CN110346370A - Tunnel defect detection device, system and method - Google Patents
Tunnel defect detection device, system and method Download PDFInfo
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- CN110346370A CN110346370A CN201910647152.3A CN201910647152A CN110346370A CN 110346370 A CN110346370 A CN 110346370A CN 201910647152 A CN201910647152 A CN 201910647152A CN 110346370 A CN110346370 A CN 110346370A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
This application involves a kind of tunnel defect detection devices, system and method.Tunnel defect detection device includes mileage detection module, isochronous controller, image collecting device and control device.Mileage detection module is used to obtain mileage measurement data during mobile vehicle is advanced in target tunnel, and is sent to isochronous controller.Isochronous controller is used to generate the control data of image collecting device, and control data are sent to image collecting device according to mileage measurement data.Image collecting device is used for the inner wall image according to control data acquisition target tunnel, and inner wall image is sent to control device.Multiple inner wall images of image acquisition device during control device is used to be advanced in target tunnel according to mobile vehicle determine target tunnel with the presence or absence of disease.Tunnel defect detection device provided by the embodiments of the present application can effectively improve the reliability of tunnel defect detection.
Description
Technical field
This application involves engineering safety detection technique fields, in particular to a kind of tunnel defect detection device, system
And method.
Background technique
With the rapid development of each key city subway network in the whole nation, a large amount of tunnels are built up rapidly, and tunnel is because gradually old
The influence of the factors such as change, external natural calamity destruction, inner wall will appear the diseases such as crack, infiltration, chip off-falling, and therefore, it is necessary to regular
Tunnel is detected, to take maintenance measure after disease occurs, to guarantee the safe operation of rail traffic.Mesh
Before, China's tunnel defect detects mainly using manual static test mode, and manual static test mode determines that tunnel is
No there are diseases, are often affected by collector's subjective factor, and therefore, reliability is lower.
Summary of the invention
The purpose of the embodiment of the present application is, provides a kind of tunnel defect detection device, system and method, is improved with realizing
The technical effect of tunnel defect detection reliability.
In a first aspect, the embodiment of the present application provides a kind of tunnel defect detection device, including mileage detection module, synchronization
Controller, image collecting device and control device, the isochronous controller are adopted with the mileage detection module, described image respectively
Acquisition means are connected with the control device, and described image acquisition device is also connect with the control device, and the mileage detects
Module, the isochronous controller and described image acquisition device can be set on mobile vehicle；
The mileage detection module is used to obtain the mileage measurement during mobile vehicle is advanced in target tunnel
Data, and it is sent to the isochronous controller；
The isochronous controller is used to generate the control number of described image acquisition device according to the mileage measurement data
According to, and the control data are sent to described image acquisition device；
Described image acquisition device is used to acquire the inner wall image in the target tunnel according to the control data, and by institute
It states inner wall image and is sent to the control device；
The control device is adopted for described image during traveling in the target tunnel according to the mobile vehicle
Multiple inner wall images of acquisition means acquisition determine the target tunnel with the presence or absence of disease.
Tunnel defect detection device provided by the embodiments of the present application can obtain mobile vehicle by mileage detection module and exist
Mileage measurement data during advancing in target tunnel, and it is sent to isochronous controller, and isochronous controller is in receiving
After journey continuous data, the control data of image collecting device can be generated, and will control data hair according to mileage measurement data
It send to image collecting device, so that inner wall image of the image collecting device according to control data acquisition target tunnel, and by inner wall
Image is sent to control device, hereafter, Image Acquisition during control device is advanced in target tunnel further according to mobile vehicle
Multiple inner wall images of device acquisition determine target tunnel with the presence or absence of disease.In this way, just improving entire tunnel defect detection
The mechanization degree and the degree of automation of process, compared to the prior art in, for the manual static test mode of use, just can
Enough effectively improve the detection efficiency and reliability of tunnel defect detection.
With reference to first aspect, the embodiment of the present application provides the first optional embodiment of first aspect, the control
Device processed is used to judge with the presence or absence of the target image with Disease Characters in multiple described inner wall images, and described in multiple
There are when the target image in wall image, according to mileage measurement data when acquiring the target image, the target is obtained
Corresponding position of the image in the target tunnel.
In the embodiment of the present application, control device is used to judge in multiple inner wall images with the presence or absence of the mesh with Disease Characters
Logo image, and there are when target image in multiple inner wall images, mileage measurement data when according to acquisition target image, obtains
Therefore corresponding position of the target image in target tunnel is determining that target tunnel there are when disease, just can obtain mesh in time
There are the positions of disease in mark tunnel, to improve the timeliness for taking target tunnel maintenance measure, to guarantee rail traffic
Safe operation.
With reference to first aspect, the embodiment of the present application provides second of optional embodiment of first aspect, in described
Journey detection module includes encoder, and the encoder is used to be set to the wheel of the mobile vehicle, with the wheel
Coded pulse is generated when rotation, the mileage measurement data are the coded pulse；
The control data count the coded pulse for the isochronous controller, and according to the coded pulse
Counting obtain trigger pulse.
In the embodiment of the present application, mileage detection module includes encoder, and encoder is used to be set to the wheel of mobile vehicle
On, to generate coded pulse when with vehicle wheel rotation, mileage measurement data are coded pulse, and control data are isochronous controller pair
Coded pulse is counted, and the trigger pulse obtained according to the counting of coded pulse.In this way, just can ensure that mobile vehicle exists
During advancing in target tunnel, there are spatial coherences for multiple inner wall images of image acquisition device, so that in multiple
Wall image is capable of all inner wall spaces in coverage goal tunnel, to improve the reliability of tunnel defect detection.
The optional embodiment of second with reference to first aspect, the embodiment of the present application provide the third of first aspect
Optional embodiment, the control device include industrial personal computer and display device, the industrial personal computer respectively with the synchronously control
Device, described image acquisition device are connected with the display device；
The counting and a coded pulse of coded pulse when the industrial personal computer is used for according to every inner wall image of acquisition
Corresponding traveling mileage obtains corresponding position of the every inner wall image in the target tunnel, by every inner wall image in institute
It states the corresponding position in target tunnel and is sent to the display device；
Whether every inner wall image that the display device is used to judge to get is the target image with Disease Characters,
And when the inner wall image is the target image with Disease Characters, to pair of the target image in the target tunnel
Position is answered to be shown.
In the embodiment of the present application, control device includes industrial personal computer and display device, industrial personal computer respectively with isochronous controller, figure
As acquisition device is connected with display device.The counting of coded pulse when industrial personal computer is used for according to every inner wall image of acquisition, with
And the corresponding traveling mileage of a coded pulse, corresponding position of the every inner wall image in target tunnel is obtained, it will be in every
Corresponding position of the wall image in target tunnel is sent to display device.Display device is used for every inner wall figure for judging to get
It seem no for the target image with Disease Characters, and when inner wall image is the target image with Disease Characters, to target
Corresponding position of the image in target tunnel is shown.In this way, pair that maintenance personnel just can above show according to the display device
Position is answered, the position in target tunnel there are disease is quickly navigated to, the timely of maintenance measure is taken to target tunnel to improve
Property, to guarantee the safe operation of rail traffic.
The third optional embodiment with reference to first aspect, the embodiment of the present application also provides the 4th of first aspect the
The optional embodiment of kind, the display device are also used in the target image add feature mark for Disease Characters position
Note, to obtain image to be displayed, and shows the image to be displayed.
In the embodiment of the present application, display device is also used to add signature in the target image for Disease Characters position,
To obtain image to be displayed, and image to be displayed is shown.In this way, maintenance personnel just being capable of upper display according to the display device
Signature, more specifically navigate to the position in target tunnel there are disease, with more improve target tunnel is taken it is feeding
The timeliness of shield measure, to guarantee the safe operation of rail traffic.
The third optional embodiment with reference to first aspect, the embodiment of the present application also provides the 5th of first aspect the
Kind optional embodiment, described image acquisition device are provided with multiple, and multiple described image acquisition devices can be distributed setting
In on the mobile vehicle, for obtaining the inner wall image at target tunnel different location.
In the embodiment of the present application, image collecting device is provided with multiple, and multiple images acquisition device, which can be distributed, to be set to
On mobile vehicle, for obtaining the inner wall image at target tunnel different location.In this way, just can guarantee multiple inner wall image energy
All inner wall spaces in enough coverage goal tunnels, to more improve the reliability of tunnel defect detection.
The 5th kind of optional embodiment with reference to first aspect, the embodiment of the present application also provides the 6th of first aspect the
Kind optional embodiment, the tunnel defect detection device further include multiple flash lamps, the multiple flash lamp respectively with institute
State isochronous controller connection；
The isochronous controller is also used to the control data being sent to the multiple flash lamp；
The multiple flash lamp is used to be opened according to the control data.
In the embodiment of the present application, tunnel defect detection device further includes multiple flash lamps, the multiple flash lamp respectively with
The isochronous controller connection, the isochronous controller are also used to the control data being sent to the multiple flash lamp, institute
Multiple flash lamps are stated for opening according to the control data.In this way, just can guarantee the clarity of inner wall image, to improve
The reliability of tunnel defect detection.
The 5th kind of optional embodiment with reference to first aspect, the embodiment of the present application also provides the 7th of first aspect the
Kind optional embodiment, the industrial personal computer be provided with it is multiple, each industrial personal computer respectively with the isochronous controller and institute
State display device connection, each industrial personal computer also with the preset quantity image collector in multiple described image acquisition devices
Set connection.
In the embodiment of the present application, industrial personal computer be provided with it is multiple, each industrial personal computer respectively with isochronous controller and display device
Connection, each industrial personal computer are also connect with the preset quantity image collecting device in multiple images acquisition device.In this way, just can
By improving the data-handling efficiency of each industrial personal computer, the efficiency of entire tunnel defect detection process is improved, raising pair is conducive to
The timeliness of maintenance measure is taken in target tunnel, to guarantee the safe operation of rail traffic.
Second aspect, the embodiment of the present application also provides a kind of tunnel defect detection system, including mobile vehicle, Yi Jishang
It states in a first aspect, or the tunnel defect detection device that is provided in any one optional embodiment of first aspect；
The mileage detection module, the isochronous controller and described image acquisition device are set on mobile vehicle.
The third aspect, the embodiment of the present application also provides a kind of tunnel defect detection method, be applied to it is above-mentioned in a first aspect,
Or the tunnel defect detection device provided in any one optional embodiment of first aspect, the tunnel defect detection side
Method, comprising:
The mileage detection module obtains the mileage measurement data during mobile vehicle is advanced in target tunnel,
And it is sent to the isochronous controller；
The isochronous controller generates the control data of described image acquisition device according to the mileage measurement data, and
The control data are sent to described image acquisition device；
Described image acquisition device acquires the inner wall image in the target tunnel according to the control data, and will be described interior
Wall image is sent to the control device；
Described image acquisition dress during the control device is advanced in the target tunnel according to the mobile vehicle
Multiple the inner wall images for setting acquisition determine the target tunnel with the presence or absence of disease.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application
Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen
Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of schematic block diagram of tunnel defect detection device provided by the embodiments of the present application.
Fig. 2 is another schematic block diagram of tunnel defect detection device provided by the embodiments of the present application.
Fig. 3 is another schematic block diagram of tunnel defect detection device provided by the embodiments of the present application.
Fig. 4 is another schematic block diagram of tunnel defect detection device provided by the embodiments of the present application.
Fig. 5 is another schematic block diagram of tunnel defect detection device provided by the embodiments of the present application.
Fig. 6 is a kind of structural schematic diagram of tunnel defect detection system provided by the embodiments of the present application.
Fig. 7 is a kind of flow diagram of tunnel defect detection method provided by the embodiments of the present application.
Appended drawing reference: 10- tunnel defect detection system；100- tunnel defect detection device；110- mileage detection module；
120- isochronous controller；130- image collecting device；140- control device；141- industrial personal computer；142- display device；150- flash of light
Lamp；200- mobile vehicle.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is described.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Referring to Fig. 1, the embodiment of the present application provides a kind of tunnel defect detection device 100, tunnel defect detection is set
Standby 100 include mileage detection module 110, isochronous controller 120, image collecting device 130 and control device 140, synchronously control
Device 120 is connect with mileage detection module 110, image collecting device 130 and control device 140 respectively, and image collecting device 130 is also
It is connect with control device 140, and mileage detection module 110, isochronous controller 120 and image collecting device 130 can be set to
On mobile vehicle, and mobile vehicle can be the automatically controlled vehicle including vehicle body and wheel.
In the embodiment of the present application, during mileage detection module 110 is advanced in target tunnel for obtaining mobile vehicle
Mileage measurement data, and be sent to isochronous controller 120.Isochronous controller 120 is used to generate figure according to mileage measurement data
Image collecting device 130 is sent to as the control data of acquisition device 130, and by control data.
Wherein, mileage measurement data can be the traveling mileage of mobile vehicle, be also possible to for calculating the traveling mileage
Other data, for example, the traveling duration etc. of the rotating cycle of wheel, mobile vehicle.
Based on above description, about mileage detection module 110, in the embodiment of the present application, optional implement as the first
Mode may include encoder, and encoder is used to be set to the wheel of mobile vehicle, to generate volume when with vehicle wheel rotation
Code pulse, is based on this, mileage measurement data can coded pulse to be generated for encoder, and controlling data then can be synchronization
Controller 120 counts coded pulse, and the trigger pulse obtained according to the counting of coded pulse.
Illustratively, a trigger pulse can be generated in M coded pulse of every generation, M can be 256 integer
Times.By taking encoder is single-ring encoder as an example, for each revolution, the number of pulses of generation is 1024, that is, every generate one
The corresponding traveling mileage of a coded pulse is (X/1024) m, wherein X is that the perimeter of wheel hereafter can be in every generation N*
When 1024 coded pulses, a trigger pulse is generated, wherein N is the rotating cycle of single-ring encoder, that is, the rotation of wheel
It turn-takes number.Based on this as well, it is understood that being every increase (N*X) m of the traveling mileage of mobile vehicle, then a trigger pulse is generated,
Wherein, X is the perimeter of wheel.
About mileage detection module 110, in the embodiment of the present application, as second of optional embodiment, can wrap
Timer is included, timer is used for when mobile vehicle navigates in target tunnel, records the traveling duration of mobile vehicle, be based on
This, mileage measurement data can be with the traveling duration for timer record, and controlling data then can be every for isochronous controller 120
It is spaced preset duration, the triggering command of generation.
Illustratively, a triggering command can be generated in the every increase 10s of traveling duration, based on this as well, it is understood that
For every increase (10*Y) m of the traveling mileage of mobile vehicle then generates a triggering command, wherein Y is the traveling of mobile vehicle
Speed.
In addition, isochronous controller 120 may include field programmable gate array (Field- in the embodiment of the present application
Programmable Gate Array, FPGA), and connect respectively with FPGA first communication module, second communication module,
Third communication module, memory module etc..
For first communication module for realizing the data communication with mileage detection module 110, can be includes two asynchronous
The serial communication module of coffret, in order to guarantee the interference free performance during improve data transfer, first communication module packet
The two asynchronous transmission interfaces included can be RS232 communication interface and RS422 communication interface.Second communication module for realizing with
The data communication of image collecting device 130 can receive and dispatch port for TTL/LVTTL trigger signal.Third communication module is used for
It realizes the data communication with control device 140, can be UART serial communication modular.When mileage detection module 110 includes compiling
When code device, memory module can be used for storing one coded pulse pair of specific value and every generation of the data such as aforementioned M, X, N
The traveling mileage answered, the concrete operation logic of trigger pulse obtained according to the counting of coded pulse etc., when mileage detection module
110 include timer when, memory module can be used for storing the specific value of the data such as aforementioned Y, and be obtained according to traveling duration
Obtain the concrete operation logic etc. of triggering command.In addition, memory module may be, but not limited to, random access memory (Random
Access Memory, RAM), programmable read only memory (Programmable Read-Only Memory, PROM) is erasable
Programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programming is only
Read memory Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Image collecting device 130 is used for the inner wall image according to control data acquisition target tunnel, and inner wall image is sent out
It send to control device 140.
When mileage detection module 110 includes encoder, image collecting device 130 often receives a trigger pulse, then
The inner wall image in target tunnel of acquisition is opened, and inner wall image is sent to control device 140, when mileage detection module
110 when including timer, and image collecting device 130 often receives a triggering command, then opens target tunnel of acquisition
Inner wall image, and inner wall image is sent to control device 140.It should be noted that acquisition time connects in the embodiment of the present application
Two continuous inner wall images, there is spatial coherence physically in the corresponding position in target track, in this way, just can guarantee
During mobile vehicle is advanced in target tunnel, multiple inner wall images that image collecting device 130 acquires being capable of coverage goal
All inner wall spaces in tunnel.
In addition, can be full-view camera about image collecting device 130, for example, 180 ° of panoramas in the embodiment of the present application
Camera, 270 ° of panoramic shooting heads etc., but incorporated by reference to Fig. 2, in order to improve the clarity of inner wall image, in the embodiment of the present application,
Image collecting device 130 or industrial camera, for example, Balser acA4096-30um camera, and be its pavement of arranging in pairs or groups
FA1616A camera lens.Due to effective limited viewing angle of single industrial camera, when image collecting device 130 is industrial camera
When, image collecting device 130 is provided with multiple, and multiple images acquisition device 130, which can be distributed, to be set on mobile vehicle, example
Such as, it can be distributed and be set on mobile vehicle in a manner of annular array, for obtaining the inner wall figure at target tunnel different location
Picture, that is, the inner wall image of tunnel section different location.Illustratively, as image collecting device 130Balser
AcA4096-30um camera, and when collocation pavement FA1616A camera lens, effective visual angle is 36.25 °, therefore, image collecting device
130 can be set 8.Equally, in order to guarantee the clarity of track interior walls image, in the embodiment of the present application, tunnel defect inspection
Measurement equipment 100 further includes multiple flash lamps 150, and multiple flash lamps 150 are connect with isochronous controller 120 respectively, and synchronously control
Device 120 is also used to control data and is sent to multiple flash lamps 150, so that multiple flash lamps 150 are opened according to control data, is
Image collecting device 130 provides the wide light filling of full width.
Optionally, in the embodiment of the present application, the setting quantity of flash lamp 150 and the setting quantity of image collecting device 130
It is equal, when image collecting device 130 and flash lamp 150 are set on mobile vehicle, the light-emitting surface direction of each flash lamp 150
With the collection surface of corresponding image collecting device 130 towards identical.
Control device 140 is for the acquisition of image collecting device 130 during traveling in target tunnel according to mobile vehicle
Multiple inner wall images, determine target tunnel with the presence or absence of disease.
In the embodiment of the present application, control device 140 judges multiple inner wall images for identifying to every inner wall image
In with the presence or absence of with Disease Characters target image, if in multiple inner wall images with the presence or absence of with Disease Characters target figure
Picture, it is determined that target tunnel whether there is disease, meanwhile, the specific of target tunnel is obtained according to the recognition result to target image
Damage Types, otherwise, it determines target tunnel whether there is disease.In addition, when determining target tunnel with the presence or absence of disease, control
Mileage measurement data when device 140 can also be according to acquisition target image, obtain correspondence of the target image in target tunnel
Position.
Incorporated by reference to Fig. 3 and Fig. 4, in order to improve the efficiency of entire tunnel defect detection process, in the embodiment of the present application, control
Device 140 may include industrial personal computer 141 and display device 142, industrial personal computer 141 respectively with isochronous controller 120, image collector
130 and the connection of display device 142 are set, and industrial personal computer 141 and display device 142 can be realized by interchanger (not shown)
Communication.
It include encoder with mileage detection module 110, mileage measurement data are the coded pulse that encoder generates, and control number
According to then be isochronous controller 120 coded pulse is counted, and according to coded pulse counting obtain trigger pulse for,
In the embodiment of the present application, the counting and a volume of coded pulse when industrial personal computer 141 is used for according to every inner wall image of acquisition
The corresponding traveling mileage of code pulse obtains corresponding position of the every inner wall image in target tunnel, every inner wall image is existed
Corresponding position in target tunnel is sent to display device 142.It is understood that being directed to every inner wall image, this inner wall
The counting of corresponding position of the image in target tunnel, coded pulse when as opening inner wall image is corresponding with a coded pulse
Traveling mileage product.In addition, it should be noted that, the counting of coded pulse when acquisition inner wall image can be image and adopt
Acquisition means 130 are after collecting the inner wall image, according to the counting of corresponding trigger pulse, for the count tag of its addition, with mark
The counting of coded pulse when knowledge acquisition inner wall image, and the corresponding traveling mileage of a coded pulse, can be controlled by synchronous
Device 120 processed is sent to industrial personal computer 141, can also be pre-stored within industrial personal computer 141, does not make in the embodiment of the present application to this specifically aobvious
Show, in addition, industrial personal computer 141 can be LE-37C industrial control equipment in the embodiment of the present application.
Illustratively, encoder is single-ring encoder, and for each revolution, the number of pulses of generation is 1024, that is,
The corresponding traveling mileage of one coded pulse of every generation is (X/1024) m, wherein X is the perimeter of wheel, and every generation N*1024 is a
When coded pulse, a trigger pulse is generated, wherein N is the rotating cycle of single-ring encoder, that is, the rotating cycle of wheel.
Inner wall image is opened for Mr. Yu, it is assumed that coded pulse when acquiring this inner wall image is counted as 2N*1024, then in this
Corresponding position of the wall image in target tunnel is (X/1024) * (2N*1024)=2NXm, that is, originating apart from mobile vehicle
At the position of position 2NXm.
In order to further improve the efficiency of entire tunnel defect detection process, incorporated by reference to Fig. 5, in the embodiment of the present application,
Industrial personal computer 141 is provided with multiple, and each industrial personal computer 141 is connect with isochronous controller 120 and display device 142 respectively, Mei Gegong
Control machine 141 is also connect with the preset quantity image collecting device 130 in multiple images acquisition device 130.The embodiment of the present application
In, there are two the settings of industrial personal computer 141, and each industrial personal computer 141 is connect with four image collecting devices 130.
In addition, when control device 140 include an industrial personal computer 141 when, the industrial personal computer 141 can by receive multiple in
Wall image is spliced, and obtains complete tunnel ring-shaped spliced map, and be sent to display device 142.When control device 140 includes
When multiple industrial personal computers 141, for each industrial personal computer 141, multiple the inner wall images that can also receive itself splice,
The sub- spliced map in tunnel is obtained, and is sent to display device 142, so that display device 142 splices multiple sub- spliced maps, shape
At complete tunnel ring-shaped spliced map.
In the embodiment of the present application, whether every inner wall image that display device 142 is used to judge to get is with disease
The target image of feature, and when inner wall image is the target image with Disease Characters, to target image in target tunnel
Corresponding position shown.It illustratively, can correspondence position with picture display mode to target image in target tunnel
It sets and is shown, it is for instance possible to obtain target image is in the corresponding position of tunnel ring-shaped spliced map, and dashed forward at this location
It shows out, target image can also be shown in the corresponding position coordinates of tunnel ring-shaped spliced map, disease in the form of Excel table etc.
Evil type etc..
In order to specifically navigate to the position in target tunnel there are disease, maintenance is taken to arrange in target tunnel more to improve
The timeliness applied, to guarantee the safe operation of rail traffic, in the embodiment of the present application, display device 142 is also used in target
Signature is added for Disease Characters position in image, to obtain image to be displayed, and image to be displayed is shown.
Referring to Fig. 6, being based on inventive concept same as above-mentioned tunnel defect detection device 100, the embodiment of the present application is also
A kind of tunnel defect detection system 10 is provided, which includes mobile vehicle 200 and above-mentioned tunnel defect
Detection device 100, and mileage detection module 110, isochronous controller 120 and the image for including in tunnel defect detection device 100
Acquisition device 130 can be set on mobile vehicle 200.
Equally, it is based on inventive concept same as above-mentioned tunnel defect detection device 100, the embodiment of the present application also provides one
Kind tunnel defect detection method, is applied to above-mentioned tunnel defect detection device 100.Below in conjunction with Fig. 7 to tunnel defect detection side
The detailed process and step of method are described in detail.
Step S100, mileage detection module 110 obtain mileage measurement during mobile vehicle is advanced in target tunnel
Data, and it is sent to isochronous controller 120.
Step S200, isochronous controller 120 generate the control data of image collecting device 130 according to mileage measurement data,
And control data are sent to image collecting device 130.
Mileage measurement data can be the traveling mileage of mobile vehicle, be also possible to for calculate the traveling mileage other
Data, for example, the traveling duration etc. of the rotating cycle of wheel, mobile vehicle.
Based on above description, about mileage detection module 110, in the embodiment of the present application, optional implement as the first
Mode may include encoder, and encoder is used to be set to the wheel of mobile vehicle, to generate volume when with vehicle wheel rotation
Code pulse, is based on this, mileage measurement data can coded pulse to be generated for encoder, and controlling data then can be synchronization
Controller 120 counts coded pulse, and the trigger pulse obtained according to the counting of coded pulse.
Illustratively, a trigger pulse can be generated in M coded pulse of every generation, M can be 256 integer
Times.By taking encoder is single-ring encoder as an example, for each revolution, the number of pulses of generation is 1024, that is, every generate one
The corresponding traveling mileage of a coded pulse is (X/1024) m, wherein X is that the perimeter of wheel hereafter can be in every generation N*
When 1024 coded pulses, a trigger pulse is generated, wherein N is the rotating cycle of single-ring encoder, that is, the rotation of wheel
It turn-takes number.Based on this as well, it is understood that being every increase (N*X) m of the traveling mileage of mobile vehicle, then a trigger pulse is generated,
Wherein, X is the perimeter of wheel.
About mileage detection module 110, in the embodiment of the present application, as second of optional embodiment, can wrap
Timer is included, timer is used for when mobile vehicle navigates in target tunnel, records the traveling duration of mobile vehicle, be based on
This, mileage measurement data can be with the traveling duration for timer record, and controlling data then can be every for isochronous controller 120
It is spaced preset duration, the triggering command of generation.
Illustratively, a triggering command can be generated in the every increase 10s of traveling duration, based on this as well, it is understood that
For every increase (10*Y) m of the traveling mileage of mobile vehicle then generates a triggering command, wherein Y is the traveling of mobile vehicle
Speed.
In addition, isochronous controller 120 may include FPGA in the embodiment of the present application, and connect respectively with FPGA
One communication module, second communication module, third communication module, memory module etc..
For first communication module for realizing the data communication with mileage detection module 110, can be includes two asynchronous
The serial communication module of coffret, in order to guarantee the interference free performance during improve data transfer, first communication module packet
The two asynchronous transmission interfaces included can be RS232 communication interface and RS422 communication interface.Second communication module for realizing with
The data communication of image collecting device 130 can receive and dispatch port for TTL/LVTTL trigger signal.Third communication module is used for
It realizes the data communication with control device 140, can be UART serial communication modular.When mileage detection module 110 includes compiling
When code device, memory module can be used for storing one coded pulse pair of specific value and every generation of the data such as aforementioned M, X, N
The traveling mileage answered, the concrete operation logic of trigger pulse obtained according to the counting of coded pulse etc., when mileage detection module
110 include timer when, memory module can be used for storing the specific value of the data such as aforementioned Y, and be obtained according to traveling duration
Obtain the concrete operation logic etc. of triggering command.In addition, memory module may be, but not limited to, RAM, PROM, EPROM, EEPROM
Deng.
Step S300, image collecting device 130 is according to the inner wall image in control data acquisition target tunnel, and by inner wall figure
As being sent to control device 140.
When mileage detection module 110 includes encoder, image collecting device 130 often receives a trigger pulse, then
The inner wall image in target tunnel of acquisition is opened, and inner wall image is sent to control device 140, when mileage detection module
110 when including timer, and image collecting device 130 often receives a triggering command, then opens target tunnel of acquisition
Inner wall image, and inner wall image is sent to control device 140.It should be noted that acquisition time connects in the embodiment of the present application
Two continuous inner wall images, there is spatial coherence physically in the corresponding position in target track, in this way, just can guarantee
During mobile vehicle is advanced in target tunnel, multiple inner wall images that image collecting device 130 acquires being capable of coverage goal
All inner wall spaces in tunnel.
In addition, can be full-view camera about image collecting device 130, for example, 180 ° of panoramas in the embodiment of the present application
Camera, 270 ° of panoramic shooting heads etc., in order to improve the clarity of inner wall image, in the embodiment of the present application, image collecting device
130 may be industrial camera, for example, Balser acA4096-30um camera, and be its pavement FA1616A camera lens of arranging in pairs or groups.By
In effective limited viewing angle of single industrial camera, therefore, when image collecting device 130 is industrial camera, image collecting device
130 are provided with multiple, and multiple images acquisition device 130, which can be distributed, to be set on mobile vehicle, for example, can be with annular array
Mode, which is distributed, to be set on mobile vehicle, for obtaining the inner wall image at target tunnel different location, that is, tunnel section
The inner wall image of different location.Illustratively, when image collecting device 130Balser acA4096-30um camera, and step of arranging in pairs or groups
When road FA1616A camera lens, effective visual angle is 36.25 °, and therefore, image collecting device 130 can be set 8.Equally, it is
Guarantee the clarity of track interior walls image, in the embodiment of the present application, tunnel defect detection device 100 further includes multiple flash lamps
150, multiple flash lamps 150 are connect with isochronous controller 120 respectively, and isochronous controller 120 is also used to control data transmission
To multiple flash lamps 150, so that multiple flash lamps 150 are opened according to control data, it is wide to provide full width for image collecting device 130
Light filling.
Optionally, in the embodiment of the present application, the setting quantity of flash lamp 150 and the setting quantity of image collecting device 130
It is equal, when image collecting device 130 and flash lamp 150 are set on mobile vehicle, the light-emitting surface direction of each flash lamp 150
With the collection surface of corresponding image collecting device 130 towards identical.
Step S400, image collecting device 130 during control device 140 is advanced in target tunnel according to mobile vehicle
Multiple inner wall images of acquisition determine target tunnel with the presence or absence of disease.
In the embodiment of the present application, control device 140 judges multiple inner wall images for identifying to every inner wall image
In with the presence or absence of with Disease Characters target image, if in multiple inner wall images with the presence or absence of with Disease Characters target figure
Picture, it is determined that target tunnel whether there is disease, meanwhile, the specific of target tunnel is obtained according to the recognition result to target image
Damage Types, otherwise, it determines target tunnel whether there is disease.In addition, when determining target tunnel with the presence or absence of disease, control
Mileage measurement data when device 140 can also be according to acquisition target image, obtain correspondence of the target image in target tunnel
Position.
In order to improve the efficiency of entire tunnel defect detection process, in the embodiment of the present application, control device 140 may include
Industrial personal computer 141 and display device 142, industrial personal computer 141 respectively with isochronous controller 120, image collecting device 130 and display device
142 connections, and industrial personal computer 141 and display device 142 can be realized by interchanger (not shown) and be communicated.
It include encoder with mileage detection module 110, mileage measurement data are the coded pulse that encoder generates, and control number
According to then be isochronous controller 120 coded pulse is counted, and according to coded pulse counting obtain trigger pulse for,
In the embodiment of the present application, the counting and a volume of coded pulse when industrial personal computer 141 is used for according to every inner wall image of acquisition
The corresponding traveling mileage of code pulse obtains corresponding position of the every inner wall image in target tunnel, every inner wall image is existed
Corresponding position in target tunnel is sent to display device 142.It is understood that being directed to every inner wall image, this inner wall
The counting of corresponding position of the image in target tunnel, coded pulse when as opening inner wall image is corresponding with a coded pulse
Traveling mileage product.In addition, it should be noted that, the counting of coded pulse when acquisition inner wall image can be image and adopt
Acquisition means 130 are after collecting the inner wall image, according to the counting of corresponding trigger pulse, for the count tag of its addition, with mark
The counting of coded pulse when knowledge acquisition inner wall image, and the corresponding traveling mileage of a coded pulse, can be controlled by synchronous
Device 120 processed is sent to industrial personal computer 141, can also be pre-stored within industrial personal computer 141, does not make in the embodiment of the present application to this specifically aobvious
Show, in addition, industrial personal computer 141 can be LE-37C industrial control equipment in the embodiment of the present application.
Illustratively, encoder is single-ring encoder, and for each revolution, the number of pulses of generation is 1024, that is,
The corresponding traveling mileage of one coded pulse of every generation is (X/1024) m, wherein X is the perimeter of wheel, and every generation N*1024 is a
When coded pulse, a trigger pulse is generated, wherein N is the rotating cycle of single-ring encoder, that is, the rotating cycle of wheel.
Inner wall image is opened for Mr. Yu, it is assumed that coded pulse when acquiring this inner wall image is counted as 2N*1024, then in this
Corresponding position of the wall image in target tunnel is (X/1024) * (2N*1024)=2NXm, that is, originating apart from mobile vehicle
At the position of position 2NXm.
In order to further improve the efficiency of entire tunnel defect detection process, in the embodiment of the present application, industrial personal computer 141 is set
Be equipped with multiple, each industrial personal computer 141 is connect with isochronous controller 120 and display device 142 respectively, each industrial personal computer 141 also with
Preset quantity image collecting device 130 in multiple images acquisition device 130 connects.In the embodiment of the present application, industrial personal computer 141
There are two settings, and each industrial personal computer 141 is connect with four image collecting devices 130.
In addition, when control device 140 include an industrial personal computer 141 when, the industrial personal computer 141 can by receive multiple in
Wall image is spliced, and obtains complete tunnel ring-shaped spliced map, and be sent to display device 142.When control device 140 includes
When multiple industrial personal computers 141, for each industrial personal computer 141, multiple the inner wall images that can also receive itself splice,
The sub- spliced map in tunnel is obtained, and is sent to display device 142, so that display device 142 splices multiple sub- spliced maps, shape
At complete tunnel ring-shaped spliced map.
In the embodiment of the present application, whether every inner wall image that display device 142 is used to judge to get is with disease
The target image of feature, and when inner wall image is the target image with Disease Characters, to target image in target tunnel
Corresponding position shown.It illustratively, can correspondence position with picture display mode to target image in target tunnel
It sets and is shown, it is for instance possible to obtain target image is in the corresponding position of tunnel ring-shaped spliced map, and dashed forward at this location
It shows out, target image can also be shown in the corresponding position coordinates of tunnel ring-shaped spliced map, disease in the form of Excel table etc.
Evil type etc..
In order to specifically navigate to the position in target tunnel there are disease, maintenance is taken to arrange in target tunnel more to improve
The timeliness applied, to guarantee the safe operation of rail traffic, in the embodiment of the present application, display device 142 is also used in target
Signature is added for Disease Characters position in image, to obtain image to be displayed, and image to be displayed is shown.
In conclusion tunnel defect detection device 100 provided by the embodiments of the present application, system and method, it can be by inner
Journey detection module 110 obtains mileage measurement data during mobile vehicle is advanced in target tunnel, and is sent to synchronous control
Device 120 processed, and isochronous controller 120 can generate image according to mileage measurement data after receiving mileage measurement data
The control data of acquisition device 130, and control data are sent to image collecting device 130, so that image collecting device 130
According to the inner wall image in control data acquisition target tunnel, and inner wall image is sent to control device 140, hereafter, control device
140 further according to mobile vehicle in target tunnel during advance, multiple inner wall images that image collecting device 130 acquires determine
Target tunnel whether there is disease.In this way, just improving the mechanization degree and automation journey of entire tunnel defect detection process
Degree, compared to the prior art in, for the manual static test mode of use, just can effectively improve tunnel defect detection
Reliability.
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term " connection " should be done
It broadly understood, for example, it may be being fixedly connected, be detachably connected or being integrally connected mechanically, can be electricity electrically
Connection, communication connection, wherein communication connection can be wire communication connection or wireless communication connection again, furthermore, it is possible to be direct
It is connected, can also can also be the connection inside two elements, for those skilled in the art indirectly connected through an intermediary
For member, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
In the description of the present application, it is also necessary to explanation, the orientation or positional relationships of the instructions such as term " on " be based on
Orientation or positional relationship shown in the drawings or the invention product using when the orientation or positional relationship usually put, be only
The application and simplified description for ease of description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " first ", " the
Two ", " third " etc. is only used for distinguishing description, is not understood to indicate or imply relative importance.
The foregoing is merely the section Examples of the application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of tunnel defect detection device, which is characterized in that including mileage detection module, isochronous controller, image collector
Set and control device, the isochronous controller respectively with the mileage detection module, described image acquisition device and the control
Device connection, described image acquisition device is also connect with the control device, and the mileage detection module, the synchronously control
Device and described image acquisition device can be set on mobile vehicle；
The mileage detection module is used to obtain the mileage measurement data during mobile vehicle is advanced in target tunnel,
And it is sent to the isochronous controller；
The isochronous controller is used to generate the control data of described image acquisition device according to the mileage measurement data, and
The control data are sent to described image acquisition device；
Described image acquisition device is used to acquire the inner wall image in the target tunnel according to the control data, and will be described interior
Wall image is sent to the control device；
The control device is for described image acquisition dress during traveling in the target tunnel according to the mobile vehicle
Multiple the inner wall images for setting acquisition determine the target tunnel with the presence or absence of disease.
2. tunnel defect detection device according to claim 1, which is characterized in that the control device is described for judging
With the presence or absence of the target image with Disease Characters in multiple inner wall images, and there are the mesh in multiple described inner wall images
When logo image, according to acquire the target image when mileage measurement data, obtain the target image in the target tunnel
In corresponding position.
3. tunnel defect detection device according to claim 1, which is characterized in that the mileage detection module includes coding
Device, the encoder is used to be set to the wheel of the mobile vehicle, to generate coded pulse when with the vehicle wheel rotation,
The mileage measurement data are the coded pulse；
The control data count the coded pulse for the isochronous controller, and according to the meter of the coded pulse
The trigger pulse that number obtains.
4. tunnel defect detection device according to claim 3, which is characterized in that the control device include industrial personal computer and
Display device, the industrial personal computer are connect with the isochronous controller, described image acquisition device and the display device respectively；
The counting and a coded pulse of coded pulse when the industrial personal computer is used for according to every inner wall image of acquisition are corresponding
Traveling mileage, corresponding position of the every inner wall image in the target tunnel is obtained, by every inner wall image in the mesh
Corresponding position in mark tunnel is sent to the display device；
The display device be used to judge every inner wall image getting whether be there is the target image of Disease Characters, and
When the inner wall image is the target image with Disease Characters, to correspondence position of the target image in the target tunnel
It sets and is shown.
5. tunnel defect detection device according to claim 4, which is characterized in that the display device is also used to described
Signature is added for Disease Characters position in target image, to obtain image to be displayed, and the image to be displayed is carried out
Display.
6. tunnel defect detection device according to claim 4, which is characterized in that described image acquisition device is provided with more
A, multiple described image acquisition devices, which can be distributed, to be set on the mobile vehicle, different for obtaining the target tunnel
Inner wall image at position.
7. tunnel defect detection device according to claim 6, which is characterized in that the tunnel defect detection device also wraps
Multiple flash lamps are included, the multiple flash lamp is connect with the isochronous controller respectively；
The isochronous controller is also used to the control data being sent to the multiple flash lamp；
The multiple flash lamp is used to be opened according to the control data.
8. tunnel defect detection device according to claim 6, which is characterized in that the industrial personal computer be provided with it is multiple, often
A industrial personal computer is connect with the isochronous controller and the display device respectively, each industrial personal computer also with it is multiple described
Preset quantity image collecting device connection in image collecting device.
9. a kind of tunnel defect detection system, which is characterized in that including described in mobile vehicle and any one of claim 1~8
Tunnel defect detection device；
The mileage detection module, the isochronous controller and described image acquisition device are set on mobile vehicle.
10. a kind of tunnel defect detection method, which is characterized in that be applied to tunnel defect according to any one of claims 1 to 8
Detection device, the tunnel defect detection method, comprising:
The mileage detection module obtains the mileage measurement data during mobile vehicle is advanced in target tunnel, concurrently
It send to the isochronous controller；
The isochronous controller generates the control data of described image acquisition device according to the mileage measurement data, and by institute
It states control data and is sent to described image acquisition device；
Described image acquisition device acquires the inner wall image in the target tunnel according to the control data, and by the inner wall figure
As being sent to the control device；
Described image acquisition device is adopted during the control device is advanced in the target tunnel according to the mobile vehicle
Multiple inner wall images of collection determine the target tunnel with the presence or absence of disease.
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| CN201910647152.3A CN110346370A (en) | 2019-07-17 | 2019-07-17 | Tunnel defect detection device, system and method |
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Application publication date: 20191018 |