Tunnel data collection equipment and method

Abstract

The present application provides a tunnel data acquisition device and method, the tunnel data acquisition device includes a laser scanning device, a plurality of cameras, a first camera position adjustment device and a processing unit arranged on a detection vehicle. The laser scanning device is used to collect tunnel profile data of the tunnel. The processing unit is used to determine the center point position of the tunnel section and the relative position of the detection vehicle on the tunnel section according to the tunnel profile data, and according to the center point position of the tunnel section and the relative position of the detection vehicle on the tunnel section, control the first camera position adjustment device to adjust the relative positions of the plurality of cameras and the detection vehicle, so that the image acquisition centers of the plurality of cameras coincide with the center point of the tunnel section, and then collect the tunnel inner wall image data of the tunnel. In this way, the intelligent automatic adjustment of the plurality of cameras is realized, and compared with the existing manual adjustment method, the adjustment speed is faster, the adjustment accuracy is higher, and it is not easy to make mistakes.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a tunnel data acquisition device and method. Background Art

[0002] During the construction of rail transit, tunnels are often opened in mountains or underground for trains to pass through. Especially in urban subway systems, there are a large number of underground tunnels. The safety of the tunnel itself is very important to the safe operation of trains.

[0003] In order to ensure the safety of tunnels, it is necessary to inspect tunnels frequently to promptly detect and deal with tunnel problems such as deformation, cracks, and water leakage. In some existing technologies, cameras and other image acquisition devices are often installed on tunnel inspection vehicles. When the tunnel inspection vehicle moves along the tunnel, multiple cameras collect images of the inner wall of the tunnel from different angles, and then the images collected by multiple cameras are spliced ​​into a panoramic view or a partial panoramic view of the interior of the tunnel for safety problem analysis.

[0004] In order to ensure the quality and availability of the images collected inside the tunnel, the settings of multiple cameras need to be adjusted. However, the current camera settings on tunnel inspection vehicles are very simple, and manual adjustments are required for tunnels of different shapes. The adjustment actions are very complicated and take a long time. In addition, manual adjustments have low accuracy and are prone to errors. Summary of the invention

[0005] In order to overcome the above-mentioned deficiencies in the prior art, the object of the present application is to provide a tunnel data acquisition device, including a laser scanning device, a plurality of cameras, a first camera position adjustment device and a processing unit arranged on a detection vehicle;

[0006] The laser scanning device is connected to the processing unit and is used to collect tunnel profile data of the tunnel;

[0007] The first camera position adjustment device is connected to the processing unit and is used to adjust the relative positions of the multiple cameras and the inspection vehicle under the control of the processing unit;

[0008] The processing unit is used to determine the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section according to the tunnel contour data, and control the first camera position adjustment device to adjust the relative positions of the multiple cameras and the inspection vehicle according to the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section, so that the image acquisition centers of the multiple cameras coincide with the center point of the tunnel section, thereby collecting the tunnel inner wall image data of the tunnel.

[0009] Optionally, in the above-mentioned tunnel data acquisition device, the plurality of cameras are arranged on a camera bracket, and the camera bracket can move relative to the inspection vehicle;

[0010] The camera bracket is mechanically connected to the first camera position adjustment device, and the first camera position adjustment device adjusts the relative position between the camera bracket and the inspection vehicle under the control of the processing unit;

[0011] The processing unit determines the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section based on the data collected by the laser scanning device, and adjusts the relative position of the camera bracket and the inspection vehicle so that the image acquisition centers of the multiple cameras coincide with the center point of the tunnel section.

[0012] Optionally, in the above-mentioned tunnel data acquisition device, the camera bracket is circular, the image acquisition centers of the multiple cameras coincide with the center of the circle of the camera bracket, and the multiple cameras are arranged at equal intervals along the circular outer edge of the camera bracket;

[0013] The processing unit determines the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section based on the data collected by the laser scanning device, and adjusts the relative position of the camera bracket and the inspection vehicle so that the center of the camera bracket coincides with the center point of the tunnel section.

[0014] Optionally, in the above-mentioned tunnel data acquisition device, the tunnel data acquisition device further comprises a plurality of second camera position adjustment devices respectively arranged corresponding to the plurality of cameras, each of the second camera position adjustment devices being connected to the processing unit and configured to adjust the relative position of the corresponding camera and the camera bracket under the control of the processing unit;

[0015] The processing unit is also used to control each of the second camera position adjustment devices to adjust the relative position of the corresponding camera on the camera bracket according to the tunnel profile data and the relative position of the inspection vehicle on the tunnel section.

[0016] Optionally, in the above tunnel data acquisition device, the plurality of cameras are also connected to the processing unit;

[0017] The processing unit is also used to calculate the distance between each camera and the inner wall of the tunnel according to the tunnel profile data and the relative position of the inspection vehicle on the tunnel section;

[0018] According to the distance between each camera and the inner wall of the tunnel, the lens model or lens focal length of the camera is adjusted.

[0019] Optionally, in the above-mentioned tunnel data acquisition device, the tunnel data acquisition device further comprises a plurality of camera angle adjustment devices respectively arranged corresponding to the plurality of cameras, each of the camera angle adjustment devices being connected to the processing unit and configured to adjust a shooting angle of the corresponding camera under the control of the processing unit;

[0020] The processing unit is also used to control each camera viewing angle adjustment device to adjust the shooting angle of the corresponding camera according to the tunnel contour data and the relative position of the inspection vehicle on the tunnel section.

[0021] Optionally, in the above-mentioned tunnel data collection device, the tunnel data collection device further comprises a mileage acquisition device, the mileage acquisition device is connected to the processing unit and is used to acquire the current mileage of the tunnel data collection device in the tunnel;

[0022] The processing unit is further used to mark the tunnel contour data currently collected by the laser scanning device and the tunnel inner wall image data currently collected by the multiple cameras according to the current driving mileage.

[0023] Optionally, in the above-mentioned tunnel data acquisition device, among the multiple cameras, there is an overlapping portion in the shooting ranges of two adjacent cameras.

[0024] Optionally, in the above-mentioned tunnel data acquisition equipment, the tunnel data acquisition equipment includes at least two laser scanning devices, and among the at least two laser scanning devices, there is an overlapping portion in the scanning ranges of two adjacent laser scanning devices.

[0025] Another object of the present application is to provide a tunnel data collection method, which is applied to the tunnel data collection device provided in the present application; the method comprises:

[0026] Collect tunnel profile data of the tunnel by means of the laser scanning device;

[0027] Determine, by the processing unit, the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section according to the tunnel profile data, and control the first camera position adjustment device to adjust the relative positions of the multiple cameras and the inspection vehicle according to the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section, so that the image acquisition centers of the multiple cameras coincide with the center point of the tunnel section;

[0028] The multiple cameras are used to collect image data of the inner wall of the tunnel.

[0029] Compared with the prior art, this application has the following beneficial effects:

[0030] The tunnel data acquisition device and method provided by the present application calculates the position of the center point of the longitudinal section of the tunnel based on the tunnel profile data collected by the laser scanning device, and automatically controls the first camera position adjustment device to adjust the positions of multiple cameras so that the image acquisition centers of the multiple cameras coincide with the center point of the tunnel section. In this way, the intelligent automatic adjustment of multiple cameras is realized, which is faster, more accurate, and less prone to errors than the manual adjustment method of the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic diagram of a tunnel data acquisition device provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the acquisition range of the laser scanning device provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the camera acquisition range provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of an example of circular tunnel adjustment provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of an adjustment example of a horseshoe-shaped tunnel provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of an example of adjusting a rectangular tunnel provided in an embodiment of the present application;

[0038] Figure 7 A flow chart of a tunnel data collection method provided in an embodiment of the present application.

[0039] Icons: 100 - tunnel data acquisition equipment; 110 - laser scanning device; 120 - camera; 130 - first camera position adjustment device; 140 - processing unit; 150 - camera bracket; 160 - second camera position adjustment device; 170 - camera viewing angle adjustment device; 180 - mileage acquisition device; 200 - inspection vehicle. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0044] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] See also Figure 1 , Figure 1 This is a schematic diagram of a tunnel data acquisition device 100 provided in this embodiment. The tunnel data acquisition device 100 mainly includes a laser scanning device 110 arranged on an inspection vehicle 200, a plurality of cameras 120, a first camera position adjustment device 130 and a processing unit 140.

[0046] The inspection vehicle 200 is the main bearing part of the tunnel data collection device 100 , wherein the inspection vehicle 200 can be an engineering vehicle or an inspection vehicle already available in the prior art, and the inspection vehicle 200 can also be a part of the tunnel data collection device 100 .

[0047] The detection vehicle 200 may be provided with running rollers and driving components to drive the tunnel data acquisition device 100 to move along the tunnel extension direction on the track. The detection vehicle 200 may also be provided with a power supply system, a shock absorption and stabilization system and other functional systems serving the tunnel data acquisition operation. The detection vehicle 200 may also be provided with waterproof and dustproof components to protect the signal processing components or power supply components of the tunnel data acquisition device 100. The detection vehicle 200 may be a self-propelled vehicle such as Figure 1 As shown, the inspection vehicle 200 may also be driven by humans or other powered vehicles.

[0048] The laser scanning device 110 is arranged on the inspection vehicle 200, and is used to obtain tunnel profile data of the tunnel to be inspected by laser scanning. Optionally, in this embodiment, in order to ensure the integrity of the tunnel profile data, the tunnel data acquisition device 100 includes at least two laser scanning devices 110, and the scanning ranges of two adjacent laser scanning devices 110 of the at least two laser scanning devices 110 have overlapping parts.

[0049] For example, see Figure 2 In one example, two laser scanning devices 110 can be installed on both sides of the middle position of the detection vehicle 200. Each laser scanning device 110 scans approximately 180 degrees of tunnel profile data on the tunnel section. Since tunnel problem analysis usually does not require much analysis of the rails and the bottom of the tunnel, the scanning coverage of the two laser scanning devices 110 after splicing in this embodiment may not be a 360-degree circumference. At the same time, in order to ensure that the top of the tunnel that needs to be monitored is not missed, in this embodiment, the scanning overlap area of ​​the two laser scanning devices 110 at the top of the tunnel can be set to 0.5 meters to 1 meter.

[0050] In another example, only one laser scanning device 110 may be provided to scan the tunnel cross section. The laser scanning device 110 may have a larger scanning range or a variable scanning range, so that it can scan a larger tunnel cross section area.

[0051] In other examples, one or more laser scanning devices 110 may be provided, and the multiple laser scanning devices 110 are provided around the inspection vehicle 200. The multiple laser scanning devices 110 each cover a different tunnel cross-sectional area, and the scanning ranges of two adjacent laser scanning devices 110 overlap.

[0052] The plurality of cameras 120 are used to collect tunnel inner wall images from different angles. In this embodiment, the shooting ranges of two adjacent cameras 120 overlap. For example, please refer to Figure 3 , the image acquisition between each two cameras 120 needs to overlap by 0.1-0.3 meters to ensure that no images are missed, and the images of the duplicated areas can be deleted later using a stitching algorithm. In this embodiment, the multiple cameras 120 can be multi-eye area array cameras or line array cameras. The multiple cameras 120 can be set within a distance of 0.5 meters from the laser scanning device 110 and do not block the scanning range of the laser scanning device 110.

[0053] The multiple cameras 120 are set on the inspection vehicle 200 through the first camera position adjustment device 130, and the multiple first camera position adjustment devices 130 are connected to the processing unit 140 for adjusting the relative positions of the multiple cameras 120 and the inspection vehicle 200 under the control of the processing unit 140.

[0054] The processing unit 140 is used to determine the center point position of the tunnel section and the relative position of the inspection vehicle 200 on the tunnel section according to the tunnel profile data, and control the first camera position adjustment device 130 to adjust the relative positions of the multiple cameras 120 and the inspection vehicle 200 according to the center point position of the tunnel section and the relative position of the inspection vehicle 200 on the tunnel section, so that the image acquisition center of the multiple cameras 120 coincides with the center point of the tunnel section. The image acquisition center of the multiple cameras 120 is the observation viewpoint of the panoramic image or partial panoramic image after the images acquired by the multiple cameras 120 are spliced ​​into a panoramic image or a partial panoramic image.

[0055] For example, in this embodiment, the processing unit 140 records the initial relative positions of the multiple cameras 120 relative to the inspection vehicle 200. After calculating the relative position of the inspection vehicle 200 on the tunnel section, the processing unit 140 can control the first camera position adjustment device 130 to change the relative positions of the multiple cameras 120 and the inspection vehicle 200 so that the image acquisition centers of the multiple cameras 120 coincide with the center point of the tunnel section.

[0056] It should be noted that the "coincidence" described in this application should be understood as two points basically coinciding, rather than absolutely coinciding, that is, when the image acquisition center is located within an acceptable error range near the center point of the tunnel section, it can be considered that the image acquisition center coincides with the center point of the tunnel section. The size of the acceptable error range can be a fixed value or a variable parameter determined by the cross-sectional size of the tunnel currently being measured. For example, according to the actual scene requirements, the acceptable error range can be 10 cm or less.

[0057] Based on the above design, in this embodiment, the tunnel data collection device 100 can automatically adjust the positions of the multiple cameras 120 to adapt to tunnels of different shapes according to the tunnel profile data collected by the laser scanning device 110. In this way, compared with the method of manually adjusting the camera position in the prior art, the camera position adjustment action of the tunnel data collection device 100 provided in this embodiment can be more accurate and rapid, and can be dynamically adjusted according to the shape of the tunnel.

[0058] Optionally, in this embodiment, the multiple cameras 120 may be arranged on a camera bracket 150, and the camera bracket 150 may be movable relative to the inspection vehicle 200. For example, the camera bracket 150 may move in the left-right or up-down direction relative to the inspection vehicle 200 on the tunnel-shaped cross section, thereby driving the multiple cameras 120 to move relative to the inspection vehicle 200. In this embodiment, the camera bracket 150 may also be provided with multiple light sources for providing illumination for the camera 120 to shoot.

[0059] The camera bracket 150 is mechanically connected to the first camera position adjustment device 130 , and the first camera position adjustment device 130 adjusts the relative position of the camera bracket 150 and the inspection vehicle 200 under the control of the processing unit 140 .

[0060] The processing unit 140 determines the center point position of the tunnel section and the relative position of the inspection vehicle 200 on the tunnel section based on the data collected by the laser scanning device 110, and adjusts the relative position of the camera bracket 150 and the inspection vehicle 200 so that the image acquisition centers of the multiple cameras 120 coincide with the center point of the tunnel section.

[0061] For example, in one example, the camera support 150 may be circular, the image acquisition centers of the multiple cameras 120 coincide with the center of the camera support 150, and the multiple cameras 120 are arranged at equal intervals along the circular outer edge of the camera support 150. The processing unit 140 determines the center point position of the tunnel section and the relative position of the inspection vehicle 200 on the tunnel section based on the data collected by the laser scanning device 110, and adjusts the relative position of the camera support 150 and the inspection vehicle 200 so that the center of the camera support 150 coincides with the center point of the tunnel section.

[0062] In another example, the camera bracket 150 may also be set to other shapes, such as a rectangle, a horseshoe, an ellipse, etc. Optionally, the shape of the camera bracket 150 may be selected according to the tunnel cross-sectional shape of the tunnel to be tested, so that after the multiple cameras 120 are set on the camera bracket 150, the distribution and arrangement shape is consistent with the tunnel cross-sectional shape.

[0063] In other examples, the camera bracket 150 may also be of any shape, and the plurality of cameras 120 may be distributed and arranged on the bracket in a circular, rectangular, horseshoe, etc. shape to suit a specific tunnel cross-section shape.

[0064] Optionally, in this embodiment, the tunnel data acquisition equipment 100 may also include a plurality of second camera position adjustment devices 160 respectively arranged corresponding to the plurality of cameras 120, each of the second camera position adjustment devices 160 being connected to the processing unit 140, and being used for adjusting the relative position of the corresponding camera 120 and the camera bracket 150 under the control of the processing unit 140.

[0065] The processing unit 140 is also used to control each of the second camera position adjustment devices 160 to adjust the relative position of the corresponding camera 120 on the camera bracket 150 according to the tunnel profile data and the relative position of the inspection vehicle 200 on the tunnel section.

[0066] In this way, the processing unit 140 can adjust the positions of the multiple cameras 120 on the camera bracket 150 according to the tunnel contour data collected by the laser scanning device 110, so that the relative position distribution of the multiple cameras 120 is consistent with the longitudinal cross-sectional shape of the tunnel.

[0067] It should be noted that in other examples of this embodiment, a plurality of relatively independent first camera position adjustment devices 130 are respectively provided for the plurality of cameras 120 , so that the processing unit 140 can adjust the relative position of each camera 120 and the inspection vehicle 200 separately.

[0068] Optionally, in this embodiment, the plurality of cameras 120 may also be connected to the processing unit 140. The processing unit 140 is further configured to calculate the distance between each camera 120 and the inner wall of the tunnel according to the tunnel profile data and the relative position of the inspection vehicle 200 on the tunnel section. The lens model or lens focal length of the camera 120 is adjusted according to the distance between each camera 120 and the inner wall of the tunnel.

[0069] Optionally, in this embodiment, the tunnel data acquisition equipment 100 may also include a plurality of camera angle adjustment devices 170 respectively arranged corresponding to the plurality of cameras 120, each of the camera angle adjustment devices 170 being connected to the processing unit 140, and being used for adjusting the shooting angle of the corresponding camera 120 under the control of the processing unit 140.

[0070] The processing unit 140 is further used to control each camera viewing angle adjustment device 170 to adjust the shooting angle of the corresponding camera 120 according to the tunnel profile data and the relative position of the inspection vehicle 200 on the tunnel section.

[0071] Based on the above design, the processing unit 140 can automatically adjust the number of working cameras, the image resolution size, relative position, lens model, lens focal length or shooting angle of the camera according to the data collected by the laser scanning device 110, so that each camera 120 can obtain the best shooting effect.

[0072] For example, see Figure 4 For a circular tunnel, the tunnel size is generally 5.2 meters in diameter and 5.4 meters in diameter. The tunnel data acquisition device 100 can obtain tunnel profile data through the laser scanning device 110, and calculate the deviation between the center of the camera bracket 150 and the center of the tunnel section (i.e., the geometric center of the tunnel) in real time, and control the first camera position adjustment device 130 to adjust the position of the camera bracket 150 so that the center of the multiple camera brackets 150 coincides with the center point of the tunnel section. For a circular tunnel, the circular camera bracket 150 can ensure that the distance between the camera 120 and the tunnel surface is consistent. The processing unit 140 can also determine the lens parameter value of the camera 120 according to the object distance value and the imaging angle of view.

[0073] Please refer to Figure 5For a tunnel with a horseshoe-shaped tunnel section, the cross-section of the horseshoe-shaped tunnel is a spliced ​​cross-section of multiple curvature arcs, which is irregular but symmetrical. The tunnel data acquisition device 100 can obtain tunnel contour data through the laser scanning device 110, and calculate the deviation between the center of the camera bracket 150 and the center of the tunnel cross-section in real time, and control the first camera position adjustment device 130 to adjust the position of the camera bracket 150 so that the center of the camera bracket 150 coincides with the center point of the tunnel cross-section. For a horseshoe-shaped tunnel, if the camera bracket 150 is circular, it cannot be guaranteed that the distance between the camera 120 and the tunnel surface is consistent, so the processing unit 140 can also determine the lens parameter value of the camera 120 according to the object distance value and imaging angle of the camera 120 at different positions. In the case where the camera 120 is far away from the tunnel surface, the processing unit 140 can also control the second camera position adjustment device 160 to adjust the position of the multiple cameras 120 relative to the camera bracket 150 to further control the distance between the camera 120 and the tunnel surface.

[0074] Please refer to Figure 6 , for tunnels with rectangular cross-sections, such tunnels are usually old tunnels or open-cut tunnels, and the cross-sectional dimensions of rectangular tunnels are regularly and symmetrically distributed. The tunnel data acquisition device 100 can obtain tunnel contour data through the laser scanning device 110, and calculate the deviation between the center of the camera bracket 150 and the center of the tunnel cross-section in real time, and control the first camera position adjustment device 130 to adjust the position of the camera bracket 150 so that the center of the camera bracket 150 coincides with the center point of the tunnel cross-section. For rectangular tunnels, if the camera bracket 150 is circular, it cannot be guaranteed that the distance between the camera 120 and the tunnel surface is consistent, so the processing unit 140 can also determine the lens parameter value of each camera 120 according to the object distance value and imaging angle of the camera 120 at different positions, or control the second camera position adjustment device 160 to further adjust the position of each camera 120. In addition, for tunnels with rectangular cross-sections, the camera bracket 150 can also be set as a rectangular bracket structure to adapt to the acquisition of rectangular cross-section tunnel surface images.

[0075] Optionally, in this embodiment, the tunnel data acquisition device 100 further includes a mileage acquisition device 180, which is connected to the processing unit 140 and is used to acquire the current mileage of the tunnel data acquisition device 100 in the tunnel. For example, the mileage acquisition device 180 may be a speed encoder disposed on the wheel axle head, and the processing unit 140 calculates the current mileage of the tunnel data acquisition device 100 through the speed encoder and the wheel diameter.

[0076] The processing unit 140 is also used to mark the tunnel contour data currently collected by the laser scanning device 110 and the tunnel inner wall image data currently collected by the multiple cameras 120 according to the current mileage. The two-dimensional tunnel contour data associated with the current mileage can generate three-dimensional point cloud data of the tunnel, which is then used to generate a three-dimensional model of the tunnel. The tunnel inner wall image data associated with the current mileage can be spliced ​​into a continuous tunnel interior image along the tunnel extension direction for tunnel disease analysis.

[0077] Please refer to Figure 7 This embodiment also provides a tunnel data collection method applied to the above-mentioned tunnel data collection device 100, and the method may include the following steps.

[0078] Step S710 : collecting tunnel profile data of the tunnel by using the laser scanning device 110 .

[0079] Step S720, the processing unit 140 determines the center point position of the tunnel section and the relative position of the inspection vehicle 200 on the tunnel section according to the tunnel contour data, and determines the center point position of the tunnel section and the relative position of the inspection vehicle 200 on the tunnel section according to the tunnel contour data.

[0080] Step S730: adjusting the relative positions of the plurality of cameras 120 and the inspection vehicle 200 by the first camera position adjustment device 130 so that the image acquisition centers of the plurality of cameras 120 coincide with the center point of the tunnel section.

[0081] Step S740 , collecting tunnel inner wall image data of the tunnel by using the multiple cameras 120 .

[0082] In summary, the tunnel data acquisition device and method provided by the present application calculates the position of the center point of the longitudinal section of the tunnel based on the tunnel profile data collected by the laser scanning device, and automatically controls the first camera position adjustment device to adjust the positions of multiple cameras so that the image acquisition centers of the multiple cameras coincide with the center point of the tunnel section. In this way, the intelligent automatic adjustment of multiple cameras is realized, which is faster, more accurate, and less prone to errors than the manual adjustment method of the prior art.

[0083] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0084] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0085] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A tunnel data acquisition device, characterized in that: It includes a laser scanning device, a plurality of cameras, a first camera position adjustment device and a processing unit arranged on the inspection vehicle; The laser scanning device is connected to the processing unit and is used to collect tunnel profile data of the tunnel; The first camera position adjustment device is connected to the processing unit and is used to adjust the relative positions of the multiple cameras and the inspection vehicle under the control of the processing unit; The processing unit is used to determine the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section according to the tunnel profile data, and control the first camera position adjustment device to adjust the relative positions of the multiple cameras and the inspection vehicle according to the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section, so that the image acquisition centers of the multiple cameras coincide with the center point of the tunnel section, thereby acquiring the tunnel inner wall image data of the tunnel; The plurality of cameras are arranged on a camera bracket, and the camera bracket can move relative to the inspection vehicle; The camera bracket is mechanically connected to the first camera position adjustment device, and the first camera position adjustment device adjusts the relative position between the camera bracket and the inspection vehicle under the control of the processing unit; The processing unit determines the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section according to the data collected by the laser scanning device, and adjusts the relative position of the camera bracket and the inspection vehicle so that the image collection centers of the multiple cameras coincide with the center point of the tunnel section; The camera bracket is circular, the image acquisition centers of the multiple cameras coincide with the center of the circle of the camera bracket, and the multiple cameras are arranged at equal intervals along the circular outer edge of the camera bracket; The processing unit determines the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section based on the data collected by the laser scanning device, and adjusts the relative position of the camera bracket and the inspection vehicle so that the center of the camera bracket coincides with the center point of the tunnel section.

2. The tunnel data acquisition device according to claim 1, characterized in that: The tunnel data acquisition device further includes a plurality of second camera position adjustment devices respectively arranged corresponding to the plurality of cameras, each of the second camera position adjustment devices being connected to the processing unit and configured to adjust the relative position of the corresponding camera and the camera bracket under the control of the processing unit; The processing unit is also used to control each of the second camera position adjustment devices to adjust the relative position of the corresponding camera on the camera bracket according to the tunnel profile data and the relative position of the inspection vehicle on the tunnel section.

3. The tunnel data acquisition device according to claim 1, characterized in that: The plurality of cameras are also connected to the processing unit; The processing unit is also used to calculate the distance between each camera and the inner wall of the tunnel according to the tunnel profile data and the relative position of the inspection vehicle on the tunnel section; According to the distance between each camera and the inner wall of the tunnel, the lens model or lens focal length of the camera is adjusted.

4. The tunnel data acquisition device according to claim 1, characterized in that: The tunnel data acquisition device further includes a plurality of camera angle adjustment devices respectively arranged corresponding to the plurality of cameras, each of the camera angle adjustment devices being connected to the processing unit and configured to adjust the shooting angle of the corresponding camera under the control of the processing unit; The processing unit is also used to control each camera viewing angle adjustment device to adjust the shooting angle of the corresponding camera according to the tunnel contour data and the relative position of the inspection vehicle on the tunnel section.

5. The tunnel data acquisition device according to claim 1, characterized in that: The tunnel data collection device further comprises a mileage acquisition device, which is connected to the processing unit and is used to acquire the current mileage of the tunnel data collection device in the tunnel; The processing unit is further used to mark the tunnel contour data currently collected by the laser scanning device and the tunnel inner wall image data currently collected by the multiple cameras according to the current driving mileage.

6. The tunnel data acquisition device according to claim 1, characterized in that: Among the multiple cameras, shooting ranges of two adjacent cameras have overlapping parts.

7. The tunnel data acquisition device according to claim 1, characterized in that: The tunnel data acquisition equipment comprises at least two laser scanning devices, and among the at least two laser scanning devices, scanning ranges of two adjacent laser scanning devices have overlapping parts.

8. A tunnel data collection method, characterized in that: The tunnel data acquisition device according to any one of claims 1 to 7; the method comprises: Collect tunnel profile data of the tunnel by means of the laser scanning device; Determine the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section according to the tunnel profile data by the processing unit, and determine the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section according to the center point position of the tunnel section and the relative position of the inspection vehicle on the tunnel section; The relative positions of the plurality of cameras and the inspection vehicle are adjusted by the first camera position adjustment device so that the image acquisition centers of the plurality of cameras coincide with the center point of the tunnel section; The multiple cameras are used to collect image data of the inner wall of the tunnel.

Images