Control method of crawler-type data acquisition trolley

Abstract

The invention belongs to the technical field of catenary chutes, and discloses a control method of a crawler-type data acquisition trolley, which is used for controlling the crawler-type data acquisition trolley to carry out geometric detection and state detection on a tunnel chute. The crawler-type data acquisition trolley comprises a crawler, a high-definition camera, a tilt angle sensor, a three-dimensional scanner, a laser radar, a leveling device and a controller, and the method comprises the following steps: S1, starting the controller, and initializing working parameters of the high-definition camera, the tilt angle sensor, the three-dimensional scanner and the laser radar; s2, the controller controls crawler belt transmission and adjusts the walking direction; s3, the controller controls the leveling device to drive the three-dimensional scanner to rotate by taking the first direction and / or the second direction as an axis, so that the three-dimensional scanner is in a horizontal state; s4, the high-definition camera images the sliding groove, the three-dimensional scanner collects shape parameters of the sliding groove, and the laser radar collects depth information of the sliding groove; and S5, the controller receives collected data of the high-definition camera, the three-dimensional scanner and the laser radar and forms cloud data.

Description

Technical Field

[0001] The invention relates to the technical field of contact network slideways, and in particular to a control method for a crawler-type data acquisition vehicle. Background Art

[0002] The contact network of electrified railways is an important part of the train's power supply. The chute (or guide trough) is a device used to guide the contact wire (or contact conductor) to ensure good contact between the pantograph and the contact wire. The geometric state of the chute includes but is not limited to the position, height, inclination angle and other parameters of the chute, which are crucial to ensure that the train can safely and smoothly obtain power. The geometric state detection of the contact network tunnel chute usually refers to the regular inspection or maintenance of the contact network and its related facilities in the electrified railway tunnel, timely discovering and repairing any problems that may cause poor contact, thereby improving the safety and reliability of railway operations.

[0003] The detection of the geometric state of the overhead line tunnel chute can be carried out using a crawler data acquisition vehicle, but the existing crawler data acquisition vehicles are rarely used in the field of tunnel chute detection, and there is no complete control method for detecting the geometric state parameters of the tunnel chute. The crawler data acquisition vehicle is difficult to play a role in the field of overhead line chute detection. Summary of the invention

[0004] The object of the present invention is to provide a control method for a crawler data acquisition vehicle, which can control the crawler data acquisition vehicle to complete geometric detection and state detection of a tunnel chute, with high automation and high detection accuracy.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A control method for a crawler data acquisition vehicle is used to control the crawler data acquisition vehicle to perform geometric detection and state detection on a tunnel chute. The crawler data acquisition vehicle includes a crawler, a high-definition camera, an inclination sensor, a three-dimensional scanner, a laser radar, a leveling device and a controller. The control method for the crawler data acquisition vehicle includes the following steps:

[0007] S1, starting the controller to initialize the working parameters of the high-definition camera, the tilt sensor, the three-dimensional scanner and the laser radar;

[0008] S2, the controller controls the crawler drive and adjusts the walking direction;

[0009] S3, the controller controls the leveling device to drive the three-dimensional scanner to rotate along a first direction and / or a second direction so that the three-dimensional scanner is in a horizontal state, the first direction is parallel to the X-axis, and the second direction is parallel to the Y-axis;

[0010] S4, the high-definition camera images the chute, the three-dimensional scanner collects shape parameters of the chute, and the laser radar collects depth information of the chute;

[0011] S5. The controller receives the collected data from the high-definition camera, the three-dimensional scanner and the laser radar and forms cloud data.

[0012] Preferably, the S1 comprises:

[0013] S11, turning on the power, starting the controller and performing a self-test;

[0014] S12, initializing the working parameters of the high-definition camera, the tilt sensor, the three-dimensional scanner, the laser radar and the leveling device.

[0015] Preferably, S3 includes:

[0016] S31, the controller receives detection information of the tilt sensor;

[0017] S32, the controller calculates the output value required to adjust the three-dimensional scanner to a horizontal state;

[0018] S33, the controller issues an instruction to the leveling device;

[0019] S34, the leveling device drives the three-dimensional scanner to rotate around the first direction and / or the second direction according to the instruction.

[0020] Preferably, the leveling device includes a first adjustment component, a base and a second adjustment component, the three-dimensional scanner is installed on the top of the base, the first adjustment component is rotatably installed in the installation cavity on the top of the crawler data acquisition vehicle, and the second adjustment component is rotatably installed on the base, and S34 includes:

[0021] S341, the first adjusting component drives the base to rotate around the first direction according to the instruction;

[0022] S342: The second adjustment component drives the three-dimensional scanner to rotate around the second direction according to the instruction.

[0023] Preferably, the first adjustment component includes a first rotating shaft, a first rotating motor and a first connecting member, the first rotating motor is connected to the controller, the first rotating shaft is rotatably arranged in the installation cavity and is arranged along the first direction, the first rotating motor is installed in the installation cavity and its output end is driven and connected to the end of the first rotating shaft, the first rotating motor is configured to drive the first rotating shaft to rotate, and the base is connected to the first rotating shaft through the first connecting member; the second adjustment component includes a second rotating shaft, a second rotating motor and a second connecting member, the second rotating motor is connected to the controller, the second rotating shaft is rotatably arranged in the base and is arranged along the second direction, the second rotating motor is installed in the base and its output end is driven and connected to the end of the second rotating shaft, the second rotating motor is configured to drive the second rotating shaft to rotate, and the three-dimensional scanner is connected to the second rotating shaft through the second connecting member.

[0024] Preferably, in S341, the controller controls the first rotating motor to drive the first rotating shaft to rotate according to the instruction; in S342, the controller controls the second rotating motor to drive the second rotating shaft to rotate according to the instruction.

[0025] Preferably, the crawler-type data acquisition vehicle further comprises a walking mechanism, the walking mechanism is connected to the controller, and the walking mechanism is configured to adjust the transmission speed of the crawler;

[0026] The S2 includes:

[0027] S21, the controller controls the driving wheel of the walking mechanism to rotate, driving the crawler transmission;

[0028] S22, the controller adjusts the rotation speed of the driving wheel to adjust the transmission speed of the crawler belt.

[0029] Preferably, the tracked data collection vehicle further comprises an obstacle avoidance radar, which is connected to the controller and is configured to detect obstacles ahead;

[0030] The S2 further includes:

[0031] S23, the controller receives detection information of the obstacle avoidance radar;

[0032] S24, the controller controls the walking mechanism to adjust the walking direction.

[0033] Preferably, the method further comprises S6:

[0034] The controller transmits the cloud data to a communication system, and the communication system transmits the cloud data to a backend.

[0035] Preferably, the communication system includes a management module, a Wi-Fi wireless network, a cellular network, Bluetooth, Zigbee and LoRaWAN, and the management module is configured to monitor the status of the Wi-Fi wireless network, the cellular network, the Bluetooth, the Zigbee and the LoRaWAN, and switch between the Wi-Fi wireless network, the cellular network, the Bluetooth, the Zigbee and the LoRaWAN.

[0036] Beneficial effects of the present invention:

[0037] The present invention provides a control method for a crawler-type data acquisition vehicle, which is used to control the crawler-type data acquisition vehicle to perform geometric detection and state detection on a tunnel slideway. The crawler-type data acquisition vehicle includes a crawler, a high-definition camera, an inclination sensor, a three-dimensional scanner, a laser radar, a leveling device and a controller. The control method for the crawler-type data acquisition vehicle includes the following steps: S1, starting the controller to initialize the working parameters of the high-definition camera, the inclination sensor, the three-dimensional scanner and the laser radar; S2, the controller controls the crawler drive and adjusts the walking direction; S3, the controller controls the leveling device to drive the three-dimensional scanner in a first direction and / or a second direction. The two directions are axis rotations to make the three-dimensional scanner in a horizontal state, the first direction is parallel to the X-axis, and the second direction is parallel to the Y-axis; S4, the high-definition camera images the chute, the three-dimensional scanner collects the shape parameters of the chute, and the laser radar collects the depth information of the chute; S5, the controller receives the collected data of the high-definition camera, the three-dimensional scanner and the laser radar and forms cloud data. The control method of the crawler data collection vehicle provided by the present invention ensures that the crawler data collection vehicle can efficiently and accurately complete the geometric detection and state detection of the tunnel chute in the tunnel environment, and improves the work efficiency and data reliability through automation means. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a crawler-type data acquisition vehicle provided by an embodiment of the present invention;

[0039] Figure 2 is a schematic structural diagram of a leveling device provided by an embodiment of the present invention;

[0040] Figure 3 The present invention provides a flow chart of a control method for a crawler-type data acquisition vehicle.

[0041] In the figure:

[0042] 1. Tracks; 21. High-definition camera; 22. LiDAR; 23. Obstacle avoidance radar; 3. Leveling device; 31. First rotating axis; 32. First rotating motor; 33. First connecting plate; 34. Base; 35. Second rotating axis; 36. Second rotating motor; 37. Second connecting plate; 38. Carrying platform. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0047] The existing crawler data acquisition vehicles are rarely used in the field of tunnel chute detection, and there is no complete control method for detecting the geometric state parameters of the tunnel chute. The crawler data acquisition vehicles are difficult to play a role in the field of contact network chute detection.

[0048] Therefore, this embodiment provides a control method for a tracked data acquisition vehicle, which can control the tracked data acquisition vehicle to complete geometric detection and state detection of a tunnel chute, with a high degree of automation and high detection accuracy.

[0049] Optionally, see Figure 1 The crawler data acquisition vehicle controlled by this embodiment includes a frame, a crawler 1 is connected to the frame, a collection system, a controller and a leveling device 3 are integrated on the frame, and the crawler 1 drives the crawler data acquisition vehicle to move in the tunnel. During this process, the collection system collects geometric parameters and state parameters of the slideway, and transmits the data to the controller, which processes the data to form cloud data. The leveling device 3 adjusts the inclination angle of the three-dimensional scanner in the collection system to ensure that the three-dimensional scanner is in a horizontal state, thereby ensuring the accuracy of the collected data and realizing all-terrain detection.

[0050] Preferably, the crawler-type data acquisition vehicle is also equipped with a traveling mechanism, which is connected to a controller, and the controller adjusts the transmission speed and traveling direction of the crawler 1 through the traveling mechanism.

[0051] Specifically, the acquisition system includes a high-definition camera 21, an inclination sensor, a three-dimensional scanner and a laser radar 22 connected to the controller. The high-definition camera 21 is used to perform high-definition imaging of the chute and then collect the state parameters of the chute. The three-dimensional scanner is used to collect the shape parameters of the chute. The laser radar 22 is used to collect the depth parameters of the chute. The inclination sensor is used to detect the inclination of the frame in real time.

[0052] Suitably, the tracked data collection vehicle is also equipped with an obstacle avoidance radar 23, which is connected to the controller. The obstacle avoidance radar 23 identifies obstacles ahead through laser detection and transmits the information to the controller. The controller controls the walking mechanism to adjust the transmission speed and direction of the track 1 to avoid obstacles ahead.

[0053] During the collection process, the walking mechanism drives the crawler 1 to drive the crawler data collection vehicle to walk in the tunnel and avoid obstacles in front in time. The inclination sensor and the leveling device 3 work together to ensure that the 3D scanner maintains a horizontal state in real time. The high-definition camera 21, the 3D scanner and the laser radar 22 respectively collect the state parameters, shape parameters and depth parameters of the chute. After receiving the state parameters, shape parameters and depth parameters of the chute, the controller accurately draws the chute through the image algorithm to form cloud data.

[0054] Specifically, the leveling device 3 includes a first adjustment component and a second adjustment component. The first adjustment component is used to drive the three-dimensional scanner to rotate with the first direction as the axis, and the second adjustment component is used to drive the three-dimensional scanner to rotate with the second direction as the axis.

[0055] Specifically, the leveling device 3 further includes a base 34 and a carrying platform 38. The crawler-type data acquisition vehicle is provided with an installation cavity, which extends to the top of the crawler-type data acquisition vehicle. The first adjustment component is rotatably installed in the installation cavity, the first adjustment component is connected to the base 34, the second adjustment component is rotatably installed on the base 34, the carrying platform 38 is connected to the second adjustment component, and the three-dimensional scanner is installed on the top of the carrying platform 38. The first adjustment component drives the base 34 to rotate with a first direction as an axis, thereby driving the three-dimensional scanner installed on the carrying platform 38 to rotate with the first direction as an axis, and the second adjustment component drives the carrying platform 38 to rotate with a second direction as an axis, thereby driving the three-dimensional scanner to rotate with the second direction as an axis.

[0056] Through the above arrangement, this embodiment can realize that the three-dimensional scanner rotates along the first direction and the second direction at the same time, thereby avoiding interference between the two states.

[0057] Preferably, the bottom bolts of the three-dimensional scanner in this embodiment are connected to the mounting platform 38, which has a certain connection strength and is easy to disassemble and assemble.

[0058] For example, see Figure 2 The first adjustment component includes a first rotating shaft 31, a first rotating motor 32 and a first connecting member, wherein the first rotating shaft 31 is arranged in the installation cavity to rotate along the first direction, the first rotating motor 32 is installed in the installation cavity, and the output end of the first rotating motor 32 is driven and connected to the end of the first rotating shaft 31, the base 34 is connected to the first rotating shaft 31 through the first connecting member, and the first rotating motor 32 is configured to drive the first rotating shaft 31 to rotate, thereby driving the base 34 to rotate with the first direction as the axis.

[0059] Preferably, two first rotating motors 32 are provided, and the output ends of the two first rotating motors 32 are respectively driven and connected to the two ends of the first rotating shaft 31. On the one hand, by providing two first rotating motors 32, the two first rotating motors 32 are both connected to the controller. When the controller issues an instruction to rotate a°, the two first rotating motors 32 can avoid excessive rotation of each other. On the other hand, the first rotating shaft 31 is prevented from uncontrolled free rotation.

[0060] Further, the first connecting member includes a plurality of first connecting plates 33, and each of the adjacent first connecting plates 33 is arranged at an angle, that is, the plurality of first connecting plates 33 are in the shape of an open book, the bottom of each first connecting plate 33 is connected to the first rotating shaft 31 along the first direction, and the top of each first connecting plate 33 is connected to the bottom of the base 34. By providing a plurality of first connecting plates 33, the connection strength between the first rotating shaft 31 and the base 34 is improved, thereby improving the accuracy of torque transmission.

[0061] For example, the second adjustment component includes a second rotating shaft 35, a second rotating motor 36 and a second connecting member, wherein the second rotating shaft 35 is rotatably arranged on the base 34 along the second direction, the second rotating motor 36 is installed on the base 34, and the output end of the second rotating motor 36 is drivingly connected to the end of the second rotating shaft 35, the carrying platform 38 is connected to the second rotating shaft 35 through the second connecting member, and the second rotating motor 36 is configured to drive the second rotating shaft 35 to rotate, thereby driving the carrying platform 38 and the three-dimensional scanner thereon to rotate around the second direction.

[0062] Preferably, two second rotating motors 36 are provided, and the output ends of the two second rotating motors 36 are respectively driven and connected to the two ends of the second rotating shaft 35. On the one hand, by providing two second rotating motors 36, both second rotating motors 36 are connected to the controller. When the controller issues an instruction to rotate b°, the two second rotating motors 36 can avoid excessive rotation of each other. On the other hand, the second rotating shaft 35 is prevented from uncontrolled free rotation.

[0063] Further, the second connecting member includes a plurality of second connecting plates 37, and each of the adjacent second connecting plates 37 is arranged at an angle, that is, the plurality of second connecting plates 37 are in the shape of an open book, the bottom of each second connecting plate 37 is connected to the second rotating shaft 35 along the second direction, and the top of each second connecting plate 37 is connected to the bottom of the carrying platform 38. By providing a plurality of second connecting plates 37, the connection strength between the second rotating shaft 35 and the carrying platform 38 is improved, thereby improving the accuracy of torque transmission.

[0064] Furthermore, the tracked data acquisition vehicle is also provided with a communication system, and the communication system is used to transmit the cloud data formed by the controller to the background. By setting up the communication system, on the one hand, the background management personnel or technical personnel can obtain the working status and collected data of the tracked data acquisition vehicle in time, and on the other hand, the background management personnel or technical personnel can remotely adjust the equipment parameters or control the operation of the tracked data acquisition vehicle through the background to realize remote operation.

[0065] For example, the communication system includes a Wi-Fi wireless network, a cellular network, Bluetooth, Zigbee and LoRaWAN. The communication system also includes a management module, which is used to monitor the status of the Wi-Fi wireless network, the cellular network, Bluetooth, Zigbee and LoRaWAN, and switch between the Wi-Fi wireless network, the cellular network, Bluetooth, Zigbee and LoRaWAN. When a transmission channel fails, the management module can automatically switch to another available communication channel.

[0066] Through the combined use of the above-mentioned multiple communication channels, the communication reliability of the tracked data collection vehicle in complex environments can be greatly improved, ensuring that cloud data can be transmitted to the background in a timely and accurate manner, improving work efficiency, and being able to respond quickly when problems arise to ensure the stable operation of the system.

[0067] The above is the structure of the crawler data acquisition vehicle controlled by this embodiment. Furthermore, this embodiment provides a control method for the crawler data acquisition vehicle, which controls the crawler data acquisition vehicle to perform geometric detection and state detection on the tunnel chute, with a high degree of automation and high detection accuracy.

[0068] See also Figure 3 The control method of a crawler data acquisition vehicle provided in this embodiment is used to control the crawler data acquisition vehicle to perform geometric detection and state detection on a tunnel chute, comprising the following steps:

[0069] S1, start the controller and initialize the working parameters of the high-definition camera 21, the tilt sensor, the three-dimensional scanner and the laser radar 22;

[0070] S2, the controller controls the transmission of crawler 1 and adjusts the walking direction;

[0071] S3, the controller controls the leveling device 3 to drive the three-dimensional scanner to rotate with the first direction and / or the second direction as the axis, so that the three-dimensional scanner is in a horizontal state, the first direction is parallel to the X axis, and the second direction is parallel to the Y axis;

[0072] S4, the high-definition camera 21 images the chute, the three-dimensional scanner collects the shape parameters of the chute, and the laser radar 22 collects the depth information of the chute;

[0073] S5. The controller receives the collected data from the high-definition camera 21, the three-dimensional scanner and the laser radar 22 and forms cloud data.

[0074] Specifically, S1 includes:

[0075] S11, turn on the power, start the controller and perform self-test;

[0076] S12, initializing the working parameters of the high-definition camera 21, the tilt sensor, the three-dimensional scanner, the laser radar 22 and the leveling device 3.

[0077] First, turn on the power, start the controller, and check the status of the walking mechanism, obstacle avoidance radar 23, high-definition camera 21, tilt sensor, three-dimensional scanner, laser radar 22, leveling device 3 and communication system to ensure that they are in normal working state. Specifically, it is necessary to ensure that the first rotary motor 32 and the second rotary motor 36 in the leveling device 3 are in normal working state. Further, initialize the working parameters of the high-definition camera 21, tilt sensor, three-dimensional scanner, laser radar 22 and leveling device 3. For example, the working parameters include the resolution, scanning frequency, imaging angle, etc. of the high-definition camera 21, three-dimensional scanner and laser radar 22, as well as the standard value of the tilt sensor, and the rotation parameters of the first rotary motor 32 and the second rotary motor 36.

[0078] Specifically, S2 includes:

[0079] S2 includes:

[0080] S21, the controller controls the driving wheel of the walking mechanism to rotate, driving the crawler belt 1 to transmit;

[0081] S22, the controller adjusts the rotation speed of the driving wheel to adjust the transmission speed of the crawler 1;

[0082] S23, the controller receives the detection information of the obstacle avoidance radar 23;

[0083] S24, the controller controls the walking mechanism to adjust the walking direction.

[0084] First, the controller drives the driving wheel in the walking mechanism to rotate, thereby driving the transmission of the crawler 1, and thus realizing the walking of the crawler data acquisition vehicle in the tunnel. Further, the rotation speed of the driving wheel is adjusted, and the transmission speed of the crawler 1 is adjusted, thereby controlling the walking speed of the crawler data acquisition vehicle in the tunnel to adapt to the tunnel working conditions. Furthermore, the obstacle avoidance radar 23 identifies the obstacles ahead in real time through laser detection and transmits the information to the controller. The controller issues instructions to the walking mechanism, and adjusts the walking direction through the walking mechanism to avoid the obstacles ahead.

[0085] Specifically, S3 includes:

[0086] S31, the controller receives detection information of the tilt sensor;

[0087] S32, the controller calculates the output value required to adjust the three-dimensional scanner to a horizontal state;

[0088] S33, the controller issues a command to the leveling device 3;

[0089] S34, the leveling device 3 drives the three-dimensional scanner to rotate around the first direction and / or the second direction according to the instruction.

[0090] Among them, S34 includes:

[0091] S341, the first adjustment component drives the base 34 to rotate with the first direction as the axis according to the instruction;

[0092] S342, the second adjustment component drives the three-dimensional scanner to rotate around the second direction according to the instruction.

[0093] Specifically, first, the inclination sensor detects the inclination of the frame in real time and transmits the information to the controller. The controller calculates the rotation angle a° about the first direction and the rotation angle b° about the second direction required to adjust the three-dimensional scanner to a horizontal state, and issues an instruction to the leveling device 3. Furthermore, in S341, when the controller issues an instruction to rotate a° about the first direction, it controls the first rotating motor 32 to drive the first rotating axis 31 to rotate a° according to the instruction. In S342, when the controller issues an instruction to rotate b° about the second direction, it controls the second rotating motor 36 to drive the second rotating axis 35 to rotate b° according to the instruction.

[0094] The control method of the crawler-type data acquisition vehicle provided in this embodiment further includes S6:

[0095] The controller transmits the cloud data to the communication system, and the communication system transmits the cloud data to the backend.

[0096] Specifically, at least one communication channel among the Wi-Fi wireless network, cellular network, Bluetooth, Zigbee and LoRaWAN transmits the cloud data formed by the controller to the background. When the transmission channel fails, the management module automatically switches to another available communication channel to transmit the cloud data, thereby improving the communication reliability of the tracked data acquisition vehicle in complex environments, ensuring that the cloud data can be transmitted to the background in a timely and accurate manner, improving work efficiency, and being able to respond quickly when problems arise to ensure the stable operation of the system.

[0097] The control method of a crawler data acquisition vehicle provided in this embodiment can ensure that the crawler data acquisition vehicle can efficiently and accurately complete the geometric detection and status detection of the tunnel chute in the tunnel environment, and improve the work efficiency and data reliability through automation means.

[0098] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A control method for a crawler data acquisition vehicle, used for controlling the crawler data acquisition vehicle to perform geometric detection and state detection on a tunnel chute, the crawler data acquisition vehicle comprising a crawler (1), a high-definition camera (21), an inclination sensor, a three-dimensional scanner, a laser radar (22), a leveling device (3) and a controller, characterized in that: The control method of the crawler-type data acquisition vehicle comprises the following steps: S1, starting the controller to initialize the working parameters of the high-definition camera (21), the tilt sensor, the three-dimensional scanner and the laser radar (22); S2, the controller controls the transmission of the crawler (1) and adjusts the walking direction; S3, the controller controls the leveling device (3) to drive the three-dimensional scanner to rotate along a first direction and / or a second direction so that the three-dimensional scanner is in a horizontal state, the first direction is parallel to the X-axis, and the second direction is parallel to the Y-axis; S4, the high-definition camera (21) images the chute, the three-dimensional scanner collects shape parameters of the chute, and the laser radar (22) collects depth information of the chute; S5. The controller receives the collected data from the high-definition camera (21), the three-dimensional scanner and the laser radar (22) and forms cloud data.

2. The control method of a crawler-type data acquisition vehicle according to claim 1, characterized in that: The S1 includes: S11, turning on the power, starting the controller and performing a self-test; S12, initializing the working parameters of the high-definition camera (21), the tilt sensor, the three-dimensional scanner, the laser radar (22) and the leveling device (3).

3. The control method of a crawler-type data acquisition vehicle according to claim 1, characterized in that: The S3 includes: S31, the controller receives detection information of the tilt sensor; S32, the controller calculates the output value required to adjust the three-dimensional scanner to a horizontal state; S33, the controller issues an instruction to the leveling device (3); S34, the leveling device (3) drives the three-dimensional scanner to rotate around the first direction and / or the second direction according to the instruction.

4. The control method of a crawler-type data acquisition vehicle according to claim 3 is characterized in that: The leveling device (3) comprises a first adjustment component, a base (34) and a second adjustment component, the three-dimensional scanner is mounted on the top of the base (34), the first adjustment component is rotatably mounted on the mounting cavity on the top of the crawler-type data acquisition vehicle, and the second adjustment component is rotatably mounted on the base (34), and the S34 comprises: S341, the first adjusting component drives the base (34) to rotate around a first direction according to the instruction; S342: The second adjustment component drives the three-dimensional scanner to rotate around the second direction according to the instruction.

5. The control method of a crawler-type data acquisition vehicle according to claim 4, characterized in that: The first adjustment component comprises a first rotating shaft (31), a first rotating motor (32) and a first connecting member, the first rotating motor (32) is connected to the controller, the first rotating shaft (31) is rotatably arranged in the installation cavity and arranged along the first direction, the first rotating motor (32) is installed in the installation cavity and its output end is drivingly connected to the end of the first rotating shaft (31), the first rotating motor (32) is configured to drive the first rotating shaft (31) to rotate, and the base (34) is connected to the first rotating shaft (31) through the first connecting member; The second adjustment component includes a second rotating shaft (35), a second rotating motor (36) and a second connecting member, wherein the second rotating motor (36) is connected to the controller, the second rotating shaft (35) is rotatably arranged on the base (34) and arranged along the second direction, the second rotating motor (36) is installed on the base (34) and its output end is drivingly connected to the end of the second rotating shaft (35), the second rotating motor (36) is configured to drive the second rotating shaft (35) to rotate, and the three-dimensional scanner is connected to the second rotating shaft (35) through the second connecting member.

6. The control method of a crawler-type data acquisition vehicle according to claim 5, characterized in that: In S341, the controller controls the first rotating motor (32) to drive the first rotating shaft (31) to rotate according to the instruction; in S342, the controller controls the second rotating motor (36) to drive the second rotating shaft (35) to rotate according to the instruction.

7. The control method of a crawler-type data acquisition vehicle according to claim 1, characterized in that: The crawler-type data collection vehicle further comprises a walking mechanism, the walking mechanism being connected to the controller, and the walking mechanism being configured to adjust the transmission speed of the crawler (1); The S2 includes: S21, the controller controls the driving wheel of the walking mechanism to rotate, thereby driving the crawler belt (1) to transmit; S22, the controller adjusts the rotation speed of the driving wheel to adjust the transmission speed of the crawler (1).

8. The control method of a crawler-type data acquisition vehicle according to claim 7, characterized in that: The tracked data collection vehicle further comprises an obstacle avoidance radar (23), the obstacle avoidance radar (23) being connected to the controller, and the obstacle avoidance radar (23) being configured to detect obstacles ahead; The S2 further includes: S23, the controller receives detection information of the obstacle avoidance radar (23); S24, the controller controls the walking mechanism to adjust the walking direction.

9. The control method of a crawler-type data acquisition vehicle according to claim 1, characterized in that: Also includes S6: The controller transmits the cloud data to a communication system, and the communication system transmits the cloud data to a backend.

10. The control method of a crawler-type data acquisition vehicle according to claim 9, characterized in that: The communication system includes a management module, a Wi-Fi wireless network, a cellular network, Bluetooth, Zigbee and LoRaWAN, and the management module is configured to monitor the status of the Wi-Fi wireless network, the cellular network, the Bluetooth, the Zigbee and the LoRaWAN, and switch between the Wi-Fi wireless network, the cellular network, the Bluetooth, the Zigbee and the LoRaWAN.

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