location;

The central controller controls the auxiliary detection module to collect information on the current tunnel and obtain basic tunnel information in the current tunnel;

The central controller controls the preset device of the drone inspection module to conduct a local inspection on the preset target position in the current tunnel and collect the specific disease conditions of the target position.

In one embodiment, the spatiotemporal synchronization subsystem includes: an encoder, a positioning and navigation module, and a data synchronization module;

An encoder for generating a pulse signal;

A positioning and navigation module, used for accurately positioning the tunnel diagnostic vehicle based on the pulse signal;

Data synchronization module, used to synchronize the time and space data between the central control system of the tunnel diagnostic vehicle and the current tunnel diagnostic vehicle;

The central controller controls the encoder of the space-time synchronization subsystem to generate a corresponding pulse signal, and based on the pulse signal, controls the positioning and navigation module to accurately locate the current tunnel diagnostic vehicle, obtain the space-time data of the current tunnel diagnostic vehicle, and the central controller synchronizes the space-time data to the data synchronization module.

In one embodiment, the central controller includes: an information multi-dimensional fusion module, a front-end initial diagnosis module and a report feedback module;

An information multi-dimensional fusion module is used to perform multi-dimensional information fusion on the tunnel disease information obtained by the tunnel detection subsystem to obtain multi-dimensional detection information of the current tunnel;

A front-end initial diagnosis module is used to perform a front-end initial diagnosis of the current tunnel based on the multi-dimensional detection information of the current tunnel, and determine the target structural safety diseases in the current tunnel;

The report feedback module is used to generate a corresponding structural safety disease report according to the target structural safety disease in the current tunnel, and to feed back the structural safety disease report.

In one embodiment, the central controller and the time-space synchronization subsystem and tunnel detection subsystem connected to the central controller by signal realize data transmission based on a preset data stream link;

The time-space synchronization subsystem realizes time-space synchronization signal transmission with the central controller through a preset time-space synchronization link;

The tunnel detection subsystem realizes data transmission with the central controller through a preset system software and hardware synchronization link.

To achieve the above-mentioned purpose, the present application also provides a control method of a central control system of a tunnel diagnostic vehicle, the control method of the central control system of a tunnel diagnostic vehicle is applied to the central control system of a tunnel diagnostic vehicle, the central control system of a tunnel diagnostic vehicle comprises: a central controller for integrated control of various subsystems in the central control system of the tunnel diagnostic vehicle, a time-space synchronization subsystem for realizing electrical signal connection with the central controller, and a tunnel detection subsystem, wherein the control method of the central control system of a tunnel diagnostic vehicle comprises:

The central controller obtains a synchronization signal for controlling the tunnel diagnostic vehicle to perform tunnel detection from the time-space synchronization subsystem;

Based on the synchronization signal, the central controller controls the tunnel detection subsystem to detect the current tunnel and obtain tunnel disease information of the current tunnel;

Based on the tunnel disease information, multi-dimensional information fusion is performed on the tunnel disease information to obtain multi-dimensional monitoring information corresponding to the current tunnel, and based on the multi-dimensional monitoring information, the target structural safety disease of the current tunnel is determined, and the corresponding structural safety disease report is output.

In one embodiment, the step of determining the target structural safety hazard of the current tunnel based on the multi-dimensional monitoring information and outputting a corresponding structural safety hazard report includes:

Based on the multi-dimensional monitoring information, a front-end preliminary diagnosis is performed on the structural safety defects in the current tunnel, and the defect type of the structural safety defects in the current tunnel is determined;

If the structural safety hazard is of a first preset type, matching a solution to the structural safety hazard of the first preset type is performed to determine a preliminary diagnosis report corresponding to the structural safety hazard of the first preset type;

If the structural safety hazard is of the second preset type, uploading the structural safety hazard information corresponding to the structural safety hazard of the second preset type to a preset cloud diagnosis platform;

Based on the cloud-based precision diagnosis platform, accurate disease analysis is performed on the second preset type of structural safety disease, and a precision diagnosis assessment report and maintenance recommendations corresponding to the second preset type of structural safety disease are determined.

In one embodiment, the step of performing a front-end preliminary diagnosis on the structural safety defects in the current tunnel and determining the defect type of the structural safety defects in the current tunnel includes:

Determining the damage information corresponding to the structural safety damage based on the multi-dimensional monitoring information;

Extracting features of the structural safety defects according to the defect information to determine structural safety defect features corresponding to the structural safety defects in the current tunnel;

According to the characteristics of the structural safety defects, the structural safety defects are classified and the defect types of the structural safety defects are determined.

The present application proposes a central control system and method for a tunnel diagnostic vehicle. The central control method for a tunnel diagnostic vehicle is applied to a central control system of a tunnel diagnostic vehicle. The central control system of a tunnel diagnostic vehicle includes a central controller and a space-time synchronization subsystem and a tunnel detection subsystem connected to the central controller by signal; the space-time synchronization subsystem is used to output a space-time synchronization signal; the central controller controls the tunnel detection subsystem to perform disease detection on the current tunnel based on the space-time synchronization signal; the tunnel detection subsystem is used to perform tunnel disease detection and feed back tunnel disease information of the detected tunnel to the central controller; the central controller performs multi-dimensional information fusion on the tunnel disease information based on the tunnel disease information, obtains multi-dimensional monitoring information corresponding to the current tunnel, and determines the target structural safety disease of the current tunnel based on the multi-dimensional monitoring information, and outputs a corresponding structural safety disease report.

The central control method of the tunnel diagnostic vehicle comprises: the central controller obtains a synchronization signal for controlling the tunnel diagnostic vehicle to perform tunnel detection from the time-space synchronization subsystem; based on the synchronization signal, the central controller controls the tunnel detection subsystem to detect the current tunnel and obtain tunnel disease information of the current tunnel; based on the tunnel disease information, multi-dimensional information fusion is performed on the tunnel disease information to obtain multi-dimensional monitoring information corresponding to the current tunnel, and based on the multi-dimensional monitoring information, the target structural safety disease of the current tunnel is determined, and the corresponding structural safety disease report is output.

Beneficial Effects

The present application controls the tunnel diagnostic vehicle through the tunnel diagnostic vehicle central control system to perform structural safety inspection on the current tunnel, determines the structural safety diseases of the current tunnel, and preliminarily classifies the structural safety diseases, determines the disease type of the structural safety disease, performs front-end diagnosis on the preset type of structural safety disease, and determines the corresponding initial diagnosis report. In this process, the efficiency of diagnosing simple diseases in the current tunnel is improved, the diagnosis report is sent in time, and the efficiency of producing the detection report is improved; and real-time and accurate disease analysis is performed, which shortens the detection cycle of hidden diseases and improves the detection rate.

In addition, the present application implements a detection scheme for the central control system of the tunnel diagnostic vehicle by integrating the space-time synchronization subsystem, the tunnel detection subsystem, and the central controller. The tunnel information of the current tunnel is obtained through multiple detection modules of the tunnel detection subsystem, thereby increasing the information sources for structural safety detection and improving the reliability of structural safety information for structural safety detection. The multi-dimensional fusion of tunnel disease information is realized based on the central controller, thereby improving the targeted nature of structural safety detection, and achieving matching solutions and output of evaluation reports based on structural safety diseases, thereby improving the detection efficiency of the current tunnel and optimizing the detection effect of the structural safety detection of the current tunnel.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the central control method of the tunnel diagnostic vehicle of the present application;

FIG2 is a schematic diagram of the system architecture of a tunnel diagnostic vehicle according to an embodiment of the central control method of the tunnel diagnostic vehicle of the present application;

FIG3 is a flow chart of a first embodiment of a central control method for a tunnel diagnostic vehicle of the present application;

FIG4 is a flow chart of a second embodiment of the central control method for a tunnel diagnostic vehicle of the present application;

FIG5 is a schematic diagram of the functional modules of the central control system of the tunnel diagnostic vehicle of the central control method of the tunnel diagnostic vehicle of the present application.

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

Specifically, referring to FIG. 1 , FIG. 1 is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the central control method for a tunnel diagnostic vehicle of the present application.

As shown in FIG1 , the device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

As shown in FIG1 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a system control program. The operating system is a program for managing and controlling the hardware and software resources of the device, and supports the operation of the system control program and other software or programs; the network communication module is used to manage and control the network interface 1004; the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used to establish a communication connection with the server; and the processor 1001 can be used to call the system control program stored in the memory 1005.

When the system control program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

In one embodiment, when the system control program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

Based on the multi-dimensional monitoring information, determining the damage information corresponding to the structural safety damage;

Those skilled in the art will appreciate that the device structure shown in FIG. 1 does not constitute a limitation on the device, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

Refer to Figure 2, which is a schematic diagram of the system architecture of the central control system of a tunnel diagnostic vehicle involved in the embodiment of the tunnel diagnostic vehicle central control method of the present application.

As shown in FIG2 , the system of the central control system of the tunnel diagnostic vehicle at least includes: a central controller and a space-time synchronization subsystem and a tunnel detection subsystem connected to the central controller by signal, wherein the space-time synchronization subsystem is used to output a space-time synchronization signal; the central controller controls the tunnel detection subsystem to perform disease detection on the current tunnel based on the space-time synchronization signal; the tunnel detection subsystem is used to perform tunnel disease detection and feed back tunnel disease information of the detected tunnel to the central controller; the central controller performs multi-dimensional information fusion on the tunnel disease information based on the tunnel disease information, obtains multi-dimensional monitoring information corresponding to the current tunnel, and determines the target structural safety disease of the current tunnel based on the multi-dimensional monitoring information, and outputs the corresponding structural safety disease report.

In one embodiment, after determining the target structural safety defects of the current tunnel based on the multi-dimensional monitoring information, the central control system of the tunnel diagnostic vehicle is also connected to a cloud-based precision diagnosis platform for accurately diagnosing preset types of target structural safety defects. The central controller controls the cloud-based precision diagnosis platform to accurately diagnose preset types of target structural safety defects based on the multi-dimensional monitoring information, and makes decisions and plans for the target structural safety defects to generate a corresponding accurate diagnosis report.

In one embodiment, the tunnel detection subsystem includes an apparent damage and water leakage detection module, a deformation and displacement detection module, and a hidden hazard detection module. The apparent damage and water leakage detection module is used to detect the damage and crack conditions of the current tunnel; the deformation and displacement detection module is used to detect the deformation and displacement conditions of the current tunnel; and the hidden disease detection module is used to detect the hidden diseases of the current tunnel. The central controller controls the apparent damage and water leakage detection module, the deformation and displacement detection module, and the hidden disease detection module in the tunnel detection subsystem to detect the current tunnel, and obtain the damage and crack conditions, deformation and displacement conditions, and hidden diseases of the current tunnel respectively.

In one embodiment, the tunnel detection subsystem further includes an auxiliary detection module and an unmanned aerial vehicle inspection module. The auxiliary detection module is used to collect basic tunnel information in the current tunnel; the unmanned aerial vehicle inspection module is used to conduct a local inspection of a preset target location and collect specific disease conditions at the target location. The central controller controls the auxiliary detection module to collect information on the current tunnel and obtain basic tunnel information in the current tunnel; the central controller controls the preset device of the unmanned aerial vehicle inspection module to conduct a local inspection of the preset target location in the current tunnel and collect specific disease conditions at the target location.

In one embodiment, the space-time synchronization subsystem of the central control system of the tunnel diagnostic vehicle is used to obtain a synchronization signal for controlling the central control system of the tunnel diagnostic vehicle to perform tunnel detection based on a preset precise space-time synchronization technology; the tunnel detection subsystem is used to detect the current tunnel based on each detection module of the preset monitoring and detection technology group, and obtain tunnel disease information of the current tunnel; the central controller is used to perform multi-dimensional information fusion on the tunnel disease information of the current tunnel based on a preset multi-dimensional information fusion technology, obtain corresponding multi-dimensional monitoring information, and perform information fusion on the collected tunnel information of the current tunnel, obtain corresponding multi-dimensional monitoring information, and perform an initial diagnosis on the current tunnel based on the above multi-dimensional monitoring information, perform decision planning and feedback optimization, and obtain a corresponding initial diagnosis report.

In one embodiment, the drone inspection module in the tunnel detection subsystem is used to conduct a local inspection of a preset target location and collect the specific disease conditions of the target location. The auxiliary detection module in the tunnel detection subsystem is used to collect basic tunnel information in the current tunnel, specifically including: an information collection device, a vehicle body sub-electronic control device, an instrument and display device, and a visualization front end. Specifically, the information collection device includes vibration monitoring, scene monitoring, obstacle avoidance radar, and a positioning and attitude device, which are used to collect tunnel information for the current tunnel where the tunnel diagnosis vehicle is located; the vehicle body sub-electronic control device is connected to each electronic control system connected to the power management module, and is used to manage each electronic control system that performs structural safety inspection in the system of the central control system of the tunnel diagnosis vehicle; the instrument and display device is a visualization front end that realizes data connection with the cloud-based precision diagnosis platform and the central controller in the system of the central control system of the tunnel diagnosis vehicle, and the data of the structural safety inspection can be visualized through the instrument and display device.

In one embodiment, the spatiotemporal synchronization subsystem of the central control system of the tunnel diagnostic vehicle comprises: an encoder, a positioning and navigation module, and a data synchronization module; wherein the encoder is used to generate a pulse signal; the positioning and navigation module is used to accurately locate the tunnel diagnostic vehicle based on the pulse signal; and the data synchronization module is used to synchronize the spatiotemporal data of the tunnel diagnostic vehicle central control system with the current tunnel diagnostic vehicle. The central controller generates a corresponding pulse signal by controlling the encoder of the spatiotemporal synchronization subsystem, and based on the pulse signal, controls the positioning and navigation module to accurately locate the current tunnel diagnostic vehicle, obtains the spatiotemporal data of the current tunnel diagnostic vehicle, and the central controller synchronizes the spatiotemporal data to the data synchronization module.

In one embodiment, the central controller of the central control system of the tunnel diagnostic vehicle includes: an information multi-dimensional fusion module, a front-end initial diagnosis module and a report feedback module; wherein the information multi-dimensional fusion module is used to perform multi-dimensional information fusion on the tunnel disease information obtained by the tunnel detection subsystem to obtain multi-dimensional detection information of the current tunnel; the front-end initial diagnosis module is used to perform a front-end initial diagnosis of the disease on the current tunnel based on the multi-dimensional detection information of the current tunnel to determine the target structural safety disease in the current tunnel; the report feedback module is used to generate a corresponding structural safety disease report according to the target structural safety disease in the current tunnel, and to feedback the structural safety disease report.

In one embodiment, each module unit in the above-mentioned tunnel diagnostic vehicle central control system realizes data transmission based on a preset data flow link. The space-time synchronization subsystem realizes space-time synchronization signal transmission with the central controller through a preset space-time synchronization link; the tunnel detection subsystem realizes data transmission with the central controller through a preset system software and hardware synchronization link.

Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the central control method of the tunnel diagnostic vehicle of the present application is proposed.

Specifically, referring to FIG. 3 , FIG. 3 is a flow chart of a first embodiment of a central control method for a tunnel diagnostic vehicle of the present application, wherein the central control method for a tunnel diagnostic vehicle comprises:

Step S10, the central controller obtains a synchronization signal for controlling the tunnel diagnostic vehicle to perform tunnel detection from the time-space synchronization subsystem;

Step S20, based on the synchronization signal, the central controller controls the tunnel detection subsystem to detect the current tunnel and obtain tunnel disease information of the current tunnel;

Step S30, based on the tunnel disease information, multi-dimensional information fusion is performed on the tunnel disease information to obtain multi-dimensional monitoring information corresponding to the current tunnel, and based on the multi-dimensional monitoring information, the target structural safety disease of the current tunnel is determined, and the corresponding structural safety disease report is output.

The central control method of a tunnel diagnostic vehicle in an embodiment of the present application controls the tunnel diagnostic vehicle to perform structural safety detection on the current tunnel, by determining the structural safety defects of the current tunnel, and preliminarily classifying the structural safety defects, determining the defect type of the structural safety defects, performing front-end diagnosis on preset types of structural safety defects, and determining a corresponding initial diagnosis report.

The following is a detailed description of each step:

In a specific embodiment, when a tunnel diagnostic vehicle is traveling in an underground tunnel, the tunnel diagnostic vehicle central control system controls the tunnel detection subsystem carried by the tunnel diagnostic vehicle to collect tunnel information from tunnels within a preset range of the tunnel where the tunnel diagnostic vehicle is currently located, obtain tunnel information corresponding to the current tunnel, and then perform information fusion based on the information multi-dimensional fusion subsystem, and perform structural safety disease identification based on the tunnel information after information fusion to determine the structural safety diseases existing in the current tunnel.

Specifically, the tunnel detection subsystem at least includes: an apparent damage and water leakage detection module, a deformation displacement detection module and a hidden hazard detection module, and based on the various modules of the tunnel detection subsystem, the tunnel information of the current tunnel is collected. When the tunnel diagnostic vehicle moves forward for dynamic detection, the data of the current tunnel of the tunnel diagnostic vehicle and the operation background are aligned based on the preset multi-system precise time and space synchronization. Specifically, the data alignment includes time synchronization, history synchronization and coordinate synchronization.

In a specific embodiment, the tunnel detection subsystem of the central control system of the tunnel diagnostic vehicle further includes an apparent damage and water leakage detection module, a deformation displacement detection module and a hidden hazard detection module, and the structural safety hazards in the current tunnel are identified through the above modules.

In one embodiment, this embodiment detects the apparent damage and water leakage-type structural safety hazards of the current tunnel through the above-mentioned apparent damage and water leakage detection module to determine whether the current tunnel has apparent damage and water leakage-type structural safety hazards. If the current tunnel has the above-mentioned apparent damage and water leakage-type structural safety hazards, the apparent damage and water leakage detection module collects the hazard parameters corresponding to the apparent damage and water leakage-type structural safety hazards.

In one embodiment, the deformation and displacement type structural safety defects of the current tunnel are detected by the above-mentioned deformation and displacement detection module to determine whether the current tunnel has deformation and displacement type structural safety defects. If the current tunnel has the above-mentioned deformation and displacement type structural safety defects, the defect parameters corresponding to the deformation and displacement type structural safety defects are collected by the deformation and displacement detection module.

In one embodiment, the hidden hazard detection module is used to detect the hidden hazard type structural safety defects of the current tunnel to determine whether the current tunnel has the hidden hazard type structural safety defects. If the current tunnel has the hidden hazard type structural safety defects, the hidden hazard detection module collects the defect parameters corresponding to the deformation and displacement type structural safety defects. It needs to be specifically explained that the hidden hazard can be defined as a non-fatal hazard that occurs in the current tunnel, that is, the hidden hazard will not cause a preset degree of impact on the structural safety of the current tunnel within a preset period of time, but as time goes by, the hidden hazard still has a certain degree of harmfulness. For the hidden hazard, further accurate defect analysis needs to be performed through the cloud-based precision diagnosis platform, and the corresponding defect parameters of the hidden hazard type structural safety defects are determined.

As a specific embodiment, the tunnel detection subsystem of the central control system of the above-mentioned tunnel diagnostic vehicle includes an auxiliary detection module and an unmanned aerial vehicle inspection module. The auxiliary detection module in the above-mentioned tunnel detection subsystem is used to perform structural safety disease detection on the overall tunnel space in the current tunnel based on a preset monitoring and detection technology group to obtain basic tunnel information of the current tunnel; the unmanned aerial vehicle inspection module in the above-mentioned tunnel detection subsystem is used to perform local inspection on the target position corresponding to the structural safety disease in the current tunnel to obtain the specific disease condition of the above-mentioned target position.

In one embodiment, the tunnel detection subsystem includes an auxiliary detection module and an unmanned aerial vehicle inspection module. The auxiliary detection module in the tunnel detection subsystem performs structural safety disease detection on the overall tunnel space in the current tunnel based on a preset monitoring and detection technology group to obtain basic tunnel information of the current tunnel. The unmanned aerial vehicle inspection module in the tunnel detection subsystem performs local inspection on the target position corresponding to the structural safety disease in the current tunnel to obtain the specific disease condition of the target position, wherein the local inspection may be performed by obtaining image information of the specific part of the target position, obtaining the specific structural texture of the target position, etc.

In one embodiment, the monitoring and detection technology group included in the above-mentioned auxiliary detection module may include: deformation detection technology based on three-dimensional lidar, hidden disease detection technology based on ground penetrating radar, impact echo, and acoustic vibration method, apparent defect detection technology based on three-dimensional visual information, track geometry detection technology based on total station + inertial navigation, apparent disease detection technology based on visible light + infrared, and high-precision positioning and attitude determination methods and other detection technology groups.

In one embodiment, the above-mentioned drone inspection module can perform local inspection in a manner that performs local inspection on the target location where the structural safety disease occurs in the current tunnel, obtains local disease information on the target location where the structural safety disease occurs in the current tunnel through a preset photographing device and a detection device in the drone inspection system, and determines the specific disease condition of the target location based on the above-mentioned local disease information.

In one embodiment, based on the disease parameters corresponding to the above-mentioned structural safety diseases such as apparent damage and water leakage, the deformation and displacement detection module collects the disease parameters corresponding to the deformation and displacement type structural safety diseases, the tunnel information of the current tunnel, the disease parameters of the hidden hazard type structural safety diseases, the basic tunnel information of the current tunnel and the specific disease conditions of the current tunnel, the actual structural safety diseases in the current tunnel are determined.

In a specific embodiment, the tunnel disease information in the current tunnel collected by the apparent damage and water leakage detection module, deformation and displacement detection module, hidden hazard detection module, auxiliary detection module and drone inspection module in the above-mentioned tunnel detection subsystem is fused, and the multi-dimensional monitoring information after information fusion is obtained through the central controller.

In one embodiment, the method for obtaining the multi-dimensional monitoring information after information fusion through the central controller can be to fuse the tunnel information of the current tunnel according to the multi-dimensional monitoring information through the central controller, specifically, by inputting the multi-dimensional monitoring information after multi-source heterogeneous fusion processing into the corresponding identification and diagnosis algorithm.

In a specific embodiment, the structural safety defects are matched with solutions through the above-mentioned report output subsystem to determine the corresponding solutions, wherein the corresponding solutions can be determined by matching the structural safety defects through historical big data and querying the solutions in the historical data; or the tunnel defect information corresponding to the structural safety defects in the current tunnel can be uploaded to a preset cloud-based precision diagnosis platform for accurate diagnosis and determining the corresponding solutions.

In this embodiment, tunnel disease information in the current tunnel is collected through a preset tunnel detection subsystem, and the disease information of the current tunnel is collected based on a preset monitoring and detection technology group, thereby increasing the data source for structural safety disease judgment, improving the accuracy of structural safety disease identification, and improving the accuracy of structural safety disease identification, thereby optimizing the detection effect of structural safety detection of the current tunnel.

In one implementation, based on the first embodiment of the control method of the tunnel diagnostic vehicle of the embodiment of the present application, a second embodiment of the control method of the tunnel diagnostic vehicle of the embodiment of the present application is proposed.

The second embodiment of the control method of the tunnel diagnostic vehicle is different from the first embodiment of the control method of the tunnel diagnostic vehicle in that, in step S30, the present embodiment refines "determining the target structural safety hazard of the current tunnel based on the multi-dimensional monitoring information and outputting the corresponding structural safety hazard report", with reference to FIG. 4, and specifically includes:

S31, based on the multi-dimensional monitoring information, performing a front-end preliminary diagnosis of the structural safety disease in the current tunnel, and determining the disease type of the structural safety disease in the current tunnel;

In one embodiment, the step of performing a front-end preliminary diagnosis on the structural safety hazard in the current tunnel and determining the hazard type of the structural safety hazard in the current tunnel comprises:

S32, if the structural safety hazard is of a first preset type, matching a solution to the structural safety hazard of the first preset type to determine a preliminary diagnosis report corresponding to the structural safety hazard of the first preset type;

S33, if the structural safety hazard is of a second preset type, uploading structural safety hazard information corresponding to the second preset type of structural safety hazard to a preset cloud-based diagnosis platform;

S34, based on the cloud-based precision diagnosis platform, perform precise disease analysis on the second preset type of structural safety disease, and determine a precision diagnosis assessment report and maintenance recommendations corresponding to the second preset type of structural safety disease.

In a specific embodiment, the tunnel disease information in the current tunnel collected by the apparent damage and water leakage detection module, deformation and displacement detection module, hidden hazard detection module, auxiliary detection module and drone inspection module in the above-mentioned tunnel detection subsystem is fused, and the multi-dimensional monitoring information after the information fusion is obtained through the central controller. According to the multi-dimensional monitoring information, the structural safety diseases existing in the current tunnel are diagnosed at the front end to determine the types of the above-mentioned structural safety diseases.

In one embodiment, the method of performing front-end preliminary diagnosis of the structural safety hazards of the current tunnel based on the multi-dimensional monitoring information by the central controller can be by inputting the multi-dimensional monitoring information that has been processed by multi-source heterogeneous fusion into the corresponding identification and diagnosis algorithm, first identifying the structural safety hazards existing in the current tunnel based on the multi-dimensional monitoring information, and then performing a front-end preliminary diagnosis of the structural safety hazards based on the historical diagnosis data in the identification and diagnosis algorithm.

In one embodiment, feature extraction is performed on the structural safety defects existing in the current tunnel determined by the recognition and diagnosis algorithm of the above-mentioned central controller to determine the corresponding structural safety defect features, and the structural safety defects are classified according to the above-mentioned structural safety defect features to determine the defect type of the structural safety defect.

In one embodiment, the above method of determining the type of structural safety disease can be to extract complementary features, fuse the features collected by each system, vector stack the fused multivariate features, extract the characteristic parameters of the unified disease from them, and determine the type of the structural safety disease based on the characteristic parameters.

In a specific embodiment, if the disease type of the structural safety disease existing in the current tunnel is the first preset type, that is, the hazard level of the structural safety disease existing in the current tunnel reaches the preset standard, and if the structural safety disease is not handled in time, it will cause fatal harm, that is, the structural safety disease is a fatal hazard, then it is necessary to conduct a preliminary diagnosis of the first preset type of fatal hazard through the central controller of the central control system of the tunnel diagnostic vehicle, match the solution according to the disease type and disease parameters of the structural safety disease, determine the corresponding solution, and avoid the fatal hazard in time.

In one embodiment, the above-mentioned first preset type of structural safety hazard is matched with a solution to determine a corresponding solution. The above-mentioned method of determining the corresponding solution can be to match the structural safety hazard through historical big data, query the solution in the historical data, and perform real-time alarm and structural safety hazard alarm based on the solution.

In a specific embodiment, if the disease type of the structural safety disease existing in the current tunnel is the second preset type, that is, the hazard level of the structural safety disease existing in the current tunnel has not reached the preset standard, and the structural safety disease will not cause fatal harm if it is not handled in time after the problem occurs, that is, the structural safety disease is a non-fatal hazard, then it is necessary to upload the non-fatal hazard of the second preset type and the corresponding disease parameters to the cloud-based precision diagnosis platform, and the above-mentioned cloud-based precision diagnosis platform performs precise disease analysis based on cloud big data according to the disease parameters corresponding to the non-fatal hazard of the second preset type, and determines the precise structural safety disease of the non-fatal hazard of the second preset type, and generates a corresponding assessment report and maintenance recommendations based on the precise structural safety disease.

In one embodiment, the method of performing accurate disease analysis based on the disease parameters corresponding to the second preset type of non-fatal hazards through the cloud-based precision diagnosis platform can be to obtain tunnel disease information collected by the tunnel detection subsystem in the central control system of the tunnel diagnosis vehicle, make a hazard inference on the non-fatal hazards of the second preset type, determine the structural safety disease changes that will occur in the non-fatal hazards of the second preset type over time, generate a corresponding assessment report based on the corresponding structural safety disease changes, and determine corresponding maintenance recommendations based on the historical big data matching through the cloud-based precision diagnosis platform based on the assessment report.

This embodiment obtains tunnel information of the current tunnel through multiple detection methods, increases the information sources of structural safety detection, improves the reliability of structural safety information for structural safety detection, refines the structural safety diseases of the current tunnel through front-end diagnosis of structural safety defects and classification of defect types, improves the targeted nature of structural safety detection, and implements matching solutions based on structural safety defects through the cloud-based precision diagnosis platform, thereby optimizing the detection effect of structural safety detection on the current tunnel.

In addition, the embodiment of the present application also proposes a tunnel diagnostic vehicle central control system, referring to FIG5 , which is a schematic diagram of the functional modules of the tunnel diagnostic vehicle central control system involved in the embodiment of the tunnel diagnostic vehicle central control method of the present application. As shown in FIG5 , the tunnel diagnostic vehicle central control system includes:

The time-space synchronization subsystem 10 is used for the central controller to obtain a synchronization signal for controlling the tunnel diagnostic vehicle to perform tunnel detection from the time-space synchronization subsystem;

The tunnel detection subsystem 20, based on the synchronization signal, the central controller controls the tunnel detection subsystem to detect the current tunnel and obtain tunnel disease information of the current tunnel;

The central controller 30 is used to perform multi-dimensional information fusion on the tunnel disease information based on the tunnel disease information, obtain multi-dimensional monitoring information corresponding to the current tunnel, and determine the target structural safety disease of the current tunnel based on the multi-dimensional monitoring information, and output the corresponding structural safety disease report.

For the principle and implementation process of realizing logistics transportation in this embodiment, please refer to the above embodiments and will not be described in detail here.

In addition, an embodiment of the present application also proposes a device, which includes a memory, a processor, and a system control program stored in the memory and executable on the processor. When the system control program is executed by the processor, the steps of the central control method of the tunnel diagnostic vehicle as described in the above embodiment are implemented.

In addition, to achieve the above-mentioned purpose, the present application also provides a medium, which is a computer-readable storage medium, on which a system control program is stored, and when the system control program is executed by a processor, the steps of the central control method of the tunnel diagnostic vehicle as described above are implemented.

Since the system control program adopts all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the functions brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

The above are only optional embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

A central control system for a tunnel diagnostic vehicle, wherein the central control system for the tunnel diagnostic vehicle comprises: a central controller and a time-space synchronization subsystem and a tunnel detection subsystem connected to the central controller by signal;

A space-time synchronization subsystem, used for outputting space-time synchronization signals;

The central controller controls the tunnel detection subsystem to perform disease detection on the current tunnel based on the time-space synchronization signal;

The tunnel detection subsystem is used to perform tunnel disease detection work and feed back the tunnel disease information of the detected tunnel to the central controller;

Based on the tunnel disease information, the central controller performs multi-dimensional information fusion on the tunnel disease information, obtains multi-dimensional monitoring information corresponding to the current tunnel, and based on the multi-dimensional monitoring information, determines the target structural safety disease of the current tunnel, and outputs the corresponding structural safety disease report.
The tunnel diagnostic vehicle central control system according to claim 1, wherein the tunnel diagnostic vehicle central control system is also connected to a cloud-based precision diagnosis platform;

After determining the target structural safety hazard of the current tunnel based on the multi-dimensional monitoring information, the method further includes:

The cloud-based precision diagnosis platform is used to accurately diagnose the safety defects of target structures of preset types;

The central controller controls the cloud-based precision diagnosis platform to accurately diagnose preset types of target structural safety defects based on the multi-dimensional monitoring information, makes decision-making plans for the target structural safety defects, and generates corresponding precise diagnosis reports.
The central control system of a tunnel diagnostic vehicle according to claim 1, wherein the tunnel detection subsystem comprises: an apparent damage and water leakage detection module, a deformation and displacement detection module, and a hidden disease detection module;

Surface damage and water leakage detection module, used to detect damage and cracks in the current tunnel;

The deformation and displacement detection module is used to detect the deformation and displacement of the current tunnel;

Hidden disease detection module, used to detect hidden diseases in the current tunnel;

The central controller controls the apparent damage and water leakage detection module, the deformation and displacement detection module and the hidden disease detection module in the tunnel detection subsystem to detect the current tunnel, and obtains the damage and crack conditions, deformation and displacement conditions and hidden diseases of the current tunnel respectively.
The central control system of a tunnel diagnostic vehicle according to claim 1, wherein the tunnel detection subsystem further comprises: an auxiliary detection module and a drone detailed inspection module;

Auxiliary detection module, used to collect basic tunnel information in the current tunnel;

The drone inspection module is used to conduct a local inspection of a preset target location and collect specific disease conditions at the target location;

The central controller controls the auxiliary detection module to collect information on the current tunnel and obtain basic tunnel information in the current tunnel;

The central controller controls the preset device of the drone inspection module to conduct a local inspection on the preset target position in the current tunnel and collect the specific disease conditions of the target position.
The central control system of a tunnel diagnostic vehicle as claimed in claim 1, wherein the time-space synchronization subsystem comprises: an encoder, a positioning and navigation module, and a data synchronization module;

An encoder for generating a pulse signal;

A positioning and navigation module, used for accurately positioning the tunnel diagnostic vehicle based on the pulse signal;

Data synchronization module, used to synchronize the time and space data between the central control system of the tunnel diagnostic vehicle and the current tunnel diagnostic vehicle;

The central controller controls the encoder of the space-time synchronization subsystem to generate a corresponding pulse signal, and based on the pulse signal, controls the positioning and navigation module to accurately locate the current tunnel diagnostic vehicle, obtain the space-time data of the current tunnel diagnostic vehicle, and the central controller synchronizes the space-time data to the data synchronization module.
The central control system of a tunnel diagnostic vehicle according to claim 1, wherein the central controller comprises: an information multi-dimensional fusion module, a front-end initial diagnosis module and a report feedback module;

An information multi-dimensional fusion module is used to perform multi-dimensional information fusion on the tunnel disease information obtained by the tunnel detection subsystem to obtain multi-dimensional detection information of the current tunnel;

A front-end initial diagnosis module is used to perform a front-end initial diagnosis of the current tunnel based on the multi-dimensional detection information of the current tunnel, and determine the target structural safety diseases in the current tunnel;

The report feedback module is used to generate a corresponding structural safety disease report according to the target structural safety disease in the current tunnel, and to feed back the structural safety disease report.
The central control system of a tunnel diagnostic vehicle as claimed in claims 1 to 6, wherein the central controller and the time-space synchronization subsystem and the tunnel detection subsystem connected to the central controller by signal realize data transmission based on a preset data stream link;

The time-space synchronization subsystem realizes time-space synchronization signal transmission with the central controller through a preset time-space synchronization link;

The tunnel detection subsystem realizes data transmission with the central controller through a preset system software and hardware synchronization link.
A control method for a central control system of a tunnel diagnostic vehicle, the central control system of the tunnel diagnostic vehicle comprising: a central controller for integrated control of various subsystems in the central control system of the tunnel diagnostic vehicle, a time-space synchronization subsystem for realizing electrical signal connection with the central controller, and a tunnel detection subsystem, wherein the control method for the central control system of the tunnel diagnostic vehicle comprises:

The central controller obtains a synchronization signal for controlling the tunnel diagnostic vehicle to perform tunnel detection from the time-space synchronization subsystem;

Based on the synchronization signal, the central controller controls the tunnel detection subsystem to detect the current tunnel and obtain tunnel disease information of the current tunnel;

Based on the tunnel disease information, multi-dimensional information fusion is performed on the tunnel disease information to obtain multi-dimensional monitoring information corresponding to the current tunnel, and based on the multi-dimensional monitoring information, the target structural safety disease of the current tunnel is determined, and the corresponding structural safety disease report is output.
The control method of the central control system of a tunnel diagnostic vehicle according to claim 8, wherein the step of determining the target structural safety defects of the current tunnel based on the multi-dimensional monitoring information and outputting the corresponding structural safety defect report comprises:

Based on the multi-dimensional monitoring information, a front-end preliminary diagnosis is performed on the structural safety defects in the current tunnel, and the defect type of the structural safety defects in the current tunnel is determined;

If the structural safety hazard is of a first preset type, matching a solution to the structural safety hazard of the first preset type is performed to determine a preliminary diagnosis report corresponding to the structural safety hazard of the first preset type;

If the structural safety hazard is of the second preset type, uploading the structural safety hazard information corresponding to the structural safety hazard of the second preset type to a preset cloud diagnosis platform;

Based on the cloud-based precision diagnosis platform, accurate disease analysis is performed on the second preset type of structural safety disease, and a precision diagnosis assessment report and maintenance recommendations corresponding to the second preset type of structural safety disease are determined.
The control method of the central control system of a tunnel diagnostic vehicle according to claim 9, wherein the step of performing a front-end preliminary diagnosis of the structural safety defects in the current tunnel and determining the defect type of the structural safety defects in the current tunnel comprises:

Based on the multi-dimensional monitoring information, determining the damage information corresponding to the structural safety damage;

Extracting features of the structural safety defects according to the defect information to determine structural safety defect features corresponding to the structural safety defects in the current tunnel;

According to the characteristics of the structural safety defects, the structural safety defects are classified and the defect types of the structural safety defects are determined.