CN104914108B - Freeway tunnel detection car system based on machine vision - Google Patents
Freeway tunnel detection car system based on machine vision Download PDFInfo
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- CN104914108B CN104914108B CN201510247907.2A CN201510247907A CN104914108B CN 104914108 B CN104914108 B CN 104914108B CN 201510247907 A CN201510247907 A CN 201510247907A CN 104914108 B CN104914108 B CN 104914108B
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Abstract
The present invention is a kind of freeway tunnel detection car system based on machine vision, including data collecting system, data processing and inversion system and WEB display systems, described data collecting system includes detection car car body, electric power system, control system, EMS, image capturing system and laser scanning system, electric power system is provided with generator and uninterrupted power source UPS, control system is controlled using industrial computer, EMS uses carbonmonoxide detector and anemobiagraph, it is characterised in that：Described image capturing system includes light source, the first image acquiring device, the second image acquiring device, mileage positioner, illumination testing apparatus and the prill for being installed on roof, first image acquiring device obtains the apparent disease geo-radar image of tunnel-liner, second image acquiring device obtains the whole illumination image in tunnel, and laser scanning system is the profile scan device in tunnel.The present invention obtains tunnel defect and environment data by carrying out continuous scanning to tunnel surface.
Description
Technical field
The present invention relates to a kind of freeway tunnel detecting system, a kind of high speed based on machine vision is particularly disclosed public
Road Tunnel testing car system, is a kind of vehicle-mounted Automatic Measurement Technique, by the way of image procossing and laser scanning are combined come
The disease and Environmental Health for carrying out tunnel are monitored, and faster, precision is higher for detection speed, and the testing cost to tunnel defect drops significantly
It is low.
Background technology
Current China is transferred to the use of highway, management phase from extensive highway of building, with a high speed
The surge of highway operation mileage, the structure maintenance work of highway will be increasingly heavy, unimpeded in order to ensure highway, more
It is economic construction service well, it is desirable to shorten the maintenance work time as far as possible, generally must not close traffic.Maintenance construction goes out
The characteristics of having showed new, rapid curing turns into the inexorable trend of system on expressway pavement maintenance construction development.Preventive maintenance theory day
Benefit is obtained attention, and preventive maintenance, rapid curing have become guarantee freeway tunnel structure safety and increase tunnel clothes
Use as a servant the important means of the time limit.
Applied well for the intelligent highway detection car that road surface defect is detected both at home and abroad.Intelligent highway is detected
Car is to utilize the high speed being arranged on detection vehicle, high precision image collection and processing equipment, in measurement car with normal speed row
While sailing, pavement image collection and storage are carried out.After road surface all images are obtained, using image processing and analysis software,
The all images of acquisition are handled and analyzed, therefrom extract road surface breakage, it is smooth in terms of accurate measurement data.System
The correct recognition rata of system fracture reaches more than 90%, while detecting surface evenness and rut detection.
However, for the Defect inspection of the tunnel structure for highway, contrast pavement detection, more there is a series of skill
Never release suitable quick detection equipment in art difficult point, the country.The tunnel structure Common Diseases of highway are mainly showed
Peeled off for Lining Crack, cross section deformation, the faulting of slab ends fissure of displacement, percolating water, voids and pits, peeling etc..At present to freeway tunnel disease
Evil major part still takes the mode of hand inspection, and not only efficiency is low, low precision, also has a strong impact on highway normal pass.Traditional
Maintenance detection methods method can not meet the current operation situation of highway, it is necessary to design a kind of advanced Maintenance Machinery and apply
Work method, shortens the time that maintenance construction operation takes track, reduces traffic jam, implements rapid curing to greatest extent.
With the progress of the information processing technology and sensor technology, for commenting for the various disease damage situations of tunnel structure
Valency, exploitation of having ready conditions uses various detecting instruments, using the noncontact such as laser, ultrasonic wave sensing technology and computer technology, makes
Detection operates more convenient and efficiently starts to turn into a kind of possible.
The content of the invention
Present invention aim to address the defect of prior art, a kind of freeway tunnel inspection based on machine vision is proposed
Measuring car system, carries out disease and the environment measuring in tunnel in the way of image procossing and laser scanning combination, and using vehicle-mounted
Automatically the method monitored, can more fully obtain the data in tunnel, compared with traditional detection method, monitoring velocity faster,
Precision is higher, and cost is substantially reduced.
What the present invention was realized in：A kind of freeway tunnel detection car system based on machine vision, including data
Acquisition system, data processing and inversion system and WEB display systems, described data collecting system include detection car car body, supplied
Electric system, control system, EMS, image capturing system and laser scanning system, described electric power system is provided with hair
Motor and uninterrupted power source UPS, described control system are controlled using industrial computer, and described EMS is using an oxidation
Carbon detector and anemobiagraph, it is characterised in that：Described image capturing system includes light source, the first image acquiring device, second
Image acquiring device, mileage positioner, illumination testing apparatus and the prill for being installed on roof, described light source use ripple
Long more than 950nm light, light source sends the light of homogeneous soft, and the first image acquiring device need to shield outside visible ray, and
Two image acquiring devices need to shield more than 900nm light, set corresponding filter before the camera lens of two image acquiring devices respectively
Piece, the optical filter that the first image acquiring device is set only allows 950nm and the light of the above to pass through, the filter of the second image acquiring device
Mating plate only allows below 900nm light to pass through, and the first image acquiring device obtains the apparent defect information image of lining cutting, the second image
Acquisition device obtains the image of the whole ambient light illumination image in tunnel, the first image acquiring device and the collection of the second image acquiring device
Mileage of the positional information respectively with mileage positioner is corresponding, and described laser scanning system is the profile scan device in tunnel.
Described light source sends the light of 950nm wavelengths above, and covered with transparent dielectric layer, in described transparent dielectric layer
Surface is handled using frosted, makes the divergence of beam through the dielectric layer, it is ensured that the uniform light that light source is sent is soft, it is to avoid dizzy
Light.
The white dumb light paint of described prill outside coating, it is ensured that the tunnel whole process figure of the second image acquiring device collection
As free from glare.
The image location information of described the first image acquiring device collection is corresponding with the mileage of mileage positioner, sets up
The apparent disease distribution location drawing of lining cutting in tunnel.
The second described image acquiring device completely carries out real-time photography using prill as object in tunnel, real
When the illumination of bead image is analyzed, extract the illumination of each Zhang little Qiu images, and corresponding with the mileage of mileage positioner,
Set up tunnel internal illumination curve.
Described profile scan device is carried out fast in the driving conditions of detection car by laser scanner to tunnel contour
Speed scanning, the image location information that it scans acquisition is corresponding with the mileage of mileage positioner, sets up tunnel three-dimensional point cloud.
Freeway tunnel detection car system of the present invention based on machine vision, when it detects that car is travelled in tunnel, leads to
Cross vehicle-mounted detection device and continuous Scanning Detction periodically is carried out to tunnel surface, adopted while carrying out omnidirectional images to tunnel surface
Collection, the located lateral of combining laser scanning system and the longitudinal register of detection car, obtain Monitoring Data comprehensively, abundant, and handle
Data are transmitted to industrial computer, and the analyzing and processing of information is acquired by data processing and inversion system, obtain tunnel percolating water,
The data such as peeling, crack and tunnel contour, so as to realize the health monitoring to whole tunnel.
The beneficial effects of the invention are as follows：Compared with traditional detection method, the present invention has very big advantage, due to using
The vehicle-mounted method monitored automatically, can more fully obtain the data in tunnel, and monitoring velocity is faster, and precision is higher, detection
Operation is more convenient and efficient, and cost is substantially reduced.
Brief description of the drawings
Freeway tunnels of the Fig. 1 based on machine vision detects the composition structured flowchart of car system.
Fig. 2 workflow block diagrams.
Embodiment
With reference to the accompanying drawings 1 and 2, a kind of freeway tunnel detection car system based on machine vision of the present invention, including data
Acquisition system, data processing and inversion system and WEB display systems.
Data collecting system is by detecting that the mobile unit on car carries out data acquisition, including detection car car body, power supply system
System, control system, EMS, image capturing system and laser scanning system.
Electric power system is provided with generator and uninterrupted power source UPS, is powered for all mobile units, to ensure the normal work of equipment
Make.
Control system uses industrial computer, and control various kinds of equipment carries out data acquisition.
EMS uses carbonmonoxide detector and anemobiagraph.
Image capturing system include light source, the first image acquiring device, the second image acquiring device, mileage positioner,
Illumination testing apparatus and the prill for being installed on roof.Light source sends the light of 950nm wavelengths above, and covered with transparent medium
Layer, described transparent dielectric layer inner surface is handled using frosted, makes the divergence of beam through the dielectric layer, it is ensured that what light source was sent
Uniform light is soft, it is to avoid dazzle.Prill outside coating white dumb light paint, it is ensured that the tunnel of the second image acquiring device collection
Road whole process image free from glare.
First image acquiring device need to shield outside visible ray, and the second image acquiring device need to shield more than 900nm's
Light, sets corresponding optical filter, the optical filter that the first image acquiring device is set before the camera lens of two image acquiring devices respectively
950nm and the light of the above is only allowed to pass through, the optical filter of the second image acquiring device only allows below 900nm light to pass through, the
One image acquiring device obtains the apparent defect information image of lining cutting, and the second image acquiring device obtains the whole ambient light illumination figure in tunnel
Picture, the first image acquiring device and the second image acquiring device collection image location information respectively with mileage positioner
Journey correspondence, the first image acquiring device sets up the apparent disease distribution location drawing of lining cutting in tunnel.Second image acquiring device is with gold
Category bead is object, real-time photography is completely carried out in tunnel, the illumination to bead image is analyzed in real time, extracts each
The illumination of bead image, and it is corresponding with the mileage of mileage positioner, set up tunnel internal illumination curve.
Laser scanning system is the profile scan device in tunnel.Profile scan device passes through in the driving conditions of detection car
Laser scanner is quickly scanned to tunnel contour, and it scans the mileage of the image location information and mileage positioner obtained
Correspondence, sets up tunnel three-dimensional point cloud.
Data processing and inversion system by data collecting system gather return Various types of data carry out data processing, analysis and
Management, and it is uploaded to data server.The tunnel contour data that wherein tunnel cross-section generation service gathers profile scan device
Tunnel cross-section figure is generated after processing；The figure that image processing services gather the first image acquiring device, the second image acquiring device
As data message carries out image mosaic, tunnel spread figure is generated, and carries out image recognition analysis, tunnel defect information is extracted；Tunnel
Road three-dimensional reconstruction service utilizes the threedimensional model of the data of tunnel cross-section figure and the data tunneling of tunnel spread figure；Data pipe
All kinds of performance datas after analysis are then associated management by reason upload service, and data syn-chronization is uploaded into data server,
It is shown and checks for WEB display systems.The achievement number after analysis is stored by data server in WEB display systems
According to, and it is supplied to user check and browse in the form of a web page by WEB systems.User can be by setting in WEB systems
Tunnel cross-section figure display module, tunnel spread figure display module, defect exhibit design enquiry module, tunnel threedimensional model browsing module and
Environmental data display module, browses check tunnel cross-section figure, tunnel spread figure, defect information, tunnel threedimensional model and ring respectively
Border Monitoring Data.
Specific workflow of the present invention is as follows：
The detection car speed per hour of the present invention is traditionally arranged to be 40KM/ hours at present（More preferable equipment is such as used, up to 60KM/
Hour）.Need the people of driver 1, the people of equipment operator 1.
Percolating water is detected：The water leakage defect of recognizable tunnel surface, area error ± 10cm2.
To peeling off detection：The disease peeling of recognizable tunnel surface, area error ± 10cm2.
Fracture is detected：The disease peeling of recognizable tunnel surface, accuracy of identification 1.5mm.
Tunnel contour is scanned：The cross-sectional outling in tunnel, accuracy of identification 10mm, 0.25 ° of angular resolution can be obtained.
To environmental monitoring：Gather the wind speed and carbonomonoxide concentration in tunnel.
The present invention predominantly detects tunnel contour, tunnel defect, the partial content of environmental data three, by detection car
Each vehicle-mounted detection device carries out data acquisition.
When vehicle is travelled in tunnel, tunnel contour is scanned, the outline data in tunnel is obtained, through data processing and
After analysis system processes, tunnel contour sectional drawing is obtained, and be associated with tunnel mileage.
Tunnel defect is carry out IMAQ of first being taken pictures to tunnel surface, then is carried out by the image photograph to acquisition of taking pictures
Image recognition, identifies the diseases such as crack, peeling, percolating water.
The image of collection can carry out image mosaic, obtain tunnel cross-section spread figure.
During IMAQ, the disease of lower tunnel surface can be shot, the later stage, by the means of image recognition, can analyze corresponding
Defect information.
Using the environment measuring equipment being installed on detection car, every environmental data in tunnel can be gathered, is mainly included
Two detection contents of wind speed and carbonomonoxide concentration.
Each detection device on car is detected after working on power, passes through the industrial computer of the working region in the middle part of detection car
Operational administrative is carried out, corresponding equipment operation and data acquisition can be carried out by the button in the operation interface of industrial computer, together
When industrial computer operation interface on the left of equipment state button can reflect the working condition of each equipment in real time.
Present system is divided into Tunnel testing car acquisition system, data processing and inversion system, exhibition by data flow
Show the part of system three.
Tunnel testing car acquisition system is responsible for the collection of data, by the collecting device on detection car, gathers tunnel
Road outline data, tunnel whole information image（That is the photograph image of tunnel surface）And environmental monitoring data.
Data processing and inversion system is responsible for the processing, analysis and management of data, and tunnel contour data generation tunnel is broken
Face figure, by photograph image splicing generation tunnel cross-section spread figure, rebuilds tunnel threedimensional model, together using outline data and spread figure
When to image photograph carry out graphical analysis, identify the apparent disease of tunnel-liner, then the performance data analyzed is managed
Reason association, is stored into data server.
WEB display systems are responsible for the displaying of outcome data, the performance data of storage are obtained from data server, according to inner
Journey can show, inquire about the profiled outline figure in tunnel, image spread figure, disease distribution situation, environmental monitoring data curve.
The achievement of Tunnel testing car system is mainly comprising tunnel contour sectional drawing, tunnel cross-section spread figure, the three-dimensional mould in tunnel
The apparent disease in type, tunnel（Crack, peeling, percolating water）, 5 contents of environmental monitoring data.
Wherein, tunnel contour sectional drawing, tunnel cross-section spread figure are all picture, and original is utilized by data processing and inversion system
The data for beginning to gather are generated, and are associated with corresponding tunnel mileage.
Data processing and inversion system extracts the class of the apparent disease in tunnel also from the view data of acquired original simultaneously
The information such as type, size, shape, and it is associated with corresponding tunnel mileage and cross section place.
Environmental monitoring data then associates the mileage position of collection position, is stored in corresponding tables of data.
Finally it is uploaded to by the data management upload service of data processing and inversion system in data server, for WEB
System carries out follow-up outcome data displaying.
Claims (6)
1. it is a kind of based on machine vision freeway tunnel detection car system, including data collecting system, data processing and point
Analysis system and WEB display systems, described data collecting system include detection car car body, electric power system, control system, environment inspection
Examining system, image capturing system and laser scanning system, described electric power system are provided with generator and uninterrupted power source UPS, institute
The control system stated is controlled using industrial computer, and described EMS uses carbonmonoxide detector and anemobiagraph, and it is special
Levy and be：Described image capturing system includes light source, the first image acquiring device, the second image acquiring device, mileage positioning
Device, illumination testing apparatus and the prill for being installed on roof, described light source use more than wavelength 950nm light, light source
The light of homogeneous soft is sent, the first image acquiring device need to shield outside visible ray, and the second image acquiring device needs shielding
More than 900nm light, sets corresponding optical filter before the camera lens of two image acquiring devices respectively, and the first image acquiring device is set
The optical filter put only allows 950nm and the light of the above to pass through, and the optical filter of the second image acquiring device only allows below 900nm's
Light is passed through, and the first image acquiring device obtains the apparent defect information image of lining cutting, and it is whole that the second image acquiring device obtains tunnel
The image location information of ambient light illumination image, the first image acquiring device and the collection of the second image acquiring device is fixed with mileage respectively
The mileage correspondence of position device, described laser scanning system is the profile scan device in tunnel.
2. the detection car system of the freeway tunnel based on machine vision according to claim 1, it is characterised in that：Institute
The light source stated sends the light of 950nm wavelengths above, and covered with transparent dielectric layer, described transparent dielectric layer inner surface is using mill
Sand processing, makes the divergence of beam through the dielectric layer, it is ensured that the uniform light that light source is sent is soft, it is to avoid dazzle.
3. the detection car system of the freeway tunnel based on machine vision according to claim 1, it is characterised in that：Institute
The white dumb light paint of prill outside coating stated, it is ensured that the whole image free from glare in tunnel of the second image acquiring device collection.
4. the detection car system of the freeway tunnel based on machine vision according to claim 1, it is characterised in that：Institute
The image location information for the first image acquiring device collection stated is corresponding with the mileage of mileage positioner, sets up the disease in tunnel
Distributing position figure.
5. the detection car system of the freeway tunnel based on machine vision according to claim 1, it is characterised in that：Institute
The second image acquiring device stated completely carries out real-time photography using prill as object in tunnel, in real time to bead figure
The illumination of picture is analyzed, and extracts the illumination of each Zhang little Qiu images, and corresponding with the mileage of mileage positioner, is set up in tunnel
Portion's illumination curve.
6. the detection car system of the freeway tunnel based on machine vision according to claim 1, it is characterised in that：Institute
The profile scan device stated quickly is scanned in the driving conditions of detection car by laser scanner to tunnel contour, and it is swept
The image location information for retouching acquisition is corresponding with the mileage of mileage positioner, sets up tunnel three-dimensional point cloud.
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Address after: 200092 Siping Road, Shanghai, Yangpu District Tongji union Plaza, No. 408, room C, room 1388 Applicant after: Shanghai same rock civil engineering Polytron Technologies Inc Applicant after: SHANGHAI TONGJI CONSTRUCTION QUALITY INSPECTION STATION Address before: 200092 Siping Road, Shanghai, Yangpu District Tongji union Plaza, No. 408, room C, room 1388 Applicant before: Shanghai Tongyan Civil Engineering Technology Co., Ltd. Applicant before: SHANGHAI TONGJI CONSTRUCTION QUALITY INSPECTION STATION |
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