Machine vision tunnel measurement sensor and measurement method

Abstract

The invention relates to the technical field of measuring sensors, and provides a machine vision tunnel measuring sensor and a measuring method.The machine vision tunnel measuring sensor comprises a measuring controller, a driving device is fixedly connected to the top end of the measuring controller, first rotating rods are rotationally connected to the front end and the rear end of the driving device, and rotating wheels are fixedly connected to the outer walls of the first rotating rods; a sliding rod is arranged at the bottom end of the rotating wheel, a second rotating rod is connected to the outer wall of the first rotating rod through a synchronous assembly, the second rotating rod and the outer wall of the second rotating rod are rotationally connected to the front end and the rear end of the driving equipment, a supporting frame is rotationally connected to the bottom end of the measuring controller, and a measuring assembly is arranged on the inner circumference of the supporting frame. The first rotating rod and the second rotating rod are meshed through the first gear and the second gear to achieve reverse synchronous rotation, the rotating wheel and the rubber sleeve are driven to abut against the sliding rod in the tunnel from the upper side and the lower side, a stable double-wheel opposite driving mode is formed, automatic movement along the tunnel can be achieved without manual traction, and the detection efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of measurement sensors, and particularly to a machine vision tunnel measurement sensor and a measurement method. Background Art

[0002] In the field of tunnel engineering, whether it is the construction quality inspection of newly built tunnels or the regular safety assessment of operating tunnels, it is necessary to measure parameters such as the geometric dimensions of the tunnel inner wall and surface defects (such as cracks, water seepage and leakage) with high precision. With the expansion of the tunnel construction scale and the improvement of the intelligent operation and maintenance requirements, the traditional manual detection method has been difficult to meet the needs of modern engineering due to defects such as low efficiency, high danger, and insufficient data accuracy. The development of machine vision and automation sensor technology provides a new technical path for tunnel detection. By integrating laser scanning, image acquisition and intelligent control modules, the automatic and non-contact measurement of tunnel parameters can be realized.

[0003] Existing tunnel measurement equipment usually adopts a single sensor to work independently, which has problems of single data dimension and insufficient detection accuracy. For example, it is difficult to accurately identify surface defects such as cracks, water seepage and leakage only relying on lidar, and it is impossible to obtain the three-dimensional coordinate data of the tunnel contour simply by relying on image acquisition. Traditional equipment lacks real-time obstacle avoidance and dynamic adjustment capabilities. When encountering obstacles in the tunnel, manual intervention is required for adjustment, which further reduces the detection efficiency and there is a risk of equipment collision. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a machine vision tunnel measurement sensor and a measurement method, which solve the problems of single data dimension and insufficient detection accuracy that usually occur when a single sensor works independently.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A machine vision tunnel measurement sensor and a measurement method, including a measurement controller, a driving device is fixedly connected to the top end of the measurement controller, first rotating rods are rotatably connected to both the front and rear ends of the driving device, a runner is fixedly connected to the outer wall of the first rotating rod, a sliding rod is arranged at the bottom end of the runner, the outer wall of the first rotating rod is connected to a second rotating rod through a synchronization component, the second rotating rod is rotatably connected to the front and rear ends of the driving device, a support frame is rotatably connected to the bottom end of the measurement controller, and a measurement component is arranged inside the circumference of the support frame.

[0006] Preferably, the synchronization component includes a first gear located on the outer wall of the first rotating rod, the first gear is meshed and connected to a second gear at the bottom end, and the inner wall of the second gear is fixedly connected to the outer wall of the second rotating rod.

[0007] Preferably, the measurement assembly includes a fixed frame located on the inner circumference of the support frame. A measurement lens is fixedly connected to the rear side of the left end of the fixed frame, a laser scanning mirror is fixedly connected to the front side of the left end of the fixed frame, and a lighting device is fixedly connected to the top of the fixed frame.

[0008] Preferably, a rubber ring is fixedly connected to the outer wall of the runner, a rubber sleeve is fixedly connected to the outer wall of the second rotating rod, and the outer wall of the rubber sleeve is arranged at the bottom end of the sliding rod.

[0009] Preferably, stabilizing frames are fixedly connected to both the left and right ends of the driving device, and the inner walls of the stabilizing frames are slidably connected to the outer wall of the sliding rod.

[0010] Preferably, an anti-collision radar is fixedly connected to the rear side of the left end of the measurement controller, and an indicator light is fixedly connected to the front side of the left end of the measurement controller.

[0011] A measurement method for a machine vision tunnel measurement sensor includes the following steps: Step 1: Move the sensor to the position to be measured in the tunnel. Start the lighting device through the measurement controller, and adjust the angles of the laser scanning mirror and the measurement lens to ensure that their fields of view cover the area to be measured on the inner wall of the tunnel. Step 2: The driving device drives the runner to rotate through the first rotating rod and the second rotating rod, so that the sensor moves along the inner wall of the tunnel; during the movement, the laser scanning mirror emits a laser beam to scan the tunnel contour, the measurement lens synchronously collects image data, and the anti-collision radar monitors surrounding obstacles in real time to adjust the movement path. Step 3: The measurement controller receives the laser scanning data and the image data, calculates the geometric parameters of the tunnel through the built-in algorithm, and compares them with the preset standard values to generate a measurement report. Step 4: The measurement results are wirelessly transmitted to the terminal device for storage for subsequent analysis or construction reference.

[0012] Preferably, the laser scanning mirror and the measurement lens maintain synchronous movement through the fixed frame, and their scanning frequencies and image acquisition frequencies are precisely synchronized through the measurement controller to ensure the spatial matching accuracy of the laser point cloud data and the image data.

[0013] Preferably, the moving speed of the driving device can be adjusted through the measurement controller. When a complex structure is detected on the inner wall of the tunnel, the moving speed is automatically reduced and the scanning density is increased to improve the measurement accuracy of the local area.

[0014] Preferably, an error compensation step is further included. By setting multiple reference points with known coordinates in the tunnel, the measurement lens is used to identify the reference points and calculate the position deviation of the sensor, and the spatial coordinates of the laser scanning data are calibrated to eliminate the cumulative error during the movement of the device.

[0015] Working principle: Multiple reference points with known coordinates are preset in the tunnel. The driving device serves as the power source. By rotating the first rotating rod, the rotating wheel is driven to rotate. The first rotating rod and the second rotating rod are connected through the meshing between the first gear and the second gear to ensure synchronous rotation of the two, and the first rotating rod and the second rotating rod rotate in opposite directions. Under the action of the rotating wheel and the rubber sleeve on the outer wall of the second rotating rod, the sensor is enabled to move on the sliding rod arranged in the tunnel, and under the action of the stabilizing frame, the shaking during the movement can be reduced and stability can be maintained. During the movement, the lighting device can provide a stable light source in the tunnel environment with insufficient light, ensuring that the measurement lens and the laser scanning mirror obtain clear images and laser reflection data. The measurement lens and the laser scanning mirror measure the tunnel and transmit the data to the measurement controller. The measurement results are wirelessly transmitted to the terminal device for storage for construction personnel to analyze or adjust the construction plan. During the measurement process, the anti-collision radar can continuously monitor the obstacles around the sensor. When an object with too close a distance is detected, a signal is sent to the measurement controller to automatically adjust the rotation speed of the driving device to avoid collisions.

[0016] The present invention provides a machine vision tunnel measurement sensor and a measurement method. It has the following beneficial effects: 1. In the present invention, the first rotating rod and the second rotating rod are in reverse synchronous rotation through the meshing of the first gear and the second gear, driving the rotating wheel and the rubber sleeve to tightly press against the sliding rod in the tunnel from the upper and lower sides, forming a stable double-wheel counter-direction driving mode, and can move autonomously along the tunnel without manual traction, significantly improving the detection efficiency.

[0017] 2. In the present invention, the laser scanning mirror generates three-dimensional point cloud data of the tunnel contour, and the measurement accuracy can reach the sub-millimeter level, accurately obtaining geometric parameters such as the tunnel radius and flatness; the measurement lens collects two-dimensional images to identify surface defects such as cracks and water seepage. The two are rigidly synchronized through the fixing frame, and combined with the spatio-temporal calibration algorithm of the measurement controller, the fusion detection of the three-dimensional structure and the two-dimensional texture is realized, avoiding the limitations of a single sensor.

[0018] 2. The driving device of the present invention supports automatic movement without manual intervention, can independently complete the detection during tunnel construction or operation, reduces the frequency of personnel entering high-risk environments, improves the operation safety. The anti-collision radar continuously monitors the surrounding obstacles, and automatically triggers deceleration when the distance is less than the safety threshold to avoid collisions with construction equipment in the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of the present invention; Figure 2 is a schematic structural diagram of the second gear of the present invention; Figure 3 is a flowchart of the measurement method of the present invention.

[0020] Among them, 1 is a measurement controller; 2 is an anti-collision radar; 3 is an indicator light; 4 is a driving device; 5 is a first rotating rod; 6 is a rotating wheel; 7 is a rubber ring; 8 is a first gear; 9 is a second gear; 10 is a second rotating rod; 11 is a rubber sleeve; 12 is a stabilizing frame; 13 is a sliding rod; 14 is a support frame; 15 is a fixing frame; 16 is a measurement lens; 17 is a laser scanning mirror; 18 is a lighting device. Specific implementation manner

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0022] Embodiment: Please refer to the attached Figure 1 - attached Figure 3 , the embodiment of the present invention provides a machine vision tunnel measurement sensor and a measurement method, including a measurement controller 1. The top end of the measurement controller 1 is fixedly connected to a driving device 4. Both the front and rear ends of the driving device 4 are rotatably connected to a first rotating rod 5. The outer wall of the first rotating rod 5 is fixedly connected to a rotating wheel 6. A sliding rod 13 is arranged at the bottom end of the rotating wheel 6. The outer wall of the first rotating rod 5 is connected to a second rotating rod 10 through a first gear 8 and a second gear 9. The second rotating rod 10 is rotatably connected to the front and rear ends of the driving device 4. The bottom end of the measurement controller 1 is rotatably connected to a support frame 14. The inner circumference of the support frame 14 is provided with a fixing frame 15, a measurement lens 16, a laser scanning mirror 17 and a lighting device 18; Specifically, a plurality of reference points with known coordinates are pre-arranged in the tunnel as a reference coordinate system for sensor positioning. A sliding rod 13 is arranged in the tunnel. The driving device 4 serves as the core power unit. The first rotating rod 5 is driven to rotate clockwise through a motor or a hydraulic device. The first rotating rod 5 drives the rotating wheel 6 to rotate synchronously. The rubber ring 7 on the outer wall of the rotating wheel 6 provides friction with the sliding rod 13 on the inner wall of the tunnel. The first rotating rod 5 and the second rotating rod 10 form a reverse synchronous rotation mechanism through the meshing transmission of the first gear 8 and the second gear 9, that is, when the first rotating rod rotates clockwise, the second rotating rod rotates counterclockwise, ensuring that the rotating wheel 6 and the rubber sleeve 11 at the bottom end of the second rotating rod 10 cooperate to tightly press the sliding rod 13 arranged on the inner wall of the tunnel from the upper and lower sides respectively, realizing the forward or backward movement of the sensor.

[0023] Among them, a first gear 8 is located on the outer wall of the first rotating rod 5. A second gear 9 is meshed and connected to the bottom end of the first gear 8. The inner wall of the second gear 9 is fixedly connected to the outer wall of the second rotating rod 10. Among them, a fixing bracket 15 is located inside the circumference of the support frame 14. A measuring lens 16 is fixedly connected to the rear side of the left end of the fixing bracket 15. A laser scanning mirror 17 is fixedly connected to the front side of the left end of the fixing bracket 15. A lighting device 18 is fixedly connected to the top end of the fixing bracket 15. A rubber ring 7 is fixedly connected to the outer wall of the rotating wheel 6. A rubber sleeve 11 is fixedly connected to the outer wall of the second rotating rod 10. The outer wall of the rubber sleeve 11 is arranged at the bottom end of the sliding rod 13. Stabilizing brackets 12 are fixedly connected to both the left and right ends of the driving device 4. The inner walls of the stabilizing brackets 12 are slidably connected to the outer wall of the sliding rod 13. An anti-collision radar 2 is fixedly connected to the rear side of the left end of the measuring controller 1. An indicator light 3 is fixedly connected to the front side of the left end of the measuring controller 1; Specifically, the measuring controller 1 can coordinate the operation logic of the driving device and the sensor assembly, such as controlling the switch of the lighting device, the synchronous triggering of laser scanning and image acquisition, receiving laser point cloud and image data, performing noise reduction, coordinate system conversion, three-dimensional modeling and defect analysis algorithms, transmitting the measurement results to the terminal through the wireless module, and receiving the control instructions of the terminal. The anti-collision radar 2 can send a warning signal to the measuring controller when detecting an obstacle, triggering the deceleration, steering or shutdown operation of the driving device, ensuring the safe operation of the device in a complex environment, intuitively displaying the device operation status through color and flashing frequency, facilitating on-site personnel to quickly identify the device working conditions. The rubber ring 7 and the rubber sleeve 11 can increase the friction between the rotating wheel and the sliding rod 13 arranged on the inner wall of the tunnel, and can absorb the vibration during the movement through elastic deformation, reducing the impact on the precision sensor. The stabilizing bracket 12 can increase the stability of the measurement process. The measuring lens 16 is used to obtain the two-dimensional image of the inner wall of the tunnel, for identifying visual features such as cracks, water seepage, and surface damage. The laser scanning mirror 17 can emit a laser beam to scan the tunnel contour, generating high-density point cloud data for calculating the geometric parameters of the tunnel.

[0024] A measurement method for a machine vision tunnel measurement sensor includes the following steps: Step 1: Move the sensor to the position to be measured in the tunnel. Start the lighting device 18 through the measuring controller 1, and adjust the angles of the laser scanning mirror 17 and the measuring lens 16 to ensure that their fields of view cover the area to be measured on the inner wall of the tunnel. The lighting device 18 turns on the warm white light mode to ensure uniform illumination of the inner wall of the tunnel and avoid reflection. The laser scanning mirror 17 is set with a scanning frequency of 200Hz and a scanning angle range of 0° to 180°, covering the semi-circular cross-section of the tunnel. The resolution of the measuring lens 16 is set to 4096×3072 pixels and the frame rate is 15fps to ensure the spatio-temporal synchronization of the image and the point cloud data; Step 2: The driving device 4 drives the rotating wheel 6 to rotate through the first rotating rod 5 and the second rotating rod 10, causing the sensor to move along the inner wall of the tunnel; during the movement, the laser scanning mirror 17 emits a laser beam to scan the tunnel contour, the measuring lens 16 synchronously collects image data, and the anti-collision radar 2 monitors the surrounding obstacles in real time to adjust the movement path; Step 3: The measurement controller 1 receives the laser scanning data and the image data, calculates the geometric parameters of the tunnel through the built-in algorithm, and compares them with the preset standard values to generate a measurement report; Step 4: The measurement results are wirelessly transmitted to the terminal device for storage for subsequent analysis or construction reference.

[0025] The laser scanning mirror 17 and the measuring lens 16 maintain synchronous movement through the fixing frame 15, and the scanning frequency and the image acquisition frequency of the two are precisely synchronized by the measurement controller 1 to ensure the spatial matching accuracy of the laser point cloud data and the image data. The moving speed of the driving device 4 can be adjusted by the measurement controller 1. When a complex structure is detected on the inner wall of the tunnel, the moving speed is automatically reduced and the scanning density is increased to improve the measurement accuracy of the local area. It also includes an error compensation step. By setting multiple reference points with known coordinates in the tunnel, the measuring lens 16 is used to identify the reference points and calculate the position deviation of the sensor, and the spatial coordinates of the laser scanning data are calibrated to eliminate the cumulative error during the movement of the device.

[0026] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A machine vision tunnel measurement sensor, characterized in that: It includes a measurement controller (1), a driving device (4) is fixedly connected to the top end of the measurement controller (1), first rotating rods (5) are rotatably connected to both the front and rear ends of the driving device (4), a runner (6) is fixedly connected to the outer wall of the first rotating rod (5), a sliding rod (13) is arranged at the bottom end of the runner (6), the outer wall of the first rotating rod (5) is connected to a second rotating rod (10) through a synchronization assembly, the second rotating rod (10), the outer wall of the second rotating rod (10) is rotatably connected to both the front and rear ends of the driving device (4), a support frame (14) is rotatably connected to the bottom end of the measurement controller (1), and a measurement assembly is arranged on the inner circumference of the support frame (14).

2. The machine vision tunnel measurement sensor according to claim 1, wherein The synchronization assembly includes a first gear (8) located on the outer wall of the first rotating rod (5), a second gear (9) is meshed and connected to the bottom end of the first gear (8), and the inner wall of the second gear (9) is fixedly connected to the outer wall of the second rotating rod (10).

3. The machine vision tunnel measurement sensor according to claim 1, characterized in that, The measurement assembly includes a fixed frame (15) located on the inner circumference of the support frame (14), a measurement lens (16) is fixedly connected to the rear side of the left end of the fixed frame (15), a laser scanning mirror (17) is fixedly connected to the front side of the left end of the fixed frame (15), and a lighting device (18) is fixedly connected to the top end of the fixed frame (15).

4. The machine vision tunnel measurement sensor according to claim 1, wherein A rubber ring (7) is fixedly connected to the outer wall of the runner (6), a rubber sleeve (11) is fixedly connected to the outer wall of the second rotating rod (10), and the outer wall of the rubber sleeve (11) is arranged at the bottom end of the sliding rod (13).

5. A machine vision tunnel measurement sensor according to claim 1, characterized in that, Stabilizing frames (12) are fixedly connected to both the left and right ends of the driving device (4), and the inner walls of the stabilizing frames (12) are slidably connected to the outer wall of the sliding rod (13).

6. The machine vision tunnel measurement sensor according to claim 1, wherein, An anti-collision radar (2) is fixedly connected to the rear side of the left end of the measurement controller (1), and an indicator light (3) is fixedly connected to the front side of the left end of the measurement controller (1).

7. A measurement method of a machine vision tunnel measurement sensor, using a machine vision tunnel measurement sensor as described in any one of claims 1-6, characterized in that, It includes the following steps: Step 1: Move the sensor to the position to be measured in the tunnel, start the lighting device (18) through the measurement controller (1), and adjust the angles of the laser scanning mirror (17) and the measurement lens (16) to ensure that their fields of view cover the area to be measured on the inner wall of the tunnel; Step 2: The driving device (4) drives the runner (6) to rotate through the first rotating rod (5) and the second rotating rod (10), so that the sensor moves along the inner wall of the tunnel; during the movement, the laser scanning mirror (17) emits a laser beam to scan the tunnel contour, the measurement lens (16) synchronously acquires image data, and the anti-collision radar (2) monitors surrounding obstacles in real time to adjust the movement path; Step 3: The measurement controller (1) receives the laser scanning data and the image data, calculates the geometric parameters of the tunnel through the built-in algorithm, and compares them with the preset standard values to generate a measurement report; Step 4: The measurement results are wirelessly transmitted to the terminal device for storage for subsequent analysis or construction reference.

8. A machine vision tunnel measurement method according to claim 7, characterized in that, The laser scanning mirror (17) and the measurement lens (16) maintain synchronous movement through the fixed frame (15), and the scanning frequency and the image acquisition frequency of both are precisely synchronized through the measurement controller (1) to ensure the spatial matching accuracy of the laser point cloud data and the image data.

9. A machine vision tunnel measurement method according to claim 7, characterized in that, The moving speed of the driving device (4) can be adjusted by the measurement controller (1). When complex structures are detected on the inner wall of the tunnel, the moving speed is automatically reduced and the scanning density is increased to improve the measurement accuracy of the local area.

10. A machine vision tunnel measurement method according to claim 7, characterized in that, It also includes an error compensation step. By setting multiple reference points with known coordinates in the tunnel, the measurement lens (16) is used to identify the reference points and calculate the position deviation of the sensor, and the spatial coordinates of the laser scanning data are calibrated to eliminate the cumulative error during the movement of the device.

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