CN107521401A - A kind of existing vcehicular tunnel vehicle - Google Patents
A kind of existing vcehicular tunnel vehicle Download PDFInfo
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- CN107521401A CN107521401A CN201710729132.1A CN201710729132A CN107521401A CN 107521401 A CN107521401 A CN 107521401A CN 201710729132 A CN201710729132 A CN 201710729132A CN 107521401 A CN107521401 A CN 107521401A
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- 238000003379 elimination reaction Methods 0.000 claims abstract description 95
- 238000003860 storage Methods 0.000 claims abstract description 76
- 238000005183 dynamical system Methods 0.000 claims abstract description 69
- 230000001681 protective effect Effects 0.000 claims abstract description 46
- 238000013480 data collection Methods 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 201000010099 disease Diseases 0.000 claims description 99
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 99
- 238000001514 detection method Methods 0.000 claims description 67
- 230000008859 change Effects 0.000 claims description 34
- 239000000835 fiber Substances 0.000 claims description 33
- 230000003287 optical effect Effects 0.000 claims description 33
- 238000005259 measurement Methods 0.000 claims description 29
- 238000012360 testing method Methods 0.000 claims description 29
- 239000000428 dust Substances 0.000 claims description 25
- 238000005070 sampling Methods 0.000 claims description 24
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- 238000009434 installation Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 13
- 238000005520 cutting process Methods 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 12
- 238000011835 investigation Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 230000001186 cumulative effect Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
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Abstract
The present invention relates to a kind of existing vcehicular tunnel vehicle, including dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, dynamical system uses diesel, petrol power, the hybrid power that electric power or above-mentioned power mode combine, camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, geological radar includes high frequency antenna and low frequency electric wire, Precise Position System includes the range unit on wheel, infrared distance measuring device and GPS positioning device of checking the mark positioned at car body both sides；Display system includes real-time device status monitoring interface and real-time data collection checks interface；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device；Protection equipment it include protective cover, heater, frost removal, fan and alarm device；Storage system is used to store the data collected.
Description
Technical field
The present invention relates to a kind of Tunnel testing technical field, more particularly to a kind of existing vcehicular tunnel vehicle.
Background technology
With expanding economy, the traffic in China also develops rapidly, and the construction and research of vcehicular tunnel also achieve rapidly
Development, end the end of the year 2012, national vcehicular tunnel be 10022 at, mileage overall length has reached 805.27 myriametres, with tunnel
Run time is progressively longer, and the visual defects such as percolating water or crack, peeling occurs in the tunnel structure based on concrete material,
And tunnel cross-section deformation, be all unavoidable defect phenomenon, and the long-run development of disease to security cause
Irreversible negative effect.Therefore, the maintenance to tunnel structure is the necessary hand run steadily in the long term for guarantee tunnel traffic
Section.
The daily monitoring of operation tunnel at present, manual work is be unable to do without mostly.For example, the inspection of Tunnel Lining Cracks
Survey, be to be identified using artificial naked eyes, then photograph to record crack speciality form, manual record crack position with tape measure, camera
Confidence ceases.Detected for the Lining Crack more than haunch with vault, then need to use scaffold or high altitude lifting platform car, examined
Survey personnel could close contact to tunnel inner wall, using flashlight lighting, visually check the disease of haunch and vault.This method
The Lining Crack accuracy rate detected is low, easy missing inspection, and in engineering is detected, personnel safety is poor, and detection efficiency is low, 1 kilometer
10 individual demand of tunnel is completed for 1 hour, simultaneously because many positions in tunnel are not easy close to, it is necessary to be examined by vehicular tunnel
Measurement equipment come complete detect work.
Chinese patent literature (application number：20171001877.6) a kind of existing vcehicular tunnel Vehicular system is disclosed, including
Detection car acquisition subsystem, data management and analyzing subsystem and WEB the displaying subsystem being sequentially connected, wherein, detection car is adopted
Subsystem is installed in a van, for gathering tunnel state data；Data management and analyzing subsystem are to the tunnel
Road status data carries out image procossing；WEB shows subsystem to the data after the data management and analyzing subsystem processing
Stored and shown.Although the patent document realizes integrated detection, the technical scheme efficiency is not still high, and image
Gather and analyze and be not accurate enough.
Therefore, there is an urgent need to develop a kind of Tunnel testing car, fast and accurately gathered with reaching defect information, improve disease
The efficiency of evil monitoring.
The content of the invention
Have that automaticity is high, safe efficient, multi-parameter comprehensive the technical problem to be solved in the present invention is to provide one kind
The existing vcehicular tunnel vehicle of detection.
In order to solve the above-mentioned technical problem, the technical proposal of the invention is realized in this way：The existing vcehicular tunnel vehicle
Including dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, guarantor
Protect equipment and storage system, the dynamical system, electric power system, camera system, geological radar, Precise Position System, interference row
Except system, protection equipment and storage system are connected with control system；Wherein：The dynamical system is using diesel, vapour
The hybrid power that oily power, electric power or any of the above-described power mode combine；Also include driver's cabin；Camera system uses
Area array CCD camera, linear array CCD camera or CMOS cameras, camera system also include shooting speed adjusting apparatus；Geological radar includes
High frequency antenna and low frequency electric wire, its centre frequency are 75MHz-1.8GHz, preferably 125MHz-1.75GHz；Geological radar is overall
Product≤800mm × 600mm × 220mm, preferably 700mm × 480mm × 180mm；Precise Position System is included on wheel
Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark；Display system includes real-time device shape
State observation interface and real-time data collection check interface；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out
Device, phase compensator, light compensation device, for exclude uneven dust, fog, road surface, the change of camera shooting distance,
Data distortion caused by speed changing factor or error in data phenomenon；Protection equipment includes protective cover, heater, frost removal, wind
Fan and alarm device, are damaged for preventing and treating instrument because of fog, dust, high temperature or low temperature；Storage system collects for storage
Data.
Using above-mentioned technical proposal, it is by dynamical system, electric power system, geological radar, Precise Position System, display
System, ELIMINATION OF ITS INTERFERENCE system are stored after coordinating the disease geo-radar image of camera system collection vcehicular tunnel by storage system, are realized vehicle-mounted
Integration carries out detection work to tunnel, have ELIMINATION OF ITS INTERFERENCE system exclude dust, fog, road surface be uneven, camera shooting away from
From data distortion or error in data phenomenon caused by change, speed changing factor so that the image of shooting is more accurate, and detection is more
It is accurate to add；The control system uses industrial computer.
The present invention further improvement is that, the camera system includes two groups of A, B, wherein：
A groups include 8-12 platform cameras, are arranged at driver's cabin right rear side in quadrant camber, for shooting highway tunnel
Road surface, the center of circle of the quarter circular arc have one to hang down respectively on the downside of the bottom of existing vcehicular tunnel vehicle or bottom
Directly it is located in road surface to the camera of photographs and one parallel to the camera that road surface is shot to driver's cabin right rear side tunnel
On two radius sides of quarter circular arc；
B groups include 6-10 platform cameras, and wherein at least 2 parallel and camera is downward, for shooting highway pavement.
The present invention further improvement is that, carry open type platform on rear side of the dynamical system, on the open type platform
It is mounted with camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system
System；The electric power system is set with camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection
It is standby to be individually connected with storage system；The signal that described image conversion equipment receives radar is converted into digital picture.
The present invention further improvement is that, the geological radar：Using arm processor, and built-in high speed DSP；Minimum point
Resolution is 5ps, system gain 160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is 128-4096
Sampling point/scanning, it is artificial adjustable；Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m.
The present invention further improvement is that, the geological radar collects average, background between the laggard trade of geologic signals and disappeared
Remove, Real-Time Filtering, superposition denoising after be imaged, meanwhile, the camera system includes：
Image capture module, for gathering the three-dimensional structure disease of tunnel side wall lining cutting, tunnel and road surface angle and road surface
Deformed with section structure；
Laser scanning module, for gathering tunnel entirety and local configuration disease.
The present invention further improvement is that, the Precise Position System also include velocity sensor, angular-rate sensor and
Accelerometer, the route compensation device is infrared range-measurement system, and it is connected with the camera system, and：
Infrared range-measurement system receives reflected signal to after lateral wall surface launching infrared light using the infrared sensor in it, then
Transmitting and the time difference received are handled using ccd image, detection car and unilateral metope are calculated after signal processor processes
Distance, camera focus is then adjusted according to distance change situation in real time；Or
Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope,
Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes
The distance in face, camera focus is then adjusted according to distance change situation in real time.
The present invention further improvement is that, the ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever, the one of the elastic feeler lever
Side be fixed on detection car car body on, another side contacts tunnel wall wall surface and detection car car body and tunnel wall surface be directly in
Horizontality, there is fibre optical sensor on the elastic feeler lever, the fibre optical sensor is connected with the camera system, works as inspection
When measuring car travels in vcehicular tunnel and detects disease, once the distance of car body and tunnel wall surface changes, optical fiber passes
Sensor can change to the real time length of the camera system feedback characteristics feeler lever, and it is burnt that the camera system then adjusts camera in real time
Away from.
The present invention further improvement is that, the geological radar also include radar integral part, radar fixing device, radar
Wheel, telescopic shaft, hand push handle, display screen and action data automation, enable geological radar from existing vcehicular tunnel vehicle
On disassemble exclusive use, the radar integral part is integrated with high frequency antenna, low frequency electric wire and battery, and the radar fixes dress
Put for geological radar to be fixed on into existing vcehicular tunnel vehicle, described 2-4 diameter of radar wheel is less than 20cm wheel, institute
It is telescopic mechanism of the total length in the range of 1.2-1.8m, the flexible axis connection radar integral part and hand-pushing handle to state telescopic shaft
Handle, the display screen can real-time display radar imagery data, the action data automation uses binary channels main frame；And/or
The existing vcehicular tunnel vehicle also includes three-dimensional laser scanner, and it is used to obtain tunnel surface disease geo-radar image
Cloud data, then carry out a cloud using cloud data and form three-dimensional laser disease database, the three-dimensional laser disease
The camera disease database that database obtains with camera system again is contrasted, merged, and forms accurate, clearly disease data
Storehouse.
The present invention further improvement is that, the dynamical system is using diesel, petrol power, electric power or any
The hybrid power that above-mentioned power mode combines；Range unit on the wheel is used to measuring vehicle wheel rotational speed, and by wheel
Speed feedback is to dynamical system, for adjusting detection car travel speed in real time；The protective cover is divided into holding state and work shape
State two states, automatically into working condition when Tunnel testing turner is made, now protective cover pack up and make camera system, geology thunder
Up to being exposed, automatically into holding state when Tunnel testing car does not work, now protective cover supports and by whole camera
System, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are closed
Within space.
The present invention further improvement is that, A groups camera includes support system for by 8-12 platforms camera being in quadrant
Camber arranges, and the support system includes 8-12 tray box, quadrant arc bracket, main bracing frame and base；Institute
State tray box to be arranged on the quadrant arc bracket by quadrant arc is evenly distributed, the quadrant
Arc-shaped bracket is arranged on the base, and the floor installation is on the main bracing frame；The tray box by guide rail with
The quadrant arc bracket is connected and the tray box can slide on the guide rail and enter line position by clamp
Put locking；The main bracing frame is lifting structure, and the main bracing frame adjusts height or manually regulation by motor powered
Highly.Main bracing frame is installed onboard by base fixed mount；Camera is fixed in tray box by the way that camera pallet is integrated；Support
Tray salver is in be detachably connected with the quadrant arc bracket；Sliding block is installed on guide rail, tray box is arranged on sliding block,
Slided by sliding block on guide rail；The outer arcuate edge of quadrant bracket stretches out provided with 7-11 platform, 7-11 platform edge
Outer arcuate edge is alternatively formed gear-like；The tray box is set at interval of a platform distribution；Guide rail is clamped down on provided with two
Device, sliding block are located among two clamps；The both ends of quadrant arc bracket are connected with installing plate, for by a quarter
Circular arc bracket is fixed on base；Leave the space for depositing cable in the bottom of quadrant arc bracket；Tray box
On be covered with the circular holes of two camera lenses for inlaying camera, a square hole is provided between two circular holes and is used to inlay laser range finder；
The both ends of front and rear two blocks of side plates of tray box cave inward to form middle protrusive board, inlay installation between two pieces of middle protrusive boards
There is inertial navigator, fixed plate is provided with tray box, camera is arranged on the fixed plate position corresponding with the circular hole of pallet box cover
Put, fixed plate is arranged on two blocks of the left and right side plate of tray box.
Compared with prior art, it is of the invention to have the advantages that：The vcehicular tunnel Defect inspection car has automatic
The characteristics of change degree is high, safe efficient, multi-parameter comprehensive detects, can rapidly and accurately gather tunnel defect information, and pass through
Analyzing and processing draw tunnel defect result, improve Tunnel testing work efficiency, while saved Tunnel testing work when
Between, human cost is reduced, suitable for being widely popularized.
Brief description of the drawings
Fig. 1 is the structural representation of the existing vcehicular tunnel vehicle of the present invention；
Fig. 2 is the system structure diagram of the existing vcehicular tunnel vehicle of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in embodiments of the invention figure, the technical scheme in the embodiment of the present invention is carried out clear
Chu, complete description.
Embodiment 1：The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, essence
True alignment system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, phase
Machine system, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system
Connect；The existing vcehicular tunnel vehicle also includes driver's cabin；Wherein：The dynamical system uses petrol power, and camera system uses
Area array CCD camera, linear array CCD camera or CMOS cameras, camera system also include shooting speed adjusting apparatus；Geological radar includes
High frequency antenna and low frequency electric wire, its centre frequency are 125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm ×
180mm；Precise Position System includes the range unit on wheel, the infrared distance measuring device positioned at car body both sides and checked the mark
GPS positioning device；Display system includes real-time device status monitoring interface and real-time data collection checks interface；ELIMINATION OF ITS INTERFERENCE system
System include repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for exclude dust,
Fog, road surface is uneven, camera shooting distance changes, data distortion or error in data phenomenon caused by speed changing factor；
Protection equipment includes protective cover, heater, frost removal, fan and alarm device, for preventing and treating instrument because of fog, dust, high temperature
Or low temperature and be damaged；Storage system is used to store the data collected；The camera system includes two groups of A, B, wherein：A groups are wrapped
8 cameras are included, are arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, described four points
One of circular arc the center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have respectively one perpendicular to road surface to photographs
Camera and one be located at the two of quarter circular arc to the camera that driver's cabin right rear side tunnel is shot parallel to road surface
On individual radius side；B groups include 6 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement；Institute
Carry open type platform on rear side of dynamical system is stated, camera system, geological radar is mounted with the open type platform, is accurately positioned
System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system；The electric power system and camera system, geology thunder
Reach, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system；The figure
As the signal that conversion equipment receives radar is converted into digital picture；The geological radar：Using arm processor, and embed
High-speed dsp；Minimum resolution is 5ps, system gain 160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling
Count as 128-4096 sampling points/scanning, it is artificial adjustable；Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-
8m；The geological radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after carry out
Imaging, meanwhile, the camera system also includes：Image capture module, for gathering tunnel side wall lining cutting, tunnel and road surface angle
Deformed with the three-dimensional structure disease and section structure on road surface；Laser scanning module, for gathering tunnel entirety and local configuration
Disease, the Precise Position System also include velocity sensor, angular-rate sensor and accelerometer, the route compensation device
It is infrared range-measurement system, it is connected with the camera system, and：Infrared range-measurement system utilizes after launching infrared light to bilateral metope
Infrared sensor in it receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, through signal
The distance of detection car and bilateral metope is calculated after processor processing, camera Jiao is then adjusted according to distance change situation in real time
Away from；The ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever, and the side of the elastic feeler lever is fixed on detection car car body, opposite side
Contact tunnel wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, has on the elastic feeler lever
Fibre optical sensor, the fibre optical sensor are connected with the camera system, when detection car is travelled and detected in vcehicular tunnel
During disease, once the distance of car body and tunnel wall surface changes, fibre optical sensor can feed back bullet to the camera system
Property feeler lever real time length change, the camera system then adjusts camera focus in real time；The existing vcehicular tunnel vehicle also wraps
Three-dimensional laser scanner is included, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, is then carried out a little using cloud data
Cloud forms three-dimensional laser disease database, the camera disease that the three-dimensional laser disease database obtains with camera system again
Database is contrasted, merged, and forms accurate, clearly disease database；The dynamical system uses petrol power；The car
Range unit on wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into dynamical system, for adjusting detection car in real time
Travel speed；The protective cover is divided into holding state and working condition two states, automatically into work when Tunnel testing turner is made
Make state, now protective cover is packed up and makes camera system, geological radar is exposed, when Tunnel testing car does not work automatically into
Holding state, now protective cover support and by whole camera system, geological radar, Precise Position System, display system, dry
Removal system, protection equipment and storage system protection are disturbed within confined space；A groups camera includes support system and is used for 8
Camera arranges in quadrant camber, and the support system includes 8 tray boxes, quadrant arc bracket, main body branch
Support and base；The tray box is arranged on the quadrant arc bracket by quadrant arc is evenly distributed,
The quadrant arc bracket is arranged on the base, and the floor installation is on the main bracing frame；The support
Tray salver is connected by guide rail with the quadrant arc bracket and the tray box can slide on the guide rail and logical
Cross clamp and carry out position locking；The main bracing frame is lifting structure, and the main bracing frame is adjusted by motor powered
Height or Manual height；Main bracing frame is installed onboard by base fixed mount；Camera is integrated solid by camera pallet
It is scheduled in tray box；Tray box is in be detachably connected with the quadrant arc bracket；Sliding block, pallet are installed on guide rail
Box is arranged on sliding block, is slided by sliding block on guide rail；The outer arcuate edge of quadrant bracket stretches out provided with 7 platforms, and 7
Individual platform is alternatively formed gear-like along outer arcuate edge；The tray box is set at interval of a platform distribution；Guide rail is provided with
Two clamps, sliding block are located among two clamps；The both ends of quadrant arc bracket are connected with installing plate, for inciting somebody to action
Quadrant arc bracket is fixed on base；Leave the sky for depositing cable in the bottom of quadrant arc bracket
Between；The circular hole of two camera lenses for inlaying camera is covered with tray box, it is sharp for inlaying to be provided with a square hole between two circular holes
Optar；The both ends of front and rear two blocks of side plates of tray box cave inward to form middle protrusive board, two pieces of middle protrusive boards it
Between inlay inertial navigator be installed, fixed plate is provided with tray box, camera is arranged on the circular hole of fixed plate and pallet box cover
Corresponding position, fixed plate are arranged on two blocks of the left and right side plate of tray box.
Embodiment 2：Difference from Example 1 is, infrared range-measurement system is to utilizing it after lateral wall surface launching infrared light
Interior infrared sensor receives reflected signal, then transmitting and the time difference received is handled using ccd image, through signal processor
The distance of detection car and unilateral metope is calculated after processing, camera focus is then adjusted according to distance change situation in real time；Specifically
Ground：The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, Precise Position System, aobvious
Show system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system, geology thunder
Reach, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；The vcehicular tunnel
Detection vehicle also includes driver's cabin；Wherein：The dynamical system uses petrol power, and camera system is using area array CCD camera, line
Array CCD camera or CMOS cameras, camera system also include shooting speed adjusting apparatus；Geological radar includes high frequency antenna and low frequency
Electric wire, its centre frequency are 75MHz-1.8GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；Precise Position System
Including the range unit on wheel, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark；Display system
Interface is checked including real-time device status monitoring interface and real-time data collection；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit is put
Big device, line building-out unit, phase compensator, light compensation device, for excluding, dust, fog, road surface be uneven, phase
Data distortion or error in data phenomenon caused by the change of machine shooting distance, speed changing factor；Protection equipment includes protective cover, added
Hot device, frost removal, fan and alarm device, it is damaged for preventing and treating instrument because of fog, dust, high temperature or low temperature；Storage system
For storing the data collected；The camera system includes two groups of A, B, wherein：A groups include 8 cameras, at driver's cabin rear
Right side arranges in quadrant camber, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is in highway tunnel
Road detection vehicle bottom or bottom on the downside of, have respectively one perpendicular to road surface to the camera of photographs and one parallel to road
Camera towards the shooting of driver's cabin right rear side tunnel is located on two radius sides of quarter circular arc；B groups include 6 phases
Machine, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement；Carry open type on rear side of the dynamical system
Platform, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system are mounted with the open type platform
System, protection equipment and storage system；The electric power system and camera system, geological radar, Precise Position System, display system,
ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are individually connected；Described image conversion equipment receives radar
Signal is converted into digital picture；The geological radar：Using arm processor, and built-in high speed DSP；Minimum resolution is 5ps,
System gain is 160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is 128-4096 sampling points/scanning,
It is artificial adjustable；Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；The geological radar collects geology
It is imaged between the laggard trade of signal after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system also wraps
Include：Image capture module, for gathering the three-dimensional structure disease and section of tunnel side wall lining cutting, tunnel and road surface angle and road surface
Malformation；Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System also includes
Velocity sensor, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, itself and the camera system
System is connected, and：Infrared range-measurement system receives reflection letter to after lateral wall surface launching infrared light using the infrared sensor in it
Number, the time difference launched with receiving then is handled using ccd image, detection car and one side are calculated after signal processor processes
The distance of metope, camera focus is then adjusted according to distance change situation in real time；The ELIMINATION OF ITS INTERFERENCE system also includes elasticity and visited
Bar, the side of the elastic feeler lever are fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body
Directly it is horizontal with tunnel wall surface, there is fibre optical sensor, the fibre optical sensor and institute on the elastic feeler lever
Camera system is stated to be connected, when detection car travels in vcehicular tunnel and detects disease, once car body and tunnel wall surface
Distance change, fibre optical sensor can to the camera system feedback characteristics feeler lever real time length change, the camera
System then adjusts camera focus in real time；The existing vcehicular tunnel vehicle also includes three-dimensional laser scanner, and it is used to obtain tunnel
The cloud data of road surface disease geo-radar image, then carry out a cloud using cloud data and form three-dimensional laser disease database,
The camera disease database that the three-dimensional laser disease database obtains with camera system again is contrasted, merged, formed it is accurate,
Clearly disease database；Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into power
System, for adjusting detection car travel speed in real time；The protective cover is divided into holding state and working condition two states, tunnel
Automatically into working condition when detection turner is made, now protective cover is packed up and makes camera system, geological radar is exposed, tunnel
Detection car is automatically into holding state when not working, and now protective cover supports and by whole camera systems, geological radar, essence
True alignment system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space；A group cameras
Including support system be used for by 8 cameras in quadrant camber arrange, the support system including 8 tray boxes, four points
One of circular arc bracket, main bracing frame and base；Described in the tray box is arranged on by quadrant arc is evenly distributed
On quadrant arc bracket, the quadrant arc bracket is arranged on the base, and the floor installation is in institute
State on main bracing frame；The tray box is connected by guide rail with the quadrant arc bracket and the tray box can
Slided on the guide rail and position locking is carried out by clamp；The main bracing frame is lifting structure, the main body branch
Support adjusts height or Manual height by motor powered；Main bracing frame is installed onboard by base fixed mount；Phase
Machine is fixed in tray box by the way that camera pallet is integrated；Tray box is in be detachably connected with the quadrant arc bracket；
Sliding block is installed, tray box is arranged on sliding block, slided by sliding block on guide rail on guide rail；The outer arcuate edge of quadrant bracket
Stretch out and be provided with 7 platforms, 7 platforms are alternatively formed gear-like along outer arcuate edge；The tray box is flat at interval of one
Platform distribution is set；Guide rail is provided with two clamps, and sliding block is located among two clamps；The two of quadrant arc bracket
End is connected with installing plate, for quadrant arc bracket to be fixed on into base；The bottom of quadrant arc bracket
Leave the space for depositing cable；The circular hole of two camera lenses for inlaying camera is covered with tray box, between two circular holes
It is used to inlay laser range finder provided with a square hole；The both ends of front and rear two blocks of side plates of tray box cave inward to be formed it is middle convex
Plate, inlay between two pieces of middle protrusive boards and inertial navigator is installed, fixed plate is provided with tray box, camera is arranged on fixation
The plate position corresponding with the circular hole of pallet box cover, fixed plate are arranged on two blocks of the left and right side plate of tray box.
Embodiment 3：Difference from Example 1 is that dynamical system is diesel systems；Specifically：The vcehicular tunnel is examined
Measuring car includes dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE
System, protection equipment and storage system, the dynamical system, electric power system, camera system, geological radar, Precise Position System,
ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；The existing vcehicular tunnel vehicle also includes driving
Sail room；Wherein：The dynamical system uses diesel；Camera system uses area array CCD camera, linear array CCD camera or CMOS
Camera, camera system also include shooting speed adjusting apparatus；Geological radar includes high frequency antenna and low frequency electric wire, its centre frequency
For 125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；Precise Position System is included on wheel
Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark；Display system includes real-time device shape
State observation interface and real-time data collection check interface；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out
Device, phase compensator, light compensation device, for exclude uneven dust, fog, road surface, the change of camera shooting distance,
Data distortion caused by speed changing factor or error in data phenomenon；Protection equipment includes protective cover, heater, frost removal, wind
Fan and alarm device, are damaged for preventing and treating instrument because of fog, dust, high temperature or low temperature；Storage system collects for storage
Data；The camera system includes two groups of A, B, wherein：A groups include 8 cameras, are in a quarter at driver's cabin right rear side
Circular arc type arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is at the bottom of existing vcehicular tunnel vehicle
On the downside of end or bottom, have respectively one perpendicular to road surface to the camera of photographs and one parallel to road surface to driver's cabin rear
The camera of right side tunnel shooting is located on two radius sides of quarter circular arc；B groups include 6 cameras, wherein at least have
Two camera is parallel and camera is downward, for shooting highway pavement；Carry open type platform on rear side of the dynamical system, it is described
Be mounted with open type platform camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection set
Standby and storage system；The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system
System, protection equipment are individually connected with storage system；The signal that described image conversion equipment receives radar is converted into
Digital picture；The geological radar：Using arm processor, and built-in high speed DSP；Minimum resolution is 5ps, and system gain is
160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is 128-4096 sampling points/scanning, artificial adjustable；
Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；The geological radar is carried out after collecting geologic signals
It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system also includes：Image is adopted
Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform；
Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System also includes velocity pick-up
Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, and it is connected with the camera system
Connect, and：Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope,
Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes
The distance in face, camera focus is then adjusted according to distance change situation in real time；The ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever,
The side of the elastic feeler lever is fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body and tunnel
Road wall surface is directly horizontal, and has fibre optical sensor, the fibre optical sensor and the phase on the elastic feeler lever
Machine system is connected, and is travelled when detecting car in vcehicular tunnel and when detecting disease, once car body and tunnel wall surface away from
From changing, fibre optical sensor can change to the real time length of the camera system feedback characteristics feeler lever, the camera system
Camera focus is then adjusted in real time；The existing vcehicular tunnel vehicle also includes three-dimensional laser scanner, and it is used to obtain tunnel table
The cloud data of face disease geo-radar image, then carry out a cloud using cloud data and form three-dimensional laser disease database, it is described
The camera disease database that three-dimensional laser disease database obtains with camera system again is contrasted, merged, and it is accurate, clear to be formed
Disease database；Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into dynamical system,
For adjusting detection car travel speed in real time；The protective cover is divided into holding state and working condition two states, Tunnel testing
Automatically into working condition when turner is made, now protective cover is packed up and makes camera system, geological radar is exposed, Tunnel testing
Automatically into holding state when car does not work, now protective cover supports and by whole camera system, geological radar, accurate fixed
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space；A group cameras include
Support system is used to arrange 8 cameras in quadrant camber, and the support system includes 8 tray boxes, a quarters
Circular arc bracket, main bracing frame and base；The tray box is arranged on described four points by quadrant arc is evenly distributed
One of on circular arc bracket, the quadrant arc bracket is arranged on the base, and the floor installation is in the master
On body support frame；The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be in institute
State and slided on guide rail and position locking is carried out by clamp；The main bracing frame is lifting structure, the main bracing frame
Height or Manual height are adjusted by motor powered.Main bracing frame is installed onboard by base fixed mount；Camera leads to
Cross that camera pallet is integrated to be fixed in tray box；Tray box is in be detachably connected with the quadrant arc bracket；Guide rail
On sliding block is installed, tray box is arranged on sliding block, is slided by sliding block on guide rail；The outer arcuate edge of quadrant bracket is outside
Extension is provided with 7 platforms, and 7 platforms are alternatively formed gear-like along outer arcuate edge；The tray box is at interval of a platform point
Cloth is set；Guide rail is provided with two clamps, and sliding block is located among two clamps；The both ends of quadrant arc bracket connect
Installing plate is connected to, for quadrant arc bracket to be fixed on into base；Leave the bottom of quadrant arc bracket
For depositing the space of cable；The circular hole of two camera lenses for inlaying camera is covered with tray box, is provided between two circular holes
One square hole is used to inlay laser range finder；The both ends of front and rear two blocks of side plates of tray box cave inward to form middle protrusive board, and two
Inlayed among described in block between protrusive board and inertial navigator be installed, be provided with fixed plate in tray box, camera be arranged on fixed plate and
The corresponding position of the circular hole of pallet box cover, fixed plate are arranged on two blocks of the left and right side plate of tray box.
Embodiment 4：Difference from Example 1 is that dynamical system is power driven system；Specifically：The vcehicular tunnel is examined
Measuring car includes dynamical system, electric power system, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE
System, protection equipment and storage system, the dynamical system, electric power system, camera system, geological radar, Precise Position System,
ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；The existing vcehicular tunnel vehicle also includes driving
Sail room；Wherein：The dynamical system uses electric power；Camera system uses area array CCD camera, linear array CCD camera or CMOS phases
Machine, camera system also include shooting speed adjusting apparatus；Geological radar includes high frequency antenna and low frequency electric wire, and its centre frequency is
125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；Precise Position System is included on wheel
Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark；Display system includes real-time device state
Observation interface and real-time data collection check interface；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out dress
Put, phase compensator, light compensation device, for excluding dust, fog, road surface is uneven, camera shooting distance changes, car
Data distortion caused by fast changing factor or error in data phenomenon；Protection equipment includes protective cover, heater, frost removal, fan
And alarm device, it is damaged for preventing and treating instrument because of fog, dust, high temperature or low temperature；Storage system is used to store what is collected
Data；The camera system includes two groups of A, B, wherein：A groups include 8 cameras, are in quadrant at driver's cabin right rear side
Camber arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is in the bottom of existing vcehicular tunnel vehicle
Or on the downside of bottom, have respectively one it is right to driver's cabin rear parallel to road surface to the camera of photographs and one perpendicular to road surface
The camera of side tunnel shooting is located on two radius sides of quarter circular arc；B groups include 6 cameras, wherein at least there is two
Platform camera is parallel and camera is downward, for shooting highway pavement；Carry open type platform on rear side of the dynamical system, it is described spacious
Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are mounted with open type platform
And storage system；The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system
System, protection equipment are individually connected with storage system；The signal that described image conversion equipment receives radar is converted into
Digital picture；The geological radar：Using arm processor, and built-in high speed DSP；Minimum resolution is 5ps, and system gain is
160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is 128-4096 sampling points/scanning, artificial adjustable；
Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；The geological radar is carried out after collecting geologic signals
It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system also includes：Image is adopted
Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform；
Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System also includes velocity pick-up
Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, and it is connected with the camera system
Connect, and：Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope,
Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes
The distance in face, camera focus is then adjusted according to distance change situation in real time；The ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever,
The side of the elastic feeler lever is fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body and tunnel
Road wall surface is directly horizontal, and has fibre optical sensor, the fibre optical sensor and the phase on the elastic feeler lever
Machine system is connected, and is travelled when detecting car in vcehicular tunnel and when detecting disease, once car body and tunnel wall surface away from
From changing, fibre optical sensor can change to the real time length of the camera system feedback characteristics feeler lever, the camera system
Camera focus is then adjusted in real time；The existing vcehicular tunnel vehicle also includes three-dimensional laser scanner, and it is used to obtain tunnel table
The cloud data of face disease geo-radar image, then carry out a cloud using cloud data and form three-dimensional laser disease database, it is described
The camera disease database that three-dimensional laser disease database obtains with camera system again is contrasted, merged, and it is accurate, clear to be formed
Disease database；Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into dynamical system,
For adjusting detection car travel speed in real time；The protective cover is divided into holding state and working condition two states, Tunnel testing
Automatically into working condition when turner is made, now protective cover is packed up and makes camera system, geological radar is exposed, Tunnel testing
Automatically into holding state when car does not work, now protective cover supports and by whole camera system, geological radar, accurate fixed
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space；A group cameras include
Support system is used to arrange 8 cameras in quadrant camber, and the support system includes 8 tray boxes, a quarters
Circular arc bracket, main bracing frame and base；The tray box is arranged on described four points by quadrant arc is evenly distributed
One of on circular arc bracket, the quadrant arc bracket is arranged on the base, and the floor installation is in the master
On body support frame；The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be in institute
State and slided on guide rail and position locking is carried out by clamp；The main bracing frame is lifting structure, the main bracing frame
Height or Manual height are adjusted by motor powered.Main bracing frame is installed onboard by base fixed mount；Camera leads to
Cross that camera pallet is integrated to be fixed in tray box；Tray box is in be detachably connected with the quadrant arc bracket；Guide rail
On sliding block is installed, tray box is arranged on sliding block, is slided by sliding block on guide rail；The outer arcuate edge of quadrant bracket is outside
Extension is provided with 7 platforms, and 7 platforms are alternatively formed gear-like along outer arcuate edge；The tray box is at interval of a platform point
Cloth is set；Guide rail is provided with two clamps, and sliding block is located among two clamps；The both ends of quadrant arc bracket connect
Installing plate is connected to, for quadrant arc bracket to be fixed on into base；Leave the bottom of quadrant arc bracket
For depositing the space of cable；The circular hole of two camera lenses for inlaying camera is covered with tray box, is provided between two circular holes
One square hole is used to inlay laser range finder；The both ends of front and rear two blocks of side plates of tray box cave inward to form middle protrusive board, and two
Inlayed among described in block between protrusive board and inertial navigator be installed, be provided with fixed plate in tray box, camera be arranged on fixed plate and
The corresponding position of the circular hole of pallet box cover, fixed plate are arranged on two blocks of the left and right side plate of tray box.
Embodiment 5：Difference from Example 1 is that dynamical system is that petrol power system and electric propulsion system mix
Power；Specifically：The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate fixed
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system
System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；Should
Existing vcehicular tunnel vehicle also includes driver's cabin；Wherein：The dynamical system is that petrol power system and electric propulsion system mix
Power；Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, and camera system also includes shooting speed and adjusted
Device；Geological radar includes high frequency antenna and low frequency electric wire, and its centre frequency is 125MHz-1.75GHz；Geological radar cumulative volume
700mm×480mm×180mm；Precise Position System includes the range unit on wheel, the infrared survey positioned at car body both sides
Away from device and GPS positioning device of checking the mark；Display system includes real-time device status monitoring interface and real-time data collection checks boundary
Face；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device,
Data distortion caused by for excluding uneven dust, fog, road surface, the change of camera shooting distance, speed changing factor or
Error in data phenomenon；Protection equipment includes protective cover, heater, frost removal, fan and alarm device, for preventing and treating instrument because of mist
Gas, dust, high temperature or low temperature and be damaged；Storage system is used to store the data collected；The camera system includes A, B two
Group, wherein：A groups include 8 cameras, are arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel
Surface, the center of circle of the quarter circular arc have one vertically respectively on the downside of the bottom of existing vcehicular tunnel vehicle or bottom
It is located at four parallel to the camera that road surface is shot to driver's cabin right rear side tunnel to the camera of photographs and one in road surface
On two radius sides of/mono- circular arc；B groups include 6 cameras, and wherein at least having two, camera is parallel and camera is downward, use
In shooting highway pavement；Carry open type platform on rear side of the dynamical system, be mounted with the open type platform camera system,
Geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system；The electric power system with
Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are single respectively
Solely it is connected；The signal that described image conversion equipment receives radar is converted into digital picture；The geological radar：Using
Arm processor, and built-in high speed DSP；Minimum resolution is 5ps, system gain 160dB；Sweep speed be 20-100 scanning/
Second, it is artificial adjustable；Sampling number is 128-4096 sampling points/scanning, artificial adjustable；Measuring wheel is provided with, for horizontal range mark
Note；Investigation depth is 0-8m；The geological radar collect average, background elimination between the laggard trade of geologic signals, Real-Time Filtering,
It is imaged after superposition denoising, meanwhile, the camera system also includes：Image capture module, for gather tunnel side wall lining cutting,
Tunnel deforms with the three-dimensional structure disease and section structure on road surface angle and road surface；Laser scanning module, it is whole for gathering tunnel
Body and local configuration disease, the Precise Position System also include velocity sensor, angular-rate sensor and accelerometer, institute
It is infrared range-measurement system to state route compensation device, and it is connected with the camera system, and infrared range-measurement system is sent out to bilateral metope
Penetrate after infrared light and receive reflected signal respectively using the infrared sensor in it, then handle transmitting using ccd image and receive
Time difference, the distance of detection car and bilateral metope is calculated after signal processor processes, then according to distance change situation
Adjustment camera focus in real time；The ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever, and the side of the elastic feeler lever is fixed on detection
On car car body, another side contacts tunnel wall wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, institute
Stating has fibre optical sensor on elastic feeler lever, the fibre optical sensor is connected with the camera system, when detection Che highways
When being travelled in tunnel and detecting disease, once the distance of car body and tunnel wall surface changes, fibre optical sensor can be to institute
The real time length change of camera system feedback characteristics feeler lever is stated, the camera system then adjusts camera focus in real time；The highway
Tunnel testing vehicle also includes three-dimensional laser scanner, and it is used for the cloud data for obtaining tunnel surface disease geo-radar image, Ran Houli
Carry out cloud with cloud data and form a three-dimensional laser disease database, the three-dimensional laser disease database again with camera system
The camera disease database that system obtains is contrasted, merged, and forms accurate, clearly disease database；Survey on the wheel
It is used to measure vehicle wheel rotational speed away from device, and vehicle wheel rotational speed is fed back into dynamical system, for adjusts detection car travel speed in real time；
The protective cover is divided into holding state and working condition two states, automatically into working condition when Tunnel testing turner is made, this
When protective cover is packed up and makes camera system, geological radar is exposed, automatically into holding state when Tunnel testing car does not work,
Now protective cover supports and by whole camera systems, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system
System, protection equipment and storage system protection are within confined space；A groups camera includes support system and is used to 8 cameras be in four
/ mono- circular arc type arranges, and the support system includes 8 tray boxes, quadrant arc bracket, main bracing frame and bottom
Seat；The tray box is arranged on the quadrant arc bracket by quadrant arc is evenly distributed, described four points
One of circular arc bracket be arranged on the base on, the floor installation is on the main bracing frame；The tray box passes through
Guide rail is connected with the quadrant arc bracket and the tray box can slide on the guide rail and pass through clamp
Carry out position locking；The main bracing frame is lifting structure, and the main bracing frame adjusts height or hand by motor powered
Dynamic regulation height.Main bracing frame is installed onboard by base fixed mount；Camera is fixed on pallet by the way that camera pallet is integrated
In box；Tray box is in be detachably connected with the quadrant arc bracket；Sliding block is installed, tray box is arranged on guide rail
On sliding block, slided by sliding block on guide rail；The outer arcuate edge of quadrant bracket stretches out provided with 7 platforms, 7 platform edges
Outer arcuate edge is alternatively formed gear-like；The tray box is set at interval of a platform distribution；Guide rail is clamped down on provided with two
Device, sliding block are located among two clamps；The both ends of quadrant arc bracket are connected with installing plate, for by a quarter
Circular arc bracket is fixed on base；Leave the space for depositing cable in the bottom of quadrant arc bracket；Tray box
On be covered with the circular holes of two camera lenses for inlaying camera, a square hole is provided between two circular holes and is used to inlay laser range finder；
The both ends of front and rear two blocks of side plates of tray box cave inward to form middle protrusive board, inlay installation between two pieces of middle protrusive boards
There is inertial navigator, fixed plate is provided with tray box, camera is arranged on the fixed plate position corresponding with the circular hole of pallet box cover
Put, fixed plate is arranged on two blocks of the left and right side plate of tray box.
Embodiment 6：Difference with embodiment 1 is, dynamical system is diesel and petrol power combine it is mixed
Close dynamical system；Specifically：The existing vcehicular tunnel vehicle include dynamical system, electric power system, camera system, geological radar,
Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system,
Camera system, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system with control system phase
Connection；The existing vcehicular tunnel vehicle also includes driver's cabin；Wherein：The dynamical system use dynamical system for diesel and
The hybrid power system that petrol power combines；Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras,
Camera system also includes shooting speed adjusting apparatus；Geological radar includes high frequency antenna and low frequency electric wire, and its centre frequency is
125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；Precise Position System is included on wheel
Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark；Display system includes real-time device state
Observation interface and real-time data collection check interface；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out dress
Put, phase compensator, light compensation device, for excluding dust, fog, road surface is uneven, camera shooting distance changes, car
Data distortion caused by fast changing factor or error in data phenomenon；Protection equipment includes protective cover, heater, frost removal, fan
And alarm device, it is damaged for preventing and treating instrument because of fog, dust, high temperature or low temperature；Storage system is used to store what is collected
Data；The camera system includes two groups of A, B, wherein：A groups include 8 cameras, are in quadrant at driver's cabin right rear side
Camber arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is in the bottom of existing vcehicular tunnel vehicle
Or on the downside of bottom, have respectively one it is right to driver's cabin rear parallel to road surface to the camera of photographs and one perpendicular to road surface
The camera of side tunnel shooting is located on two radius sides of quarter circular arc；B groups include 6 cameras, wherein at least there is two
Platform camera is parallel and camera is downward, for shooting highway pavement；Carry open type platform on rear side of the dynamical system, it is described spacious
Camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are mounted with open type platform
And storage system；The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system
System, protection equipment are individually connected with storage system；The signal that described image conversion equipment receives radar is converted into
Digital picture；The geological radar：Using arm processor, and built-in high speed DSP；Minimum resolution is 5ps, and system gain is
160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is 128-4096 sampling points/scanning, artificial adjustable；
Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；The geological radar is carried out after collecting geologic signals
It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system also includes：Image is adopted
Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform；
Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System also includes velocity pick-up
Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, and it is connected with the camera system
Connect, and：Infrared range-measurement system receives reflected signal to after lateral wall surface launching infrared light using the infrared sensor in it, then
Transmitting and the time difference received are handled using ccd image, detection car and unilateral metope are calculated after signal processor processes
Distance, camera focus is then adjusted according to distance change situation in real time；Or after infrared range-measurement system launches infrared light to bilateral metope
Reflected signal is received respectively using the infrared sensor in it, then handles transmitting and the time difference received, warp using ccd image
The distance of detection car and bilateral metope is calculated after signal processor processes, camera is then adjusted according to distance change situation in real time
Focal length；The ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever, and the side of the elastic feeler lever is fixed on detection car car body, another
Side contacts tunnel wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, has on the elastic feeler lever
There is fibre optical sensor, the fibre optical sensor is connected with the camera system, when detection car is travelled and examined in vcehicular tunnel
When surveying disease, once the distance of car body and tunnel wall surface changes, fibre optical sensor can feed back to the camera system
The real time length change of elastic feeler lever, the camera system then adjust camera focus in real time；The existing vcehicular tunnel vehicle is also
Including three-dimensional laser scanner, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, then carried out using cloud data
Point cloud forms three-dimensional laser disease database, the camera disease that the three-dimensional laser disease database obtains with camera system again
Evil database is contrasted, merged, and forms accurate, clearly disease database；Range unit on the wheel is used to measure
Vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into dynamical system, for adjusting detection car travel speed in real time；The protective cover is divided into
Holding state and working condition two states, automatically into working condition when Tunnel testing turner is made, now protective cover is packed up simultaneously
Camera system, geological radar is exposed, automatically into holding state, now protective cover support when Tunnel testing car does not work
Get up and by whole camera systems, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and deposit
Storage system is protected within confined space；A groups camera includes support system and is used to arrange 8 cameras in quadrant camber
Row, the support system include 8 tray boxes, quadrant arc bracket, main bracing frame and base；The tray box is pressed
Quadrant arc is evenly distributed to be arranged on the quadrant arc bracket, the quadrant arc bracket peace
On the base, the floor installation is on the main bracing frame；The tray box by guide rail with described four/
One circular arc bracket is connected and the tray box can slide on the guide rail and carries out position locking by clamp；It is described
Main bracing frame is lifting structure, and the main bracing frame adjusts height or Manual height by motor powered.Main body branch
Support is installed onboard by base fixed mount；Camera is fixed in tray box by the way that camera pallet is integrated；Tray box with it is described
Quadrant arc bracket is in be detachably connected；Sliding block is installed, tray box is arranged on sliding block, existed by sliding block on guide rail
Slided on guide rail；The outer arcuate edge of quadrant bracket stretches out replaces shape provided with 7 platforms, 7 platforms along outer arcuate edge
Into gear-like；The tray box is set at interval of a platform distribution；Guide rail is provided with two clamps, and sliding block is located at two pincers
Among device processed；The both ends of quadrant arc bracket are connected with installing plate, for quadrant arc bracket to be fixed on
On base；Leave the space for depositing cable in the bottom of quadrant arc bracket；Two edges are covered with tray box
The circular hole of the camera lens of embedding camera, a square hole is provided between two circular holes and is used to inlay laser range finder；Front and rear two pieces of tray box
The both ends of side plate cave inward to form middle protrusive board, are inlayed between two pieces of middle protrusive boards and are provided with inertial navigator, support
Fixed plate is provided with tray salver, camera is arranged on the fixed plate position corresponding with the circular hole of pallet box cover, and fixed plate is arranged on
On two blocks of the left and right side plate of tray box.
Embodiment 7：Difference with embodiment 1 is that the geological radar also includes radar integral part, radar fixes dress
Put, radar wheel, telescopic shaft, hand push handle, display screen and action data automation, geological radar is examined from vcehicular tunnel
Exclusive use is disassembled on measuring car, the radar integral part is integrated with high frequency antenna, low frequency electric wire and battery, the radar
Fixing device is used to geological radar being fixed on existing vcehicular tunnel vehicle, and described 2-4 diameter of radar wheel is less than 20cm's
Wheel, the telescopic shaft are telescopic mechanism of the total length in the range of 1.2-1.8m, the flexible axis connection radar integral part
With hand push handle, the display screen can real-time display radar imagery data, the action data automation uses binary channels master
Machine；Specifically：The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, is accurately positioned
System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system,
Geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；The public affairs
Road Tunnel testing vehicle also includes driver's cabin；Wherein：The dynamical system uses petrol power；Camera system uses area array CCD
Camera, linear array CCD camera or CMOS cameras, camera system also include shooting speed adjusting apparatus；Geological radar includes high frequency day
Line and low frequency electric wire, its centre frequency are 125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；Essence
True alignment system includes the range unit on wheel, the infrared distance measuring device positioned at car body both sides and GPS location of checking the mark dress
Put；Display system includes real-time device status monitoring interface and real-time data collection checks interface；During ELIMINATION OF ITS INTERFERENCE system includes
After device, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for excluding dust, fog, road surface
Data distortion or error in data phenomenon caused by uneven, camera shooting distance change, speed changing factor；Protection equipment bag
Include protective cover, heater, frost removal, fan and alarm device, for prevent and treat instrument because of fog, dust, high temperature or low temperature and by
Damage；Storage system is used to store the data collected；The camera system includes two groups of A, B, wherein：A groups include 8 cameras,
Arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, the quarter circular arc
The center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have respectively one perpendicular to camera from road surface to photographs and
One is located on two radius sides of quarter circular arc parallel to road surface to the camera that driver's cabin right rear side tunnel is shot；
B groups include 6 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement；After the dynamical system
Pendant carries open type platform, and camera system, geological radar, Precise Position System, display system are mounted with the open type platform
System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system；The electric power system and camera system, geological radar, it is accurately positioned and is
System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system；Described image conversion equipment will
The signal that radar receives is converted into digital picture；The geological radar：Using arm processor, and built-in high speed DSP；It is minimum
Resolution ratio is 5ps, system gain 160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is 128-
4096 sampling points/scanning, it is artificial adjustable；Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；The geology
Radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after be imaged, meanwhile, institute
Stating camera system also includes：Image capture module, for gathering tunnel side wall lining cutting, tunnel and the three-dimensional on road surface angle and road surface
Structural defect and section structure deformation；Laser scanning module is described accurate for gathering tunnel entirety and local configuration disease
Alignment system also includes velocity sensor, angular-rate sensor and accelerometer, and the route compensation device is infrared range-measurement system,
It is connected with the camera system, and：Infrared range-measurement system utilizes the infrared biography in it after launching infrared light to bilateral metope
Sensor receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, after signal processor processes
The distance of detection car and bilateral metope is calculated, camera focus is then adjusted according to distance change situation in real time；The interference row
Except system also includes elastic feeler lever, the side of the elastic feeler lever is fixed on detection car car body, another side contacts tunnel wall wall
Surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, has fibre optical sensor on the elastic feeler lever,
The fibre optical sensor is connected with the camera system, when detection car travels in vcehicular tunnel and detects disease, once
The distance of car body and tunnel wall surface changes, and fibre optical sensor can be to the real-time of the camera system feedback characteristics feeler lever
Length change, the camera system then adjust camera focus in real time；The geological radar also includes radar integral part, radar is fixed
Device, radar wheel, telescopic shaft, hand push handle, display screen and action data automation, enable geological radar from vcehicular tunnel
Exclusive use is disassembled on detection vehicle, the radar integral part is integrated with high frequency antenna, low frequency electric wire and battery, the thunder
It is used to geological radar being fixed on existing vcehicular tunnel vehicle up to fixing device, described 2-4 diameter of radar wheel is less than 20cm
Wheel, the telescopic shaft is telescopic mechanism of the total length in the range of 1.2-1.8m, and the flexible axis connection radar integrates
Portion and hand push handle, the display screen can real-time display radar imagery data, the action data automation uses binary channels
Main frame；The existing vcehicular tunnel vehicle also includes three-dimensional laser scanner, and it is used for the point for obtaining tunnel surface disease geo-radar image
Cloud data, then carry out a cloud using cloud data and form three-dimensional laser disease database, the three-dimensional laser disease number
The camera disease database obtained again with camera system according to storehouse is contrasted, merged, and forms accurate, clearly disease database；
Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into dynamical system, for adjusting in real time
Detect car travel speed；The protective cover is divided into holding state and working condition two states, and Tunnel testing turner is automatic when making
Into working condition, now protective cover is packed up and makes camera system, geological radar is exposed, when Tunnel testing car does not work certainly
Dynamic to enter holding state, now protective cover supports and by whole camera systems, geological radar, Precise Position System, display
System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space；A groups camera is used including support system
In by 8 cameras in quadrant camber arrange, the support system include 8 tray boxes, quadrant arc bracket,
Main bracing frame and base；The tray box is arranged on the quadrant arc support by quadrant arc is evenly distributed
On frame, the quadrant arc bracket is arranged on the base, and the floor installation is on the main bracing frame；Institute
State that tray box is connected by guide rail with the quadrant arc bracket and the tray box can slide on the guide rail
And position locking is carried out by clamp；The main bracing frame is lifting structure, and the main bracing frame passes through motor powered
Regulation height or Manual height；Main bracing frame is installed onboard by base fixed mount；Camera passes through camera pallet
Into being fixed in tray box；Tray box is in be detachably connected with the quadrant arc bracket；Sliding block is installed on guide rail,
Tray box is arranged on sliding block, is slided by sliding block on guide rail；The outer arcuate edge of quadrant bracket stretches out flat provided with 7
Platform, 7 platforms are alternatively formed gear-like along outer arcuate edge；The tray box is set at interval of a platform distribution；On guide rail
Provided with two clamps, sliding block is located among two clamps；The both ends of quadrant arc bracket are connected with installing plate, use
It is fixed in by quadrant arc bracket on base；Leave for depositing cable the bottom of quadrant arc bracket
Space；The circular hole of two camera lenses for inlaying camera is covered with tray box, a square hole is provided between two circular holes and is used to inlay
Laser range finder；The both ends of front and rear two blocks of side plates of tray box cave inward to form middle protrusive board, two pieces of middle protrusive boards
Between inlay inertial navigator be installed, fixed plate is provided with tray box, camera is arranged on the circle of fixed plate and pallet box cover
The corresponding position in hole, fixed plate are arranged on two blocks of the left and right side plate of tray box.
Embodiment 8：Difference from Example 1 is that the A groups in camera system include 8 cameras, and B groups include 10
Camera, specifically：The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate fixed
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system
System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；Should
Existing vcehicular tunnel vehicle also includes driver's cabin；Wherein：The dynamical system uses petrol power；Camera system uses face battle array
CCD camera, linear array CCD camera or CMOS cameras, camera system also include shooting speed adjusting apparatus；Geological radar includes high frequency
Antenna and low frequency electric wire, its centre frequency are 125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；
Precise Position System includes range unit, the infrared distance measuring device positioned at car body both sides and the GPS location of checking the mark on wheel
Device；Display system includes real-time device status monitoring interface and real-time data collection checks interface；ELIMINATION OF ITS INTERFERENCE system includes
Repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for excluding dust, fog, road
Face is uneven, camera shooting distance changes, data distortion or error in data phenomenon caused by speed changing factor；Protection equipment
Including protective cover, heater, frost removal, fan and alarm device, for preventing and treating instrument because of fog, dust, high temperature or low temperature and
It is impaired；Storage system is used to store the data collected；The camera system includes two groups of A, B, wherein：A groups include 8 phases
Machine, arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, the quarter circular arc
The center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have a camera perpendicular to road surface to photographs respectively
With two radius sides for being located at parallel to road surface quarter circular arc to the camera that driver's cabin right rear side tunnel is shot
On；B groups include 10 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement；The dynamical system
System rear side carry open type platform, camera system, geological radar, Precise Position System, aobvious is mounted with the open type platform
Show system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system；The electric power system and camera system, geological radar, accurately determine
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system；Described image converting means
Put the signal for receiving radar and be converted into digital picture；The geological radar：Using arm processor, and built-in high speed DSP；
Minimum resolution is 5ps, system gain 160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is
128-4096 sampling points/scanning, it is artificial adjustable；Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；It is described
Geological radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after be imaged, together
When, the camera system also includes：Image capture module, for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface
Three-dimensional structure disease and section structure deformation；Laser scanning module, for gathering tunnel entirety and local configuration disease, institute
Stating Precise Position System also includes velocity sensor, angular-rate sensor and accelerometer, and the route compensation device is infrared
Rangefinder, it is connected with the camera system, and：Infrared range-measurement system is utilized in it after launching infrared light to bilateral metope
Infrared sensor receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, through signal processor
The distance of detection car and bilateral metope is calculated after processing, camera focus is then adjusted according to distance change situation in real time；It is described
ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever, and the side of the elastic feeler lever is fixed on detection car car body, another side contacts tunnel
Road wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, on the elastic feeler lever there is optical fiber to pass
Sensor, the fibre optical sensor are connected with the camera system, when detection car travels in vcehicular tunnel and detects disease,
Once the distance of car body and tunnel wall surface changes, fibre optical sensor can be to the camera system feedback characteristics feeler lever
Real time length changes, and the camera system then adjusts camera focus in real time；The existing vcehicular tunnel vehicle also includes three-dimensional sharp
Photoscanner, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, then carries out a cloud shape using cloud data
Into three-dimensional laser disease database, the camera disease database that the three-dimensional laser disease database obtains with camera system again enters
Row contrast, fusion, form accurate, clearly disease database；Range unit on the wheel is used to measure vehicle wheel rotational speed, and
Vehicle wheel rotational speed is fed back into dynamical system, for adjusting detection car travel speed in real time；The protective cover be divided into holding state and
Working condition two states, automatically into working condition when Tunnel testing turner is made, now protective cover pack up and make camera system,
Geological radar is exposed, and automatically into holding state when Tunnel testing car does not work, now protective cover supports and will be complete
Portion's camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection
Within confined space；A groups camera includes support system and is used to arrange 8 cameras in quadrant camber, the support
System includes 8 tray boxes, quadrant arc bracket, main bracing frame and base；The tray box presses quadrant
Arc uniform arrangement is arranged on the quadrant arc bracket, and the quadrant arc bracket is arranged on the bottom
On seat, the floor installation is on the main bracing frame；The tray box passes through guide rail and the quadrant arc support
Frame is connected and the tray box can slide on the guide rail and carries out position locking by clamp；The main bracing frame
For lifting structure, the main bracing frame adjusts height or Manual height by motor powered；Main bracing frame passes through bottom
The installation of seat fixed mount is onboard；Camera is fixed in tray box by the way that camera pallet is integrated；Tray box and the quadrant
Arc-shaped bracket is in be detachably connected；Sliding block is installed, tray box is arranged on sliding block, is slided by sliding block on guide rail on guide rail
It is dynamic；The outer arcuate edge of quadrant bracket stretches out is alternatively formed gear-like provided with 7 platforms, 7 platforms along outer arcuate edge；
The tray box is set at interval of a platform distribution；Guide rail is provided with two clamps, and sliding block is located among two clamps；
The both ends of quadrant arc bracket are connected with installing plate, for quadrant arc bracket to be fixed on into base；Four
Leave the space for depositing cable in the bottom of/mono- circular arc bracket；Two mirrors for inlaying camera are covered with tray box
The circular hole of head, a square hole is provided between two circular holes and is used to inlay laser range finder；The both ends of front and rear two blocks of side plates of tray box
Cave inward to form middle protrusive board, inlayed between two pieces of middle protrusive boards and inertial navigator is installed, be provided with tray box
Fixed plate, camera are arranged on the fixed plate position corresponding with the circular hole of pallet box cover, and fixed plate is arranged on a left side for tray box
On right two blocks of side plates.
Embodiment 9：Difference from Example 1 is that A groups include 12 cameras in the camera system, and B groups include 6
Platform camera, specifically：The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate
Alignment system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera
System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；
The existing vcehicular tunnel vehicle also includes driver's cabin；Wherein：The dynamical system uses petrol power；Camera system uses face battle array
CCD camera, linear array CCD camera or CMOS cameras, camera system also include shooting speed adjusting apparatus；Geological radar includes high frequency
Antenna and low frequency electric wire, its centre frequency are 125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；
Precise Position System includes range unit, the infrared distance measuring device positioned at car body both sides and the GPS location of checking the mark on wheel
Device；Display system includes real-time device status monitoring interface and real-time data collection checks interface；ELIMINATION OF ITS INTERFERENCE system includes
Repeater, circuit amplifying device, line building-out unit, phase compensator, light compensation device, for excluding dust, fog, road
Face is uneven, camera shooting distance changes, data distortion or error in data phenomenon caused by speed changing factor；Protection equipment
Including protective cover, heater, frost removal, fan and alarm device, for preventing and treating instrument because of fog, dust, high temperature or low temperature and
It is impaired；Storage system is used to store the data collected；The camera system includes two groups of A, B, wherein：A groups include 12 phases
Machine, arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel surface, the quarter circular arc
The center of circle on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have a camera perpendicular to road surface to photographs respectively
With two radius sides for being located at parallel to road surface quarter circular arc to the camera that driver's cabin right rear side tunnel is shot
On；B groups include 6 cameras, wherein there is two, camera is parallel and camera is downward, for shooting highway pavement；The dynamical system
System rear side carry open type platform, camera system, geological radar, Precise Position System, aobvious is mounted with the open type platform
Show system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system；The electric power system and camera system, geological radar, accurately determine
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system；Described image converting means
Put the signal for receiving radar and be converted into digital picture；The geological radar：Using arm processor, and built-in high speed DSP；
Minimum resolution is 5ps, system gain 160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is
128-4096 sampling points/scanning, it is artificial adjustable；Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；It is described
Geological radar collects average, background eliminations between the laggard trade of geologic signals, Real-Time Filtering, be superimposed denoising after be imaged, together
When, the camera system also includes：Image capture module, for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface
Three-dimensional structure disease and section structure deformation；Laser scanning module, for gathering tunnel entirety and local configuration disease, institute
Stating Precise Position System also includes velocity sensor, angular-rate sensor and accelerometer, and the route compensation device is infrared
Rangefinder, it is connected with the camera system, and：Infrared range-measurement system is utilized in it after launching infrared light to bilateral metope
Infrared sensor receives reflected signal respectively, then transmitting and the time difference received is handled using ccd image, through signal processor
The distance of detection car and bilateral metope is calculated after processing, camera focus is then adjusted according to distance change situation in real time；It is described
ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever, and the side of the elastic feeler lever is fixed on detection car car body, another side contacts tunnel
Road wall surface is simultaneously directly horizontal in detection car car body and tunnel wall surface, on the elastic feeler lever there is optical fiber to pass
Sensor, the fibre optical sensor are connected with the camera system, when detection car travels in vcehicular tunnel and detects disease,
Once the distance of car body and tunnel wall surface changes, fibre optical sensor can be to the camera system feedback characteristics feeler lever
Real time length changes, and the camera system then adjusts camera focus in real time；The existing vcehicular tunnel vehicle also includes three-dimensional sharp
Photoscanner, it is used for the cloud data for obtaining tunnel surface disease geo-radar image, then carries out a cloud shape using cloud data
Into three-dimensional laser disease database, the camera disease database that the three-dimensional laser disease database obtains with camera system again enters
Row contrast, fusion, form accurate, clearly disease database；Range unit on the wheel is used to measure vehicle wheel rotational speed, and
Vehicle wheel rotational speed is fed back into dynamical system, for adjusting detection car travel speed in real time；The protective cover be divided into holding state and
Working condition two states, automatically into working condition when Tunnel testing turner is made, now protective cover pack up and make camera system,
Geological radar is exposed, and automatically into holding state when Tunnel testing car does not work, now protective cover supports and will be complete
Portion's camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection
Within confined space；A groups camera includes support system and is used to arrange 12 cameras in quadrant camber, the support
System includes 12 tray boxes, quadrant arc bracket, main bracing frame and base；The tray box presses quadrant
Arc uniform arrangement is arranged on the quadrant arc bracket, and the quadrant arc bracket is arranged on the bottom
On seat, the floor installation is on the main bracing frame；The tray box passes through guide rail and the quadrant arc support
Frame is connected and the tray box can slide on the guide rail and carries out position locking by clamp；The main bracing frame
For lifting structure, the main bracing frame adjusts height or Manual height by motor powered；Main bracing frame passes through bottom
The installation of seat fixed mount is onboard；Camera is fixed in tray box by the way that camera pallet is integrated；Tray box and the quadrant
Arc-shaped bracket is in be detachably connected；Sliding block is installed, tray box is arranged on sliding block, is slided by sliding block on guide rail on guide rail
It is dynamic；The outer arcuate edge of quadrant bracket stretches out is alternatively formed gear provided with 11 platforms, 11 platforms along outer arcuate edge
Shape；The tray box is set at interval of a platform distribution；Guide rail is provided with two clamps, and sliding block is located in two clamps
Between；The both ends of quadrant arc bracket are connected with installing plate, for quadrant arc bracket to be fixed on into base；
Leave the space for depositing cable in the bottom of quadrant arc bracket；Two are covered with tray box and inlays camera
The circular hole of camera lens, a square hole is provided between two circular holes and is used to inlay laser range finder；The two of front and rear two blocks of side plates of tray box
End caves inward to form middle protrusive board, is inlayed between two pieces of middle protrusive boards and is provided with inertial navigator, set in tray box
There is fixed plate, camera is arranged on the fixed plate position corresponding with the circular hole of pallet box cover, and fixed plate is arranged on tray box
On the side plate of two blocks of left and right.
Embodiment 10：Difference with embodiment 1 is that A groups include 10 cameras in the camera system, and B groups include 8
Camera；Specifically：The existing vcehicular tunnel vehicle includes dynamical system, electric power system, camera system, geological radar, accurate fixed
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, the dynamical system, electric power system, camera system
System, geological radar, Precise Position System, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system are connected with control system；Its
In：The dynamical system uses petrol power；Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, phase
Machine system also includes shooting speed adjusting apparatus；Geological radar includes high frequency antenna and low frequency electric wire, and its centre frequency is
125MHz-1.75GHz；Geological radar cumulative volume 700mm × 480mm × 180mm；Precise Position System is included on wheel
Range unit, the infrared distance measuring device positioned at car body both sides and GPS positioning device of checking the mark；Display system includes real-time device state
Observation interface and real-time data collection check interface；ELIMINATION OF ITS INTERFERENCE system includes repeater, circuit amplifying device, line build-out dress
Put, phase compensator, light compensation device, for excluding dust, fog, road surface is uneven, camera shooting distance changes, car
Data distortion caused by fast changing factor or error in data phenomenon；Protection equipment includes protective cover, heater, frost removal, fan
And alarm device, it is damaged for preventing and treating instrument because of fog, dust, high temperature or low temperature；Storage system is used to store what is collected
Data；The camera system includes two groups of A, B, wherein：A groups include 10 cameras, are in a quarter at driver's cabin right rear side
Circular arc type arranges, and for shooting vcehicular tunnel surface, the center of circle of the quarter circular arc is at the bottom of existing vcehicular tunnel vehicle
On the downside of end or bottom, have respectively one perpendicular to road surface to the camera of photographs and one parallel to road surface to driver's cabin rear
The camera of right side tunnel shooting is located on two radius sides of quarter circular arc；B groups include 8 cameras, wherein there is two
Camera is parallel and camera is downward, for shooting highway pavement；Carry open type platform on rear side of the dynamical system, it is described to open wide
Be mounted with formula platform camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and
Storage system；The electric power system and camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system,
Protection equipment is individually connected with storage system；The signal that described image conversion equipment receives radar is converted into numeral
Image；The geological radar：Using arm processor, and built-in high speed DSP；Minimum resolution is 5ps, and system gain is
160dB；Sweep speed is 20-100 scannings/second, artificial adjustable；Sampling number is 128-4096 sampling points/scanning, artificial adjustable；
Measuring wheel is provided with, is marked for horizontal range；Investigation depth is 0-8m；The geological radar is carried out after collecting geologic signals
It is imaged between road after average, background elimination, Real-Time Filtering, superposition denoising, meanwhile, the camera system also includes：Image is adopted
Collect module, the three-dimensional structure disease and section structure for gathering tunnel side wall lining cutting, tunnel and road surface angle and road surface deform；
Laser scanning module, for gathering tunnel entirety and local configuration disease, the Precise Position System also includes velocity pick-up
Device, angular-rate sensor and accelerometer, the route compensation device is infrared range-measurement system, and it is connected with the camera system
Connect, and：Infrared range-measurement system utilizes the infrared sensor in it to receive reflected signal respectively after launching infrared light to bilateral metope,
Then using ccd image processing transmitting and the time difference received, detection car and bilateral wall are calculated after signal processor processes
The distance in face, camera focus is then adjusted according to distance change situation in real time；The ELIMINATION OF ITS INTERFERENCE system also includes elastic feeler lever,
The side of the elastic feeler lever is fixed on detection car car body, and another side contacts tunnel wall wall surface is simultaneously detecting car car body and tunnel
Road wall surface is directly horizontal, and has fibre optical sensor, the fibre optical sensor and the phase on the elastic feeler lever
Machine system is connected, and is travelled when detecting car in vcehicular tunnel and when detecting disease, once car body and tunnel wall surface away from
From changing, fibre optical sensor can change to the real time length of the camera system feedback characteristics feeler lever, the camera system
Camera focus is then adjusted in real time；The existing vcehicular tunnel vehicle also includes three-dimensional laser scanner, and it is used to obtain tunnel table
The cloud data of face disease geo-radar image, then carry out a cloud using cloud data and form three-dimensional laser disease database, it is described
The camera disease database that three-dimensional laser disease database obtains with camera system again is contrasted, merged, and it is accurate, clear to be formed
Disease database；Range unit on the wheel is used to measure vehicle wheel rotational speed, and vehicle wheel rotational speed is fed back into dynamical system,
For adjusting detection car travel speed in real time；The protective cover is divided into holding state and working condition two states, Tunnel testing
Automatically into working condition when turner is made, now protective cover is packed up and makes camera system, geological radar is exposed, Tunnel testing
Automatically into holding state when car does not work, now protective cover supports and by whole camera system, geological radar, accurate fixed
Position system, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system protection are within confined space；A group cameras include
Support system be used for by 10 cameras in quadrant camber arrange, the support system including 10 tray boxes, four/
One circular arc bracket, main bracing frame and base；The tray box is arranged on described four by quadrant arc is evenly distributed
On/mono- circular arc bracket, the quadrant arc bracket is arranged on the base, and the floor installation is described
On main bracing frame；The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be
Slided on the guide rail and position locking is carried out by clamp；The main bracing frame is lifting structure, the body supports
Frame adjusts height or Manual height by motor powered；Main bracing frame is installed onboard by base fixed mount；Camera
It is fixed on by the way that camera pallet is integrated in tray box；Tray box is in be detachably connected with the quadrant arc bracket；Lead
Sliding block is installed, tray box is arranged on sliding block, slided by sliding block on guide rail on rail；The outer arcuate edge of quadrant bracket to
Outer extension is provided with 9 platforms, and 9 platforms are alternatively formed gear-like along outer arcuate edge；The tray box is at interval of a platform
Distribution is set；Guide rail is provided with two clamps, and sliding block is located among two clamps；The both ends of quadrant arc bracket
Installing plate is connected with, for quadrant arc bracket to be fixed on into base；Stay the bottom of quadrant arc bracket
There is the space for depositing cable；The circular hole of two camera lenses for inlaying camera is covered with tray box, is set between two circular holes
There is a square hole to be used to inlay laser range finder；The both ends of front and rear two blocks of side plates of tray box cave inward to form middle protrusive board,
Inlayed between two pieces of middle protrusive boards and inertial navigator is installed, be provided with fixed plate in tray box, camera is arranged on fixed plate
The position corresponding with the circular hole of pallet box cover, fixed plate are arranged on two blocks of the left and right side plate of tray box.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements done etc., should be included in the scope of the protection with principle.
Claims (10)
1. a kind of existing vcehicular tunnel vehicle, it is characterised in that including control system, dynamical system, electric power system, camera system
System, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection equipment and storage system, wherein：
The mixing that dynamical system is combined using diesel, petrol power, electric power or any of the above-described power mode is moved
Power, in addition to driver's cabin；
Camera system uses area array CCD camera, linear array CCD camera or CMOS cameras, and camera system also includes shooting speed and adjusted
Device；
Geological radar includes high frequency antenna and low frequency electric wire, and its centre frequency is 75MHz-1.8GHz, and geological radar cumulative volume≤
800mm×600mm×220mm；
Precise Position System includes the range unit on wheel, infrared distance measuring device and GPS location positioned at car body both sides
Device；
Display system includes real-time device status monitoring interface and real-time data collection checks interface；
ELIMINATION OF ITS INTERFERENCE system is for excluding dust, fog, road surface is uneven, camera shooting distance changes, speed changing factor
Caused by data distortion or error in data phenomenon, it includes repeater, circuit amplifying device, line building-out unit, phase compensation
Device, light compensation device；
Protection equipment is damaged for preventing and treating instrument because of fog, dust, high temperature or low temperature, and it includes protective cover, heater, defrosting
Device, fan and alarm device；
Storage system is used to store the data collected.
2. existing vcehicular tunnel vehicle according to claim 1, it is characterised in that：The camera system includes two groups of A, B,
Wherein：
A groups include 8-12 platform cameras, are arranged at driver's cabin right rear side in quadrant camber, for shooting vcehicular tunnel table
Face, the center of circle of the quarter circular arc on the downside of the bottom of existing vcehicular tunnel vehicle or bottom, have respectively one perpendicular to
Road surface is located at four points to the camera of photographs and one parallel to the camera that road surface is shot to driver's cabin right rear side tunnel
One of on two radius sides of circular arc；
B groups include 6-10 platform cameras, and wherein at least 2 parallel and camera is downward, for shooting highway pavement.
3. existing vcehicular tunnel vehicle according to claim 2, it is characterised in that：Carry opens wide on rear side of the dynamical system
Formula platform, camera system, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE are mounted with the open type platform
System, protection equipment and storage system；The electric power system and camera system, geological radar, Precise Position System, display system
System, ELIMINATION OF ITS INTERFERENCE system, protection equipment are individually connected with storage system；Described image conversion equipment receives radar
Signal be converted into digital picture.
4. existing vcehicular tunnel vehicle according to claim 3, it is characterised in that the geological radar：
Using arm processor, and built-in high speed DSP；
Minimum resolution is 5ps, system gain 180dB；
Sweep speed is 30-200 scannings/second, artificial adjustable；
Sampling number is 64-4096 sampling points/scanning, artificial adjustable；
Measuring wheel is provided with, is marked for horizontal range；
Investigation depth is 0-8m.
5. existing vcehicular tunnel vehicle according to claim 4, it is characterised in that the geological radar collects geology letter
Average, background eliminations, Real-Time Filtering between number laggard trade, it is imaged after being superimposed denoising, meanwhile, the camera system includes：
Image capture module, for gathering the three-dimensional structure disease of tunnel side wall lining cutting, tunnel and road surface angle and road surface and breaking
Face malformation；
Laser scanning module, for gathering tunnel entirety and local configuration disease.
6. the existing vcehicular tunnel vehicle according to claim 2 or 4, it is characterised in that the Precise Position System also wraps
Velocity sensor, angular-rate sensor and accelerometer are included, the route compensation device is infrared range-measurement system, itself and camera system
It is connected, and：
Infrared range-measurement system is to lateral wall surface launchingInfrared lightReflected signal is received using the infrared sensor of infrared range-measurement system afterwards, so
Afterwards using ccd image processing transmitting and the time difference received, detection car and unilateral metope are calculated after signal processor processes
Distance, camera focus is then adjusted according to distance change situation in real time；Or
Infrared range-measurement system is launched to bilateral metopeInfrared lightReflection letter is received respectively using the infrared sensor of infrared range-measurement system afterwards
Number, transmitting and the time difference received then are handled using ccd image, detection car and bilateral are calculated after signal processor processes
The distance of metope, camera focus is then adjusted according to distance change situation in real time.
7. existing vcehicular tunnel vehicle according to claim 5, it is characterised in that the ELIMINATION OF ITS INTERFERENCE system also includes bullet
Property feeler lever, the elastic feeler lever side be fixed on detection car car body on, another side contacts tunnel wall wall surface simultaneously detection car car
Body and tunnel wall surface are directly horizontal, and have fibre optical sensor on the elastic feeler lever, the fibre optical sensor with
Camera system is connected, when detection car travels in vcehicular tunnel and detects disease, once car body and tunnel wall surface
Distance changes, and fibre optical sensor can change to the real time length of camera system feedback characteristics feeler lever, and camera system is adjusted in real time
Whole camera focus.
8. the existing vcehicular tunnel vehicle according to claim 4 or 5, it is characterised in that：
The geological radar also include radar integral part, radar fixing device, radar wheel, telescopic shaft, hand push handle, display screen and
Action data automation, geological radar is set to disassemble exclusive use, the radar from existing vcehicular tunnel vehicle
Integral part is integrated with high frequency antenna, low frequency electric wire and battery, and the radar fixing device is used to geological radar being fixed on highway
On Tunnel testing vehicle, described 2-4 diameter of radar wheel is less than 20cm wheel, and the telescopic shaft is total length in 1.2-1.8m
In the range of telescopic mechanism, the flexible axis connection radar integral part and hand push handle, the display screen can real-time display thunders
Up to imaging data, the action data automation uses binary channels main frame；And/or
The existing vcehicular tunnel vehicle also includes three-dimensional laser scanner, and it is used for the point cloud for obtaining tunnel surface disease geo-radar image
Data, then carry out a cloud using cloud data and form three-dimensional laser disease database, the three-dimensional laser disease data
The camera disease database that storehouse obtains with camera system again is contrasted, merged, and forms more accurate, clearly disease data
Storehouse.
9. existing vcehicular tunnel vehicle according to claim 1 or 5, it is characterised in that：Range unit on the wheel
Dynamical system is fed back to for measuring vehicle wheel rotational speed, and by vehicle wheel rotational speed, for adjusting detection car travel speed in real time；It is described anti-
Shield is divided into holding state and working condition two states, automatically into working condition when Tunnel testing turner is made, now protects
Cover is packed up and makes camera system, geological radar is exposed, and automatically into holding state when Tunnel testing car does not work, now prevents
Shield support and by whole camera systems, geological radar, Precise Position System, display system, ELIMINATION OF ITS INTERFERENCE system, protection
Equipment and storage system protection are within confined space.
10. existing vcehicular tunnel vehicle according to claim 2, it is characterised in that：A group cameras are used for including support system
8-12 platforms camera is arranged in quadrant camber, the support system includes 8-12 tray box, quadrant arc
Bracket, main bracing frame and base；The tray box is arranged on the quadrant by quadrant arc is evenly distributed
On arc-shaped bracket, the quadrant arc bracket is arranged on the base, and the floor installation is in the body supports
On frame；The tray box is connected by guide rail with the quadrant arc bracket and the tray box can be in the guide rail
It is upper to slide and pass through clamp progress position locking；The main bracing frame is lifting structure, and the main bracing frame passes through electricity
Machine motorized adjustment height or Manual height.
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| CN201710729132.1A CN107521401A (en) | 2017-08-23 | 2017-08-23 | A kind of existing vcehicular tunnel vehicle |
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| CN201710729132.1A CN107521401A (en) | 2017-08-23 | 2017-08-23 | A kind of existing vcehicular tunnel vehicle |
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