Suspension rail type mobile platform immersed tunnel monitoring system based on binocular vision

Abstract

The invention discloses a suspended rail type mobile platform immersed tunnel monitoring system based on binocular vision, which is characterized in that a mobile platform is suspended on a rail at the top of an immersed tunnel in a walking manner, and a binocular vision module, a water stain crack identification module, an environment monitoring module and other monitoring modules are carried on the mobile platform. Therefore, the internal environment of the immersed tunnel can be inspected. The invention further designs a two-dimensional code positioning auxiliary mark system and a binocular measurement auxiliary mark system which are used in cooperation with the mobile platform, and the two-dimensional code positioning auxiliary mark system is used for providing accurate position information and mark number information of joints of all pipe joints for the mobile platform. The binocular measurement auxiliary mark system comprises marker groups installed at the joints of all the pipe joints of the immersed tunnel, when the mobile platform works, the marker groups are photographed through a binocular vision module on the mobile platform, and then whether the joints of the pipe joints of the immersed tunnel deform or not is analyzed according to obtained images.

Description

Technical Field

[0001] The invention belongs to the technical field of immersed tube tunnel monitoring, and in particular relates to a binocular vision-based suspended rail type mobile platform immersed tube tunnel monitoring system. Background Art

[0002] Due to the particularity of the environment, underwater immersed tube tunnels are extremely susceptible to factors such as topography, geology and water environment, as well as various processes of construction and operation; these factors can cause a series of problems in immersed tube tunnels, such as tunnel cracks, water leakage, deformation of pipe joints, etc. Therefore, the monitoring and maintenance of the status of underwater immersed tube tunnels is particularly important.

[0003] Traditionally, the inspection and maintenance of immersed tube tunnels is mainly carried out by manual inspection or vehicle inspection. Manual inspection requires road closure management, which is not only inefficient but also seriously hinders normal traffic operations. Vehicle inspection is mainly used for regular inspection, which makes it difficult to take into account the needs of daily inspection and regular inspection.

[0004] At present, there are intelligent inspection mobile platforms to solve the above problems. For example, patent CN202111009819.0 discloses a suspended inspection mobile platform, including a guide rail support, a power supply busbar and a mobile platform design, which can realize accurate positioning and tracking of "invading foreign objects"; patent CN202210558760.9 discloses a design of an intelligent inspection mobile platform for cable tunnels, including a guide rail assembly, an inspection shell assembly, and a track change device, which can change the track of the intelligent inspection device between the angled guide rail or the parallel guide rail, so that the intelligent inspection device can adapt to the complex tunnel environment; patent CN202210508116.0 discloses a track mobile platform for tunnel inspection, including a running mechanism, a follow-up bracket, an extension mechanism, an information collection component and a controller, which can realize a large-scale monitoring of the top of the tunnel; however, these designs have problems such as low intelligence, low accuracy, and single monitoring data type, so a suspended track immersed tube tunnel intelligent inspection mobile platform with high intelligence, accurate detection and accurate positioning is needed. Summary of the invention

[0005] The purpose of the present invention is to solve the deficiencies of the prior art and to propose a monitoring system for an immersed tube tunnel using a suspended rail mobile platform based on binocular vision.

[0006] The present invention is achieved through the following technical solutions: A binocular vision-based suspended track mobile platform immersed tube tunnel monitoring system, including a track structure, a mobile platform, a tunnel data measurement system and a mobile platform auxiliary marking system; The track structure is arranged at the top of the immersed tube tunnel to be monitored, and the mobile platform is suspended and installed on the track of the track structure in a movable manner, and the mobile platform comprises a walking mechanism, a function box and a mechanical arm, wherein the walking mechanism is installed on the top of the function box, and the mechanical arm is installed on the bottom of the function box; The tunnel data measurement system is arranged on a mobile platform, and includes a binocular vision module, a water stain crack recognition module and an environmental monitoring module; wherein the binocular vision module is arranged on a mechanical arm of the mobile platform, and the water stain crack recognition module and the environmental monitoring module are arranged on a function box of the mobile platform; The mobile platform auxiliary marking system includes a two-dimensional code positioning auxiliary marking system and a binocular measurement auxiliary marking system; the two-dimensional code positioning auxiliary marking system is used to provide the mobile platform with accurate location information and label information of each pipe joint; the binocular measurement auxiliary marking system is used to cooperate with the binocular vision module of the mobile platform, and the binocular measurement auxiliary marking system includes a marker group installed at each pipe joint of the immersed tube tunnel, each marker group includes two marker units, and the two marker units are respectively fixedly installed on the pipe joints on both sides of the pipe joint, each marker unit includes at least one circular reflector, and multiple marker groups are arranged along each pipe joint in the cross-sectional direction of the immersed tube tunnel; when the mobile platform is working, the binocular vision module on the robotic arm is adjusted to take pictures of each marker group, and then the pipe joints of the immersed tube tunnel are analyzed based on the acquired images to determine whether deformation occurs.

[0007] In the above technical scheme, the walking mechanism includes a bearing structure base plate and a suspension supporting wheel mechanism and a clamping driving wheel mechanism installed on the bearing structure base plate, the suspension supporting wheel mechanism is used to be suspended on the track; the number of the clamping driving wheel mechanisms is two, which are symmetrically arranged on both sides of the track, and each clamping driving wheel mechanism includes a driving wheel, a driving wheel mounting plate, a spring and a telescopic connecting rod assembly, a driving wheel motor and a sliding mounting frame, wherein the driving wheel is used to contact the side wall of the track, the driving wheel and the driving wheel motor are installed on the driving wheel mounting plate, the driving wheel motor is used to drive the driving wheel to rotate, and the driving wheel mounting plate is connected to the sliding mounting frame through a spring and a telescopic connecting rod assembly; the sliding mounting frames of the two clamping driving wheel mechanisms are slidably installed on both sides of the track through two parallel slideways, the slideways are fixed on the bearing structure base plate, and the two sliding A lead screw is installed through the mounting frame, and the lead screw has two symmetrically arranged threaded sections with opposite rotation directions. One sliding mounting frame cooperates with one of the threaded sections of the lead screw through a lead screw nut, and the other sliding mounting frame cooperates with the other threaded section of the lead screw through another lead screw nut. One end of the lead screw is connected to a lead screw drive motor, and the lead screw drive motor is fixedly mounted on the bearing structure substrate. The lead screw is driven by the lead screw drive motor to rotate forward / reverse, thereby driving the two sliding mounting frames to move synchronously relative / toward each other, thereby clamping / separating the driving wheels on the two sliding mounting frames. A pressure sensor is also arranged between the spring of the spring and telescopic connecting rod assembly and the sliding mounting frame, and the elastic force of the spring is monitored by the pressure sensor to indicate the pressure of the driving wheel on the track. A rotary encoder is arranged on the output shaft of the driving wheel motor of the mobile platform.

[0008] In the above technical solution, the robotic arm includes a base, a middle arm, and a terminal arm. The base is installed on the lower end of the function box through a vertically arranged first rotating shaft, the tail end of the middle arm is installed on the base through a horizontally arranged second rotating shaft, and the front end of the middle arm is connected to the tail end of the terminal arm through a horizontally arranged third rotating shaft.

[0009] In the above technical solution, the binocular vision module includes two visual cameras, a stroboscope, an IMU sensor and an aluminum binocular bracket; wherein the aluminum binocular bracket is a T-shaped structure, the rear end of which is installed at the front end of the end arm of the robotic arm, the stroboscope is installed in the middle of the front end of the aluminum binocular bracket, the IMU sensor is installed close to the lower side of the stroboscope, and the two visual cameras are installed on both sides of the front end of the aluminum binocular bracket.

[0010] In the above technical solution, the water stain crack recognition module includes two scene cameras and two fill lights, and the two scene cameras are respectively aimed at the two side walls of the immersed tube tunnel; when the mobile platform starts to inspect the tunnel, the fill lights are turned on, and the images of the two side walls of the immersed tube tunnel are collected by the scene cameras. The collected images are input into the water stain crack recognition algorithm, and the cracks or water stains in the image are identified by the water stain crack recognition algorithm.

[0011] In the above technical solution, the environmental monitoring module includes a temperature and humidity sensor, a dust sensor and a CO2 concentration sensor; wherein the temperature and humidity sensor is used to detect the temperature and humidity of the environment around the mobile platform and provide real-time temperature and humidity data; the dust sensor is used to detect the air quality around the mobile platform and monitor the concentration of tiny particles in the air, such as dust and smoke; the CO2 concentration sensor is used to detect the carbon dioxide content in the air around the mobile platform and provide real-time data on the carbon dioxide concentration; the detection data of the environmental monitoring module will be uploaded to the mobile platform management system in the cloud through the mobile platform's electronic control system.

[0012] In the above technical scheme, the QR code positioning auxiliary marking system includes a QR code positioning sensor and a QR code label. The QR code label is affixed to the bottom surface of the track. The pipe joints of the immersed tube tunnel are used as detection points, and a QR code label is arranged on the bottom surface of the track corresponding to each detection point; each QR code label corresponds to a number, and the detection points are numbered in sequence along the inspection route of the mobile platform, and each QR code label represents an absolute position information; the QR code positioning sensor is arranged on the mobile platform, and is used to scan the QR code label on the track, and then obtain the absolute position information represented by the QR code label and the label information of the pipe joint.

[0013] In the above technical solution, three groups of markers are set at each pipe joint in the cross-sectional direction of the immersed tube tunnel, wherein one group is set at the top of the immersed tube tunnel and one group is set on the left and right sides of the immersed tube tunnel respectively. When the mobile platform is working, by adjusting its robotic arm, the binocular vision module on the robotic arm takes pictures of the three groups of markers respectively to obtain images.

[0014] In the above technical solution, the mobile platform management system includes a real-time data monitoring panel, a cloud data query module, a tunnel status analysis module and a mobile platform control panel.

[0015] In the above technical solution, the mobile platform is also provided with an avoidance warning system, which includes a warning light and four ultrasonic ranging sensors; the ultrasonic ranging sensors are installed in two groups on the front and rear sides of the mobile platform. When the mobile platform moves, the ultrasonic ranging sensors monitor whether there are obstacles in the direction of movement of the mobile platform. When an obstacle appears in the direction of movement of the mobile platform, the warning light is turned on and the brakes are immediately applied.

[0016] The advantages and beneficial effects of the present invention are: The suspended track mobile platform immersed tube tunnel monitoring system of the present invention installs the mobile platform on the track at the top of the immersed tube tunnel in a movable manner and moves along the track. The mobile platform is equipped with a variety of monitoring modules / monitoring sensors such as a binocular vision module, a water stain crack recognition module and an environmental monitoring module, thereby realizing patrol inspection of the internal environment of the immersed tube tunnel.

[0017] The present invention also designs a two-dimensional code positioning auxiliary marking system and a binocular measurement auxiliary marking system used in conjunction with the mobile platform. Among them, the two-dimensional code positioning auxiliary marking system is used to cooperate with the two-dimensional code positioning sensor of the mobile platform to provide the mobile platform with accurate location information and label information of each pipe joint; the binocular measurement auxiliary marking system is used to cooperate with the binocular vision detection unit of the mobile platform. The binocular measurement auxiliary marking system includes a marker group installed at each pipe joint of the immersed tube tunnel, each marker group includes two marker units, and the two marker units are respectively fixedly installed on the pipe joints on both sides of the pipe joint. Each marker unit includes at least one circular reflector, and three marker groups are arranged along each pipe joint in the cross-sectional direction of the immersed tube tunnel. When the mobile platform is working, by adjusting its mechanical arm, the binocular vision detection unit on the mechanical arm can take pictures of the three marker groups respectively to obtain images, and then identify the image coordinates of the center of each reflector in the image, and calculate the spatial coordinates of the center of each reflector through a binocular three-dimensional reconstruction algorithm. By comparing the historical spatial coordinate data of the center of each reflector at the detection point, it can be obtained whether the pipe joint of the immersed tube tunnel is deformed.

[0018] The mobile platform of the present invention has two clamping drive wheel mechanisms, which are installed on both sides of the track through slideways and slideways, and a lead screw is installed. One end of the lead screw is connected to a lead screw drive motor, and the lead screw is driven by the lead screw drive motor to rotate forward / reversely, thereby driving the two clamping drive wheel mechanisms to move relative / toward each other synchronously, thereby making the drive wheels on the two clamping drive wheel mechanisms clamp / separate the track. The clamping drive wheel mechanism is designed with a spring and a telescopic connecting rod assembly, through which the drive wheel can provide flexible pressure to the track, and a pressure sensor is also arranged between the spring of the spring and the telescopic connecting rod assembly and the sliding mounting frame, the pressure sensor can monitor the elastic force of the spring, thereby representing the pressure of the drive wheel on the track, and the lead screw drive motor can be adjusted according to the detection value of the pressure sensor, thereby adjusting the appropriate pressure of the drive wheels on the two sliding mounting frames on the track, so as to ensure the walking stability of the suspended track mobile platform on the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the installation structure of the track structure and the mobile platform of the present invention.

[0020] Figure 2 It is a schematic diagram of the installation structure of the track structure and the mobile platform of the present invention.

[0021] Figure 3 It is a schematic diagram of the working state of the monitoring system of the present invention (the detection state of the binocular vision module aligning with the top marker group).

[0022] Figure 4 It is a schematic diagram of the layout of the marker units at the joints of pipe sections.

[0023] Figure 5 It is a schematic diagram of the working state of the monitoring system of the present invention (the detection state of the binocular vision module aiming at the left marker group).

[0024] Figure 6 It is a schematic diagram of the working state of the monitoring system of the present invention (the detection state of the binocular vision module aimed at the right marker group).

[0025] For ordinary technicians in this field, other relevant drawings can be obtained based on the above drawings without any creative work. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with specific embodiments.

[0027] Embodiment 1 A binocular vision-based suspended track mobile platform immersed tube tunnel monitoring system includes five parts: track structure, mobile platform, tunnel data measurement system, mobile platform auxiliary marking system and mobile platform management system.

[0028] The above five parts are introduced in detail below.

[0029] 1. Track structure The track structure is set at the top of the target monitoring tunnel, including an aluminum profile track and a steel track hanger, wherein the groove of the track faces upward, the track hanger is installed in the groove, one end of the track hanger is installed at the top of the tunnel and the other end is embedded in the groove, so that the track is suspended on the top of the tunnel.

[0030] 2. Mobile Platform The mobile platform can be suspended and installed on the track of the track structure. Figure 1 and attached Figure 2 The mobile platform includes a walking mechanism 1, a function box 2 and a mechanical arm 3, wherein the walking mechanism 1 is installed on the top of the function box 2, and the mechanical arm 3 is installed on the bottom of the function box 2.

[0031] The walking mechanism 1 includes a bearing structure substrate 101 and a suspension bearing wheel mechanism 102 and a clamping driving wheel mechanism 103 installed on the bearing structure substrate 101, wherein the bearing structure substrate 101 is fixedly connected to the top of the functional box 2, and the bearing structure substrate 101 serves as a mounting base for the suspension bearing wheel mechanism 102 and the clamping driving wheel mechanism 103. The number of the suspension bearing wheel mechanisms 102 is four, two in a group, and the two suspension bearing wheel mechanisms 102 in each group are symmetrically arranged on both sides of the track 100, each suspension bearing wheel mechanism 102 includes a bearing wheel 1021 and a bearing wheel mounting frame 1022, the bearing wheel 1021 is installed on the bearing wheel mounting frame 1022, the bottom end of the bearing wheel mounting frame 1022 is fixedly installed on the bearing structure substrate 101, and the bearing wheel 1021 is suspended on the track 100, and then the entire mobile platform can be stably suspended on the track 100 through the above two groups of suspension bearing wheel mechanisms 102. Furthermore, the supporting wheel 1021 adopts nylon coated bearings, which have strong wear resistance, corrosion resistance and high load-bearing capacity. The supporting wheel 1021 does not provide power and its function is only to suspend the mobile platform on the track 100; in order to prevent the mobile platform from sliding off the track 100, the spacing between the supporting wheels 1021 of the two suspended supporting wheel mechanisms 102 in each group shall not exceed one third of the track width.There are two clamping drive wheel mechanisms 103, which are symmetrically arranged on both sides of the track 100, and the clamping drive wheel mechanism 103 is located in the middle position between the two groups of suspension support wheel mechanisms 102; each clamping drive wheel mechanism 103 includes a drive wheel 1031, a drive wheel mounting plate 1032, a spring and a telescopic connecting rod assembly 1033, a drive wheel motor 1034 and a sliding mounting frame 1035, wherein the drive wheel 1031 is used to contact the side wall of the track 100, the drive wheel 1031 and the drive wheel motor 1034 are installed on the drive wheel mounting plate 1032, the drive wheel motor 1034 is used to drive the drive wheel 1031 to rotate, and the drive wheel mounting plate 1032 is connected to the sliding mounting frame 1035 through a spring and a telescopic connecting rod assembly 1033; the sliding mounting frames 103 of the two clamping drive wheel mechanisms 103 The two sliding mounting frames 1035 are slidably mounted on both sides of the track 100 through two parallel slideways 1036, and a lead screw 1037 is installed through the two sliding mounting frames 1035. The lead screw 1037 has two symmetrically arranged threaded sections with opposite rotation directions. One sliding mounting frame 1035 is matched with one threaded section of the lead screw 1037 through a lead screw nut, and the other sliding mounting frame 1035 is matched with the other threaded section of the lead screw 1037 through another lead screw nut. One end of the lead screw 1037 is connected to a lead screw driving motor, which is fixedly mounted on the bearing structure base plate 101. The lead screw 1037 is driven by the lead screw driving motor to rotate forward / reversely, thereby driving the two sliding mounting frames 1035 to move relative / toward synchronously, thereby causing the driving wheels 1031 on the two sliding mounting frames 1035 to clamp / separate the track 100. Further, the spring and telescopic connecting rod assembly 1033 includes a telescopic rod and a spring, one end of the telescopic rod is connected to the driving wheel mounting plate 1032, and the other end is mounted on the sliding mounting frame 1035, and the spring is sleeved on the telescopic rod, so that the driving wheel 1031 can provide flexible pressure on the track 100; further, a pressure sensor (i.e., the end of the spring contacts the pressure sensor) is also arranged between the spring and the sliding mounting frame 1035 of the spring and telescopic connecting rod assembly 1033, and the pressure sensor can monitor the elastic force of the spring, and then indicate the pressure of the driving wheel 1031 on the track 100, and the screw drive motor can be adjusted according to the detection value of the pressure sensor, and then the appropriate pressure of the driving wheels on the two sliding mounting frames on the track can be adjusted to ensure the walking stability of the mobile platform on the track. Further, a rotary encoder is arranged on the output shaft of the driving wheel motor 1034 of the mobile platform, and the number of circles of the driving wheel is detected by the rotary encoder, and the wheel circumference is calculated according to the wheelbase of the driving wheel, and then the moving position of the mobile platform can be calculated.

[0032] The function box 2 is a rectangular aluminum box, and the interior of the function box 2 is used to arrange the electric control system of the mobile platform.

[0033] The mechanical arm 3 is installed at the lower end of the function box 2. Figure 1 The robot arm 3 includes a base 31, a middle arm 32, and an end arm 33. The base 31 is installed on the lower end of the function box 2 through a first vertically arranged rotating shaft, the tail end of the middle arm 32 is installed on the base 31 through a second horizontally arranged rotating shaft, and the front end of the middle arm 32 is connected to the tail end of the end arm 33 through a third horizontally arranged rotating shaft.

[0034] 3. Tunnel data measurement system The tunnel data measurement system is arranged on a mobile platform, and includes a binocular vision module, a water stain crack recognition module and an environmental monitoring module; wherein the binocular vision module is arranged on the end arm 33 of the mechanical arm 3 of the mobile platform, and the water stain crack recognition module and the environmental monitoring module are arranged on the function box 2 of the mobile platform.

[0035] The binocular vision module 4 includes two visual cameras, a stroboscope, an IMU sensor and an aluminum binocular bracket; wherein the aluminum binocular bracket is a T-shaped structure, the rear end of which is installed at the front end of the end arm 33 of the mechanical arm 3, the stroboscope is installed in the middle of the front end of the aluminum binocular bracket, the IMU sensor is installed close to the lower side of the stroboscope, and the two visual cameras are installed on both sides of the front end of the aluminum binocular bracket. The stroboscope is used to fill in the light of the detection point; the two visual cameras are used to take pictures of the detection point and obtain images; the IMU sensor is used to provide posture data for the two visual cameras.

[0036] The water stain crack recognition module includes two scene cameras and two fill lights, and the two scene cameras are respectively aimed at the positions of the two side walls of the tunnel. When the mobile platform starts to inspect the tunnel, the fill lights are turned on, and the images of the two side walls of the tunnel are collected by the scene cameras. The collected images are input into the water stain crack recognition algorithm, and the cracks or water stains in the image are identified by the water stain crack recognition algorithm. In this embodiment, the water stain crack recognition algorithm is implemented using the YOLO_v5 algorithm. The YOLO_v5 algorithm has a fast operation speed, a small model size, and a high accuracy. When the mobile platform is running and recognizes cracks or water stains, the mobile platform will record the positioning system data and save the collected images.

[0037] The environmental monitoring module includes a temperature and humidity sensor, a dust sensor and a CO2 concentration sensor; wherein the temperature and humidity sensor is used to detect the temperature and humidity of the environment around the mobile platform and provide real-time temperature and humidity data; the dust sensor is used to detect the air quality around the mobile platform and monitor the concentration of tiny particles in the air, such as dust and smoke; the CO2 concentration sensor is used to detect the carbon dioxide content in the air around the mobile platform and provide real-time data on the carbon dioxide concentration. All the above detection data will be uploaded to the mobile platform management system in the cloud through the mobile platform's electronic control system.

[0038] 4. Mobile platform auxiliary sign system The mobile platform auxiliary marking system includes a QR code positioning auxiliary marking system and a binocular measurement auxiliary marking system.

[0039] 1. The two-dimensional code positioning auxiliary marking system is used to provide accurate location information and pipe joint number information for the mobile platform, and includes a two-dimensional code positioning sensor and a two-dimensional code label. The two-dimensional code label is attached to the bottom surface of the track, and the pipe joint of the immersed tube tunnel is used as a detection point. A two-dimensional code label is arranged on the bottom surface of the track for each detection point; each two-dimensional code label corresponds to a number, and the numbers are arranged in sequence at each detection point along the inspection route of the mobile platform, and each two-dimensional code label represents an absolute position information; the two-dimensional code positioning sensor is set on the mobile platform (preferably, on the top surface of the function box 2), and is used to scan the two-dimensional code label on the track, and then obtain the absolute position information represented by the two-dimensional code label and the number information of the pipe joint (the number represents the number of the pipe joint of the immersed tube tunnel).

[0040] Furthermore, accurate location information is crucial during the inspection of immersed tube tunnels by mobile platforms, as it is directly related to the accuracy and efficiency of subsequent maintenance work. Although the traditional estimation method based on rotary encoders and drive wheel diameter can provide the location information of the mobile platform to a certain extent, it is easily affected by wheel diameter measurement errors and tunnel environment changes (such as wheelbase changes caused by humidity and temperature), resulting in a decrease in the positioning accuracy of the mobile platform.

[0041] To this end, the present invention adjusts the wheel diameter of the driving wheel (the wheel diameter here refers to twice the distance from the center of the driving wheel to the side wall of the track) by controlling the pressure of the driving wheel 1031 of the clamping driving wheel mechanism 103 on the track 100. At the same time, the absolute position information provided by the QR code label is used to enable the mobile platform to correct its own position in real time. Specifically, the positioning process of the mobile platform includes the following steps: Step 1: During the operation of the mobile platform, the current displacement of the mobile platform is calculated in real time through the rotary encoder data. x , and its calculation formula is as follows: ; in, is the encoder resolution. For example, in this embodiment, the encoder resolution is 1000 PPR (pulses per revolution). is the wheel diameter of the driving wheel, is the encoder reading.

[0042] Step 2: When the mobile platform moves to the detection point, read the absolute position information of the QR code label and the label information of the detection point.

[0043] Step 3: Calculate the deviation between the absolute position obtained by reading the QR code label and the current displacement obtained based on the rotary encoder data .

[0044] Step 4: The deviation calculated in step 3 , adjust the pressure of the driving wheel 1031 of the clamping driving wheel mechanism 103 on the track 100 to adjust the wheel diameter of the driving wheel to achieve the correction of the moving position of the mobile platform.

[0045] For the driving wheel made of rubber, under the condition of mobile platform operation, the deformation of the driving wheel satisfies Hooke's law. Therefore, the pressure of the driving wheel on the track by adjusting the clamping driving wheel mechanism can be calculated by the following formula: ; ; in, The pressure of the driving wheel of the clamping driving wheel mechanism on the track after adjustment, To adjust the pressure of the driving wheel of the clamping driving wheel mechanism on the track before is the stiffness coefficient of the driving wheel material (the material is rubber), is the deformation of the driving wheel caused by clamping.

[0046] 2, the binocular measurement auxiliary marking system is used in conjunction with the binocular vision module 4 of the mobile platform. Figure 3 and attached Figure 4 The binocular measurement auxiliary marking system includes a marker group 6 installed at each pipe joint 7 of the immersed tube tunnel, each marker group 6 includes two marker units 61 and 62, which are fixedly installed on the pipe joints on both sides of the pipe joint 7, each marker unit includes at least one circular reflector. In this embodiment, each marker unit includes 3 circular reflectors; further, see the attached Figure 3 In the cross-sectional direction of the immersed tube tunnel, a plurality of marker groups 6 are arranged along each pipe joint 7. In this embodiment, three marker groups 6 are arranged at each pipe joint 7, wherein one group is arranged at the top of the immersed tube tunnel, and one group is arranged at the left and right sides of the immersed tube tunnel respectively. When the mobile platform 5 is working, by adjusting the mechanical arm 3, the binocular vision module 4 on the mechanical arm 3 can take pictures of the three marker groups respectively (see the attached figure). Figure 3 , Attachment Figure 5 and attached Figure 6), and then analyze whether the pipe joints of the immersed tube tunnel are deformed based on the acquired images (first use the Huogh circle detection algorithm to identify the image coordinates of the center of each reflector in the image; then use the binocular 3D reconstruction algorithm to calculate the spatial coordinates of the center of each reflector; then by comparing the historical spatial coordinate data of the center of each reflector at the detection point, it can be determined whether the pipe joints of the immersed tube tunnel are deformed).

[0047] 5. Mobile Platform Management System The mobile platform management system includes a real-time data monitoring panel, a cloud data query module, a tunnel status analysis module and a mobile platform control panel.

[0048] Managers can access the mobile platform management platform through the web to remotely view real-time tunnel data, query historical data, remotely control the movement of the mobile platform, set key inspection areas, and perform other operations.

[0049] Embodiment 2 Furthermore, the mobile platform is also provided with an avoidance warning system, which includes a warning light and four ultrasonic ranging sensors; the ultrasonic ranging sensors are installed in two groups on the front and rear sides of the mobile platform. When the mobile platform moves, the ultrasonic ranging sensors monitor whether there are obstacles in the direction of movement of the mobile platform. When an obstacle appears in the direction of movement of the mobile platform, the warning light is turned on and the brakes are immediately applied.

[0050] Embodiment 3 Furthermore, the electric control system in the functional box 2 can be divided into: a main control system, a communication system and a power supply system.

[0051] The main control system includes an industrial computer and two sets of STM32F103C8T6 controllers. The STM32F103C8T6 controller has the characteristics of rich pins, low cost, strong data processing capability, etc. The industrial computer selects inter Core i7 processor and NVIDIA GEFORCEGTX1060 graphics card, and has strong image processing capability; the industrial computer is responsible for integrated control, processing various instructions and part of the data, and the STM32F103C8T6 controller is mainly responsible for collecting and processing environmental sensor data, and realizing protocol communication with the industrial computer.

[0052] The communication system comprises an RS485 module, a CAN card analyzer, a gigabit network port switch, a wireless network card and a USB interface integrated on a control panel; the RS485 module is responsible for the communication between the environmental monitoring module and the STM32F103C8T6 controller; the CAN card analyzer is responsible for the information exchange between two STM32F103C8T6 controllers, an industrial computer, an ultrasonic ranging sensor, a driving wheel motor and a lead screw driving motor; the gigabit network port switch is responsible for the information exchange between the industrial computer and two visual cameras of the binocular vision module; the wireless network card is responsible for the communication between the industrial computer and the mobile platform management platform; and the USB interface is responsible for the communication between the industrial computer and the scene camera of the water stain crack recognition module.

[0053] The power supply system includes two parallel 36V20AH lithium batteries and a power monitoring module integrated on the control board; the power detection module monitors the battery voltage at all times, estimates the battery power through SOC, and triggers the low power mode when the remaining power is less than 20% of the total capacity and returns to the charging pile for charging.

[0054] The present invention is described above by way of example. It should be noted that, without departing from the core of the present invention, any simple deformation, modification or other equivalent replacement that can be made by those skilled in the art without inventive effort falls within the protection scope of the present invention.

Claims

1. A binocular vision-based suspended track mobile platform immersed tunnel monitoring system, characterized in that: Including track structure, mobile platform, tunnel data measurement system and mobile platform auxiliary marking system; The track structure is arranged at the top of the immersed tube tunnel to be monitored, and the mobile platform is suspended and installed on the track of the track structure in a movable manner, and the mobile platform comprises a walking mechanism, a function box and a mechanical arm, wherein the walking mechanism is installed on the top of the function box, and the mechanical arm is installed on the bottom of the function box; The tunnel data measurement system is arranged on a mobile platform, and includes a binocular vision module, a water stain crack recognition module and an environmental monitoring module; wherein the binocular vision module is arranged on a mechanical arm of the mobile platform, and the water stain crack recognition module and the environmental monitoring module are arranged on a function box of the mobile platform; The mobile platform auxiliary marking system includes a two-dimensional code positioning auxiliary marking system and a binocular measurement auxiliary marking system; the two-dimensional code positioning auxiliary marking system is used to provide the mobile platform with accurate location information and label information of each pipe joint; the binocular measurement auxiliary marking system is used to cooperate with the binocular vision module on the mobile platform, and the binocular measurement auxiliary marking system includes a marker group installed at each pipe joint of the immersed tube tunnel, each marker group includes two marker units, and the two marker units are respectively fixedly installed on the pipe joints on both sides of the pipe joint, each marker unit includes at least one circular reflector, and multiple marker groups are arranged along each pipe joint in the cross-sectional direction of the immersed tube tunnel; when the mobile platform is working, the binocular vision module on the robotic arm is adjusted to take pictures of each marker group, and then the pipe joints of the immersed tube tunnel are analyzed based on the acquired images to see whether deformation occurs.

2. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 1 is characterized in that: The walking mechanism includes a bearing structure base plate and a suspension supporting wheel mechanism and a clamping driving wheel mechanism installed on the bearing structure base plate, wherein the suspension supporting wheel mechanism is used to be suspended on the track; the number of the clamping driving wheel mechanisms is two, which are symmetrically arranged on both sides of the track, and each clamping driving wheel mechanism includes a driving wheel, a driving wheel mounting plate, a spring and a telescopic connecting rod assembly, a driving wheel motor and a sliding mounting frame, wherein the driving wheel is used to contact the side wall of the track, the driving wheel and the driving wheel motor are installed on the driving wheel mounting plate, the driving wheel motor is used to drive the driving wheel to rotate, and the driving wheel mounting plate is connected to the sliding mounting frame through a spring and a telescopic connecting rod assembly; the sliding mounting frames of the two clamping driving wheel mechanisms are slidably installed on both sides of the track through two parallel slideways, the slideways are fixed on the bearing structure base plate, and the two sliding mounting frames A lead screw is installed throughout, and the lead screw has two symmetrically arranged threaded sections with opposite rotation directions. One sliding mounting frame cooperates with one of the threaded sections of the lead screw through a lead screw nut, and the other sliding mounting frame cooperates with the other threaded section of the lead screw through another lead screw nut. One end of the lead screw is connected to a lead screw drive motor, and the lead screw drive motor is fixedly installed on the bearing structure base plate. The lead screw is driven by the lead screw drive motor to rotate forward / reverse, thereby driving the two sliding mounting frames to move synchronously relative / toward each other, thereby clamping / separating the driving wheels on the two sliding mounting frames. A pressure sensor is also arranged between the spring of the spring and telescopic connecting rod assembly and the sliding mounting frame, and the elastic force of the spring is monitored by the pressure sensor to indicate the pressure of the driving wheel on the track. A rotary encoder is arranged on the output shaft of the driving wheel motor of the inspection platform.

3. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 1 is characterized in that: The robotic arm includes a base, a middle arm, and a terminal arm. The base is installed at the lower end of the function box through a vertically arranged first rotating shaft, the tail end of the middle arm is installed on the base through a horizontally arranged second rotating shaft, and the front end of the middle arm is connected to the tail end of the terminal arm through a horizontally arranged third rotating shaft.

4. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 3 is characterized by: The binocular vision module includes two visual cameras, a stroboscope, an IMU sensor and an aluminum binocular bracket; wherein the aluminum binocular bracket is a T-shaped structure, the rear end of which is installed at the front end of the end arm of the robot arm, the stroboscope is installed in the middle of the front end of the aluminum binocular bracket, the IMU sensor is installed close to the lower side of the stroboscope, and the two visual cameras are installed on both sides of the front end of the aluminum binocular bracket.

5. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 1 is characterized by: The water stain crack recognition module includes two scene cameras and two fill lights, and the two scene cameras are respectively aimed at the two side walls of the immersed tube tunnel; when the mobile platform starts to inspect the tunnel, the fill lights are turned on, and the images of the two side walls of the immersed tube tunnel are collected by the scene cameras. The collected images are input into the water stain crack recognition algorithm, and the cracks or water stains in the images are identified by the water stain crack recognition algorithm.

6. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 1 is characterized by: The environmental monitoring module includes a temperature and humidity sensor, a dust sensor and a CO2 concentration sensor; wherein the temperature and humidity sensor is used to detect the temperature and humidity of the environment around the mobile platform and provide real-time temperature and humidity data; the dust sensor is used to detect the air quality around the mobile platform and monitor the concentration of tiny particles in the air; the CO2 concentration sensor is used to detect the carbon dioxide content in the air around the mobile platform and provide real-time data on the carbon dioxide concentration; the detection data of the environmental monitoring module will be uploaded to the mobile platform management system in the cloud through the electronic control system of the mobile platform.

7. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 1 is characterized by: The two-dimensional code positioning auxiliary marking system includes a two-dimensional code positioning sensor and a two-dimensional code label. The two-dimensional code label is attached to the bottom surface of the track. The pipe joints of the immersed tube tunnel are used as detection points. A two-dimensional code label is arranged on the bottom surface of the track corresponding to each detection point; each two-dimensional code label corresponds to a number, and the detection points are numbered in sequence along the inspection route of the mobile platform, and each two-dimensional code label represents an absolute position information; the two-dimensional code positioning sensor is arranged on the mobile platform, and is used to scan the two-dimensional code label on the track, and then obtain the absolute position information represented by the two-dimensional code label and the label information of the pipe joint.

8. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 1 is characterized by: In the cross-sectional direction of the immersed tube tunnel, three groups of markers are set at each pipe joint, including one group at the top of the immersed tube tunnel and one group on the left and right sides of the immersed tube tunnel respectively. When the mobile inspection platform is working, the robotic arm is adjusted so that the binocular vision module on the robotic arm takes pictures of the three groups of markers respectively to obtain images.

9. The binocular vision-based suspended rail mobile platform immersed tunnel monitoring system according to claim 1 is characterized by: The mobile platform is also equipped with an avoidance warning system, which includes a warning light and four ultrasonic ranging sensors; the ultrasonic ranging sensors are installed in two groups on the front and rear sides of the mobile platform. When the mobile platform moves, the ultrasonic ranging sensors monitor whether there are obstacles in the direction of movement of the mobile platform. When an obstacle appears in the direction of movement of the mobile platform, the warning light is turned on and the brakes are applied immediately.

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