CN106482710A - A kind of vehicular vcehicular tunnel rapid detection system - Google Patents
A kind of vehicular vcehicular tunnel rapid detection system Download PDFInfo
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- CN106482710A CN106482710A CN201610828737.1A CN201610828737A CN106482710A CN 106482710 A CN106482710 A CN 106482710A CN 201610828737 A CN201610828737 A CN 201610828737A CN 106482710 A CN106482710 A CN 106482710A
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- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000001154 acute effect Effects 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 6
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 229910052751 metal Inorganic materials 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 2
- 230000004888 barrier function Effects 0.000 abstract 1
- 230000003340 mental effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 4
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229910000611 Zinc aluminium Inorganic materials 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- HXFVOUUOTHJFPX-UHFFFAOYSA-N alumane;zinc Chemical compound [AlH3].[Zn] HXFVOUUOTHJFPX-UHFFFAOYSA-N 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The present invention discloses a kind of vehicular vcehicular tunnel rapid detection system, including vision inspection apparatus, vehicle-mounted fixing device and vehicle speed measurement device three part；Vision collecting device is used for gathering tunnel-liner image and cross dimensions, including support bar, bearing, connector, scanner mounting rod and scanner mounting bracket；Vehicle-mounted fixing device is used for vision collecting device being arranged on vehicle roof, including regulation of mental activities platform, revolving support, bolt, support platform, support base and support beam；Vehicle speed measurement device is used for Real-time Collection vehicle and travels displacement, speed data, and triggers camera, spatial digitizer.The vehicular vcehicular tunnel rapid detection system of present disclosure has strong applicability, easy to use, detection speed is fast, image acquisition quality is high and low cost and other advantages, solves the many technical barriers during rapid detection system application of existing highway tunnel.
Description
Technical Field
The invention belongs to the technical field of vehicle-mounted detection, and particularly relates to a vehicle-mounted rapid detection system for a highway tunnel.
Background
At present, tunnel detection needs closed traffic, and detection tasks are usually completed by means of an overhead working truck and manual or manual instruments. The method based on manual detection has low working efficiency, large personal subjective degree, high cost and large danger, and cannot meet the requirement of quick and accurate detection. Frequent inspection items are newly added in the technical specification for highway tunnel maintenance (JTG _ H12-2015), the detection frequency is greatly increased, and informatization means is encouraged to carry out tunnel structure detection, the traditional method for detecting the tunnel structure by manpower is difficult to meet the requirements, more importantly, disease information cannot be managed, and the development trend of diseases is difficult to count and analyze.
In recent years, with the increasing number of highway tunnels, the traditional manual method cannot meet the requirement of rapid and accurate detection. The computer vision-based detection method has the advantages of visual image, high speed, high precision, easy data storage and the like, and is widely applied to nondestructive detection of structures such as highway pavements, railway tunnels and the like. Compared with a highway pavement and a railway tunnel, the cross section of the highway tunnel is complex in shape, diversified in internal illumination conditions and numerous in disease types, the detection process is greatly influenced by traffic flow, driving tracks and multidimensional vibration of the environment, and the research difficulty of the vision technology in intelligent detection of the highway tunnel is increased.
The tunnel images of several existing products are shot synchronously by a plurality of cameras, the cameras, light sources, sensors and other devices are integrated into a huge vehicle-mounted system, the problems of complex system, large data volume, high manufacturing cost and the like exist, and the wide application of the technology in the field of rapid detection of highway tunnels is limited.
Disclosure of Invention
In order to solve the problems, the invention provides a visual detection system which is simple in structure, low in cost and strong in applicability, and the visual detection system is integrated on a vehicle to form a vehicle-mounted intelligent tunnel rapid detection system which is convenient to use. The technical scheme adopted by the invention is as follows:
a vehicle-mounted highway tunnel rapid detection system is characterized by comprising a visual detection device, a vehicle-mounted fixing device and a vehicle speed measuring device; wherein,
the vision acquisition device is used for acquiring tunnel lining images and section sizes and comprises a supporting rod, a support, a connecting piece, a scanner mounting rod and a scanner mounting bracket; the support rod forms a support frame structure through a connecting piece and a support and is used for bearing the digital camera, the laser light source and the three-dimensional scanner; the three groups of cameras are fixed on the surface of the support frame through T-shaped bolts, and the camera mounting plate consists of two L-shaped acute angle mounting plates and an obtuse angle mounting plate assembly; the scanner mounting rod is fixed on a support beam outside the frame through a T-shaped bolt, and the laser three-dimensional scanner is fixed on the mounting rod through a scanner bracket and an inner hexagon bolt;
the vehicle-mounted fixing device is used for installing the vision acquisition device on the top of a vehicle and comprises an aligning platform, a rotary support, a positioning bolt, a supporting platform, a supporting seat and a supporting beam; the aligning platform is used for adjusting the gravity center of the vision acquisition device to be always superposed with the center of the vehicle luggage rack, the upper surface of the aligning platform is connected with the lower surface of the supporting frame, and the lower surface of the aligning platform is connected with the rotary driving rotating ring; the rotary drive is used for realizing data acquisition of the vision acquisition device at two positions of 0 degree and 180 degrees, and a fixing ring of the rotary drive is connected with the upper surface of the supporting platform; four groups of mounting holes are arranged on the edge of the supporting platform, the supporting beam and the supporting plate are connected through the supporting seat, and all the parts are fixedly hinged on the vehicle luggage rack through the supporting beam;
the vehicle speed measuring device is used for acquiring vehicle running displacement and speed data in real time and triggering the camera and the three-dimensional scanner and comprises a fixed support, an outer clamping plate, an inner clamping plate, a clamping ring, a fixed rod, a guide rod, a fastening nut, a mounting front panel, an encoder shell, a mounting rear panel, a guide shaft, a flange and a nut column; a sensor is arranged in the encoder shell, the sensor is positioned and fixed by mounting a front plate and a rear plate on two sides, an extending shaft of the sensor is fixed with a flange through a guide shaft, and the flange is connected with a vehicle hub through a nut column on the flange and further rotates along with a wheel; one end of the guide rod is connected with the encoder shell through a fastening nut, the other end of the guide rod and the lower end of the fixing rod form a sliding pair, reciprocating motion along the direction of the central line of the rod is achieved, and the upper end of the fixing rod is connected with the L-shaped fixed support through a clamping ring and connected with a vehicle sheet metal through an inner clamping plate and an outer clamping plate.
Preferably, the included angle between two adjacent camera mounting plates is 30-60 degrees.
Preferably, the L-shaped acute angle mounting plate and the obtuse angle mounting plate assembly are formed by welding two plates, wherein the angle range of the acute angle clamping plate is 80-90 degrees, and the angle range of the obtuse angle clamping plate is 95-100 degrees.
Preferably, the aligning platform is used for adjusting the position of the vision acquisition device in the vehicle luggage rack, so that the vision acquisition device is always positioned at the center, and the offset between the geometric center and the gravity center is 0-30 mm.
Preferably, the support frame material is an aluminum alloy section, the camera mounting plate material is a magnesium aluminum alloy plate, the aligning platform, the support platform, the encoder shell and the flange are made of aluminum alloy, and the support beam material is an alloy steel hollow square tube.
The invention discloses a rapid detection solution for a highway tunnel, which integrates a digital camera, a laser light source, a laser three-dimensional scanner, an encoder and a mechanical device on a common off-road vehicle, can acquire parameters such as vehicle displacement, speed and the like in real time under the condition of normal speed running without changing the overall structure of the vehicle, and triggers equipment such as the camera, the laser three-dimensional scanner and the like to acquire images of a tunnel lining and three-dimensional sizes of a section.
Drawings
Fig. 1 is a three-dimensional structure diagram of a vehicle-mounted road tunnel rapid detection system in the embodiment of the invention.
Fig. 2 is a schematic structural diagram of a visual acquisition device in the vehicle-mounted road tunnel rapid detection system in the embodiment of the invention.
Fig. 3 is a schematic structural dimension diagram of a support frame in the vehicle-mounted rapid highway tunnel detection system in the embodiment of the invention.
Fig. 4 is a structural diagram of a camera mounting plate in the vehicle-mounted road tunnel rapid detection system in the embodiment of the invention.
Fig. 5 is a schematic structural dimension diagram of an acute angle splint in the vehicle-mounted rapid highway tunnel detection system in the embodiment of the invention.
Fig. 6 is a schematic structural dimension diagram of an obtuse angle splint in the vehicle-mounted rapid detection system for the highway tunnel in the embodiment of the invention.
Fig. 7 is a schematic structural dimension diagram of a scanner bracket in the vehicle-mounted road tunnel rapid detection system in the embodiment of the invention.
Fig. 8 is a three-dimensional structure diagram of a vehicle-mounted fixing device in the vehicle-mounted rapid detection system for a highway tunnel according to the embodiment of the invention.
Fig. 9 is a schematic structural dimension diagram of an aligning platform in the vehicle-mounted rapid detection system for a highway tunnel according to the embodiment of the invention.
Fig. 10 is a schematic structural dimension diagram of a support platform in the vehicle-mounted rapid highway tunnel detection system in the embodiment of the invention.
Fig. 11 is a three-dimensional structure diagram of a vehicle speed measuring device in the vehicle-mounted road tunnel rapid detection system in the embodiment of the invention.
Fig. 12 is a schematic diagram of the structure and the size of an encoder shell in the vehicle-mounted highway tunnel rapid detection system in the embodiment of the invention.
The reference numbers in the figures are as follows:
| marking | Name (R) | Marking | Name (R) | Marking | Name (R) |
| 1 | Vision collection device | 2 | Vehicle-mounted fixing device | 3 | Vehicle speed measuring device |
| 1-01 | Support rod | 1-02 | Support base | 1-03 | Connecting piece |
| 1-04 | Camera mounting plate | 1-05 | Scanner mounting rod | 1-06 | Scanner bracket |
| 2-01 | Aligning platform | 2-02 | Rotary support | 2-03 | Supporting platform |
| 2-04 | Supporting seat | 2-05 | Supporting beam | 2-06 | Positioning bolt |
| 3-01 | Fixed support | 3-02 | Outer splint | 3-03 | Inner splint |
| 3-04 | Snap ring | 3-05 | Fixing rod | 3-06 | Guide rod |
| 3-07 | Fastening nut | 3-08 | Mounting front panel | 3-09 | Encoder shell |
| 3-10 | Mounting the rear panel | 3-11 | Guide shaft | 3-12 | Flange |
| 3-13 | Nut column | 1-04-01 | Acute angle splint | 1-04-02 | Obtuse angle splint |
| 1-04-03 | Angle adjusting plate |
Detailed Description
The following further describes the vehicle-mounted rapid highway tunnel detection system according to the present invention with reference to the following specific embodiments and drawings, but the scope of the present invention is not limited thereto.
Fig. 1 shows a three-dimensional structure of a vehicle-mounted highway tunnel rapid detection system in a preferred embodiment of the invention, which comprises a vision acquisition device (1), a vehicle-mounted fixing device (2) and a vehicle speed measuring device (3), wherein the vision acquisition device, the vehicle-mounted fixing device (2) and the vehicle speed measuring device are integrated on a toyota and hanlanda off-road vehicle, and the vehicle-mounted fixing device (2) is fixed with a vehicle luggage rack.
Fig. 2 shows a three-dimensional structure of the vision acquisition device (1), which comprises a support rod (1-01), a support (1-02), a connecting piece (1-03), a camera mounting plate (1-04), a scanner mounting rod (1-05), a scanner bracket (1-06), and the like. A supporting rod (1-01) of an OB.10-4545W2 type European standard industrial aluminum profile is adopted to form a supporting frame through a connecting piece (1-03) and a support (1-02), and the structural dimension parameters are shown in figure 3.
Fig. 4 shows a three-dimensional structure of a camera mounting plate (1-04), which is composed of an acute angle clamping plate (1-04-01), an obtuse angle clamping plate (1-04-02) and an angle adjusting plate (1-04-03), wherein the parts are made of magnesium-aluminum alloy plates with the thickness of 8 mm. The structure size of the acute angle splint (1-04-01) is shown in figure 5, and the welding angle between the acute angle splint and the angle adjusting plate (1-04-03) is 80 degrees; the obtuse angle splint (1-04-02) has the structural size shown in figure 6, and the welding angle between the obtuse angle splint and the angle adjusting plate (1-04-03) is 100 degrees.
Fig. 7 shows the three-dimensional structure and structural dimensions of the scanner bracket (1-06), which is fixed on the inner side of the supporting frame by T-shaped bolts by using 7075T651 type aluminum profiles, and has a distance of 500mm from the bottom end of the supporting frame.
Fig. 8 shows a three-dimensional structure of the vehicle-mounted fixing device (2), which comprises a centering platform (2-01), a rotary support (2-02), a supporting platform (2-03), a supporting seat (2-04), a supporting beam (2-05) and a positioning bolt (2-06). The self-aligning platform (2-01) is made of magnesium-aluminum alloy plates, is 12mm thick and is of an eccentric structure, the distance between the center and the center of gravity is 12mm, mounting holes are formed in the eccentric structure, and the structure size is shown in fig. 9. The supporting platform (2-03) is made of magnesium-aluminum alloy plates, the thickness of the supporting platform is 12mm, mounting holes are formed in the supporting platform, and the structural size of the supporting platform is shown in figure 10. The type of the rotary support (2-02) is OB.10-4545W2, the rotary support is installed between the aligning platform (2-01) and the supporting platform (2-03) through bolts and corresponding mounting holes, and when the rotary support (2-02) rotates to 0 degree or 180 degrees, the aligning platform (2-01) and the supporting platform (2-03) are locked through the positioning bolts (2-06) and positioning holes in the corresponding platforms, so that the locking and positioning effects are achieved. The supporting beam (2-05) is an aluminum alloy square tube with the model of 30mm multiplied by 20mm, the upper end of the supporting beam is connected with the supporting platform (2-03) through a supporting seat (2-04), and the lower end of the supporting beam is fixedly connected with a vehicle luggage rack.
Fig. 11 shows a three-dimensional structure of the vehicle speed measuring device (3), which includes a fixing support (3-01), an outer clamp (3-02), an inner clamp (3-03), a snap ring (3-04), a fixing rod (3-05), a guide bar (3-06), a fastening nut (3-07), a mounting front panel (3-08), an encoder housing (3-09), a mounting rear panel (3-10), a guide shaft (3-11), a flange (3-12), a nut post (3-13), and the like. The encoder shell (3-09) is made of a zinc-aluminum alloy plate, the structural size of the encoder shell is as shown in figure 12, and the encoder shell is fixed with the encoder and the front (3-08) and rear (3-10) plates of the encoder through mounting holes in the encoder shell; the diameter of the guide rod (3-06) is phi 16mm, the length is 300mm, the diameter of the fixed rod (3-05) is phi 35mm, the length is 300mm, the guide rod is of a hollow structure, rolling steel balls are arranged on the inner wall of the hollow structure, the guide rod (3-06) and the fixed rod (3-05) form a moving pair, and the stroke range of the moving pair is 150 mm. The connection mode of the vehicle speed measuring device (3) and the vehicle body is as follows: the automobile inner clamping plate is connected with an automobile body metal plate through three regular hexagonal prisms with the inscribed circle diameter of phi 24mm and the length of 52mm (3-13), the inner clamping plate (3-03) is connected with an automobile body metal plate through an installation hole with the size of phi 6.5mm, and the outer clamping plate (3-02), the fixed support (3-01) and the clamping ring (3-04) are connected with the fixed rod (3-05).
The disclosed solution for rapid detection of highway tunnels integrates a digital camera, a laser light source, a laser three-dimensional scanner, an encoder and a mechanical device on a common off-road vehicle, can acquire parameters such as vehicle displacement and speed in real time under normal speed running without changing the overall structure of the vehicle, and triggers equipment such as the camera and the laser three-dimensional scanner to acquire tunnel lining images and section three-dimensional dimensions, and the like.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (8)
1. A vehicle-mounted highway tunnel rapid detection system is characterized by comprising a visual detection device, a vehicle-mounted fixing device and a vehicle speed measuring device; wherein,
the vision acquisition device is used for acquiring tunnel lining images and section sizes and comprises a supporting rod, a support, a connecting piece, a scanner mounting rod and a scanner mounting bracket; the support rod forms a support frame structure through a connecting piece and a support and is used for bearing the digital camera, the laser light source and the three-dimensional scanner; the three groups of cameras are fixed on the surface of the support frame through T-shaped bolts, and the camera mounting plate consists of two L-shaped acute angle mounting plates and an obtuse angle mounting plate assembly; the scanner mounting rod is fixed on a support beam outside the frame through a T-shaped bolt, and the laser three-dimensional scanner is fixed on the mounting rod through a scanner bracket and an inner hexagon bolt;
the vehicle-mounted fixing device is used for mounting the vision acquisition device on the top of a vehicle and comprises an aligning platform, a rotary support, a positioning bolt, a supporting platform, a supporting seat and a supporting beam; the aligning platform is used for adjusting the gravity center of the vision acquisition device to be always superposed with the center of the vehicle luggage rack, the upper surface of the aligning platform is connected with the lower surface of the supporting frame, and the lower surface of the aligning platform is connected with the rotary driving rotating ring; the rotary drive is used for realizing data acquisition of the vision acquisition device at two positions of 0 degree and 180 degrees, and a fixing ring of the rotary drive is connected with the upper surface of the supporting platform; four groups of mounting holes are arranged on the edge of the supporting platform, the supporting beam and the supporting plate are connected through the supporting seat, and all the parts are fixedly hinged on the vehicle luggage rack through the supporting beam;
the vehicle speed measuring device is used for acquiring vehicle running displacement and speed data in real time and triggering the camera and the three-dimensional scanner and comprises a fixed support, an outer clamping plate, an inner clamping plate, a clamping ring, a fixed rod, a guide rod, a fastening nut, a mounting front panel, an encoder shell, a mounting rear panel, a guide shaft, a flange and a nut column; a sensor is arranged in the encoder shell, the sensor is positioned and fixed by mounting a front plate and a rear plate on two sides, an extending shaft of the sensor is fixed with a flange through a guide shaft, and the flange is connected with a vehicle hub through a nut column on the flange and further rotates along with a wheel; one end of the guide rod is connected with the encoder shell through a fastening nut, the other end of the guide rod and the lower end of the fixing rod form a sliding pair, reciprocating motion along the direction of the central line of the rod is achieved, and the upper end of the fixing rod is connected with the L-shaped fixed support through a clamping ring and connected with a vehicle sheet metal through an inner clamping plate and an outer clamping plate.
2. The vehicle-mounted rapid highway tunnel detection system according to claim 1, wherein an included angle between two adjacent camera mounting plates is 30-60 °.
3. The vehicle-mounted rapid highway tunnel detection system according to claim 1, wherein the L-shaped acute angle mounting plate and the obtuse angle mounting plate are welded by two plates, wherein the angle range of the acute angle clamping plate is 80-90 degrees, and the angle range of the obtuse angle clamping plate is 95-100 degrees.
4. The vehicle-mounted rapid detection system for the road tunnel according to claim 1, wherein the aligning platform is used for adjusting the position of the vision acquisition device in the vehicle luggage rack so that the vision acquisition device is always positioned at the center, and the offset between the geometric center and the gravity center is 0-30 mm.
5. The vehicle-mounted rapid highway tunnel detection system according to claim 1, wherein the support frame is made of aluminum alloy section.
6. The vehicle-mounted rapid highway tunnel detection system according to claim 1, wherein the camera mounting plate material is a magnesium aluminum alloy plate material.
7. The vehicle-mounted rapid detection system for the road tunnel according to claim 1, wherein the aligning platform, the supporting platform, the encoder shell and the flange are made of aluminum alloy.
8. The vehicle-mounted rapid detection system for the road tunnel according to claim 1, wherein the support beam is made of alloy steel hollow square tubes.
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| CN201610828737.1A CN106482710B (en) | 2016-12-09 | 2016-12-09 | A kind of vehicular vcehicular tunnel rapid detection system |
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| CN107356211A (en) * | 2017-07-10 | 2017-11-17 | 山西省交通科学研究院 | A kind of tunnel intelligent detection car and its detection method |
| CN109141277A (en) * | 2018-07-18 | 2019-01-04 | 中铁工程装备集团有限公司 | A kind of complete-section tunnel boring machine is slagged tap detection device |
| CN112629494A (en) * | 2020-07-23 | 2021-04-09 | 天津清智科技有限公司 | Installation auxiliary device and method of vehicle-mounted vision system |
| CN113932715A (en) * | 2021-10-28 | 2022-01-14 | 苏州赛瑞郦祺光电科技有限公司 | Three-dimensional mapping device applied to pipeline or tunnel |
| CN116577336A (en) * | 2023-04-13 | 2023-08-11 | 重庆切克威科技有限公司 | Arrangement method of multi-module imaging system |
| CN116593468A (en) * | 2023-04-13 | 2023-08-15 | 重庆切克威科技有限公司 | Vehicle-mounted tunnel detection system |
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| CN112629494A (en) * | 2020-07-23 | 2021-04-09 | 天津清智科技有限公司 | Installation auxiliary device and method of vehicle-mounted vision system |
| CN113932715A (en) * | 2021-10-28 | 2022-01-14 | 苏州赛瑞郦祺光电科技有限公司 | Three-dimensional mapping device applied to pipeline or tunnel |
| CN116577336A (en) * | 2023-04-13 | 2023-08-11 | 重庆切克威科技有限公司 | Arrangement method of multi-module imaging system |
| CN116593468A (en) * | 2023-04-13 | 2023-08-15 | 重庆切克威科技有限公司 | Vehicle-mounted tunnel detection system |
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| CN106482710B (en) | 2019-04-05 |
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