External hanging type laser scanning detection device based on medium-speed mobile carrier

Abstract

The invention discloses a medium-speed mobile carrier-based externally-hung laser scanning detection device, which comprises a multi-source SLAM (Simultaneous Localization and Mapping) fusion locator, an industrial camera, a three-dimensional laser scanner, an AI (Artificial Intelligence) detection system and a mounting type mounted shell, and is characterized in that the multi-source SLAM fusion locator, the industrial camera and the three-dimensional laser scanner are all mounted on the shell; the multi-source SLAM fusion locator is composed of a depth camera and an inertial navigation system; the multi-source SLAM fusion positioning instrument is used for positioning a mobile carrier; the industrial camera is used for capturing subway tunnel walls; the three-dimensional laser scanner is used for obtaining a point cloud model. According to the device, a three-dimensional laser scanner and an SLAM technology are used for positioning, and tunnel pictures are shot through an industrial camera to splice a subway tunnel model; the AI detection technology is used for accurately identifying the diseases in the tunnel and rapidly tracing the diseases; the high-precision and high-speed shooting of the tunnel apparent structure in the subway driving process can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of subway tunnel detection, and in particular to an external laser scanning detection device based on a medium-speed mobile carrier. Background Art

[0002] After the subway tunnel is built, due to geological conditions, construction along the road, train operation, structural aging, hydrological conditions and other factors, the subway tunnel will be deformed, such as diameter convergence, tunnel top collapse, etc., which seriously affects the safety of subway operations. Therefore, it is necessary to conduct high-frequency detection and inspection of the subway tunnel status.

[0003] There are three major challenges in the existing subway tunnel inspection: few defects detected, high inspection costs, and low inspection efficiency. Summary of the invention

[0004] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide an external laser scanning and detection device based on a medium-speed mobile carrier, which can take high-precision and high-speed photos of the tunnel surface structure during the operation of the subway.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides an external laser scanning detection device based on a medium-speed mobile carrier, which is characterized by comprising a multi-source SLAM fusion locator, an industrial camera, a three-dimensional laser scanner, an AI detection system and a mounted housing, wherein the multi-source SLAM fusion locator, the industrial camera and the three-dimensional laser scanner are all installed on the housing; The multi-source SLAM fusion locator is composed of a depth camera and an inertial navigation system; The multi-source SLAM fusion locator is used to locate the mobile carrier; Industrial cameras are used to capture subway tunnel walls; 3D laser scanner is used to obtain point cloud model; The multi-source SLAM fusion locator, industrial camera and 3D laser scanner transmit the obtained information to the AI ​​detection system.

[0006] The beneficial effects of the present invention are as follows: the device uses a three-dimensional laser scanner and SLAM technology for positioning, and uses an industrial camera to capture tunnel images and splice a subway tunnel model; and uses AI detection technology to accurately identify and quickly trace defects in the tunnel; and can achieve high-precision and high-speed shooting of the tunnel's surface structure during the subway's travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0008] Figure 1 This is a principle block diagram of an external laser scanning detection device based on a medium-speed mobile carrier provided in Example 1 of the present invention.

[0009] Figure 2 A schematic structural diagram of an external laser scanning detection device based on a medium-speed mobile carrier provided in Example 1 of the present invention.

[0010] Description of reference numerals: 3D laser scanner 1, standard installation structure of tow hook on the housing. DETAILED DESCRIPTION

[0011] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0012] Example 1 like Figure 1-Figure 2 As shown, a medium-speed mobile carrier external laser scanning detection device includes a multi-source SLAM fusion locator, an industrial camera, a three-dimensional laser scanner 1, an AI detection system, and a mounted housing, wherein the multi-source SLAM fusion locator, the industrial camera, and the three-dimensional laser scanner 1 are all installed on the housing; The multi-source SLAM fusion locator is composed of a depth camera and an inertial navigation system; The multi-source SLAM fusion locator is used to locate the mobile carrier; Industrial cameras are used to capture subway tunnel walls; The three-dimensional laser scanner 1 is used to obtain a point cloud model; The multi-source SLAM fusion locator, industrial camera and 3D laser scanner 1 transmit the obtained information to the AI ​​detection system.

[0013] Working principle: The multi-source SLAM fusion locator, industrial camera, 3D laser scanner 1 are coordinated through the multi-source SLAM fusion positioning technology and full-field laser image perception imaging technology. This equipment is installed in a mounted manner and is installed on the front of the subway to achieve the effect of simultaneous subway operation and subway tunnel inspection.

[0014] The device uses a three-dimensional laser scanner 1 and SLAM technology for positioning, and uses an industrial camera to capture tunnel images and splice a subway tunnel model; it also uses AI detection technology to accurately identify and quickly trace defects in the tunnel; it can achieve high-precision and high-speed photography of the tunnel's surface structure while the subway is running.

[0015] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A medium-speed mobile carrier external laser scanning detection device, characterized in that: It includes a multi-source SLAM fusion locator, an industrial camera, a 3D laser scanner, an AI detection system, and a mounted housing. The multi-source SLAM fusion locator, the industrial camera, and the 3D laser scanner are all installed on the housing. The multi-source SLAM fusion locator is composed of a depth camera and an inertial navigation system; The multi-source SLAM fusion locator is used to locate the mobile carrier; Industrial cameras are used to capture subway tunnel walls; 3D laser scanner is used to obtain point cloud model; The multi-source SLAM fusion locator, industrial camera and 3D laser scanner transmit the obtained information to the AI ​​detection system.

Images