Synchronous positioning method, device, positioning system and medium in tunnel disease detection

Abstract

The present invention belongs to the technical field of tunnel disease detection, and discloses a synchronous positioning method, device, positioning system and medium in tunnel disease detection. The positioning method includes: obtaining a first quantity of second trigger signals collected by a collection module within a first time period, and simultaneously obtaining a second quantity of data frames stored by a sensing device within the first time period; determining a first displacement of a mobile carrier within the first time period according to an image captured by a positioning camera within the first time period; determining the category of the sensing device; if it is determined that there is no frame loss, then determining the positioning of the sensing device when generating each data frame within the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at a first moment obtained in advance. The present invention synchronizes the positioning of different sensing devices under the timing standard of the collection module, that is, successfully synchronizes the positioning of different sensing devices at the same moment.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel disease detection, and particularly to a synchronous positioning method, device, positioning system, medium and computer equipment in tunnel disease detection. The application scenario of the present invention is not limited to tunnels only. Background Art

[0002] In tunnel disease detection, researchers mount and integrate different sensing devices on a detection vehicle to dynamically measure the appearance and interior of the tunnel in a non-contact manner. The sensing devices include visual sensors, laser sensors, etc., and these sensing devices generate their respective detection data. It is necessary to correspond the generated detection data with the positions of these sensing devices in the tunnel when the detection data are generated, in order to support subsequent disease positioning.

[0003] Although each sensing device has the ability to connect to an external network, the tunnel is a semi-closed environment, and satellite signals and network signals are not covered in many areas of the tunnel. Therefore, the method of using traditional satellite positioning and network positioning to record the positioning of each sensing device at any time does not work.

[0004] Each sensing device is mounted on the same detection vehicle. At the same moment, the positioning of each sensing device should actually be the same. However, the clock signals on each sensing device are inconsistent, resulting in different timestamps of the detection data generated on different sensing devices at the same moment, further causing the detection data generated by different sensing devices to be unable to be synchronized according to the timestamps, which affects the subsequent determination of the disease positioning based on the corresponding relationship between the detection data and the positioning of the sensing devices.

[0005] Therefore, how to correspond the detection data generated by different sensing devices at the same moment with the positioning of the vehicle at that moment is a difficult problem to be solved in the field of detecting tunnel diseases using multiple sensing devices.

[0006] Through the above analysis, the problems and defects of the prior art are: (1) In the prior art, the positioning data of different sensing devices at the same moment cannot be synchronized.

[0007] (2) Since the prior art cannot synchronize the detection data generated by different sensing devices according to the timestamps, it is impossible to use the corresponding relationship between the subsequent detection data and the positioning of the sensing devices to determine the disease positioning, resulting in low positioning accuracy. Summary of the Invention

[0008] Embodiments of the present invention provide a synchronous positioning method, device, positioning system, medium and computer equipment in tunnel disease detection to solve the problem of corresponding the detection data generated by different sensing devices at the same moment with the positioning of the vehicle at that moment.

[0009] In view of this, in the first aspect of the embodiments of the present invention, a synchronous positioning method in tunnel disease detection is provided, which is applied to a disease detection system; the disease detection system includes: a collection module, a trigger module, a positioning camera, at least two sensing devices, a mobile carrier, and a processing module; the collection module is deployed on the positioning camera, the positioning camera, the trigger module, and the sensing devices are all located on the mobile carrier, and the mobile carrier travels on the road; the trigger module is used to send a first trigger signal to the positioning camera and a second trigger signal to the sensing devices; the positioning camera is used to trigger taking pictures according to the first trigger signal; the sensing devices are used to trigger detection signals according to the second trigger signal; the processing module is used to execute the synchronous positioning method in tunnel disease detection;

[0010] The method includes:

[0011] When it is detected that the collection module has collected a new first trigger signal, obtain a first quantity of the second trigger signals collected by the collection module within a first time period, and at the same time obtain a second quantity of data frames stored by the sensing devices within the first time period; wherein, the first time period is the time period between a first moment corresponding to the last time the collection module collected the first trigger signal and a second moment corresponding to the current collection of the first trigger signal; the data frame is each measurement result generated by the sensing device according to the feedback result of each detection signal; the data frame includes at least data, a frame number, and a timestamp;

[0012] Determine a first displacement of the mobile carrier within the first time period according to the image taken by the positioning camera within the first time period;

[0013] Determine the category of the sensing devices; the category includes a first category and a second category; wherein, the sensing devices of the first category are sensing devices that trigger one detection signal according to each second trigger signal, and the sensing devices of the second category are sensing devices that trigger N (N≥2) detection signals according to each second trigger signal;

[0014] Determine whether there is a frame loss situation of the sensing devices within the first time period according to the first quantity, the second quantity, and the category of the sensing devices;

[0015] If the triggering mode of the sensing devices is to trigger at a fixed time interval and it is determined that there is no frame loss situation, then determine the positioning of the sensing devices when generating each data frame within the first time period according to the first displacement, the second quantity, the category of the sensing devices, and the initial positioning of the mobile carrier at the first moment obtained in advance.

[0016] Optionally, obtaining the second quantity of data frames stored by the sensing device during the first time period includes:

[0017] At the second moment, obtaining the total quantity of the data frames stored by the sensing device;

[0018] According to the total quantity and the total quantity of the data frames stored by the sensing device at the first moment obtained in advance, determining the second quantity of the data frames stored by the sensing device during the first time period.

[0019] Optionally, if the category of the sensing device is the first category, determining the positioning of the sensing device when generating each data frame during the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance includes:

[0020] Calculating the ratio of the first displacement to the second quantity to obtain a first ratio;

[0021] In the data frames of the first time period, determining the arrangement serial number of each data frame in the data frames generated during the first time period according to the frame serial number;

[0022] Calculating the product of the arrangement serial number and the first ratio for each data frame to obtain a first product corresponding to each data frame;

[0023] Calculating the sum of the initial positioning and the first product to obtain the positioning of the sensing device when generating each data frame.

[0024] Optionally, if the category of the sensing device is the second category, determining the positioning of the sensing device when generating each data frame during the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance includes:

[0025] Obtaining the time stamp of the second trigger signal from the acquisition module;

[0026] For the data frames of the first time period, determining the data frames triggered by the same second trigger signal according to the time stamp, and taking the data frames triggered by the same second trigger signal as a data frame group;

[0027] In the data frames of the first time period, calculating the number of groups of the data frame group and sorting the data frame group according to the time stamp to obtain a group serial number;

[0028] Determine the second displacement of the mobile carrier when generating the data frame group according to the number of the groups and the first displacement;

[0029] Determine the positioning of the sensing device when generating each data frame according to the number of data frames in the data frame group, the sorting of the data frames, the group serial number, and the second displacement. Optionally, the determining the positioning of the sensing device when generating each data frame according to the number of data frames in the data frame group, the group serial number, and the second displacement includes:

[0030] Calculate the product of the group serial number and the second displacement for each data frame group to obtain the corresponding positioning interval of the sensing device when generating each data frame group;

[0031] Obtain the third quantity of data frames in each data frame group;

[0032] Determine the positioning of the sensing device when generating each data frame according to the positioning interval and the third quantity.

[0033] Optionally, after determining whether there is a frame loss situation of the sensing device within the first time period, it further includes:

[0034] If the triggering mode of the sensing device is to trigger at a fixed time interval and it is determined that there is no frame loss situation, obtain the time stamp corresponding to each data frame generated by the sensing device within the first time period;

[0035] Obtain the positioning data corresponding to the time stamp from the positioning data recorded by the sensing device itself;

[0036] Use the positioning data corresponding to the time stamp as the positioning of the sensing device when generating the data frames in each first time period.

[0037] Optionally, after determining whether there is a frame loss situation of the sensing device within the first time period, the method further includes:

[0038] If it is determined that there is a frame loss situation, determine the number of lost frames and the positions of the lost frames;

[0039] Insert artificial data frames at each position of the lost frames to obtain a complete data frame queue;

[0040] Set a frame serial number for each data frame in the complete data frame queue to obtain a corrected data frame queue.

[0041] Optionally, if the sensing device is the first type of sensing device, the determining the number of lost frames and the positions of the lost frames includes:

[0042] Determine the number of dropped frames according to the difference between the first quantity and the second quantity;

[0043] Determine the position between two adjacent target data frames as the dropped frame position;

[0044] Wherein, if the triggering mode of the sensing device is triggering at fixed distance intervals, the two target data frames are: M (M≥1) pairs of adjacent data frames with the largest time interval between timestamps; the M is the number of dropped frames;

[0045] If the second trigger signal received by the sensing device is sent at a fixed time interval, the two target data frames are: two adjacent data frames with a time interval between timestamps larger than the fixed time interval.

[0046] Optionally, if the sensing device is a sensing device of the second category, the determining the number of dropped frames and the dropped frame position includes:

[0047] Obtain the timestamp of the second trigger signal from the acquisition module;

[0048] Determine the data frames triggered by the same second trigger signal according to the timestamp, and use the data frames triggered by the same second trigger signal as a data frame group;

[0049] Determine whether there are dropped frames in the data frame group and the number of dropped frames according to whether the number of data frames in the data frame group is equal to N;

[0050] If it is determined that there are dropped frames, determine the dropped frame position according to the time interval between the timestamps in the data frame group.

[0051] Optionally, after determining whether there are dropped frames in the sensing device within the first time period, it further includes:

[0052] If it is determined that there is a situation of dropped frames, determine the positioning of the sensing device when generating each data frame according to the triggering mode of the sensing device, the first displacement, the corrected data frame, and the initial positioning of the mobile carrier at the first moment obtained in advance.

[0053] In the second aspect of the embodiments of the present invention, a synchronization positioning device is further provided, which is applied to a disease detection system. The device includes:

[0054] An acquisition module, configured to, when detecting that the acquisition module has acquired a new first trigger signal, acquire a first quantity of the second trigger signals acquired by the acquisition module within a first time period, and simultaneously acquire a second quantity of data frames stored by the sensing device within the first time period; wherein, the first time period is a time period between a first moment corresponding to the last acquisition of the first trigger signal by the acquisition module and a second moment corresponding to the current acquisition of the first trigger signal; the data frame is each measurement result generated by the sensing device according to the feedback result of each detection signal; the data frame includes at least data, a frame sequence number, and a timestamp.

[0055] A first displacement determination module, configured to determine a first displacement of the mobile carrier within the first time period according to the images captured by the positioning camera within the first time period.

[0056] A determination module, configured to determine the category of the sensing device, where the category includes a first category and a second category; wherein, the sensing device of the first category is a sensing device that triggers one detection signal according to each second trigger signal, and the sensing device of the second category is a sensing device that triggers N (N≥2) detection signals according to each second trigger signal.

[0057] A frame loss determination module, configured to determine whether there is a frame loss situation of the sensing device within the first time period according to the first quantity, the second quantity, and the category of the sensing device.

[0058] A first positioning module, configured to, if the triggering mode of the sensing device is to trigger at a fixed time interval and it is determined that there is no frame loss situation, determine the positioning of the sensing device when generating each data frame within the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance.

[0059] Optionally, the acquisition module is further configured to:

[0060] At the second moment, acquire the total quantity of the data frames stored by the sensing device.

[0061] According to the total quantity and the total quantity of the data frames stored by the sensing device at the first moment obtained in advance, determine the second quantity of the data frames stored by the sensing device within the first time period.

[0062] Optionally, if the category of the sensing device is the first category, the positioning module is further configured to:

[0063] Calculate a ratio of the first displacement to the second quantity to obtain a first ratio.

[0064] In the data frames of the first time period, determine the arrangement serial number of each data frame in the data frames generated in the first time period according to the frame serial number;

[0065] Calculate the product of the arrangement serial number and the first ratio for each data frame to obtain the first product corresponding to each data frame;

[0066] Calculate the sum of the initial positioning and the first product to obtain the positioning of the sensing device when each data frame is generated.

[0067] Optionally, if the category of the sensing device is the second category, the positioning module is further configured to:

[0068] Obtain the timestamp of the second trigger signal in the acquisition module;

[0069] For the data frames of the first time period, determine the data frames triggered by the same second trigger signal according to the timestamp, and regard the data frames triggered by the same second trigger signal as a data frame group;

[0070] In the data frames of the first time period, calculate the number of data frame groups and sort the data frame groups according to the timestamp to obtain the group serial number;

[0071] According to the number of data frame groups and the first displacement, determine the second displacement of the mobile carrier when the data frame group is generated;

[0072] According to the number of data frames in the data frame group, the sorting of the data frames, the group serial number, and the second displacement, determine the positioning of the sensing device when each data frame is generated.

[0073] Optionally, the positioning module is further configured to:

[0074] Calculate the product of the group serial number and the second displacement for each data frame group to obtain the positioning interval corresponding to the sensing device when each data frame group is generated;

[0075] Obtain the third number of data frames in each data frame group;

[0076] According to the positioning interval and the third number, determine the positioning of the sensing device when each data frame is generated.

[0077] Optionally, the device further includes:

[0078] A timestamp acquisition module, configured to, if the triggering manner of the sensing device is triggering at a fixed time interval and it is determined that there is no dropped frame, acquire timestamps corresponding to each data frame generated by the sensing device during the first time period;

[0079] A positioning data acquisition module, configured to acquire positioning data corresponding to the timestamp from the positioning data recorded by the sensing device itself;

[0080] A corresponding positioning module, configured to use the positioning data corresponding to the timestamp as the positioning of the sensing device when each data frame in the first time period is generated.

[0081] Optionally, the apparatus further includes:

[0082] A dropped frame quantity and position determination module, configured to, if it is determined that there is a dropped frame, determine the quantity and position of the dropped frames;

[0083] A filling-in module, configured to fill in artificial data frames at each dropped frame position to obtain a complete data frame queue;

[0084] A frame sequence number setting module, configured to set a frame sequence number for each data frame in the complete data frame queue to obtain a corrected data frame queue.

[0085] Optionally, if the sensing device is a sensing device of the first category, the dropped frame quantity and position determination module is further configured to:

[0086] Determine the quantity of dropped frames according to the difference between the first quantity and the second quantity;

[0087] Determine the position between two adjacent target data frames as the dropped frame position;

[0088] Wherein, if the triggering manner of the sensing device is triggering at a fixed distance interval, the two target data frames are: M (M≥1) pairs of adjacent data frames with the largest time interval between timestamps; the M is the quantity of dropped frames;

[0089] If the second trigger signal received by the sensing device is sent at a fixed time interval, the two target data frames are: two adjacent data frames with a time interval between timestamps larger than the fixed time interval.

[0090] Optionally, if the sensing device is a sensing device of the second category, the dropped frame quantity and position determination module is further configured to:

[0091] Acquire the timestamp of the second trigger signal from the acquisition module;

[0092] Determine the data frames triggered by the same second trigger signal according to the time stamps, and use the data frames triggered by the same second trigger signal as a data frame group;

[0093] Determine whether there are missing frames in the data frame group and the number of missing frames according to whether the number of data frames in the data frame group is equal to N;

[0094] If it is determined that there are missing frames, determine the positions of the missing frames according to the time intervals between the time stamps in the data frame group.

[0095] Optionally, the device further includes:

[0096] A second positioning module, configured to, if it is determined that there is a situation of missing frames, determine the positioning of the sensing device when each data frame is generated according to the triggering mode of the sensing device, the first displacement, the corrected data frame, and the initial positioning of the mobile carrier at the first moment obtained in advance.

[0097] In a third aspect of the embodiments of the present invention, a synchronous positioning system is provided, which is applied to a disease detection system; the synchronous positioning system includes: an acquisition module, a triggering module, a positioning camera, at least two sensing devices, a mobile carrier, and a processing module;

[0098] The acquisition module is deployed on the positioning camera, the positioning camera, the triggering module, and the sensing devices are all located on the mobile carrier, and the mobile carrier travels on the road; it is further configured to acquire the first trigger signal and the second trigger signal, and record the signal acquisition quantity and the acquisition time stamp;

[0099] The triggering module is configured to send a first trigger signal to the positioning camera and a second trigger signal to the sensing devices;

[0100] The positioning camera is configured to trigger taking pictures according to the first trigger signal;

[0101] The sensing devices are configured to trigger detection signals according to the second trigger signal;

[0102] The processing module is configured to receive the images taken by the positioning camera and the detection data of the sensing devices.

[0103] Optionally, the processing module is configured to determine the displacement of the mobile carrier moving in the target time period according to the images taken by the positioning camera; the processing module is further configured to determine the target detection data output by each sensing device in the target time period according to the acquisition time stamp, and determine the positioning corresponding to the target detection data according to the displacement;

[0104] The positioning camera is fixedly installed at the bottom of the mobile carrier. When the mobile carrier travels on the track, the positioning camera is used to photograph the track bed.

[0105] The triggering module includes a central control unit and an encoder. The central control unit is fixed inside the mobile carrier, and the encoder is connected to the driven wheel of the mobile carrier through an adapter ring.

[0106] Optionally, the central control unit is used to send the first trigger signal to the positioning camera at a fixed time interval, and send the second trigger signal to one of the sensing devices at a fixed time interval; the encoder is used to send the second trigger signal to one of the sensing devices at a fixed distance interval.

[0107] The sensing device includes at least two of an image sensor, a lidar, and a ground penetrating radar.

[0108] The sensing device is used to emit a detection signal to the detection object after receiving the second trigger signal, receive the feedback signal obtained by the feedback of the detection signal, and generate detection data according to the feedback signal.

[0109] The triggering module, the sensing device, and the positioning camera all include electrical signal output interfaces. The electrical signal output interface of the positioning camera is used to output image data, and the electrical signal output interface of the sensing device is used to output detection data.

[0110] The processing module includes a plurality of electrical signal input interfaces, which are respectively used to receive the image data and the detection data, and receive the signal acquisition quantity and the acquisition timestamp sent by the acquisition module.

[0111] In the fourth aspect of the embodiments of the present invention, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the synchronous positioning method in tunnel disease detection.

[0112] In the fifth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the processor executes the synchronous positioning method in tunnel disease detection.

[0113] Combined with the above technical solutions and the technical problems solved, please analyze the advantages and positive effects of the technical solution to be protected by the present invention from the following aspects:

[0114] First, regarding the technical problems existing in the above-mentioned prior art and the difficulty of solving this problem, closely combining with the technical solution to be protected by the present invention and the results and data during the R & D process, etc., analyze in detail and profoundly how the technical solution of the present invention solves the technical problems and the creative technical effects brought after solving the problems. The specific description is as follows:

[0115] In the prior art, tunnels and pipe galleries underground or in mountainous areas are not covered by communication networks, and GPS signals are weak. When the image acquisition device captures images, it is impossible to obtain accurate positioning information for the images.

[0116] The prior art measures the driving mileage by relying on the circumference and the number of rotations of the wheels (axles) of the driving equipment. However, factors such as wheel (axle) slippage and flat tires may affect the accuracy of positioning.

[0117] To solve the above problems, the present invention can get rid of the limitations of communication networks or GPS and complete high-precision positioning calculations through images.

[0118] The present invention can provide high-precision positioning information during the process of image acquisition. And according to the first displacement, the second quantity, and the starting position of the sensing device at the first moment, the position of the sensing device when each data frame is generated can be determined, further improving the accuracy of quasi-positioning.

[0119] Second, regarding the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows:

[0120] When the present invention detects that the acquisition module has acquired a new first trigger signal, it obtains the first quantity of the second trigger signals acquired by the acquisition module within a first time period, and simultaneously obtains the second quantity of data frames stored by the sensing device within the first time period; determines the first displacement of the mobile carrier within the first time period according to the images captured by the positioning camera within the first time period; determines the category of the sensing device; the category includes a first category and a second category; determines whether there is a frame loss situation of the sensing device within the first time period according to the first quantity, the second quantity, and the category of the sensing device; if it is determined that there is no such frame loss situation, then determines the positioning of the sensing device when generating each data frame of the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance. In the above method, because the positioning of each sensing device is calculated according to the first displacement of the positioning camera, and the first displacement of the positioning camera is calculated according to the timing standard of the acquisition module, in this way, the present solution synchronizes the positioning of different sensing devices under the timing standard of the acquisition module, that is, successfully synchronizes the positioning of different sensing devices at the same moment.

[0121] Third, as an auxiliary evidence of the creativity of the claims of the present invention, it is also reflected in the following important aspects:

[0122] The technical solution of the present invention fills the technical gaps at home and abroad in the industry: The present invention does not rely on infrastructure such as GPS or communication networks, and through image analysis, accurately locates each frame of image taken in the tunnel, filling the gaps in this field at home and abroad.

[0123] Does the technical solution of the present invention solve the technical problems that people have been eager to solve but have never succeeded in: The present invention provides a practical and effective method and device description for realizing high-precision positioning in tunnels, pipe galleries and other buildings that are not covered by communication networks such as underground or mountainous areas through the images collected by the image acquisition device, and solves the urgent problem of inaccurate positioning in current tunnel construction, inspection, maintenance, repair and other operations. Description of the Drawings

[0124] Figure 1 Schematic diagram of a disease detection system provided in Embodiment 1 of the present invention;

[0125] Figure 2 Information interaction diagram of a disease detection system provided in Embodiment 1 of the present invention;

[0126] Figure 3 Flowchart of the steps of the first tunnel disease detection synchronous positioning method provided in Embodiment 1 of the present invention;

[0127] Figure 4 It is the flowchart of steps of the second synchronous positioning method in the tunnel disease detection provided in Embodiment 1 of the present invention;

[0128] Figure 5 It is the structural block diagram of a synchronous positioning device provided in Embodiment 1 of the present invention;

[0129] Figure 6 It is the hardware structure diagram of the synchronous positioning system provided in Embodiment 2 of the present invention;

[0130] Figure 7 It is the information interaction diagram of the synchronous positioning system provided in Embodiment 2 of the present invention;

[0131] Figure 8 It is the schematic diagram of the synchronous positioning system provided in Embodiment 2 of the present invention;

[0132] In the figure: 1. Acquisition module; 2. Trigger module; 21. Central control unit; 22. Encoder; 3. Positioning camera; 4. Sensing device; 401. Sensing device one; 402. Sensing device two; 41. Two-dimensional camera; 42. Lidar; 43. Ground penetrating radar; 44. Three-dimensional camera; 5. Mobile carrier; 6. Processing module; 7. Flashlight. Detailed implementation manners

[0133] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all should belong to the scope protected by the present invention.

[0134] I. Explanation of the embodiment. In order to enable those skilled in the art to fully understand how the present invention is specifically implemented, this part is an explanatory embodiment that expands and explains the technical solution of the claim.

[0135] Embodiment 1

[0136] Figure 1 It is the schematic diagram of a disease detection system provided in the embodiment of the present invention.

[0137] Referring to Figure 1 , the disease detection system includes an acquisition module 1, a trigger module 2, a positioning camera 3, a sensing device 4, a mobile carrier 5, and a processing module 6.

[0138] Among them, the sensing device 4 includes at least two of a two-dimensional camera 41, a lidar 42, a ground penetrating radar 43, and a three-dimensional camera 44.

[0139] The trigger module 2 includes a central control unit 21 and an encoder 22. The central control unit 21 is fixed inside the carriage, and the encoder 22 is connected to the driven wheel of the vehicle through an adapter ring. The trigger module 2 is used to send a first trigger signal to the positioning camera 3 and a second trigger signal to the sensing device 4.

[0140] The acquisition module 2 is deployed on the positioning camera 3, and the positioning camera 3, the trigger module 2, and the sensing device 4 are all located on the mobile carrier 5. The mobile carrier 5 is Figure 1 a vehicle in this case.

[0141] Figure 2 This is an information interaction diagram of a disease detection system provided by an embodiment of the present invention.

[0142] As Figure 2 shown, the trigger module 2 sends a first trigger signal to the positioning camera 3 and a second trigger signal to the sensing device 4; the acquisition module 1 acquires the first trigger signal and the second trigger signal; after receiving the first trigger signal, the positioning camera 3 triggers a photo and sends the captured image to the processing module 6; after receiving the second trigger signal, the sensing device 4 triggers a detection signal and sends the measurement result to the processing module 4. The processing module 4 receives the image data and detection data sent by the positioning camera 3 and the sensing device 4, and processes the image data and detection data, and synchronizes the positioning of the sensing device 4, etc.

[0143] Starting from the driving of the mobile carrier 5, the trigger module 2 sends the first trigger signal and the second trigger signal. The positioning camera 3 starts to capture images in response to the first trigger signal sent by the trigger module 2, and the sensing device 4 emits a detection signal to its respective detection object in response to the second trigger signal sent by the trigger module 2. The acquisition module continuously acquires the first trigger signal and the second trigger signal, and the positioning camera 3 and the sensing device 4 continuously send the images and detection data to the processing module 6. The processing module 6 reads the acquisition data of the acquisition module, and receives the image data and detection data sent by the positioning camera 3 and the sensing device 4, and processes the image data and detection data.

[0144] To analyze and obtain tunnel disease detection information through the detection data, it is necessary to correspond the data such as tunnel images and laser point clouds generated by each sensing device with the positions of these sensing devices in the tunnel when these data are generated. Specifically, to determine the positioning of each sensing device in the tunnel, it is necessary to calculate the mileage traveled by each sensing device in the tunnel.

[0145] Each sensing device is mounted on the mobile carrier 5. At the same moment, their positioning should actually be the same. However, the clock signals on each sensing device are inconsistent, resulting in different timestamps at the same moment, and thus the mileage calculated by each sensing device at the same moment will necessarily be different.

[0146] Therefore, in order to synchronize the positioning of each sensing device at the same moment, the synchronous positioning method in tunnel disease detection in the embodiments of the present invention is specifically proposed.

[0147] Figure 3 It is a flowchart of the steps of the first synchronous positioning method provided for the embodiments of the present invention in tunnel disease detection.

[0148] The method is applied to a disease detection system; the disease detection system includes: a collection module, a trigger module, a positioning camera, at least two sensing devices, a mobile carrier, and a processing module; the collection module is deployed on the positioning camera, and the positioning camera, the trigger module, and the sensing devices are all located on the mobile carrier, and the mobile carrier travels on the road; the trigger module is used to send a first trigger signal to the positioning camera and a second trigger signal to the sensing devices; the positioning camera is used to trigger a photo according to the first trigger signal; the sensing devices are used to trigger detection signals according to the second trigger signal; the processing module is used to execute the synchronous positioning method in tunnel disease detection;

[0149] The synchronous positioning method in tunnel disease detection includes:

[0150] 101. When it is detected that the collection module has collected a new first trigger signal, obtain the first quantity of the second trigger signals collected by the collection module within a first time period, and at the same time obtain the second quantity of the data frames stored by the sensing devices within the first time period; wherein, the first time period is the time period between the first moment corresponding to the last time the collection module collected the first trigger signal and the second moment corresponding to the current collection of the first trigger signal; the data frame is each measurement result generated by the sensing device according to the feedback result of each detection signal.

[0151] In the embodiments of the present invention, the collection module is specifically a digital collection card, which is deployed on the positioning camera and shares the CPU and the clock signal with the positioning camera. Therefore, the collection module and the positioning camera have the same timing standard.

[0152] The positioning camera is fixedly installed on the vehicle frame and photographs the roadbed between the two rails on the tunnel floor. So that the processing module calculates the displacement of the vehicle by using the photographed image.

[0153] Each time the acquisition module acquires a new first trigger signal, it triggers the processing module to obtain the number of second trigger signals. The time period between two adjacent receptions of the first trigger signal by the acquisition module is the first time period, that is, the first time period is the time period between the first moment corresponding to the last acquisition of the first trigger signal by the acquisition module and the second moment corresponding to the current acquisition of the first trigger signal by the acquisition module. The number of data frames stored in the sensing device obtained by the acquisition module at the first moment minus the number of data frames stored in the sensing device obtained by the acquisition module at the second moment gives the second number of data frames stored in the sensing device during the first time period.

[0154] Specifically, obtaining the second number of data frames stored in the sensing device during the first time period may include the following steps:

[0155] At the second moment, obtain the total number of the data frames stored in the sensing device;

[0156] According to the total number and the total number of the data frames stored in the sensing device obtained in advance at the first moment, determine the second number of data frames stored in the sensing device during the first time period.

[0157] 102. Determine the first displacement of the mobile carrier during the first time period according to the images taken by the positioning camera during the first time period.

[0158] The positioning camera takes continuous photos according to the first trigger signals continuously sent by the trigger module and sends the taken images to the processing module. The first trigger signals are triggered at fixed time intervals, and the mobile carrier travels at approximately a constant speed, so that in the images taken by the positioning camera, two adjacent images include a certain number of matching pixel points. The processing module continuously receives the images sent by the positioning module and calculates the first displacement of the positioning camera from the previous taken image to the current taken image according to the matching pixel points. The first displacement of the positioning camera is the first displacement of the mobile carrier.

[0159] Optionally, determining the first displacement of the mobile carrier during the first time period according to the images taken by the positioning camera during the first time period includes the following steps A1 - A3:

[0160] A1. Obtain all the images taken by the positioning camera during the first time period; the number of matching pixel points between two adjacent images is greater than or equal to the target number.

[0161] The positioning camera is set on a moving vehicle and is triggered to take photos by the first trigger signals sent by the trigger module.

[0162] The positioning camera continuously takes pictures according to the trigger signal to obtain multiple images. In order to calculate the mileage of the vehicle using the images, it is necessary to extract feature points from the images and match the feature points of adjacent frames of images.

[0163] The images may include timestamps to facilitate the identification of adjacent frame images.

[0164] The homography matrix can be used to implement the feature point matching of two adjacent images. Since the homography matrix has 8 degrees of freedom, at least 4 pairs of corresponding points are required to calculate the homography matrix. Therefore, two adjacent images need to have a matching pixel point number greater than or equal to the target number, and the target number can be 4.

[0165] In a real application scenario, the point pairs we calculate will all contain noise. For example, the position of a point deviates by several pixels, or even the phenomenon of mis-matching of feature point pairs occurs. If only 4 point pairs are used to calculate the homography matrix, there will be a large error. Therefore, in order to make the calculation more accurate, generally far more than 4 point pairs are used to calculate the homography matrix.

[0166] In addition, in order to make each pair of adjacent images include the target number of matching pixel points, it is necessary to precisely calculate the shooting interval time of the positioning camera. In order to make the number of matching pixel points in the images uniform, the vehicle preferably travels at a constant speed.

[0167] A2. According to the two adjacent images and the matching pixel points, respectively calculate the first distance that the mobile carrier moves when the positioning camera shoots each pair of the two adjacent images, and obtain a plurality of the first distances.

[0168] By performing feature point matching on two adjacent images, the position change situation of the pixel points in the images can be obtained. How to map the position change scale of the pixel points in the images to the actual moving distance of the mobile carrier during the time period when these two images are taken in reality? Here, coordinate mapping between the pixel coordinate system and the world coordinate system is required.

[0169] Through camera calibration, the external parameter matrix, internal parameter matrix, and distortion matrix of the positioning camera can be obtained. According to these calibration parameters of the positioning camera, we can achieve the coordinate mapping between the pixel coordinate system and the world coordinate system, that is, precisely achieve the projection process from the points in reality to the corresponding pixel points in the images.

[0170] In this way, with the help of the calibration parameters of the positioning camera, the first distance that the mobile carrier actually moves can be obtained through the position change situation of the pixel points in the images.

[0171] Perform the above scale mapping on each pair of adjacent images obtained within the first time period to obtain a plurality of first distances.

[0172] A3. Use the sum of the multiple first distances as the first displacement of the positioning camera within the first time period.

[0173] Adding the above multiple first distances can obtain the total displacement of the positioning camera within the first time period, that is, the first displacement.

[0174] 103. Determine the category of the sensing device, where the category includes a first category and a second category; among them, the sensing device of the first category is a sensing device that triggers one detection signal according to each of the second trigger signals, and the sensing device of the second category is a sensing device that triggers N (N≥2) detection signals according to each of the second trigger signals.

[0175] Different sensing devices emit detection signals in different ways. For the sensing device of the first category, every time it receives a second trigger signal, it emits one detection signal to the object to be detected. In this way, the sensing device receives one feedback message about the object to be detected and then generates one detection result; for the sensing device of the second category, every time it receives a second trigger signal, it emits N detection signals to the object to be detected. In this way, the sensing device receives N feedback messages of the object to be detected and then generates N detection results.

[0176] For example, a two-dimensional camera is a sensing device of the first category, and a lidar and a ground-penetrating radar are sensing devices of the second category. For example, the lidar can emit 2000 detection signals at a time after receiving a second trigger signal, and then generate 2000 detection results.

[0177] The way to determine the category of the sensing device can be based on: the number of detection results generated by the sensing device after receiving each second trigger signal.

[0178] Exemplarily, assume that the first number of second trigger signals collected by the acquisition module within the first time period is m, and the second number of data frames stored by the sensing device within the first time period is n. If the sensing device is of the first category, then, if m = n, it is determined that there is no frame loss in the sensing device within the first time period; if m > n, it is determined that there is frame loss in the sensing device within the first time period, and the number of lost frames is m - n; if the sensing device is of the second category, then, if m = n / a, it is determined that there is no frame loss in the sensing device within the first time period; if m > n / a, it is determined that there is frame loss in the sensing device within the first time period, and the number of lost frames is ma - n.

[0179] The triggering mode of the sensing device is determined by the interval mode of the second trigger signal sent by the trigger module to the sensing device. If the trigger module sends the second trigger signal at a fixed time interval, the sensing device triggers the detection signal at a fixed time interval; if the trigger module sends the second trigger signal at a fixed distance interval, the sensing device triggers the detection signal at a fixed distance interval.

[0180] The above-mentioned fixed distance interval means that for every fixed distance (such as N meters) the moving carrier travels, the trigger module sends the second trigger signal once.

[0181] 104. Determine whether there is a frame loss situation of the sensing device within the first time period according to the first quantity, the second quantity, and the category of the sensing device.

[0182] The amount of data detected by the sensing device is very large, and abnormalities may occur during processing. For example, it is possible that the sensing device receives the second trigger signal but does not transmit the detection signal or does not save the detection result.

[0183] For example, after receiving a certain second trigger signal, due to a system failure, the behavior of triggering the transmission of the detection signal is not triggered. Therefore, this second trigger signal cannot generate a corresponding detection result, which will lead to the loss of data frames, that is, the situation of frame loss. The triggering mode is the interval mode for the sensing device to trigger the detection signal, including triggering at a fixed time interval and triggering at a fixed distance interval.

[0184] Specifically, according to the first quantity and the category of the sensing device, the standard quantity of data frames stored by the sensing device without frame loss within the first time period can be determined; then the second quantity and the standard quantity are compared; if the second quantity is equal to the standard quantity, it is determined that there is no frame loss of the sensing device within the first time period; if the second quantity is less than the standard quantity, it is determined that there is frame loss of the sensing device within the first time period.

[0185] 105. If the triggering mode of the sensing device is to trigger at a fixed time interval and it is determined that there is no such frame loss situation, then according to the first displacement, the second quantity, and the initial positioning of the moving carrier at the first moment obtained in advance, determine the positioning of the sensing device when generating each of the data frames.

[0186] The second quantity of data frames corresponds to those generated by the sensing device within the first time period. The displacement of the moving carrier within the first time period is the first displacement, so the displacement of the sensing device within the first time period is also the first displacement. In the case where the sensing device does not have frame loss, the first displacement is allocated to each of the above data frames, that is, the displacement of the sensing device when generating each data frame is obtained.

[0187] If the triggering mode of the sensing device is to trigger at fixed time intervals and the sensing device is of the first category, the first displacement can be evenly distributed to each data frame, that is, the displacement of the sensing device when each data frame is generated can be obtained. When the sensing device is traveling at a constant speed, the result obtained by using the method of average distribution is accurate; when the sensing device is not traveling at a constant speed, the result obtained by using average distribution has an error, but the error can be calibrated when a new first trigger signal is collected next time.

[0188] If the sensing device is of the second category, it is necessary to first determine the data frame group. The data frame group refers to a group of data frames generated by a group of detection signals triggered by the same second trigger signal. The first displacement can be evenly distributed to each data frame group, that is, the displacement of the sensing device when each data frame group is generated can be obtained. As for the displacement of the sensing device when each data frame is generated in the data frame group, the displacement of the entire data frame group can be evenly distributed to each data frame, and then the displacement of the sensing device when each data frame is generated can be obtained.

[0189] In addition, if there is a target sensing device in the disease detection system whose triggering mode is to trigger at fixed distance intervals and the target sensing device has its own positioning function. Then, the time stamps corresponding to each data frame generated by the sensing device that needs to be synchronously positioned in the first time period can be obtained, and then the positioning data corresponding to the time stamp can be obtained from the positioning data recorded by the target sensing device, and the positioning data corresponding to the time stamp is used as the positioning of the sensing device when each data frame in the first time period is generated.

[0190] The disease detection system can be set such that the triggering module simultaneously sends a first trigger signal to the positioning camera and a second trigger signal to the sensing device respectively. At this time, the mobile carrier starts to move. The positioning of the mobile carrier before moving is generally near the tunnel entrance, and its positioning can be determined by satellite positioning or network positioning. Whenever the processing module detects that the acquisition module has acquired a new first trigger signal, the processing module uses the solution in the present invention to perform synchronous positioning of the sensing device, and obtains the positioning of the sensing device when each data frame is generated. This positioning is initially based on satellite positioning or network positioning, and subsequent positioning is also calculated on this basis. Therefore, subsequent positioning is also based on satellite positioning or network positioning and has relatively high accuracy.

[0191] In this way, the initial positioning of the sensing device at the first moment has actually been determined by synchronous positioning when the processing module last detected that the acquisition module had acquired a new first trigger signal. Then, the initial positioning of the sensing device at the first moment can be directly obtained this time.

[0192] Therefore, based on the first displacement, the second quantity, and the starting position of the sensing device at the first moment, the position of the sensing device when each data frame is generated can be determined.

[0193] Optionally, if the category of the sensing device is the first category, step 105 includes the following steps B1 - B4:

[0194] B1. Calculate the ratio of the first displacement to the second quantity to obtain a first ratio;

[0195] B2. In the data frames of the first time period, determine the arrangement serial number of each data frame in the data frames generated in the first time period according to the frame serial number;

[0196] B3. Calculate the product of the arrangement serial number and the first ratio for each data frame to obtain a first product corresponding to each data frame;

[0197] B4. Calculate the sum of the initial position and the first product to obtain the position of the sensing device when each data frame is generated.

[0198] In steps B1 - B4, the first displacement is allocated to the second quantity of data frames, that is, calculate the ratio of the first displacement to the second quantity to obtain the displacement of the sensing device when each data frame is generated; then determine the sorting of each data frame, the sorting serial number starts from 1, the interval is 1, and it is sorted from small to large, then calculate the product of the arrangement serial number and the first ratio, and the obtained first product is the cumulative displacement of the sensing device from the first frame to the current when each data frame is generated. Add the initial position of the sensing device and the cumulative displacement, that is, obtain the position of the sensing device when each data frame is generated.

[0199] Exemplarily, assume that the first quantity of the second trigger signal collected by the acquisition module in the first time period is m, and the second quantity of the data frames stored by the sensing device in the first time period is n. Among them, the frame serial numbers of the data frames are 001, 002,..., 00n. The first displacement of the mobile carrier in the first time period is s1, the sensing device is of the first category, and the triggering method is at a fixed time interval. The initial position of the mobile carrier at the first moment is s2.

[0200] If m = n, then there is no frame loss for the sensing device in the first time period.

[0201] Furthermore, in the case of determining that there is no frame loss, the position of the sensing device when each data frame is generated in the first time period can be calculated.

[0202] Specifically, first calculate the first ratio, which is the ratio of the first displacement to the second quantity, that is, s1 / n;

[0203] Then, determine the arrangement sequence number of each data frame in the data frames generated during the first time period according to the frame sequence number. That is, for the data frames with frame sequence numbers 001, 002, ……, 00n respectively, their arrangement sequence numbers in the data frames are 1, 2, ……, n respectively. That is, the data frame with frame sequence number 001 is the first data frame generated during the first time period, the data frame with frame sequence number 002 is the second data frame generated during the first time period, and so on.

[0204] Then, the first product corresponding to the data frame with frame sequence number 001 is: 1*s1 / n, the first product corresponding to the data frame with frame sequence number 002 is: 2*s1 / n, ……, the first product corresponding to the data frame with frame sequence number 00n is: n*s1 / n.

[0205] The sum of the initial position and the first product corresponding to the data frame is the position of the sensing device when generating this data frame. That is: when generating the data frame with frame sequence number 001, the position p1 of the sensing device = s2 + 1*s1 / n; when generating the data frame with frame sequence number 002, the position p2 of the sensing device = s2 + 2*s1 / n; ……, when generating the data frame with frame sequence number 00n, the position pn of the sensing device = s2 + n*s1 / n.

[0206] Optionally, if the category of the sensing device is the second category, step 105 includes the following steps C1 - C5:

[0207] C1. Obtain the time stamp of the second trigger signal from the acquisition module;

[0208] C2. For the data frames in the first time period, determine the data frames triggered by the same second trigger signal according to the time stamp, and regard the data frames triggered by the same second trigger signal as a data frame group;

[0209] C3. In the data frames of the first time period, calculate the number of groups of the data frame group, and sort the data frame group according to the time stamp to obtain the group sequence number;

[0210] C4. According to the number of groups and the first displacement, determine the second displacement of the moving carrier when generating the data frame group;

[0211] C5. According to the number of data frames in the data frame group, the group sequence number, and the second displacement, determine the position of the sensing device when generating each data frame.

[0212] In steps C1 - C5, the data frame carries a timestamp, and the second trigger signal also carries a timestamp. Then, it is possible to determine which second trigger signal the data frame belongs to based on the timestamp. The data frames triggered by the same second trigger signal correspond to the same data frame group.

[0213] Assign group numbers according to the order of generation of the data frame groups. Calculate the ratio of the first displacement to the number of groups to obtain the displacement of the sensing device when each data frame group is generated. Obtain the second displacement according to the ratio of the first displacement to the number of groups.

[0214] Then, determine the positioning of the sensing device when each data frame is generated according to the number of data frames, the sorting of the data frames, the group number, and the second displacement in the data frame group.

[0215] Optionally, step C5 includes the following steps D1 - D3:

[0216] D1. Calculate the product of the group number and the second displacement for each data frame group to obtain the positioning interval corresponding to the sensing device when each data frame group is generated;

[0217] D2. Obtain the third number of data frames in each data frame group;

[0218] D3. Determine the positioning of the sensing device when each data frame is generated according to the positioning interval and the third number.

[0219] Exemplarily, assume that the first number of second trigger signals collected by the acquisition module in the first time period is m, and the second number of data frames stored by the sensing device in the first time period is n. Among them, the frame numbers of the data frames are 001, 002,..., 00n respectively. The first displacement of the mobile carrier in the first time period is s1. The sensing device is of the second type, and the sensing device triggers a detection signal according to each second trigger signal, that is, ma = n. The initial positioning of the mobile carrier at the first moment is s2.

[0220] If m = n / a, it is determined that there is no frame loss of the sensing device in the first time period.

[0221] Next, calculate the positioning of the sensing device when each data frame is generated by the sensing device in the first time period.

[0222] First step, split the data frames generated in the first time period into data frame groups according to the timestamps of the second trigger signals. For example, determine that 001, 002,..., 00b is a data frame group; 00b + 1, 00b + 2,..., 00c is a data frame group;..., 00c + 1, 00c + 2,..., 00n is a data frame group.

[0223] Step 2: Calculate the number of groups. For example, the number of groups of the above data frame groups is m (in the case of no lost frames, the number of groups is the same as the number of second trigger signals), and the group numbers are 1, 2, ……, m.

[0224] Step 3: Calculate the second displacement, which is the first displacement divided by the number of groups, i.e., s1 / m.

[0225] Step 4: Obtain the number of data frames in the data frame group, which is a in the case of no lost frames, and obtain the sorting of the data frames, such as 1, 2, ……, a. Multiply the group number by the second displacement to obtain the positioning interval corresponding to the sensing device when generating each of the data frame groups. For example, the positioning interval corresponding to the first data frame group is: S2, S2 + s1 / m; the positioning interval corresponding to the second data frame group is: S2 + s1 / m, S2 + 2*s1 / m; and so on.

[0226] Obtain the third number of data frames in each of the data frame groups, which is a if there is no lost frame.

[0227] In this way, in the first data frame group, when generating the first data frame, the positioning of the sensing device is: s2 + s1 / (m*a); when generating the second data frame, the positioning of the sensing device is: s2 + 2*s1 / (m*a). And so on.

[0228] Optionally, after step 104, the following steps E1 - E3 are further included:

[0229] E1: If the triggering mode of the sensing device is triggered at a fixed time interval and it is determined that there is no such situation of lost frames, then obtain the time stamp corresponding to each data frame generated by the sensing device in the first time period;

[0230] E2: Obtain the positioning data corresponding to the time stamp from the positioning data recorded by the sensing device itself;

[0231] E3: Use the positioning data corresponding to the time stamp as the positioning of the sensing device when generating each data frame in the first time period.

[0232] In steps E1 - E3, for a sensing device whose triggering mode is triggered at a fixed distance interval, this kind of sensing device has its own positioning system and can record positioning data. Therefore, the positioning of the sensing device when generating each data frame can be directly obtained from the positioning data recorded by itself.

[0233] Since the first displacement is determined according to the timing standard of the positioning camera, and the data frame and the second quantity are also determined according to the timing standard of the positioning camera, the positioning of different sensing devices is synchronized under the timing standard of the positioning camera in this solution. Moreover, the initial positioning of the sensing device is by satellite positioning or network positioning, and the subsequent positioning is calculated based on the initial positioning. Therefore, the positioning accuracy in this solution is relatively high.

[0234] For multiple sensing devices, each sensing device executes the method in the embodiment of the present invention, which can make the positioning of multiple sensing devices be calculated according to the timing standard on the positioning camera. In this way, the positioning of different sensing devices at the same moment is unified under the timing standard of the positioning camera, that is, the positioning of different sensing devices at the same moment is synchronized.

[0235] In summary, in the embodiment of the present invention, when it is detected that the acquisition module acquires a new first trigger signal, the first quantity of the second trigger signals acquired by the acquisition module in the first time period is obtained, and at the same time, the second quantity of the data frames stored by the sensing device in the first time period is obtained; according to the image captured by the positioning camera in the first time period, the first displacement of the mobile carrier in the first time period is determined; the category of the sensing device is determined; according to the first quantity, the second quantity, and the category of the sensing device, it is determined whether there is a frame loss situation of the sensing device in the first time period; if the trigger mode of the sensing device is to trigger at a fixed time interval and it is determined that there is no frame loss situation, then according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier obtained in advance at the first moment, the positioning of the sensing device when generating each data frame in the first time period is determined. In the above method, since the positioning of each sensing device is calculated according to the first displacement of the positioning camera, and the first displacement of the positioning camera is calculated according to the timing standard of the acquisition module, the positioning of different sensing devices is synchronized under the timing standard of the acquisition module in this solution, that is, the positioning of different sensing devices at the same moment is successfully synchronized.

[0236] Figure 4 This is the step flowchart of the second synchronous positioning method in the tunnel disease detection provided by the embodiment of the present invention. The method is applied to a disease detection system, and the method includes:

[0237] 201. When it is detected that the acquisition module acquires a new first trigger signal, obtain the first quantity of the second trigger signals acquired by the acquisition module in the first time period, and at the same time, obtain the second quantity of the data frames stored by the sensing device in the first time period.

[0238] In an embodiment of the present invention, step 201 may refer to step 101, which will not be elaborated here.

[0239] 202. Determine a first displacement of the mobile carrier within the first time period according to an image captured by the positioning camera within the first time period.

[0240] In an embodiment of the present invention, step 202 may refer to step 102, which will not be elaborated here.

[0241] 203. Determine a category of the sensing device, where the category includes a first category and a second category.

[0242] In an embodiment of the present invention, step 203 may refer to step 103, which will not be elaborated here.

[0243] 204. Determine whether there is a frame loss situation of the sensing device within the first time period according to the first quantity, the second quantity, and the category of the sensing device.

[0244] In an embodiment of the present invention, step 204 may refer to step 104, which will not be elaborated here.

[0245] 205. If it is determined that there is a frame loss situation, determine the number of lost frames and the positions of the lost frames.

[0246] For the first type of sensing device, if the sensing device does not trigger the emission of a detection signal or triggers the detection signal but fails to generate a detection result after receiving the second trigger signal, a phenomenon of missing detection results will occur, which is a frame loss.

[0247] For the second type of sensing device, if the sensing device does not trigger the emission of a detection signal after receiving the second trigger signal; or, the number of triggered detection signals is insufficient, such as the number being less than N; or, a sufficient number of detection signals are triggered but the generated detection results are insufficient in number. All of these will result in an insufficient number of detection results, which is a frame loss.

[0248] If a frame loss occurs, it is necessary to supplement artificial data at the positions of the lost frames so as not to affect the subsequent correspondence between the data frames and the second trigger signal for subsequent synchronous positioning of the data frames.

[0249] The method for determining the number of lost frames and the positions of the lost frames includes the following steps D1 - D4:

[0250] D1. Determine the number of lost frames according to the difference between the first quantity and the second quantity;

[0251] D2. Determine the position between two adjacent target data frames as the position of the lost frame.

[0252] Wherein, if the second trigger signal received by the sensing device is sent at a fixed distance interval, the two target data frames are: M (M≥1) pairs of adjacent data frames with the largest time interval between timestamps; the M is the number of lost frames;

[0253] If the second trigger signal received by the sensing device is sent at a fixed time interval, the two target data frames are: two adjacent data frames with a time interval between timestamps larger than the fixed time interval.

[0254] In steps D1 - D2, if the second trigger signal received by the sensing device is sent at a fixed distance interval, the difference between timestamps of adjacent data frames is not fixed. After determining that the number of lost frames is M, the difference between timestamps of every two adjacent data frames can be calculated, and the M pairs of data frames with the largest differences are determined as target data frames. The position between each pair of target data frames is a lost frame position.

[0255] Exemplarily, assume that the first quantity of the second trigger signal collected by the acquisition module in the first time period is m, the second quantity of the data frames stored by the sensing device in the first time period is n, and the sensing device is of the first category. If m > n, then there are lost frames in the sensing device in the first time period, and the number of lost frames is the difference between the first quantity and the second quantity, that is, m - n.

[0256] If the second trigger signal received by the sensing device is sent at a fixed time interval, and m = 10, n = 8, then the number of lost frames is m - n = 2. The timestamps of the data frames are respectively: the timestamp of the data frame with frame number 001 is 9:00, the timestamp of the data frame with frame number 002 is 9:01, the timestamp of the data frame with frame number 003 is 9:03, the timestamp of the data frame with frame number 004 is 9:04, the timestamp of the data frame with frame number 005 is 9:05, the timestamp of the data frame with frame number 006 is 9:06, the timestamp of the data frame with frame number 007 is 9:08, the timestamp of the data frame with frame number 008 is 9:09. Then, the target data frames can be selected according to the time interval between timestamps. The two pairs of target data frames are respectively: the data frame with frame number 002 and the data frame with frame number 003, the data frame with frame number 006 and the data frame with frame number 007. The position between the two target data frames is the lost frame position.

[0257] At the two lost frame positions, artificial data frames are respectively filled in to obtain a complete data frame sequence containing 10 data frames. Frame numbers are set for each data frame in the complete data frame queue to obtain a corrected data frame queue, and the frame numbers of the corrected data frame queue are respectively 1, 2, ……, 10. Among them, the data frames with frame numbers 3 and 8 are the filled-in artificial data frames.

[0258] If the sensing device is a sensing device of the second category, step 205 includes the following steps E1 - E3:

[0259] E1. Obtain the timestamp of the second trigger signal from the acquisition module;

[0260] E2. Determine the data frames triggered by the same second trigger signal according to the timestamp, and regard the data frames triggered by the same second trigger signal as a data frame group;

[0261] E3. Determine whether there are missing frames in the data frame group and the number of missing frames according to whether the number of data frames in the data frame group is equal to N;

[0262] E4. If it is determined that there are missing frames, determine the positions of the missing frames according to the interval time between the timestamps in the data frame group.

[0263] In steps E1 - E4, when there are no missing frames, a data frame group includes N data frames. According to the difference between the number of data frames in the actual data frame group and N, the number of missing frames can be determined.

[0264] When there are no missing frames, the interval time between the timestamps in the data frame group is uniform. Therefore, it is possible to find the data frame pair with uneven interval time between the timestamps, and regard the position between this data frame pair as the position of the missing frame.

[0265] 206. At each position of the missing frame, supplement artificial data frames to obtain a complete data frame queue.

[0266] Specifically, the artificial data frame can be the detection result artificially fitted according to the detection result data in the front and rear data frames.

[0267] 207. Set a frame sequence number for each data frame in the complete data frame to obtain a corrected data frame queue.

[0268] After supplementing the artificial data, according to the arrangement order of the data frames, reset the frame sequence numbers for each data frame and each artificial data frame in the complete data frame queue, so as to obtain a corrected data frame queue with correct frame sequence numbers.

[0269] Setting the correct frame sequence numbers is beneficial to subsequent correspondence between the frame sequence numbers of the data frames and the second trigger signal, and is also beneficial to realizing frame alignment of the data frames of each sensing device according to the timestamps, so that the data frames of different sensing devices can be truly located uniformly at the same moment.

[0270] 208. If it is determined that there is a situation of missing frames, determine the positioning of the sensing device when each data frame is generated according to the triggering mode of the sensing device, the first displacement, the corrected data frame queue, and the initial positioning of the mobile carrier at the first moment obtained in advance.

[0271] The sensing device drops frames, that is, after the sensing device receives a certain second trigger signal, no detection result is finally generated. However, this does not advance the generation time of the next detection result, because the trigger interval of the second trigger signal will not change due to frame dropping, and the next detection result can only be generated after the sensing device receives the next trigger signal. Therefore, frame dropping does not affect the timestamps of other data frames generated.

[0272] Moreover, the total number of all data frames (including artificial data frames) in the corrected data frame queue within the first time period is the number of second trigger signals collected by the acquisition module within the first time period, that is, the first quantity.

[0273] Therefore, if the category of the sensing device is the first category and the triggering mode of the sensing device is triggering at a fixed time interval, step 208 may include the following steps F1 - F4:

[0274] F1. Determine the frame numbers of the actually generated data frames in the corrected data frame queue;

[0275] F2. Calculate the ratio of the first displacement to the first quantity to obtain a third ratio;

[0276] F3. For each actually generated data frame in the corrected data frame queue, calculate the product of the frame number and the third ratio to obtain a third product corresponding to each data frame;

[0277] F4. Calculate the sum of the initial positioning and the third product to obtain the positioning of the sensing device when each data frame is generated.

[0278] Exemplarily, assume that the first quantity of the second trigger signals collected by the acquisition module within the first time period is m, the second quantity of the data frames stored by the sensing device within the first time period is n. The first displacement of the mobile carrier within the first time period is s1. The sensing device is of the first category. The initial positioning of the mobile carrier at the first moment is s2. Let m = 10, n = 8, then the number of dropped frames is m - n = 2.

[0279] If the frame numbers of the corrected data frame queue are 1, 2,..., 10. Among them, the data frames with frame numbers 3 and 8 are the supplemented artificial data frames. Then the frame numbers of the actually generated data frames in the corrected data frame queue are 1, 2, 4, 5, 6, 7, 9, 10.

[0280] Then the third ratio is s1 / m, and the third products corresponding to the data frames with frame numbers 1, 2, 4, 5, 6, 7, 9, and 10 are 1*s1 / m, 2*s1 / m, 4*s1 / m, 5*s1 / m, 6*s1 / m, 7*s1 / m, 9*s1 / m, and 10*s1 / m respectively.

[0281] Calculate the sum of the initial positioning and the third product to obtain the positioning of the sensing device when each data frame is generated. That is, when the first data frame is generated, the positioning of the sensing device q1 = s2 + 1*s1 / m; when the second data frame is generated, the positioning of the sensing device q2 = s2 + 2*s1 / m; when the third data frame is generated, the positioning of the sensing device q3 = s2 + 4*s1 / m;...; when the eighth data frame is generated, the positioning of the sensing device q8 = s2 + 10*s1 / m.

[0282] If the category of the sensing device is the second category and the triggering mode of the sensing device is triggered at a fixed time interval, the positioning of the sensing device when each data frame is generated can be directly determined with reference to steps C1 - C6.

[0283] If the triggering mode of the sensing device is triggered at a fixed distance interval, regardless of whether the category of the sensing device is the first category or the second category, the corresponding positioning can be obtained from the positioning data recorded by the sensing device itself according to the time stamp of the data frame.

[0284] In summary, the embodiment of the present invention provides a method for determining the positioning of a sensing device when each data frame is generated in the case of frame loss, further broadening the application scope of the embodiment of the present invention; and a method for determining the number of lost frames and the positions of lost frames is given, which is conducive to subsequent correspondence between the frame numbers of data frames and the second trigger signal, and is conducive to realizing frame alignment of data frames of each sensing device according to the time stamp, so that different sensing devices can truly achieve unified positioning at the same moment.

[0285] Figure 5 A synchronous positioning device provided by an embodiment of the present invention. It is applied to a disease detection system. Specifically, the synchronous positioning device 300 is set in a processing module. The device 300 includes:

[0286] An acquisition module 301, configured to, when detecting that the acquisition module acquires a new first trigger signal, acquire a first quantity of the second trigger signals acquired by the acquisition module within a first time period, and simultaneously acquire a second quantity of data frames stored by the sensing device within the first time period; wherein, the first time period is a time period between a first moment corresponding to the last time the acquisition module acquired the first trigger signal and a second moment corresponding to the current acquisition of the first trigger signal; the data frame is a measurement result generated by the sensing device according to the feedback result of each detection signal; the data frame includes at least data, a frame number, and a timestamp.

[0287] A first displacement determination module 302, configured to determine a first displacement of the mobile carrier within the first time period according to an image captured by the positioning camera within the first time period.

[0288] A determination module 303, configured to determine the category of the sensing device, where the category includes a first category and a second category; wherein, the sensing device of the first category is a sensing device that triggers one detection signal according to each second trigger signal, and the sensing device of the second category is a sensing device that triggers N (N≥2) detection signals according to each second trigger signal.

[0289] A frame loss determination module 304, configured to determine whether there is a frame loss situation of the sensing device within the first time period according to the first quantity, the second quantity, and the category of the sensing device.

[0290] A positioning module 305, configured to, if the triggering mode of the sensing device is to trigger at a fixed time interval and it is determined that there is no frame loss situation, determine the positioning of the sensing device when generating each data frame within the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance.

[0291] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0292] Embodiment 2

[0293] Figure 6 This is a hardware structure diagram of a synchronous positioning system provided by an embodiment of the present invention.

[0294] Refer to Figure 1 , the synchronous positioning system includes an acquisition module 1, a trigger module 2, a positioning camera 3, a sensing device one 401, a sensing device two 402, and a processing module 6.

[0295] The acquisition module 1, as a hardware component on the positioning camera 3, is deployed on the positioning camera 3. Specifically, the acquisition module 1 can be a digital signal acquisition module 1, which is used to acquire the first trigger signal and the second trigger signal sent by the trigger module 2, and periodically or aperiodically count the number of the first trigger signal and the second trigger signal, and record the time stamp corresponding to the number at the same time.

[0296] The acquisition module 1, the trigger module 2, the positioning camera 3, the first sensing device 401 and the second sensing device 402, and the processing module 6 are all located on the mobile carrier. The mobile carrier 5 is a movable carrier, which can be a vehicle, a drone, a robot, etc. The mobile carrier carries the acquisition module 1, the trigger module 2, the positioning camera 3, the first sensing device 401 and the second sensing device 402, and the processing module 6 and travels in the tunnel.

[0297] The number of sensing devices is at least two.

[0298] The trigger module 2 sends the first trigger signal to the positioning camera 3 and the second trigger signal to at least two sensing devices according to a predetermined sending method. The essence of both the first trigger signal and the second trigger signal is an electrical signal. The trigger module 2 is set to send the first trigger signal to the positioning camera 3 at a fixed time interval. The trigger module 2 is set to send the second trigger signal to the sensing device at a fixed distance interval, or to send the second trigger signal to the sensing device at a fixed time interval. Specifically, which interval method is used to send the second trigger signal is determined by the type or setting of the sensing device.

[0299] For example, if the sensing device is a lidar, a ground penetrating radar, etc., the general trigger method is distance trigger. If the sensing device is a camera, the general trigger method is time trigger.

[0300] Generally, the time interval between two adjacent first trigger signals is much longer than the time interval between two adjacent second trigger signals.

[0301] Figure 7 This is an information interaction diagram of a synchronous positioning system provided by an embodiment of the present invention.

[0302] In Figure 7Among them, the triggering module 2 sends a first trigger signal to the positioning camera 3, and sends second trigger signals to the first sensing device 401 and the second sensing device 402 respectively; the acquisition module 1 acquires the first trigger signal and the second trigger signals; after receiving the first trigger signal, the positioning camera 3 triggers taking pictures and sends the obtained pictures to the processing module 6; after receiving the second trigger signals, the first sensing device 401 and the second sensing device 402 respectively trigger detection signals and send the measurement results to the processing module 6. The processing module 6 receives the image data and detection data sent by the positioning camera 3, the first sensing device 401 and the second sensing device 402, and processes the image data and detection data, and synchronizes the positioning of the detection data of each sensing device, etc.

[0303] When the first sensing device 401 and the second sensing device 402 receive the second trigger signal, they trigger the operation of emitting a detection signal to the detection object, and the detection signal can be a laser signal, an electromagnetic wave, etc. In a tunnel, the detection object is generally the tunnel side wall, the tunnel top arc, the tunnel floor, etc.

[0304] When the positioning camera 3 receives the first trigger signal, it triggers the taking picture operation. The positioning camera 3 takes pictures at a fixed time interval to obtain multiple pictures with matching feature points.

[0305] The processing module 6 receives the pictures taken by the positioning camera 3, performs image fusion according to the matching feature points on two adjacent pictures, and uses the calibration relationship between the pixel coordinate system and the world coordinate system to determine the actual displacement of the positioning camera 3 from taking the previous picture to taking the next picture, that is, the actual displacement of the positioning camera 3 between two adjacent pictures.

[0306] The time stamp of the picture taken by the positioning camera 3 corresponds to the time stamp of the positioning camera 3 receiving the first trigger signal. Then, the actual displacement corresponding to the positioning camera 3 from taking the previous picture to taking the next picture is equal to the actual displacement between the positioning camera 3 receiving the first trigger signal last time and receiving the first trigger signal next time (that is, between two adjacent receptions of the first trigger signal).

[0307] It is possible to count how many second trigger signals the acquisition module 1 has acquired in total between two adjacent receptions of the first trigger signal, and then it is possible to determine that the sensing devices have generated the same number of detection data. By spreading the actual displacement between two adjacent receptions of the first trigger signal to each detection data within this period of time, it is possible to determine the displacement corresponding to each detection data generated during this period of time. After the displacement is determined, according to the initial positioning of the moving carrier, it is possible to determine the positioning corresponding to the generated detection data.

[0308] In this system, an acquisition module 1 is added and deployed on the positioning camera 3. The number and timestamp of the triggered signals collected are based on the clock signal of the positioning camera 3. The images captured by the positioning camera 3 can determine the displacement of the sensing device. The displacement, the number of triggered signals, and the timestamp can determine the positioning of the detection data, and all are based on the clock signal of the positioning camera 3. Therefore, this system can synchronize the positioning of the detection data output by different sensing devices.

[0309] Optionally, the processing module 6 is configured to determine the displacement of the mobile carrier during the target time period according to the image captured by the positioning camera 3. The processing module 6 is further configured to determine the target detection data output by each sensing device during the target time period according to the acquisition timestamp, and determine the positioning corresponding to the target detection data according to the displacement.

[0310] In an embodiment of the present invention, the processing module 6 can synchronize the positioning corresponding to the detection data generated by at least two sensing devices according to the image captured by the positioning camera 3, the detection data of the sensing device, and according to the image, the signal acquisition quantity, and the acquisition timestamp. Specifically, the displacement of the sensing device between two adjacent first triggered signals is determined according to the image captured by the positioning camera 3. According to the acquisition timestamp, the number of second triggered signals received by the sensing device between two adjacent first triggered signals is determined, and according to the timestamp of the detection data, the target detection data generated between two adjacent first triggered signals is determined. In this way, dividing the displacement of the sensing device between two adjacent first triggered signals by the number of the generated target detection data can obtain the displacement of the sensing device for each generated detection data. At the same time, through the initial positioning of the sensing device, that is, the initial positioning of the mobile carrier, the positioning of the sensing device for each generated detection data, that is, the positioning of the mobile carrier, can be obtained.

[0311] For multiple sensing devices, each sensing device executes the above method, so that the positioning of multiple sensing devices can be calculated based on the timing standard on the positioning camera 3. In this way, the positioning of different sensing devices at the same moment is unified under the timing standard of the positioning camera 3, that is, the positioning of different sensing devices at the same moment is synchronized.

[0312] Optionally, the positioning camera 3 is fixedly installed at the bottom of the mobile carrier. When the mobile carrier travels on the track, the positioning camera 3 is used to capture the roadbed of the track.

[0313] The roadbed of the track is a continuous shooting object, and the images obtained by shooting the roadbed of the track are also likely to have multiple matching feature points. In this way, it is more convenient to calculate the displacement between two adjacent images. Therefore, the positioning camera 3 can be installed at the bottom of the mobile carrier to shoot the roadbed of the track.

[0314] Optionally, the trigger module 2 includes a central control unit and an encoder. The central control unit is fixed inside the mobile carrier, and the encoder is connected to the driven wheel of the mobile carrier through an adapter ring.

[0315] The central control unit is the central control unit, which refers to the device that centrally manages and controls various devices such as sound, light, and electricity. The central control unit can be installed and fixed in the internal space of the mobile carrier.

[0316] An encoder is a device that converts angular displacement or linear displacement into an electrical signal. The encoder is installed on the driven wheel of the mobile carrier and can measure the number of revolutions of the wheel, thereby calculating the displacement of the mobile carrier.

[0317] Figure 8 It is a schematic diagram of a synchronous positioning system provided by an embodiment of the present invention.

[0318] In Figure 8 it, the synchronous positioning system includes an acquisition module 1, a trigger module 2, a positioning camera 3, a two-dimensional camera 41, a lidar 42, a ground penetrating radar 43, a three-dimensional camera 44, a mobile carrier 5, and a processing module 6. A flash 7 can also be included.

[0319] The trigger module 2 includes a central control unit 21 and an encoder 22. The central control unit 21 is fixed in the internal space of the mobile carrier 5, and the encoder 22 is installed on the driven wheel of the mobile carrier 5.

[0320] The acquisition module 1 is deployed on the positioning camera 3. The positioning camera 3 is installed and fixed at the bottom of the mobile carrier 5.

[0321] Optionally, the central control unit 21 is used to send the first trigger signal to the positioning camera 3 at a fixed time interval, and send the second trigger signal to one of the sensing devices at a fixed time interval; the encoder 22 is used to send the second trigger signal to one of the sensing devices at a fixed distance interval.

[0322] In the embodiment of the present invention, the triggering method of the positioning camera 3 is time triggering, that is, receiving the first trigger signal at a fixed time interval to trigger taking pictures; the triggering method of the sensing device can be time triggering or distance triggering. If it is time triggering, the central control unit 21 sends the second trigger signal to it. If it is distance triggering, the encoder 22 sends the second trigger signal to it.

[0323] Optionally, the sensing device includes at least two of an image sensor, a lidar, and a ground penetrating radar.

[0324] The image sensor can be a two-dimensional camera 41 and / or a three-dimensional camera 44. As Figure 8 shown, the two-dimensional camera 41 can be a camera array with multiple cameras facing different directions, which is used to collect images of the tunnel lining surface in all directions and over a large range. The three-dimensional camera 44 is installed below the mobile carrier 5 and can synthesize the three-dimensional contour dimensions of the tunnel floor and the volume dimensions of components through binocular cameras or laser principles, so as to obtain an accurate three-dimensional image of the tunnel floor.

[0325] The lidar 42 is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. It emits detection signals (laser beams) to the top arc of the tunnel, and then compares the received signals (target echoes) reflected from the top arc of the tunnel with the transmitted signals. After appropriate processing, parameters such as the distance, height, contour, and shape of the top arc of the tunnel can be obtained.

[0326] The ground penetrating radar 43 is an electronic device that uses high-frequency electromagnetic wave technology to detect the tunnel sidewall. The transmitter emits high-frequency pulsed electromagnetic wave signals through the transmitting antenna. When the signals encounter the tunnel sidewall, the high-frequency electromagnetic waves penetrate the rock layer of the tunnel sidewall and generate a reflected signal. The direct signal and the reflected signal are input into the receiver through the receiving antenna. According to the lag time when the reflected signal arrives and the average reflection wave velocity, disease information such as cavities and cracks in the tunnel wall can be detected, and distance data can be obtained.

[0327] Optionally, the sensing device is configured to, after receiving the second trigger signal, emit a detection signal to the detection object, receive a feedback signal obtained by feedback of the detection signal, and generate detection data according to the feedback signal.

[0328] In the embodiment of the present invention, sensing devices such as the two-dimensional camera, the lidar, the ground penetrating radar, and the three-dimensional camera, after receiving the second trigger signal, respectively emit detection signals to areas such as the tunnel sidewall, the top arc of the tunnel, and the tunnel floor to be detected, receive the feedback signals obtained by feedback of the detection signals, and generate detection data according to the feedback signals.

[0329] Optionally, the trigger module 2, the sensing device, and the positioning camera 3 all include electrical signal output interfaces. The electrical signal output interface of the positioning camera 3 is used to output image data, and the electrical signal output interface of the sensing device is used to output detection data.

[0330] In an embodiment of the present invention, the electrical signal output interface of the trigger module 2 is used to output a first trigger signal or a second trigger signal. The sensitive element of the sensing device directly senses the measured quantity and outputs a physical quantity analog signal related to the measured quantity. The electrical signal output interface of the sensing device is used to convert the physical quantity analog signal output by the sensitive element into an electrical signal and output it to the processing module 6. The photosensitive element of the positioning camera 3 outputs image data, and the electrical signal output interface of the positioning camera 3 is used to convert the image data into an electrical signal.

[0331] Optionally, the processing module 6 includes a plurality of electrical signal input interfaces, and the electrical signal input interfaces are respectively used to receive the image data and the detection data, and receive the signal acquisition quantity and the acquisition timestamp sent by the acquisition module 1.

[0332] In an embodiment of the present invention, the multiple electrical signal input interfaces of the processing module 6 are respectively used to access the electrical signals sent by the sensing device and the electrical signals sent by the positioning camera 3, and respectively convert these electrical signals into image data and physical quantity analog data, that is, detection data, so as to process these data. In order to perform synchronous positioning on the detection data, the processing module 6 also receives the signal acquisition quantity and the acquisition timestamp sent by the acquisition module 1.

[0333] In summary, in an embodiment of the present invention, the synchronous positioning system includes: an acquisition module, a trigger module, a positioning camera, at least two sensing devices, and a processing module. The acquisition module is deployed on the positioning camera, and the positioning camera, the trigger module, and the sensing devices are all located on the same mobile carrier; the trigger module is used to send a first trigger signal to the positioning camera and a second trigger signal to the sensing devices; the positioning camera is used to trigger taking pictures according to the first trigger signal; the sensing devices are used to trigger detection signals according to the second trigger signal; the acquisition module is used to acquire the first trigger signal and the second trigger signal, and record the signal acquisition quantity and the acquisition timestamp; the processing module is used to receive the images taken by the positioning camera and the detection data of the sensing devices, and synchronize the positioning corresponding to the detection data output by the at least two sensing devices according to the images, the signal acquisition quantity, and the acquisition timestamp. This system adds an acquisition module and deploys the acquisition module on the positioning camera. The quantity and timestamp of the trigger signals acquired by the acquisition module are both based on the clock signal of the positioning camera, and the images taken by the positioning camera can determine the displacement of the sensing device. The displacement, the quantity of the trigger signals, and the timestamp can determine the positioning of the detection data, and all are based on the clock signal of the positioning camera. Therefore, this system can synchronize the positioning of the detection data output by different sensing devices.

[0334] II. Application Embodiments. To prove the creativity and technical value of the technical solution of the present invention, this part provides application embodiments of the technical solution of the claims on specific products or related technologies.

[0335] The communication bus mentioned in the above electronic device of the present invention can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0336] The communication interface is used for communication between the above electronic device and other devices.

[0337] The memory can include a Random Access Memory (RAM), and can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor.

[0338] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0339] The present invention can be applied to a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it realizes the steps of any one of the above methods applicable to locating fault points in a tunnel.

[0340] The present invention can also be applied to a computer program product containing instructions. When it runs on a computer, it causes the computer to execute any one of the methods applicable to locating fault points in a tunnel in the above embodiments.

[0341] III. Evidence of the effects related to the embodiments. Some positive effects have been achieved during the R & D or use of the embodiments of the present invention, which indeed have great advantages compared with the prior art. The following content will be described in combination with the data, charts, etc. in the test process.

[0342] In practical applications, assuming that the mobile carrier moves at a constant speed, the first moment corresponding to the first trigger signal collected last time is exactly 12:00, and the moment corresponding to the second trigger signal collected this time is 12:01:40. Then the first time period is 100 seconds, the moving distance of the mobile carrier within the first time period is 1000 meters, so the first displacement is 1000 meters. The second number of data frames stored by the sensing device within the first time period is 2500 frames. The type of this sensing device is a sensing device that triggers a detection signal for each of the second trigger signals. And the initial position of the mobile carrier at the first moment is 3000 meters away from the tunnel entrance. Then it is calculated that each stored data frame represents 0.4 meters, that is, it means that the mobile carrier moves forward 0.4 meters for each frame. The positioning of the mobile carrier is that for each acquired data frame, the positioning data is accumulated by 0.4 meters. That is, if the mobile carrier moves 10 data frames after the first moment, the positioning of the mobile carrier is 3000 + 10 * 0.4 = 3004 meters, that is, the positioning of the mobile carrier at 10 data frames after the first moment is 3004 meters away from the tunnel entrance. It should be noted that the embodiments of the present invention can be implemented through hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated designed hardware. Those of ordinary skill in the art can understand that the above devices and methods can be implemented using computer-executable instructions and / or included in processor control code. For example, such code is provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and their modules of the present invention can be implemented by hardware circuits of programmable hardware devices such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above hardware circuits and software, such as firmware.

[0343] Other embodiments of the present invention will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include known common general knowledge or conventional technical means in the technical field not disclosed in this disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the invention are pointed out by the following claims.

[0344] It should be understood that the present invention is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A synchronous positioning method in tunnel disease detection, characterized in that The synchronous positioning method in the tunnel disease detection includes: When a new first trigger signal is detected by the acquisition module, obtain the first quantity of the second trigger signals collected by the acquisition module within the first time period, and simultaneously obtain the second quantity of the data frames stored by the sensing device within the first time period; wherein, the first time period is the time period between the first moment corresponding to the last time the acquisition module collected the first trigger signal and the second moment corresponding to the current collection of the first trigger signal; the data frame is each measurement result generated by the sensing device according to the feedback result of each detection signal; the data frame includes at least data, frame number, and timestamp; Determine the first displacement of the mobile carrier within the first time period according to the image captured by the positioning camera within the first time period; Determine whether there is a frame loss situation of the sensing device within the first time period according to the first quantity, the second quantity, and the category of the sensing device; wherein, determine the category of the sensing device; the category includes the first category and the second category; wherein, the sensing device of the first category is a sensing device that triggers one detection signal according to each of the second trigger signals, and the sensing device of the second category is a sensing device that triggers N detection signals according to each of the second trigger signals, N≥2; If the triggering mode of the sensing device is to trigger at a fixed time interval and it is determined that there is no frame loss situation, then determine the positioning of the sensing device when generating each data frame of the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance; If the category of the sensing device is the first category, determining the positioning of the sensing device when generating each data frame of the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance includes: Calculate the ratio of the first displacement to the second quantity to obtain a first ratio; In the data frames of the first time period, determine the arrangement serial number of each data frame in the data frames generated in the first time period according to the frame number; Calculate the product of the arrangement serial number and the first ratio for each data frame to obtain a first product corresponding to each data frame; Calculate the sum of the initial positioning and the first product to obtain the positioning of the sensing device when generating each data frame; If the category of the sensing device is the second category, determining the positioning of the sensing device when generating each data frame of the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the mobile carrier at the first moment obtained in advance includes: Obtain the timestamp of the second trigger signal from the acquisition module; For the data frames in the first time period, determine the data frames triggered by the same second trigger signal according to the time stamps, and use the data frames triggered by the same second trigger signal as a data frame group; In the data frames in the first time period, calculate the number of groups of the data frame group, and sort the data frame group according to the time stamps to obtain the group serial numbers; According to the number of groups and the first displacement, determine the second displacement of the moving carrier when generating the data frame group; According to the number of data frames in the data frame group, the sorting of the data frames, the group serial numbers, and the second displacement, determine the positioning of the sensing device when generating each data frame; The determining the positioning of the sensing device when generating each data frame according to the number of data frames in the data frame group, the group serial numbers, and the second displacement includes: For each data frame group, calculate the product of the group serial number and the second displacement to obtain the positioning interval corresponding to the sensing device when generating each data frame group; Obtain the third number of data frames in each data frame group; According to the positioning interval and the third number, determine the positioning of the sensing device when generating each data frame.

2. The synchronous positioning method in tunnel disease detection according to claim 1, characterized in that The obtaining the second number of data frames stored by the sensing device in the first time period includes: At the second moment, obtain the total number of data frames stored by the sensing device; According to the total number and the total number of data frames stored by the sensing device at the first moment obtained in advance, determine the second number of data frames stored by the sensing device in the first time period.

3. The synchronous positioning method in tunnel disease detection according to claim 1, wherein After determining whether there is a frame loss situation of the sensing device in the first time period, it further includes: If the triggering mode of the sensing device is triggering at fixed distance intervals and it is determined that there is no frame loss situation, then obtain the time stamp corresponding to each data frame generated by the sensing device in the first time period; Obtain the positioning data corresponding to the time stamp from the positioning data recorded by the sensing device itself; Use the positioning data corresponding to the time stamp as the positioning of the sensing device when generating each data frame in the first time period; After determining whether there is a frame loss situation of the sensing device in the first time period, the method further includes: If it is determined that there is a frame loss situation, then determine the number of lost frames and the positions of lost frames; At each position of the lost frame, insert artificial data frames to obtain a complete data frame queue; Set a frame serial number for each data frame in the complete data frame queue to obtain a corrected data frame queue; If the sensing device is a sensing device of the first category, then the determining the number of lost frames and the positions of lost frames includes: Determine the number of lost frames according to the difference between the first number and the second number; Determine the position between two adjacent target data frames as the position of the lost frame; Wherein, if the triggering mode of the sensing device is triggering at fixed distance intervals, then the two target data frames are: the M pairs of adjacent data frames with the largest time interval between time stamps, M≥1; the M is the number of lost frames; If the second trigger signal received by the sensing device is sent at a fixed time interval, the two target data frames are: two adjacent data frames whose time interval of timestamps is larger than the fixed time interval.

4. The synchronous positioning method in tunnel disease detection according to claim 3, wherein If the sensing device is a sensing device of the second category, the determining the number of lost frames and the positions of lost frames includes: Obtaining the timestamps of the second trigger signal from the acquisition module; Determining the data frames triggered by the same second trigger signal according to the timestamps, and taking the data frames triggered by the same second trigger signal as a data frame group; Determining whether there are lost frames in the data frame group and the number of lost frames according to whether the number of data frames in the data frame group is equal to N; If it is determined that there are lost frames, determining the positions of the lost frames according to the time intervals between the timestamps in the data frame group; After determining whether there are lost frames in the sensing device in the first time period, it further includes: If it is determined that there is a situation of lost frames, determining the positioning of the sensing device when each data frame is generated according to the triggering mode of the sensing device, the first displacement, the corrected data frame, and the initial positioning of the mobile carrier at the first moment obtained in advance.

5. A synchronous positioning device, characterized in that, Applied to a disease detection system, the synchronization positioning device includes: An acquisition module, configured to, when detecting that a new first trigger signal is acquired by the acquisition module, acquire a first number of second trigger signals acquired by the acquisition module in a first time period, and simultaneously acquire a second number of data frames stored by the sensing device in the first time period; wherein, the first time period is a time period between a first moment corresponding to the last acquisition of the first trigger signal by the acquisition module and a second moment corresponding to the current acquisition of the first trigger signal; the data frame is each measurement result generated by the sensing device according to the feedback result of each detection signal; the data frame includes at least data, a frame number, and a timestamp; A first displacement determination module, configured to determine a first displacement of the mobile carrier in the first time period according to the images captured by the positioning camera in the first time period; A determination module, configured to determine the category of the sensing device, where the category includes a first category and a second category; wherein, the sensing device of the first category is a sensing device that triggers one detection signal according to each second trigger signal, and the sensing device of the second category is a sensing device that triggers N detection signals according to each second trigger signal, N≥2; the triggering mode is the interval mode for the sensing device to trigger the detection signal, including triggering at a fixed time interval and triggering at a fixed distance interval; A lost frame determination module, configured to determine whether there is a situation of lost frames in the sensing device in the first time period according to the first number, the second number, and the category of the sensing device; A positioning module, which is used to determine the positioning of the sensing device when generating each data frame of the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the moving carrier obtained in advance at the first moment if the triggering mode of the sensing device is to trigger at fixed time intervals and it is determined that there is no frame loss situation. If the category of the sensing device is the first category, the determining the positioning of the sensing device when generating each data frame of the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the moving carrier obtained in advance at the first moment includes: Calculating the ratio of the first displacement to the second quantity to obtain a first ratio; In the data frames of the first time period, determining the arrangement serial number of each data frame in the data frames generated in the first time period according to the frame serial number; Calculating the product of the arrangement serial number and the first ratio for each data frame to obtain a first product corresponding to each data frame; Calculating the sum of the initial positioning and the first product to obtain the positioning of the sensing device when generating each data frame; If the category of the sensing device is the second category, the determining the positioning of the sensing device when generating each data frame of the first time period according to the first displacement, the second quantity, the category of the sensing device, and the initial positioning of the moving carrier obtained in advance at the first moment includes: Obtaining the time stamp of the second trigger signal from the acquisition module; For the data frames of the first time period, determining the data frames triggered by the same second trigger signal according to the time stamp, and taking the data frames triggered by the same second trigger signal as a data frame group; Calculating the number of the data frame group in the data frames of the first time period, and sorting the data frame group according to the time stamp to obtain a group serial number; Determining a second displacement of the moving carrier when generating the data frame group according to the number of the group and the first displacement; Determining the positioning of the sensing device when generating each data frame according to the number of the data frames in the data frame group, the sorting of the data frames, the group serial number, and the second displacement; The determining the positioning of the sensing device when generating each data frame according to the number of the data frames in the data frame group, the group serial number, and the second displacement includes: Calculating the product of the group serial number and the second displacement for each data frame group to obtain a positioning interval corresponding to the sensing device when generating each data frame group; Obtaining a third quantity of the data frames in each data frame group; Determining the positioning of the sensing device when generating each data frame according to the positioning interval and the third quantity.

6. A synchronization positioning system comprising the synchronization positioning device according to claim 5, characterized in that, Applied to a disease detection system; the synchronization positioning system includes: a collection module, a trigger module, a positioning camera, at least two sensing devices, a mobile carrier, and a processing module; the collection module is deployed on the positioning camera, and the positioning camera, the trigger module, and the sensing devices are all located on the mobile carrier, and the mobile carrier travels on the road; the collection module is further configured to collect the first trigger signal and the second trigger signal, and record the signal collection quantity and the collection timestamp; the trigger module is configured to send the first trigger signal to the positioning camera and the second trigger signal to the sensing devices; the positioning camera is configured to trigger taking pictures according to the first trigger signal; the sensing devices are configured to trigger detection signals according to the second trigger signal; the processing module is configured to receive the images taken by the positioning camera and the detection data of the sensing devices.

7. The synchronization positioning system according to claim 6, characterized in that The processing module is configured to determine the displacement of the mobile carrier during a target time period according to the images taken by the positioning camera; the processing module is further configured to determine the target detection data output by each sensing device during the target time period according to the collection timestamp, and determine the positioning corresponding to the target detection data according to the displacement. The positioning camera is fixedly installed at the bottom of the mobile carrier. When the mobile carrier travels on the track, the positioning camera is configured to take pictures of the track bed. The trigger module includes a central control unit and an encoder. The central control unit is fixed inside the mobile carrier, and the encoder is connected to the driven wheel of the mobile carrier through an adapter ring.

8. The simultaneous localization system according to claim 7, characterized in that, The central control unit is configured to send the first trigger signal to the positioning camera at a fixed time interval and send the second trigger signal to one of the sensing devices at a fixed time interval; the encoder is configured to send the second trigger signal to one of the sensing devices at a fixed distance interval. The sensing devices include at least two of an image sensor, a lidar, and a ground penetrating radar. The sensing devices are configured to, after receiving the second trigger signal, emit detection signals to the detection object, receive the feedback signals obtained by the feedback of the detection signals, and generate detection data according to the feedback signals. The trigger module, the sensing devices, and the positioning camera all include electrical signal output interfaces. The electrical signal output interface of the positioning camera is used to output image data, and the electrical signal output interface of the sensing devices is used to output detection data. The processing module includes a plurality of electrical signal input interfaces, and the electrical signal input interfaces are respectively used to receive the image data and the detection data, and receive the signal collection quantity and the collection timestamp sent by the collection module.

9. A computer device, characterized in that, The computer device includes a memory and a processor. When the computer program stored in the memory is executed by the processor, the processor executes the synchronization positioning method in tunnel disease detection according to any one of claims 1 to 4.

10. A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor is caused to execute the synchronous positioning method in the tunnel disease detection according to any one of claims 1 to 4.

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