CN210052283U - Detection device - Google Patents
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- CN210052283U CN210052283U CN201822113298.3U CN201822113298U CN210052283U CN 210052283 U CN210052283 U CN 210052283U CN 201822113298 U CN201822113298 U CN 201822113298U CN 210052283 U CN210052283 U CN 210052283U
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Abstract
The utility model provides a detection device relates to the tunnel disease and detects, and inefficiency, detection destroy big problem when can solving the detection tunnel disease. The specific technical scheme is as follows: the detection device comprises a speed measuring device, a laser ranging device and an image data processing device; the testing equipment is used for acquiring target position information, the laser ranging equipment is used for acquiring a shooting distance, and the image data processing equipment acquires at least one image data and corresponding target position information; analyzing whether the at least one image data accords with a preset rule or not according to the preset rule, and generating target image data when the at least one image data accords with the preset rule; generating target detection data after the target image data is marked with target position information, and uploading the target detection data to a database; when the detected image data does not accord with the preset rule, the shooting distance data or the shooting parameters are adjusted, and then at least one piece of image data is obtained again until the image data which accords with the preset rule is obtained, so that the closed-loop device in the detection data obtaining process is realized. The utility model is used for the detection of tunnel disease.
Description
Technical Field
The present disclosure relates to the field of tunnel detection, and more particularly, to a detection apparatus.
Background
With the rapid development of economy, China has accelerated the pace of constructing highways in recent decades. When a mountain is encountered in the construction process of the highway, the environment for cutting the mountain is prevented from being damaged by constructing bridges and tunnels, so that the proportion of the bridge in the planning of the highway is greatly increased. During the construction of the tunnel, the tunnel is influenced by factors such as geology, water seepage and stress, and the tunnel is inevitably subjected to deformation such as cracking, pressing of the tunnel arch wall, vault sinking, arch rising of the tunnel bottom and the like. Therefore, in order to ensure the safe operation of the tunnel, deformation detection and early warning are necessary for the tunnel.
In the prior art, the tunnel is detected in an artificial mode, and the artificial detection mode is as follows: embedding detection points at a specified position in the lining, and detecting by using a profiler or other detection instruments, wherein the method is time-consuming, labor-consuming, long in detection time, low in efficiency and large in damage to the surface of the lining; more importantly, the time of manual detection is regular detection or detection and evaluation are carried out when the damage condition occurs, at the moment, the tunnel is always damaged greatly, and the evaluation and maintenance cost is inevitably high.
SUMMERY OF THE UTILITY MODEL
The embodiment of the disclosure provides a detection device, which can solve the problems of low detection efficiency and large detection damage in tunnel detection. The technical scheme is as follows:
according to an embodiment of the present disclosure, there is provided a detection apparatus including:
the system comprises a speed measuring device, a laser distance measuring device and an image data processing device;
the image data processing equipment is connected with the speed measuring equipment and the laser ranging equipment;
the speed measuring equipment is used for generating target position information after acquiring speed data of the detection device, and the position information is used for indicating the position information when the detection device acquires image data of a target object;
the laser ranging device is used for acquiring a target shooting distance in a laser ranging mode, and shooting distance data refer to distance data between the image data processing device and a target object when image data are acquired;
the image data processing equipment is used for acquiring at least one piece of image data and analyzing whether the at least one piece of image data accords with a preset rule or not according to the preset rule;
generating target image data when at least one image data accords with a preset rule;
and when the at least one piece of image data does not accord with the preset rule, the shooting distance data or the shooting parameters are adjusted and then the at least one piece of image data is obtained again, wherein the shooting distance data refers to the distance data between the image data processing equipment and the target object when the image data is obtained.
In one embodiment, the device also comprises a servo hydraulic device, the servo hydraulic device is connected with the laser ranging device, the servo hydraulic device is connected with the image data processing device,
a servo hydraulic device for adjusting a photographing position of the image data processing device according to an analysis result of the image data processing device,
and determining that the image data processing equipment reaches the adjusted set shooting distance through the laser ranging equipment.
In one embodiment, the servo hydraulic device of the device further comprises a supporting device, a hydraulic device and a connecting rod;
the bottom of the supporting equipment is connected with the detection device, and the top of the supporting equipment is connected with the connecting rod;
the hydraulic equipment and the laser ranging equipment are arranged on the upper part of the connecting rod;
the image data processing equipment is connected with the upper part of the hydraulic equipment;
the hydraulic equipment is used for realizing the movement of the image data processing equipment by moving up and down, and ensuring that the image data processing equipment reaches the set shooting distance;
the connecting rod is used for realizing the movement of the hydraulic equipment through horizontal movement and ensuring that the image data processing equipment reaches the set shooting distance;
in one embodiment, the speed measuring equipment of the device comprises positioning equipment and coding speed measuring equipment;
the positioning equipment is connected with the coding speed measuring equipment;
and the positioning equipment is used for acquiring the initial position information by a satellite positioning method.
And the coding speed measuring equipment is used for acquiring the target movement speed.
In one embodiment, the encoding speed measuring device of the device is also used for,
acquiring a target running distance according to the target movement speed and the target running time;
and generating target position information according to the initial position information and the target driving distance, wherein the target position information is used for indicating the position information when the detection device acquires the target object image data.
In one embodiment, the laser ranging device of the device comprises a processor, a digital frequency synthesizer and a digital phase discriminator;
the processor is used for transmitting a target laser signal to a target object through the digital frequency synthesizer, and acquiring an echo signal and target time data after the laser reaches the target object and is reflected;
generating first target distance data by processing pulse data and target time data of the target laser signal;
the digital phase discriminator is used for generating second target distance data by processing the phase difference between the target laser signal and the echo signal;
and the processor generates target distance data through the first target data and the second target distance data.
In one embodiment, the image data processing apparatus of the present device is further adapted to,
screening the image data, wherein the screening refers to deleting the image data which do not meet the requirement of the image overlapping degree;
and carrying out filtering and denoising according to quality parameters of the screened image data, wherein the quality parameters comprise the parameter information of the caused image distortion, the image noise and the image distortion.
In one embodiment, the image data processing apparatus of the present device is further adapted to,
and aligning the spatial position of the filtered and denoised image data, and fusing the overlapped part of the aligned image data.
In one embodiment, the image data processing apparatus of the present device is further adapted to,
determining quality parameters and corresponding shooting distances of the first image data which do not accord with preset rules;
according to the quality parameter and the shooting distance, acquiring second image data after adjusting the shooting distance or the shooting parameter;
analyzing whether the second image data accords with a preset rule, and generating target image data when the second image data accords with the preset rule; and when the preset rule is not met, continuously adjusting the shooting distance data until the acquired image data meets the preset rule.
In one embodiment, the image data processing apparatus of the present device further includes:
the device comprises a shooting device, a flash lamp and a parameter processing device; the shooting equipment is connected with the flash lamp and the parameter processing equipment;
the parameter processing equipment is used for acquiring corresponding target illumination intensity according to the target position information and determining a target illumination compensation coefficient;
the flash lamp is used for adjusting the illumination intensity of the shooting equipment according to the target illumination compensation coefficient;
and the shooting equipment is used for acquiring at least one piece of image data.
The detection device provided by the embodiment of the disclosure comprises a speed measuring device, a laser ranging device and an image data processing device; the testing equipment is used for acquiring target position information, the laser ranging equipment is used for acquiring a shooting distance, and the image data processing equipment acquires at least one image data and corresponding target position information; analyzing whether the at least one image data accords with a preset rule or not according to the preset rule, and generating target image data when the at least one image data accords with the preset rule; generating target detection data after the target image data is marked with target position information, and uploading the target detection data to a database; when the detected image data does not accord with the preset rule, the shooting distance data or the shooting parameters are adjusted, and then at least one piece of image data is obtained again until the image data which accords with the preset rule is obtained, so that the closed-loop device in the detection data obtaining process is realized.
This is disclosed through the acquisition and the analysis to image data, has realized detecting high-speed, high density, the high-accuracy data sampling of tunnel, and then the accurate tunnel disease data of calculating if: cracking, pressing down of tunnel arch wall, sinking of arch crown, arching of tunnel bottom and the like. According to the tunnel disease detection method and device, the influence of human errors of traditional detection is effectively solved through accurate detection of image data on tunnel diseases. Compared with the detection technology method in the prior art, the method has the advantages of strong anti-interference capability, accurate detection, short construction period, convenient maintenance, difficult influence of weather conditions and the like.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a block diagram of a detection device provided in an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a speed measuring device in a detection apparatus provided in an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a laser ranging apparatus in a detection device according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an image data processing device in a detection apparatus provided by an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a servo device in a detection apparatus according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram 1 of a detection apparatus provided in an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Example one
The disclosed embodiment provides a detection device, as shown in fig. 1, the detection device 10 includes the following: the system comprises a speed measuring device 101, a laser ranging device 102 and an image data processing device 103;
the image data processing device 103 is connected with the speed measuring device 101 and the laser ranging device 102.
The speed measuring device 101 is configured to obtain speed data of the detection apparatus and then generate target position information, where the position information is used to indicate position information when the detection apparatus 10 obtains image data of a target object.
In an alternative embodiment, the velocimetry apparatus 101 comprises a positioning apparatus 1011 and an encoding velocimetry apparatus 1012; the positioning device 1011 is connected with the encoding speed measuring device 1012.
The positioning device 1011 is used for acquiring initial position information by a satellite positioning method, wherein the satellite positioning comprises the step of acquiring position information by a Chinese Beidou satellite navigation system and a global positioning system; therefore, all-weather, continuous and real-time three-dimensional navigation positioning and speed measurement can be realized in the global range.
And the encoding speed measuring device 1012 is used for acquiring the moving speed of the target, namely the moving speed of the detection device 10.
In an alternative embodiment, the encoding speed measuring device 1012 obtains a target driving distance according to the target movement speed and the target driving time;
and generates target position information indicating position information when the detection device 10 acquires the image data of the target object, based on the start position information and the target travel distance.
In an optional embodiment, the encoding speed measuring device 1012 further includes a speed measuring encoder, the speed measuring encoder is connected to a bearing at the bottom of the detecting device, the bearing can rotate during the operation of the device, the speed measuring encoder outputs pulses synchronously, and after the detecting device obtains the pulses, the operation speed of the detecting device can be obtained according to the length of the rotation of the pulse amount and the bearing, that is, the target movement speed is obtained.
In an optional embodiment, the instrument panel data of the detection device 10 and the speed measurement encoder data are fused in the encoding speed measurement device, so that the movement speed of the detection device in the tunnel detection process can be accurately obtained, and the exposure time of the image data processing device can be controlled.
And the laser ranging device 102 is used for acquiring a target shooting distance in a laser ranging mode, and shooting distance data refers to distance data between the image data processing device 103 and a target object when image data are acquired.
In an alternative embodiment, the laser ranging apparatus 102 includes a processor 1021, a digital frequency synthesizer 1022, and a digital phase detector 1023;
a processor 1021, configured to transmit a target laser signal to a target object through the digital frequency synthesizer 1023, and obtain an echo signal and target time data after the laser reaches the target object and is reflected;
generating first target distance data by processing pulse data and target time data of the target laser signal;
a digital phase discriminator 1022 for generating second target distance data by processing a phase difference between the target laser signal and the echo signal;
the processor 1021 generates target distance data from the first target data and the second target distance data.
In an alternative embodiment, the image data processing apparatus 103 further includes:
a photographing device 1031, a flash 1032, and a parameter processing device 1033; the photographing device 1031 is connected to a flash 1032 and a parameter processing device 1033;
a photographing device 1031 for acquiring at least one piece of image data;
the parameter processing device 1033 is configured to obtain a corresponding target illumination intensity according to the target position information, and determine a target illumination compensation coefficient;
and the flash lamp 1032 is used for adjusting the illumination intensity of the shooting device according to the target illumination compensation coefficient.
In an alternative embodiment, the image data processing device 103 is configured to acquire the at least one image data and analyze whether the at least one image data complies with a preset rule according to the preset rule.
And generating target image data when at least one image data conforms to a preset rule.
And when the detected image data does not accord with the preset rule, adjusting the shooting distance data or the shooting parameters and then acquiring at least one piece of image data again, wherein the shooting distance data refers to the distance data between the image data processing equipment and the target object when the image data is acquired.
In an alternative embodiment, the image data processing device 103 is further adapted to,
screening the image data, wherein the screening refers to deleting the image data which do not meet the requirement of the image overlapping degree;
and carrying out filtering and denoising according to quality parameters of the screened image data, wherein the quality parameters comprise the parameter information of the caused image distortion, the image noise and the image distortion.
In an alternative embodiment, the image data processing device 103 is further adapted to,
and aligning the spatial position of the filtered and denoised image data, and fusing the overlapped part of the aligned image data.
In an alternative embodiment, the image data processing device 103 is further adapted to,
determining quality parameters and corresponding shooting distances of the first image data which do not accord with preset rules;
according to the quality parameter and the shooting distance, acquiring second image data after adjusting the shooting distance or the shooting parameter;
analyzing whether the second image data accords with a preset rule, and generating target image data when the second image data accords with the preset rule; and when the preset rule is not met, continuously adjusting the shooting distance data until the acquired image data meets the preset rule.
In an alternative embodiment, the image data processing apparatus 103 further includes:
a photographing device 1031, a flash 1032, and a parameter processing device 1033; the photographing device 1031 is connected to a flash 1032 and a parameter processing device 1033;
a photographing device 1031 for acquiring at least one piece of image data;
the parameter processing device 1033 is configured to obtain a corresponding target illumination intensity according to the target position information, and determine a target illumination compensation coefficient;
and the flash lamp 1032 is used for adjusting the illumination intensity of the shooting device according to the target illumination compensation coefficient.
In an alternative embodiment, the detection device 10 further comprises: the servo hydraulic device 104 is provided with a servo hydraulic device,
a servo hydraulic device 104 connected to the laser ranging device 102, the servo hydraulic device connected to the image data processing device 103,
a servo hydraulic device 104 for adjusting the photographing position of the image data processing device 103 based on the data processing device analysis result,
and the laser ranging device 102 determines that the image data processing device 103 reaches the shooting distance set after adjustment, and the shooting distance data refers to the distance data between the image data processing device 103 and the target object when the image data is acquired.
Servo hydraulic apparatus 104, further comprising a support apparatus 1041, a hydraulic apparatus 1042, and a connecting rod 1043;
the bottom of the supporting device 1041 is connected to the detecting device 10, and the top is connected to the connecting rod 1043;
the hydraulic equipment 1042 and the laser ranging equipment 102 are arranged on the upper portion of the connecting rod, so that the stability of the detection device in the process of ranging in the moving process can be improved, and the accuracy of ranging data is guaranteed;
a hydraulic device 1042 for realizing the movement of the image data processing device by moving up and down, ensuring that the image data processing device reaches a set shooting distance;
a connecting rod 1041 for realizing the movement of the hydraulic device by the horizontal movement, ensuring that the image data processing device reaches the set shooting distance.
Example two
Based on the detection device provided in the embodiment corresponding to fig. 1, another embodiment of the present disclosure provides a detection device 20, including: the system comprises a speed measuring device 201, a laser distance measuring device 202, an image data processing device 203 and a servo hydraulic device 204;
the image data processing device 203 is connected with the speed measuring device 201 and the laser ranging device 202.
The servo hydraulic device 204 is connected with the laser ranging device 202.
The speed measuring device 201 is configured to obtain speed data of the detecting device 20 and then generate target position information, where the position information is used to indicate position information when the detecting device 20 obtains target image data.
And the laser ranging device 202 is used for acquiring the shooting distance of the target in a laser ranging mode, and the shooting distance data refers to the distance data between the image data processing device 203 and the target when the image data is acquired.
The image data processing device 203 is used for acquiring at least one piece of image data and analyzing whether the at least one piece of image data meets a preset rule or not according to the preset rule;
generating target image data when at least one image data accords with a preset rule;
when at least one piece of image data does not accord with the preset rule, the shooting distance data or the shooting parameters are adjusted and then at least one piece of image data is obtained again, wherein the shooting distance data refers to the distance data between the image data processing equipment 203 and the target object when the image data is obtained.
The servo hydraulics 204 also includes a support device 2041, hydraulics 2042 and a connecting rod 2043.
A servo hydraulic device 204 for adjusting the photographing position of the image data processing device 203 based on the analysis result of the image data processing device 203,
and determines that the image data processing device 203 reaches the shooting distance set after adjustment by the laser ranging device 202, and the shooting distance data is distance data between the image data processing device 203 and the target object when the image data is acquired.
Servo hydraulic equipment 204, further comprising support equipment 2041, hydraulic equipment 2042 and connecting rod 2043;
the bottom of the supporting device 2041 is connected to the detecting device 20, and the top is connected to the connecting rod 2043;
the hydraulic device 2042 and the laser ranging device 202 are arranged on the upper portion of the connecting rod 2043, so that the stability of the detection device 20 in the process of ranging can be improved, and the accuracy of ranging data is guaranteed;
a hydraulic device 2042 for effecting movement of the image data processing device by moving up and down, ensuring that the image data processing device 203 is determined to reach a set shooting distance;
a connecting rod 2041 for effecting movement of the hydraulic device by horizontal movement, ensuring that the image data processing device 203 is determined to reach the set shooting distance.
The detection device provided by the embodiment of the disclosure comprises a speed measuring device, a laser ranging device and an image data processing device; the testing equipment is used for acquiring target position information, the laser ranging equipment is used for acquiring a shooting distance, and the image data processing equipment acquires at least one image data and corresponding target position information; analyzing whether the at least one image data accords with a preset rule or not according to the preset rule, and generating target image data when the at least one image data accords with the preset rule; generating target detection data after the target image data is marked with target position information, and uploading the target detection data to a database; when the detected image data does not accord with the preset rule, the shooting distance data or the shooting parameters are adjusted, and then at least one piece of image data is obtained again until the image data which accords with the preset rule is obtained, so that the closed-loop device in the detection data obtaining process is realized.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. A detection device, comprising: the system comprises a speed measuring device, a laser distance measuring device, an image data processing device and a servo hydraulic device;
the image data processing equipment is connected with the speed measuring equipment, the laser distance measuring equipment and the servo hydraulic equipment;
the speed measuring equipment is positioned below the image data processing equipment and the laser ranging equipment and is connected with the image data processing equipment in a communication mode;
the laser ranging device and the image data processing device are arranged at the top of the servo hydraulic device, and the horizontal directions of the laser ranging device and the image data processing device are consistent;
the speed measuring equipment is used for generating target position information after acquiring speed data of the detection device, and the position information is used for indicating the position information when the detection device acquires image data of a target object;
the laser ranging device is used for acquiring a shooting distance of a target in a laser ranging mode, and the shooting distance data refers to distance data between the image data processing device and the target when image data are acquired;
the image data processing device is used for acquiring at least one piece of image data and generating target image data.
2. The apparatus of claim 1, further comprising: the servo hydraulic equipment is provided with a servo hydraulic device,
the servo hydraulic equipment is connected with the laser ranging equipment, and the servo hydraulic equipment is connected with the image data processing equipment;
the servo hydraulic equipment is used for adjusting the shooting position of the image data processing equipment according to the analysis result of the image data processing equipment,
and determining that the image data processing equipment reaches the adjusted set shooting distance through the laser ranging equipment.
3. The apparatus of claim 2, wherein the servo hydraulic device further comprises a support device, a hydraulic device, and a connecting rod;
the bottom of the supporting equipment is connected with the detection device, and the top of the supporting equipment is connected with the connecting rod;
the hydraulic equipment and the laser ranging equipment are arranged at the top of the connecting rod, and the hydraulic equipment and the laser ranging equipment are kept consistent in the horizontal direction;
the top of the hydraulic equipment is provided with the image data processing equipment, and the vertical direction of the image data processing equipment is consistent with that of the image data processing equipment;
the hydraulic equipment is used for realizing the movement of the image data processing equipment by moving up and down, and ensuring that the image data processing equipment reaches a set shooting distance;
the connecting rod is used for realizing the movement of the hydraulic equipment through horizontal movement, and ensuring that the image data processing equipment reaches the set shooting distance.
4. The apparatus according to claim 1, wherein the speed measurement device comprises a positioning device and a coded speed measurement device;
the positioning equipment is connected with the coding speed measuring equipment;
the positioning equipment is used for acquiring initial position information by a satellite positioning method;
and the coding speed measuring equipment is used for acquiring the movement speed of the target.
5. The apparatus of claim 4, wherein the encoded speed measurement device is further configured to,
acquiring a target running distance according to the target movement speed and the target running time;
and generating the target position information according to the initial position information and the target driving distance, wherein the target position information is used for indicating the position information when the detection device acquires the target object image data.
6. The apparatus of claim 1, wherein the laser ranging device comprises a processor, a digital frequency synthesizer, and a digital phase detector;
the processor is used for transmitting a target laser signal to a target object through the digital frequency synthesizer, and acquiring an echo signal and target time data after the laser reaches the target object and is reflected;
generating first target distance data by processing pulse data of the target laser signal and the target time data;
the digital phase discriminator generates second target distance data by processing the phase difference between the target laser signal and the echo signal;
the processor generates the target distance data from the first target data and the second target distance data.
7. The apparatus of claim 1, wherein the image data processing device is further configured to,
determining quality parameters and corresponding shooting distances of the first image data which do not accord with preset rules;
adjusting the shooting distance or shooting parameters according to the quality parameters and the shooting distance to obtain second image data;
analyzing whether the second image data accords with a preset rule or not, and generating target image data when the second image data accords with the preset rule; and when the preset rule is not met, continuously adjusting the shooting distance data until the acquired image data meets the preset rule.
8. The apparatus according to claim 1, wherein the image data processing device further comprises:
the device comprises a shooting device, a flash lamp and a parameter processing device;
the shooting equipment is connected with the flash lamp and the parameter processing equipment;
the parameter processing equipment is used for acquiring corresponding target illumination intensity according to the target position information and determining a target illumination compensation coefficient;
the flash lamp is used for adjusting the illumination intensity of the shooting equipment according to the target illumination compensation coefficient;
the shooting device is used for acquiring at least one piece of image data.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116358492A (en) * | 2023-06-01 | 2023-06-30 | 辽宁省交通规划设计院有限责任公司 | Tunnel intelligent detection device and method |
| CN117472015A (en) * | 2023-12-28 | 2024-01-30 | 承德石油高等专科学校 | Industrial processing control method based on machine vision |
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2018
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116358492A (en) * | 2023-06-01 | 2023-06-30 | 辽宁省交通规划设计院有限责任公司 | Tunnel intelligent detection device and method |
| CN116358492B (en) * | 2023-06-01 | 2023-08-04 | 辽宁省交通规划设计院有限责任公司 | Tunnel intelligent detection device and method |
| CN117472015A (en) * | 2023-12-28 | 2024-01-30 | 承德石油高等专科学校 | Industrial processing control method based on machine vision |
| CN117472015B (en) * | 2023-12-28 | 2024-03-22 | 承德石油高等专科学校 | Industrial processing control method based on machine vision |
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